CN108064359A - A kind of robot mode switching alarm circuit, method and robot - Google Patents
A kind of robot mode switching alarm circuit, method and robot Download PDFInfo
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- CN108064359A CN108064359A CN201680038486.5A CN201680038486A CN108064359A CN 108064359 A CN108064359 A CN 108064359A CN 201680038486 A CN201680038486 A CN 201680038486A CN 108064359 A CN108064359 A CN 108064359A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A kind of robot mode switching alarm circuit, method and robot can save time, the service life for improving machine human reriability, extending robot, improve customer experience.Robot mode switching alarm circuit includes：The first internal PLC circuit (1) being directly connected to key switch, for receiving the alarm signal that is generated when key switch is switched to manual mode from auto state and being sent to communication card (2) after alarm signal is converted；Communication card (2), for being sent to robot control software RCS (3) by industrial personal computer after transformed alarm signal is converted into alarm data；RCS (3) is used to send a control signal to the second internal PLC circuit (4) after receiving alarm data, also sends shielded signal to security module (5)；The second internal PLC circuit (4) being connected with industrial personal computer, for receiving and being disconnected according to control signal control contactor；The security module (5) being connected respectively with key switch and industrial personal computer, for receiving alarm signal and when also receiving shielded signal in default delay time, control contactor does not disconnect.
Description
Technical field
The present invention relates to robot warning technology field, more particularly to a kind of robot mode switching alarm circuit, side
Method and robot.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, it is by robot
Body, teaching machine and switch board are formed, and switch board includes being provided with robot control software (robot
Controlsoftware, RCS) industrial personal computer, the work of industrial robot energy automated execution, is by self power and control ability
To realize a kind of machine of various functions.Because it will often cooperate during commercial Application with the mankind (for example show
Teach journey), in order to ensure the safety using operating personnel, avoid causing injures and deaths, therefore it is required that its have higher reliability and
Security.
Most of industrial robots have a function of carrying out safety backup currently on the market, i.e., dangerous when happening, meeting
There are two types of processing operation, both processing operations are used for disconnecting contactor (turning off robot electrical source of power).At present this two
The realization method on road is as follows：The first via, upper computer software perform power operation, and flow is alarm, and RCS, RCS is notified to signal to
Internal programmable logic controller (Programmable Logic Controller, PLC) circuit, then disconnecting tentaculum.Second
Road, security module hardware circuit realize the operation of disconnecting tentaculum, and flow is alarm, notifies security module, then disconnecting tentaculum.Safety
Backup is exactly when there is alarm, if the first via cannot normally perform (may be due to software bug or other reasons) disconnecting tentaculum
Operation then performs the action that the second tunnel carries out disconnecting tentaculum.Specific process flow notifies RCS, RCS as shown in Figure 1, alarm
Internal PLC circuit is signaled to, then disconnecting tentaculum, while after RCS detects alarm, send out shielded signal (delay time
100ms) to security module, inform that it does not have to processing alarm now, RCS can perform power operation.Only when RCS cannot be
When shielded signal being sent to security module in 100ms, the action of disconnecting tentaculum is just performed by security module and is alerted, this
Sample is achieved that safe backup.
But this method has a problem that, because industrial robot in manual operation, in order to ensure safety, generally will
The first gear and third gear of enabled button in teaching machine (enable button totally three gears, it is disconnected that the first gear, which is not pressed,
Electricity, it is to power on that the second gear, which is pressed, and third gear by being powered off on earth, and default conditions are in the first gear) warning information is defined as,
Power down process must be done.For key switch in auto state, it is inoperative to enable button at this time, is given tacit consent in the first gear,
Only when key switch is in manual mode, enabled button just works.So when key switch state is switched to from auto state
During manual mode, give tacit consent to due to enabling button at this time in the first gear, be then considered as being alerted at this time, it is standby that safety can be started
The function of part, if according to the flow of above-mentioned delay process, shielded signal can not be sent to security module by RCS in 100ms,
Security module is bound to alert and disconnect contactor after 100ms, that thus needs power-off restarting, but actually user switches
Key switch simultaneously need not remove artificial power-off restarting every time, and only need cut off contactor can (namely the first via action i.e.
Can).Therefore RCS must carry out the situation special processing, if RCS detects that key switch state is switched to manually from automatic
When, RCS alerts this, signals to internal PLC circuit, performs disconnecting tentaculum, while it can also send a shielding letter always
Number allow it at this time should not disconnecting tentaculum to security module.Process flow is as shown in Fig. 2, user is opened on teaching machine using key
It closes, it is switched into manual mode by auto state, teaching machine hardware can detect alarm signal, and alarm signal is sent to people
Machine interactive interface (Human Machine Interface, HMI), then HMI alarm signal is sent to RCS, RCS sends screen
Signal is covered to security module so that the continuous contactor of security module.But due to be between HMI and RCS by network communication, and
It is not real-time Communication for Power, that is, the time to communicate does not know simultaneously, if the information transfer time between HMI and RCS is more than 100ms, RCS
Failing that shielded signal is handed down to security module in time, then security module is bound to alarm, and if between HMI and RCS
Call duration time it is very long (uncertain duration of congestion), then shielded signal can not issue always, and security module thinks there is alarm always,
Cause the alarm that can not remove, since the communication blockage time does not know, user often must power-off restarting robot system, one
Aspect is lost time, and on the other hand, user automatically switches to the probability that manually state occurs during actual use
It is higher, customer experience has been seriously affected, user is made to throw doubt upon machine human reriability, and has repeatedly restarted and has shortened robot
Service life.
Therefore, how to provide a kind of scheme for solving above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
The content of the invention
The object of the present invention is to provide a kind of robot mode switching alarm circuits, on the one hand, saves time, the opposing party
Face improves machine human reriability, extends the service life of robot, improves customer experience；Another mesh of the present invention
Be to provide a kind of robot for including above-mentioned robot mode switching alarm circuit；It is a further object of the present invention to provide one kind
Robot mode switching alarm method.
In order to solve the above technical problems, the present invention provides a kind of robot mode switching alarm circuit, including：
The first internal programmable logic controller PLC circuit being directly connected to key switch, for receiving the key
It switchs the alarm signal generated when switching to manual mode from auto state and the alarm signal is converted into communication card identification
Alarm signal, and transformed alarm signal is sent to the communication card；
Respectively with the first internal PLC circuit and being provided with the institute that the industrial personal computer of robot control software RCS is connected
Communication card is stated, for receiving the transformed alarm signal, the transformed alarm signal is reconverted into the RCS energy
The alarm data enough identified, and the alarm data is sent to the RCS by the industrial personal computer；
The RCS is used to send a control signal to the second internal PLC circuit after receiving the alarm data, while also sends out
Shielded signal is sent to security module；
The the second internal PLC circuit being connected with the industrial personal computer, for receiving the control signal, and according to described
Control signal control contactor disconnects；
The security module being connected respectively with the key switch and the industrial personal computer, for receiving the alarm letter
Number, and when receiving the shielded signal in default delay time, the contactor is not controlled to disconnect.
Preferably, the default delay time is 100ms.
Preferably, which further includes：
The alarm module being connected with the security module, for being sent out when the security module controls the contactor to disconnect
Go out alarm signal.
Preferably, the alarm module is display.
Preferably, the alarm module is audible alarm unit.
Preferably, the alarm module includes display and audible alarm unit.
Preferably, the audible alarm unit is buzzer.
In order to solve the above technical problems, the present invention also provides a kind of robot, including robot mode as described above
Switching alarm circuit.
In order to solve the above technical problems, the present invention also provides a kind of robot mode switching alarm method, including：
First internal programmable logic controller PLC circuit receive key switch from auto state switch to manual mode when
The alarm signal of generation and the alarm signal that the alarm signal is converted to communication card identification, and by transformed alarm signal
It is sent to the communication card；
The communication card receives the transformed alarm signal, and the transformed alarm signal is reconverted into setting
The alarm data that robot control software RCS in industrial personal computer can be identified, and the alarm data is passed through into the industry control
Machine is sent to the RCS；
The RCS sends a control signal to the second internal PLC circuit after receiving the alarm data, while also sends screen
Signal is covered to security module；
The second internal PLC circuit receives the control signal, and is disconnected according to the control signal control contactor；
The security module receives the alarm signal, and when receiving the shielded signal in default delay time,
The contactor is not controlled to disconnect.
Preferably, the default delay time is 100ms.
Preferably, which includes：
When the security module controls the contactor to disconnect, alarm signal is sent.
Preferably, the alarm signal is image alarm signal.
Preferably, the alarm signal is audible ringing signal.
Preferably, the alarm signal includes image alarm signal and audible ringing signal.
The present invention provides a kind of robot mode switching alarm circuit, method and robot, including straight with key switch
The the first internal PLC circuit connect in succession, for receiving the alarm generated when key switch switches to manual mode from auto state letter
Number and be sent to communication card after alarm signal is converted；Respectively with the first internal PLC circuit and be provided with RCS industrial personal computer connect
The communication card connect, for being sent to RCS by industrial personal computer after transformed alarm signal is converted into alarm data；RCS is used for
The second internal PLC circuit is sent a control signal to after receiving alarm data, also sends shielded signal to security module；With industry control
Second internal PLC circuit of machine connection, for receiving and being disconnected according to control signal control contactor；Respectively with key switch and
The security module of industrial personal computer connection, for receiving alarm signal respectively and also receiving shielded signal in default delay time
When, control contactor does not disconnect.
As it can be seen that key switch is directly accessed the first internal PLC circuit by the present invention, RCS namely key switch are then reported
The signal of switching is that the first internal PLC circuit is directly accessed by way of hardwire, therefore it can meet and is pressed according to enabled
The alarm signal control RCS that key generates when switching to manual mode from auto state performs the action of disconnecting tentaculum, while can keep away again
Exempt from due to being alerted caused by communication delay blockage problem by mistake between HMI and RCS, and then the situation for restarting robot system is avoided to go out
It is existing.On the one hand, the time is saved, on the other hand, machine human reriability is improved, extends the service life of robot, carry
High customer experience.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the common alarming processing flow chart of a kind of robot that the prior art provides；
Fig. 2 is that a kind of robot that the prior art provides enables button alarming processing flow chart；
Fig. 3 is a kind of structure diagram of robot mode switching alarm circuit provided by the invention；
Fig. 4 is a kind of flow chart of the process of robot mode switching alarm method provided by the invention.
Specific embodiment
The core of the present invention is to provide a kind of robot mode switching alarm circuit, on the one hand, saves time, the opposing party
Face improves machine human reriability, extends the service life of robot, improves customer experience；Another core of the present invention
The heart is to provide a kind of robot for including above-mentioned robot mode switching alarm circuit；Another core of the present invention is to provide one kind
Robot mode switching alarm method.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work belong to the scope of protection of the invention.
Fig. 3 is refer to, Fig. 3 is a kind of structure diagram of robot mode switching alarm circuit provided by the invention, should
Warning circuit includes：
The first internal programmable logic controller PLC circuit 1 being directly connected to key switch, for receiving key switch
Alarm signal is simultaneously converted to the alarm that communication card 2 identifies and believed by the alarm signal that is generated when switching to manual mode from auto state
Number, and transformed alarm signal is sent to communication card 2；
Firstly the need of explanation, the enabled button in teaching machine includes three gears, and the first gear, which is not pressed, to be powered off,
It is to power on that second gear, which is pressed, third gear by being powered off on earth, wherein, the default conditions for enabling button are the first gear.Separately
Outside, if enabled button here in be when pressing or by state on earth need the hand of user always according to, if
User unclamps, then enabling button can bounce, and become non-down state namely the first gear.
The first gear of the enabled button in teaching machine and third gear are generally defined as warning information in the prior art,
Power down process must be done.
It should be noted that key switch, in auto state, it is inoperative to enable button at this time, is given tacit consent to first
Gear, only when key switch is in manual mode, enabled button just works, and require to enable button in power-up state namely
Second gear, that is to say, that need user in the prior art while key switch state is switched to manual shape from auto state
State, while pinning enabled button, process is more complicated and very not humane, and in practical applications, many users often do not pin
Enabled button, is directly switched to manual mode, due to enabling button in auto state before by key switch from auto state
Acquiescence can cause warning circuit to think to be alerted, can start the function of carrying out safety backup in the first gear, now direct switching.
Specifically, the signal that key switch switches is directly to be accessed by way of hardwire inside first by the application
PLC circuit 1, when enabled button does not press (enabled button is in the first gear or third gear), the first internal PLC circuit
1 can be handled key switch status signal at this time as alarm signal, and alarm signal is converted to communication card 2 can know
Then transformed alarm signal is sent to communication card 2 by other alarm signal again.
In addition, the application is not done especially for the particular circuit configurations of 1 second internal PLC circuit 4 of the first internal PLC circuit
Restriction, can achieve the object of the present invention.
Respectively with the first internal PLC circuit 1 and being provided with the communication that the industrial personal computer of robot control software RCS 3 is connected
Transformed alarm signal for receiving transformed alarm signal, is reconverted into the alarm number that RCS 3 can identify by card 2
According to, and alarm data is sent to RCS 3 by industrial personal computer；
RCS 3 can convert alarm signal after alarm signal is received, and be converted into the alarm that RCS 3 can be identified
Data, so that follow-up RCS 3 can smoothly read alarm data.
RCS 3 is used to send a control signal to the second internal PLC circuit 4 after receiving alarm data, while also sends screen
Signal is covered to security module 4；
RCS 3 is to carry out signal transmission by communication card 2 and external circuit, and therefore, the first internal PLC circuit 1 will accuse
After alert signal conversion is sent to communication card 2, communication card 2 can convert transformed alarm signal again, be converted into alarm number
RCS 3 is resent to after.RCS 3 can send a control signal to the second internal PLC after transformed alarm data is received
Circuit 4, meanwhile, shielded signal is also sent to security module 4.
The second internal PLC circuit 4 being connected with industrial personal computer for receiving control signal, and connects according to control signal control
Tentaculum disconnects；
The security module 4 being connected respectively with key switch and industrial personal computer, for receiving alarm signal, and in default delay
In when receiving shielded signal, control contactor does not disconnect.It is understood that because security module 4 receives alarm letter
Number start, then 4 meeting of security module is transferred to there are one basic delay (much smaller than in the prior art to shielded signal from RCS 3
Communication network delay, and the delay is fixed), and in order to avoid occurring because the reasons such as 3 software faults of RCS cause RCS
3 situations that can not send control signal to the first internal PLC circuit 1 (then can not also send shielded signal at this time) occur, safety
Module 4 can judge whether have received shielded signal in default delay time after alarm signal is received, if it is, not
Control contactor disconnects, and otherwise, control contactor disconnects.
In addition, it is necessary to explanation, if security module 4 is not received by alarm signal in default delay time,
It can control contactor disconnect, behind if it is intended to work on, can only power-off restarting.Based on this, the key in the application is opened
The signal that concern is changed is that the first internal PLC circuit is directly accessed by way of hardwire, therefore it can meet according to enabled
Alarm signal that button generates when switching to manual mode from auto state control RCS performs the action of disconnecting tentaculum, while again can be with
It avoids due to being alerted caused by communication delay blockage problem by mistake between HMI and RCS, and then avoids restarting the situation of robot system
Occur.
Preferably, it is 100ms to preset delay time.
It is understood that the present invention fully takes into account security module 4 and receives alarm by setting default delay time
Signal starts, then to shielded signal from RCS 3 be transferred to security module 4 when existing basic delay, improve warning circuit
Reliability.
In addition, the data processing speed of the circuit structure of default delay time here and warning circuit, RCS 3 are related,
Certainly, default delay time here can also be other specific times, and the present invention is not particularly limited herein, according to reality
Situation is determined.
Preferably, which further includes：
The alarm module being connected with security module 4, for sending alarm signal when 4 control contactor of security module disconnects
Number.
When 4 control contactor of security module disconnects, alarm module also sends alarm signal, and user's timely processing is facilitated to ask
Topic improves the security performance of warning circuit.
Preferably, alarm module is display.
Preferably, alarm module is audible alarm unit.
Specifically, alarm module here can be display or audible alarm unit, when alarm module is display
When, the viewing of user can be facilitated, when alarm module be audible alarm unit when so that even if user do not look at screen also can and
Alarm has occurred in Shi Zhidao warning circuits, and user is facilitated to solve a problem promptly.
Preferably, alarm module includes display and audible alarm unit.
When alarm module includes display and audible alarm unit, dual alarm is capable of providing, and is mutually redundant, even if
One failure, another can also be worked normally, and improve the security performance and reliability of warning circuit.
Certainly, alarm module here can also be the alarm of other concrete types, and the present invention does not do special herein
It limits.
Preferably, audible alarm unit is buzzer.
Specifically, buzzer has the advantages that at low cost, sound frequency is controllable, and certainly, audible alarm unit here is also
Can be other kinds of audible alarm unit, the present invention is not particularly limited herein.
The present invention provides a kind of robot mode switching alarm circuit, including be directly connected to key switch first in
Portion's PLC circuit, for receiving the alarm signal that is generated when key switch switches to manual mode from auto state and by alarm signal
Communication card is sent to after conversion；Respectively with the first internal PLC circuit and being provided with the communication card that the industrial personal computer of RCS is connected, use
In transformed alarm signal is converted into be sent to RCS by industrial personal computer after alarm data；RCS is used to receive alarm data
After send a control signal to the second internal PLC circuit, also send shielded signal to security module；In second be connected with industrial personal computer
Portion's PLC circuit, for receiving and being disconnected according to control signal control contactor；The peace being connected respectively with key switch and industrial personal computer
Full module, for receiving alarm signal respectively and when also receiving shielded signal in default delay time, not control contactor
It disconnects.
As it can be seen that key switch is directly accessed the first internal PLC circuit by the present invention, RCS namely key switch are then reported
The signal of switching is that the first internal PLC circuit is directly accessed by way of hardwire, therefore it can meet and is pressed according to enabled
The alarm signal control RCS that key generates when switching to manual mode from auto state performs the action of disconnecting tentaculum, while can keep away again
Exempt from due to being alerted caused by communication delay blockage problem by mistake between HMI and RCS, and then the situation for restarting robot system is avoided to go out
It is existing.On the one hand, the time is saved, on the other hand, machine human reriability is improved, extends the service life of robot, carry
High customer experience.
In order to solve the above technical problems, the present invention also provides a kind of robot, including robot mode switching as above
Warning circuit.
Above-mentioned alarm is refer to for the introduction of the robot mode switching alarm circuit in robot provided by the invention
Circuit embodiments, details are not described herein by the present invention.
Fig. 4 is refer to, Fig. 4 is a kind of flow chart of the process of robot mode switching alarm method provided by the invention,
This method includes：
Step S11：First internal programmable logic controller PLC circuit receives key switch and switches to hand from auto state
Alarm signal is simultaneously converted to the alarm signal of communication card identification by the alarm signal that is generated during dynamic state, and by transformed alarm
Signal is sent to communication card；
Step S12：Communication card receives transformed alarm signal, and transformed alarm signal is reconverted into and is arranged at work
The alarm data that robot control software RCS in control machine can be identified, and alarm data is sent to RCS by industrial personal computer；
Step S13：RCS sends a control signal to the second internal PLC circuit after receiving alarm data, while also sends screen
Signal is covered to security module；
Step S14：Second internal PLC circuit receives control signal, and is disconnected according to control signal control contactor；
Step S15：Security module receives alarm signal, and when receiving shielded signal in default delay time, does not control
Contactor processed disconnects.
Preferably, it is 100ms to preset delay time.
Preferably, which includes：
When security module control contactor disconnects, alarm signal is sent.
Preferably, alarm signal is image alarm signal.
Preferably, alarm signal is audible ringing signal.
Preferably, alarm signal includes image alarm signal and audible ringing signal.
Above-mentioned warning circuit embodiment is refer to for robot mode switching alarm method introduction provided by the invention, this
Details are not described herein for invention.
It should be noted that in the present specification, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or set
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (14)
1. a kind of robot mode switching alarm circuit, which is characterized in that including：
The first internal programmable logic controller PLC circuit being directly connected to key switch, for receiving the key switch
The alarm signal that is generated when switching to manual mode from auto state and the announcement that the alarm signal is converted to communication card identification
Alert signal, and transformed alarm signal is sent to the communication card；
Respectively with the first internal PLC circuit and be provided with the industrial personal computer of robot control software RCS be connected it is described logical
Letter card, for receiving the transformed alarm signal, the transformed alarm signal is reconverted into the RCS to know
Other alarm data, and the alarm data is sent to the RCS by the industrial personal computer；
The RCS is used to send a control signal to the second internal PLC circuit after receiving the alarm data, while also sends screen
Signal is covered to security module；
The the second internal PLC circuit being connected with the industrial personal computer, for receiving the control signal, and according to the control
Signal control contactor disconnects；
The security module being connected respectively with the key switch and the industrial personal computer, for receiving the alarm signal, and
When receiving the shielded signal in default delay time, the contactor is not controlled to disconnect.
2. warning circuit as described in claim 1, which is characterized in that the default delay time is 100ms.
3. warning circuit as described in claim 1, which is characterized in that the warning circuit further includes：
The alarm module being connected with the security module, for sending report when the security module controls the contactor to disconnect
Alert signal.
4. warning circuit as claimed in claim 3, which is characterized in that the alarm module is display.
5. warning circuit as claimed in claim 3, which is characterized in that the alarm module is audible alarm unit.
6. warning circuit as claimed in claim 3, which is characterized in that the alarm module includes display and audible alarm fills
It puts.
7. such as warning circuit described in claim 5 or 6, which is characterized in that the audible alarm unit is buzzer.
8. a kind of robot, which is characterized in that including such as claim 1-7 any one of them robot mode switching alarm electricity
Road.
A kind of 9. robot mode switching alarm method, which is characterized in that including：
First internal programmable logic controller PLC circuit is received when key switch switches to manual mode from auto state and generated
Alarm signal and the alarm signal is converted to the alarm signal of communication card identification, and transformed alarm signal is transmitted
To the communication card；
The communication card receives the transformed alarm signal, and the transformed alarm signal is reconverted into and is arranged at work
The alarm data that robot control software RCS in control machine can be identified, and the alarm data is sent out by the industrial personal computer
It send to the RCS；
The RCS sends a control signal to the second internal PLC circuit after receiving the alarm data, while also sends shielding letter
Number to security module；
The second internal PLC circuit receives the control signal, and is disconnected according to the control signal control contactor；
The security module receives the alarm signal, and when receiving the shielded signal in default delay time, does not control
The contactor is made to disconnect.
10. alarm method as claimed in claim 9, which is characterized in that the default delay time is 100ms.
11. alarm method as claimed in claim 9, which is characterized in that the alarm method includes：
When the security module controls the contactor to disconnect, alarm signal is sent.
12. alarm method as claimed in claim 11, which is characterized in that the alarm signal is image alarm signal.
13. alarm method as claimed in claim 11, which is characterized in that the alarm signal is audible ringing signal.
14. alarm method as claimed in claim 11, which is characterized in that the alarm signal includes image alarm signal harmony
Sound alarm signal.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/113916 WO2018120209A1 (en) | 2016-12-30 | 2016-12-30 | Mode switching warning circuit and method for robot, and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108064359A true CN108064359A (en) | 2018-05-22 |
| CN108064359B CN108064359B (en) | 2020-06-02 |
Family
ID=62137044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680038486.5A Active CN108064359B (en) | 2016-12-30 | 2016-12-30 | Robot mode switching alarm circuit and method and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108064359B (en) |
| WO (1) | WO2018120209A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110299001A (en) * | 2019-06-15 | 2019-10-01 | 山东辰智电子科技有限公司 | A kind of data communication safety circuit module for measuring instrument |
| CN110609500A (en) * | 2019-09-23 | 2019-12-24 | 四川长虹电器股份有限公司 | Displacement sensor alarm state control system and method based on cloud |
| CN113799176A (en) * | 2020-06-15 | 2021-12-17 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
| CN113799117A (en) * | 2020-06-15 | 2021-12-17 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7243326B2 (en) * | 2019-03-15 | 2023-03-22 | オムロン株式会社 | controller system |
| 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 |
| CN114137289A (en) * | 2021-11-25 | 2022-03-04 | 广东电网有限责任公司广州供电局 | Safety alarm device |
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| CN113799176A (en) * | 2020-06-15 | 2021-12-17 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
| CN113799117A (en) * | 2020-06-15 | 2021-12-17 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
| CN113799176B (en) * | 2020-06-15 | 2023-03-28 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018120209A1 (en) | 2018-07-05 |
| CN108064359B (en) | 2020-06-02 |
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