CN104440923B - A kind of emergent stop signal control system for robot and robot thereof - Google Patents
A kind of emergent stop signal control system for robot and robot thereof Download PDFInfo
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- CN104440923B CN104440923B CN201410631368.8A CN201410631368A CN104440923B CN 104440923 B CN104440923 B CN 104440923B CN 201410631368 A CN201410631368 A CN 201410631368A CN 104440923 B CN104440923 B CN 104440923B
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Abstract
The invention provides control system and the robot thereof of a kind of robot emergent stop signal, comprising: described scram button, for obtaining emergent stop signal, and sending to the first emergent stop signal receiving element and the second emergent stop signal receiving element respectively; Described first emergent stop signal detecting unit, its one end is connected with scram button, other end connection control unit, for receiving the emergent stop signal of one of them contact of scram button, and stop command is sent to control unit; Described second emergent stop signal receiving element, its one end is connected with scram button, the same connection control unit of the other end, for receiving the emergent stop signal of scram button another one contact, and stop command is sent to control unit; Described control unit, for judging whether the emergent stop signal receiving described first emergent stop signal receiving element, the second emergent stop signal receiving element sends simultaneously, if receive emergent stop signal simultaneously, then carries out urgency and stops process.
Description
Technical field
The present invention relates to Robot Control Technology, particularly relate to a kind of emergent stop signal control system for robot.The present invention provides a kind of robot using this emergent stop signal control system simultaneously.
Background technology
In robot control system, emergent stop signal belongs to the highest class signal of safe class, and this signal sends at Emergency time, can carry out the emergent management such as out of service at once by control, avoid causing damage to robot, therefore the fault rate of this signal is minimum.
The form of emergent stop signal has a variety of, and emergent stop signal is all received in safety control system as hard loop by current robot control system, and may there is the problems such as wiring error in the scheduling and planning of reality, causes emergent stop signal malfunctioning.And because software cannot produce emergent stop signal, cause systems control division enough flexible thus.
Summary of the invention
For above-mentioned defect, the technical problem that the present invention solves is, the redundancy control system that a kind of software and hardware combines is provided, several contacts of scram button are linked in safety control system in the mode of software and hardware by this system respectively, can avoid the common cause failure of emergent stop signal and cannot produce emergent stop signal thus infringement robot.
Emergent stop signal control system for robot provided by the invention, comprise: scram button, the first emergent stop signal receiving element, the second emergent stop signal receiving element, control unit, described first emergent stop signal receiving element, the second emergent stop signal receiving element and control unit form series loop;
Described scram button, for obtaining emergent stop signal, and sends to the first emergent stop signal receiving element and the second emergent stop signal receiving element respectively;
Described first emergent stop signal detecting unit, its one end is connected with scram button, other end connection control unit, for receiving the emergent stop signal of one of them contact of scram button, and stop command is sent to control unit;
Described second emergent stop signal receiving element, its one end is connected with scram button, the same connection control unit of the other end, for receiving the emergent stop signal of scram button another one contact, and stop command is sent to control unit;
Described control unit, for judging whether the emergent stop signal receiving described first emergent stop signal receiving element, the second emergent stop signal receiving element sends simultaneously, if receive emergent stop signal simultaneously, then carries out urgency and stops process.
Preferably, first emergent stop signal detecting unit, comprise a CPU, the 2nd CPU, the first forced guiding relay and the second forced guiding relay, one CPU and the 2nd CPU communicate to connect with the first corresponding forced guiding relay and the second forced guiding relay respectively, and the normally-closed contact of two forced guiding relays is linked in another one CPU respectively by optocoupler.
Preferably, a described CPU and the 2nd CPU receives the emergent stop signal that scram button sends simultaneously, and inspection emergent stop signal can rearward mutually, and time delay exports and controls above-mentioned two forced guiding relays work respectively, exports emergent stop signal to control unit.
Preferably, mutual inspection emergent stop signal reliably concrete mode is: scram button is input in two CPU by optocoupler with low level form, after two CPU receive emergent stop signal, first verify mutually, the low level exported controls corresponding forced guiding relay work by optocoupler, the normally opened contact series connection of two forced guiding relays exports the break-make of control contactor, its normally-closed contact is then input in the middle of another one CPU as feedback signal by optocoupler, carry out the detection of node welding, if detect successfully, then judge that emergent stop signal is reliable, signal is sent to control unit.
Preferably, described second emergent stop signal receiving element comprises a time-delay relay, by this time-delay relay, emergent stop signal is sent to control unit.
The redundancy control system that the present invention is combined by software and hardware, makes signal stability and safety more, and solves relay node welding problem, avoids the common cause failure of emergent stop signal, improves the security performance grade of system; Meanwhile, the security control flexibility of system is also improved with the flexibility of software control
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, technical scheme of the present invention is described in detail.
Please refer to Fig. 1, this figure is the emergent stop signal Control system architecture block diagram for robot that the embodiment of the present invention provides.
This system comprises scram button 10, first emergent stop signal receiving element 20, second emergent stop signal receiving element 30, control unit 40, and described first emergent stop signal receiving element, the second emergent stop signal receiving element and control unit form series loop;
Scram button 10, for obtaining emergent stop signal, and sends to the first emergent stop signal receiving element 20 and the second emergent stop signal receiving element 30 respectively;
First emergent stop signal detecting unit 20, its one end is connected with scram button 10, other end connection control unit 40, for receiving the emergent stop signal of one of them contact of scram button 10, and stop command is sent to control unit 40; It comprises a CPU21, the 2nd CPU22, the first forced guiding relay 23 and the second forced guiding relay 24, one CPU21 and the 2nd CPU22 communicate to connect with the first corresponding forced guiding relay 23 and the second forced guiding relay 24 respectively, and the normally-closed contact of two forced guiding relays is linked in another one CPU respectively by optocoupler.Scram button is input in two CPU by optocoupler with low level form, after two CPU receive emergent stop signal, first verify mutually, the low level exported controls corresponding forced guiding relay work by optocoupler, the normally opened contact series connection of two forced guiding relays exports the break-make of control contactor, its normally-closed contact is then input in the middle of another one CPU as feedback signal by optocoupler, carry out the detection of node welding, if detect successfully, then judge that emergent stop signal is reliable, signal is sent to control unit.
Second emergent stop signal receiving element 30, it comprises a time-delay relay 31, second emergent stop signal receiving element 30 one end is connected with scram button 10, the same connection control unit 40 of the other end, for receiving the emergent stop signal of scram button 10 another one contact, by this time-delay relay 31, emergent stop signal is sent to control unit 40.
Control unit 40, for judging whether the emergent stop signal receiving the first emergent stop signal receiving element 20, second emergent stop signal receiving element 30 transmission simultaneously, if receive emergent stop signal simultaneously, then carries out urgency and stops process.
The present invention also provides a kind of robot, and it has above-mentioned emergent stop signal control system.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. the emergent stop signal control system for robot, it is characterized in that, comprise: scram button, the first emergent stop signal receiving element, the second emergent stop signal receiving element, control unit, described first emergent stop signal receiving element, the second emergent stop signal receiving element and control unit form series loop;
Described scram button, for obtaining emergent stop signal, and sends to the first emergent stop signal receiving element and the second emergent stop signal receiving element respectively;
Described first emergent stop signal receiving element, its one end is connected with scram button, other end connection control unit, for receiving the emergent stop signal of one of them contact of scram button, and stop command is sent to control unit;
Described second emergent stop signal receiving element, its one end is connected with scram button, the same connection control unit of the other end, for receiving the emergent stop signal of scram button another one contact, and stop command is sent to control unit;
Described control unit, for judging whether the emergent stop signal receiving described first emergent stop signal receiving element, the second emergent stop signal receiving element sends simultaneously, if receive emergent stop signal simultaneously, then carries out urgency and stops process.
2. a kind of emergent stop signal control system for robot as claimed in claim 1, it is characterized in that, described first emergent stop signal receiving element, comprise a CPU, the 2nd CPU, the first forced guiding relay and the second forced guiding relay, one CPU and the 2nd CPU communicate to connect with the first corresponding forced guiding relay and the second forced guiding relay respectively, and the normally-closed contact of two forced guiding relays is linked in another one CPU respectively by optocoupler.
3. a kind of emergent stop signal control system for robot as claimed in claim 2, it is characterized in that, a described CPU and the 2nd CPU receives the emergent stop signal that scram button sends simultaneously, and inspection emergent stop signal can be rearward mutually, time delay exports and controls above-mentioned two forced guiding relays work respectively, exports emergent stop signal to control unit.
4. a kind of emergent stop signal control system for robot as claimed in claim 3, it is characterized in that, mutual inspection emergent stop signal reliably concrete mode is: scram button is input in two CPU by optocoupler with low level form, after two CPU receive emergent stop signal, first verify mutually, the low level exported controls corresponding forced guiding relay work by optocoupler, the normally opened contact series connection of two forced guiding relays exports the break-make of control contactor, its normally-closed contact is then input in the middle of another one CPU as feedback signal by optocoupler, carry out the detection of node welding, if detect successfully, then judge that emergent stop signal is reliable, signal is sent to control unit.
5. a kind of emergent stop signal control system for robot as claimed in claim 1, it is characterized in that, described second emergent stop signal receiving element comprises a time-delay relay, by this time-delay relay, emergent stop signal is sent to control unit.
6. a robot, is characterized in that, uses the emergent stop signal control system for robot described in the claims 1-claim 5 any one.
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| CN201410631368.8A CN104440923B (en) | 2014-11-11 | 2014-11-11 | A kind of emergent stop signal control system for robot and robot thereof |
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| CN201410631368.8A CN104440923B (en) | 2014-11-11 | 2014-11-11 | A kind of emergent stop signal control system for robot and robot thereof |
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| CN104440923B true CN104440923B (en) | 2016-01-06 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584452B (en) * | 2015-10-19 | 2019-11-12 | 沈阳新松机器人自动化股份有限公司 | Robot universal safety control device |
| CN106607935B (en) * | 2015-10-22 | 2018-12-14 | 沈阳新松机器人自动化股份有限公司 | A kind of dual robot collaborative work emergency stop processing system |
| CN105965548A (en) * | 2016-06-13 | 2016-09-28 | 国家电网公司 | Robot anti-collision control system |
| CN107618033B (en) * | 2016-07-13 | 2021-03-05 | 深圳市朗驰欣创科技股份有限公司 | Robot emergency stop control system and method |
| CN110039574B (en) * | 2019-04-24 | 2021-02-05 | 北京猎户星空科技有限公司 | Robot braking circuit, robot braking method and device |
| CN110281273B (en) * | 2019-06-27 | 2024-05-03 | 上海电器科学研究所（集团）有限公司 | Industrial robot scram stop time and stop distance testing device and testing method |
| CN111240258B (en) * | 2020-01-19 | 2023-03-24 | 大族激光科技产业集团股份有限公司 | Industrial robot and emergency stop device thereof |
| CN111331619B (en) * | 2020-04-26 | 2023-08-25 | 珠海格力电器股份有限公司 | Safety control device for robot, control method for robot, and robot |
| CN113618744A (en) * | 2021-08-27 | 2021-11-09 | 库卡机器人(广东)有限公司 | Robot safety control method and device, electronic equipment and readable storage medium |
| CN114750161A (en) * | 2022-05-16 | 2022-07-15 | 深圳市大族机器人有限公司 | Robot control device and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TW267128B (en) * | 1993-10-06 | 1996-01-01 | Mitsubishi Electric Machine | |
| JP3064940B2 (en) * | 1997-02-07 | 2000-07-12 | 松下電器産業株式会社 | Robot safety device |
| JP4202335B2 (en) * | 2005-03-22 | 2008-12-24 | ファナック株式会社 | Emergency stop circuit |
| JP4659690B2 (en) * | 2006-06-30 | 2011-03-30 | 株式会社ダイヘン | Machine control device |
| CN101441463B (en) * | 2008-12-15 | 2010-12-01 | 三一重工股份有限公司 | System for generating emergent stop signal of mechanical equipment and engineering machinery thereof |
| DE102010037714B3 (en) * | 2010-09-22 | 2012-01-05 | Schneider Electric Automation Gmbh | Emergency stop module arrangement |
| CN103490677A (en) * | 2013-08-06 | 2014-01-01 | 浙江法拿克机械科技有限公司 | Motor emergency stop control circuit of numerically-controlled machine tool |
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Effective date of registration: 20231108 Address after: No.15-1 Feiyun Road, Hunnan District, Shenyang City, Liaoning Province, 110169 Patentee after: Shenyang Xinsong Semiconductor Equipment Co.,Ltd. Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Patentee before: SHENYANG SIASUN ROBOT & AUTOMATION Co.,Ltd. |
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