CN108064359B - Robot mode switching alarm circuit and method and robot - Google Patents
Robot mode switching alarm circuit and method and robot Download PDFInfo
- Publication number
- CN108064359B CN108064359B CN201680038486.5A CN201680038486A CN108064359B CN 108064359 B CN108064359 B CN 108064359B CN 201680038486 A CN201680038486 A CN 201680038486A CN 108064359 B CN108064359 B CN 108064359B
- Authority
- CN
- China
- Prior art keywords
- alarm
- signal
- robot
- circuit
- receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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 robot mode switching alarm circuit, a method and a robot can save time, improve the reliability of the robot, prolong the service life of the robot and improve customer experience. The robot mode switching warning circuit includes: the first internal PLC circuit (1) is directly connected with the key switch and is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal and transmitting the converted alarm signal to the communication card (2); the communication card (2) is used for converting the converted alarm signal into alarm data and then sending the alarm data to the robot control software RCS (3) through the industrial personal computer; the RCS (3) is used for sending a control signal to the second internal PLC circuit (4) after receiving the alarm data and sending a shielding signal to the safety module (5); the second internal PLC circuit (4) is connected with the industrial personal computer and is used for receiving and controlling the contactor to be disconnected according to the control signal; and the safety module (5) is respectively connected with the key switch and the industrial personal computer and is used for receiving the alarm signal and not controlling the contactor to be switched off when receiving the shielding signal within the preset delay time.
Description
Technical Field
The invention relates to the technical field of robot alarm, in particular to a robot mode switching alarm circuit, a method and a robot.
Background
An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device oriented to the industrial field, and is composed of a robot body, a demonstrator and a control cabinet, wherein the control cabinet comprises an industrial control computer (RCS) provided with Robot Control Software (RCS), the industrial robot can automatically execute work, and the multi-joint manipulator or multi-degree-of-freedom machine device is a machine which realizes various functions by means of self power and control capability. Because it is often cooperated with human in industrial application (such as teaching process), it is required to have high reliability and safety in order to ensure the safety of the operator and avoid casualties.
Most industrial robots in the market at present have a safety backup function, that is, when a dangerous condition occurs, two processing operations are carried out, and the two processing operations are both used for disconnecting a contactor (namely, turning off a power supply of the robot). The two ways are currently implemented as follows: in the first path, the upper computer software executes the power-off operation, the process is an alarm, the RCS is informed, the RCS signals to an internal Programmable Logic Controller (PLC) circuit, and then the contactor is disconnected. And the second path, the hardware circuit of the safety module realizes the operation of the breaking contactor, the process is alarm, the safety module is informed, and then the breaking contactor is opened. The safety backup is that when there is an alarm, if the first path cannot normally execute (probably due to software bug or other reasons) the operation of the breaking contactor, the second path is executed to perform the action of breaking the contactor. The specific processing flow is shown in fig. 1, and the RCS is notified of the alarm, and then sends a signal to the internal PLC circuit, and then disconnects the contactor, and at the same time, after the RCS detects the alarm, sends a shielding signal (delay time 100ms) to the security module, and informs the security module that the alarm is not to be processed, and the RCS can execute the power-off operation. Only when the RCS cannot transmit the shield signal to the security module within 100ms, the action of the disconnection contactor is performed by the security module and an alarm is given, thus realizing a secure backup.
However, this method has a problem in that, in order to ensure safety when the industrial robot is manually operated, the first gear and the third gear of the enable button in the demonstrator (the enable button has three gears, the first gear is not pressed and is powered off, the second gear is pressed and is powered on, the third gear is pressed and is powered off, and the default state is the first gear) are generally defined as alarm information, and power-off processing is necessary. When the key switch is in an automatic state, the enabling key is not active, the first gear is defaulted, and the enabling key is only active when the key switch is in a manual state. Therefore, when the key switch state is switched from the automatic state to the manual state, because the enable key is defaulted to be in the first gear at the moment, the alarm is considered to be generated at the moment, and the safety backup function can be started, if the RCS cannot send the shielding signal to the safety module within 100ms according to the delay processing flow, the safety module can alarm and disconnect the contactor after 100ms, and then the power-off restarting is needed. Therefore, the RCS must perform special handling of this situation, and if it detects that the key switch state is switched from automatic to manual, it alarms this, signaling the internal PLC circuit to perform the disconnector, while it always sends a screening signal to the security module to make it no longer disconnect the contactor at that time. As shown in fig. 2, when a user uses a key switch on a teach pendant to switch the teach pendant from an automatic state to a manual state, hardware of the teach pendant detects an alarm signal and transmits the alarm signal to a Human Machine Interface (HMI), the HMI transmits the alarm signal to an RCS, and the RCS transmits a shielding signal to a security module, so that the security module is not in contact with a contactor. However, since the HMI and the RCS communicate with each other via the network, they do not communicate in real time, i.e., the time of communication is not determined, if the information transmission time between the HMI and the RCS exceeds 100ms, the RCS cannot timely send the shielding signal to the security module, the security module can alarm, and if the communication time between the HMI and the RCS is long (the jam time is uncertain), the masking signal cannot be issued all the time, the security module considers that there is an alarm all the time, so that the alarm cannot be cleared, because the communication jam time is uncertain, the user often has to power off and restart the robot system, on one hand, the time is wasted, on the other hand, in the actual use process, the probability of occurrence of automatic switching to manual state is high, customer experience is seriously influenced, a user is in doubt of the reliability of the robot, and the service life of the robot is shortened by restarting for many times.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a robot mode switching alarm circuit, which saves time on one hand, improves the reliability of the robot on the other hand, prolongs the service life of the robot and improves the customer experience; another object of the present invention is to provide a robot comprising the above robot mode switching alarm circuit; the invention also aims to provide a robot mode switching warning method.
In order to solve the above technical problem, the present invention provides a robot mode switching alarm circuit, including:
the first internal programmable logic controller PLC circuit is directly connected with the key switch and is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal into an alarm signal identified by a communication card and transmitting the converted alarm signal to the communication card;
the communication card is respectively connected with the first internal PLC circuit and an industrial personal computer provided with a robot control software RCS and is used for receiving the converted alarm signal, converting the converted alarm signal into alarm data which can be identified by the RCS and sending the alarm data to the RCS through the industrial personal computer;
the RCS is used for sending a control signal to a second internal PLC circuit after receiving the alarm data and sending a shielding signal to the safety module;
the second internal PLC circuit is connected with the industrial personal computer and is used for receiving the control signal and controlling the contactor to be disconnected according to the control signal;
the safety module is connected with the key switch and the industrial personal computer respectively and used for receiving the alarm signal and not controlling the contactor to be disconnected when receiving the shielding signal within the preset delay time.
Preferably, the preset delay time is 100 ms.
Preferably, the alert circuit further comprises:
and the alarm module is connected with the safety module and used for sending out an alarm signal when the safety module controls the contactor to be disconnected.
Preferably, the alarm module is a display.
Preferably, the alarm module is an audible alarm device.
Preferably, the alarm module comprises a display and an audible alarm device.
Preferably, the sound alarm device is a buzzer.
In order to solve the technical problem, the invention also provides a robot, which comprises the robot mode switching alarm circuit.
In order to solve the technical problem, the invention also provides a robot mode switching warning method, which comprises the following steps:
the first internal programmable logic controller PLC circuit receives an alarm signal generated when the key switch is switched from an automatic state to a manual state, converts the alarm signal into an alarm signal identified by the communication card, and transmits the converted alarm signal to the communication card;
the communication card receives the converted alarm signal, converts the converted alarm signal into alarm data which can be identified by robot control software RCS arranged in an industrial personal computer, and sends the alarm data to the RCS through the industrial personal computer;
the RCS sends a control signal to a second internal PLC circuit after receiving the alarm data, and simultaneously sends a shielding signal to a safety module;
the second internal PLC circuit receives the control signal and controls the contactor to be disconnected according to the control signal;
and the safety module receives the alarm signal and does not control the contactor to be switched off when receiving the shielding signal within preset delay time.
Preferably, the preset delay time is 100 ms.
Preferably, the warning method includes:
and when the safety module controls the contactor to be disconnected, an alarm signal is sent out.
Preferably, the alarm signal is an image alarm signal.
Preferably, the alarm signal is an audible alarm signal.
Preferably, the alarm signal includes an image alarm signal and an audible alarm signal.
The invention provides a robot mode switching alarm circuit, a method and a robot, comprising a first internal PLC circuit which is directly connected with a key switch and is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal and transmitting the converted alarm signal to a communication card; the communication card is respectively connected with the first internal PLC circuit and the industrial personal computer provided with the RCS and is used for converting the converted alarm signal into alarm data and then sending the alarm data to the RCS through the industrial personal computer; the RCS is used for sending a control signal to the second internal PLC circuit after receiving the alarm data and sending a shielding signal to the safety module; the second internal PLC circuit is connected with the industrial personal computer and is used for receiving and controlling the contactor to be disconnected according to the control signal; and the safety modules are respectively connected with the key switch and the industrial personal computer and are used for respectively receiving the alarm signal and not controlling the contactor to be switched off when the shielding signal is received within the preset delay time.
Therefore, the key switch is directly connected to the first internal PLC circuit and then reports to the RCS, namely, a signal switched by the key switch is directly connected to the first internal PLC circuit in a hard-wired mode, so that the key switch can control the RCS to execute the action of the contact breaking and breaking device according to an alarm signal generated when the enable key is switched from an automatic state to a manual state, and meanwhile, the false alarm caused by the problem of communication delay blockage between the HMI and the RCS can be avoided, and the condition of restarting the robot system is avoided. On the one hand, time is saved, and on the other hand, the reliability of the robot is improved, the service life of the robot is prolonged, and the customer experience is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart illustrating a general alarm processing procedure of a robot according to the prior art;
FIG. 2 is a flow chart illustrating a process for handling robot-enabled key alarms according to the prior art;
fig. 3 is a schematic structural diagram of a robot mode switching alarm circuit according to the present invention;
fig. 4 is a flowchart of a process of a robot mode switching alarm method according to the present invention.
Detailed Description
The core of the invention is to provide a robot mode switching alarm circuit, which saves time on one hand, improves the reliability of the robot on the other hand, prolongs the service life of the robot and improves the customer experience; another core of the invention is to provide a robot comprising the robot mode switching alarm circuit; the other core of the invention is to provide a robot mode switching alarm method.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot mode switching alarm circuit provided in the present invention, the alarm circuit includes:
the first internal programmable logic controller PLC circuit 1 is directly connected with the key switch and is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal into an alarm signal identified by the communication card 2 and transmitting the converted alarm signal to the communication card 2;
it should be noted that the enable key in the demonstrator includes three gears, the first gear is powered off when not pressed, the second gear is powered on when pressed, and the third gear is powered off when pressed, wherein the default state of the enable key is the first gear. In addition, if the enable key is in a pressed or bottom-pressed state, the user is required to press the enable key all the time, and if the user releases the enable key, the enable key can be bounced, and the enable key is in a non-pressed state, namely the first gear.
In the prior art, a first gear and a third gear of an enabling key in a demonstrator are generally defined as alarm information, and power-off processing is required.
It should be noted that, when the key switch is in the automatic state, the enable key is not functional at this time, and is defaulted to the first gear, only when the key switch is in the manual state, the enable key is functional, and the enable key is required to be in the power-on state, i.e., the second gear, that is, in the prior art, a user is required to switch the key switch state from the automatic state to the manual state while pressing the enable key, which is a complicated and highly non-humanized process.
Specifically, the signal for switching the key switch is directly connected to the first internal PLC circuit 1 in a hard-wired manner, and when the enable key is not pressed (the enable key is in the first gear or the third gear), the first internal PLC circuit 1 processes the key switch state signal as an alarm signal, converts the alarm signal into an alarm signal that can be identified by the communication card 2, and then transmits the converted alarm signal to the communication card 2.
In the present invention, the specific circuit configuration of the first internal PLC circuit 1 and the second internal PLC circuit 4 is not particularly limited, and the object of the present invention can be achieved.
The communication card 2 is respectively connected with the first internal PLC circuit 1 and an industrial personal computer provided with robot control software RCS3 and is used for receiving the converted alarm signal, converting the converted alarm signal into alarm data which can be identified by the RCS3 and sending the alarm data to the RCS3 through the industrial personal computer;
the RCS3 converts the alarm signal after receiving the alarm signal into alarm data which can be identified by the RCS3, so that the RCS3 can read the alarm data smoothly.
The RCS3 is used for sending a control signal to the second internal PLC circuit 4 after receiving the alarm data and sending a shielding signal to the safety module 4 at the same time;
the RCS3 performs signal transmission with the external circuit through the communication card 2, and therefore, after the first internal PLC circuit 1 converts and transmits the alarm signal to the communication card 2, the communication card 2 converts the converted alarm signal again, converts the converted alarm signal into alarm data, and transmits the alarm data to the RCS 3. The RCS3, after receiving the converted alarm data, sends a control signal to the second internal PLC circuit 4, and also sends a shielding signal to the security module 4.
The second internal PLC circuit 4 is connected with the industrial personal computer and is used for receiving the control signal and controlling the contactor to be disconnected according to the control signal;
and the safety module 4 is respectively connected with the key switch and the industrial personal computer and is used for receiving the alarm signal and not controlling the contactor to be switched off when receiving the shielding signal within the preset delay time. It can be understood that, since the security module 4 starts receiving the alarm signal and then there is a basic delay (which is much smaller than the communication network delay in the prior art and is fixed) before the shielding signal is transmitted from the RCS3 to the security module 4, and in order to avoid the situation that the RCS3 cannot send the control signal to the first internal PLC circuit 1 (and then cannot send the shielding signal) due to the software failure of the RCS3, etc., the security module 4 will determine whether the shielding signal is received within the preset delay time after receiving the alarm signal, if so, the contactor is not controlled to be turned off, otherwise, the contactor is controlled to be turned off.
In addition, it should be noted that if the safety module 4 does not receive the alarm signal within the preset delay time, it will control the contactor to be turned off, and later, if it wants to continue working, it can only be restarted after power failure. Based on this, the signal that the key switch in this application switched is direct to access into first inside PLC circuit through the mode of hard-wiring, so it can satisfy and can satisfy the warning signal control RCS that produces when enabling the button to switch from automatic state to manual state and carry out the action of breaking the contactor, can avoid simultaneously again because the communication delays between HMI and the RCS blocks up the mistake warning that the problem caused, and then avoids restarting the condition appearance of robot system.
Preferably, the preset delay time is 100 ms.
It can be understood that the invention fully considers the basic delay existing when the security module 4 receives the alarm signal and then the shielding signal is transmitted from the RCS3 to the security module 4 by setting the preset delay time, thereby improving the reliability of the alarm circuit.
In addition, the preset delay time is related to the circuit structure of the alarm circuit and the data processing speed of the RCS3, and of course, the preset delay time may be other specific time.
Preferably, the alarm circuit further comprises:
and the alarm module is connected with the safety module 4 and used for sending out an alarm signal when the safety module 4 controls the contactor to be disconnected.
When the safety module 4 controls the contactor to be disconnected, the alarm module also sends an alarm signal, so that a user can conveniently and timely deal with the problem, and the safety performance of the alarm circuit is improved.
Preferably, the alarm module is a display.
Preferably, the alarm module is an audible alarm device.
Specifically, the alarm module can be a display or a sound alarm device, when the alarm module is the display, the user can watch the alarm, and when the alarm module is the sound alarm device, the user can know that the alarm circuit gives an alarm even if the user does not look at the screen, so that the user can solve the problem in time.
Preferably, the alarm module comprises a display and an audible alarm device.
When the alarm module comprises a display and a sound alarm device, double alarms can be provided and are mutually redundant, even if one of the alarms fails, the other alarm can also work normally, and the safety performance and the reliability of the alarm circuit are improved.
Of course, the alarm module herein may also be other specific types of alarms, and the invention is not limited in particular herein.
Preferably, the audible alarm device is a buzzer.
Specifically, the buzzer has the advantages of low cost and controllable sound frequency, and of course, the sound alarm device may be other types of sound alarm devices, and the invention is not limited in particular herein.
The invention provides a robot mode switching alarm circuit, which comprises a first internal PLC circuit directly connected with a key switch, a communication card and a second internal PLC circuit, wherein the first internal PLC circuit is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal and transmitting the converted alarm signal to the communication card; the communication card is respectively connected with the first internal PLC circuit and the industrial personal computer provided with the RCS and is used for converting the converted alarm signal into alarm data and then sending the alarm data to the RCS through the industrial personal computer; the RCS is used for sending a control signal to the second internal PLC circuit after receiving the alarm data and sending a shielding signal to the safety module; the second internal PLC circuit is connected with the industrial personal computer and is used for receiving and controlling the contactor to be disconnected according to the control signal; and the safety modules are respectively connected with the key switch and the industrial personal computer and are used for respectively receiving the alarm signal and not controlling the contactor to be switched off when the shielding signal is received within the preset delay time.
Therefore, the key switch is directly connected to the first internal PLC circuit and then reports to the RCS, namely, a signal switched by the key switch is directly connected to the first internal PLC circuit in a hard-wired mode, so that the key switch can control the RCS to execute the action of the contact breaking and breaking device according to an alarm signal generated when the enable key is switched from an automatic state to a manual state, and meanwhile, the false alarm caused by the problem of communication delay blockage between the HMI and the RCS can be avoided, and the condition of restarting the robot system is avoided. On the one hand, time is saved, and on the other hand, the reliability of the robot is improved, the service life of the robot is prolonged, and the customer experience is improved.
In order to solve the technical problem, the invention also provides a robot, which comprises the robot mode switching alarm circuit.
For the introduction of the robot mode switching alarm circuit in the robot provided by the present invention, please refer to the above alarm circuit embodiment, and the present invention is not described herein again.
Referring to fig. 4, fig. 4 is a flowchart of a process of a robot mode switching alarm method provided by the present invention, where the method includes:
step S11: the first internal programmable logic controller PLC circuit receives an alarm signal generated when the key switch is switched from an automatic state to a manual state, converts the alarm signal into an alarm signal identified by the communication card, and transmits the converted alarm signal to the communication card;
step S12: the communication card receives the converted alarm signal, converts the converted alarm signal into alarm data which can be identified by robot control software RCS arranged in the industrial personal computer, and sends the alarm data to the RCS through the industrial personal computer;
step S13: the RCS sends a control signal to a second internal PLC circuit after receiving the alarm data, and simultaneously sends a shielding signal to the safety module;
step S14: the second internal PLC circuit receives the control signal and controls the contactor to be disconnected according to the control signal;
step S15: the safety module receives the alarm signal and does not control the contactor to be switched off when receiving the shielding signal within the preset delay time.
Preferably, the preset delay time is 100 ms.
Preferably, the warning method includes:
when the safety module controls the contactor to be disconnected, an alarm signal is sent out.
Preferably, the alarm signal is an image alarm signal.
Preferably, the alarm signal is an audible alarm signal.
Preferably, the alarm signal includes an image alarm signal and an acoustic alarm signal.
For the introduction of the robot mode switching alarm method provided by the present invention, reference is made to the above alarm circuit embodiment, and the present invention is not described herein again.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
1. A robot mode switching alarm circuit, comprising:
the first internal PLC circuit is directly connected with the key switch and is used for receiving an alarm signal generated when the key switch is switched from an automatic state to a manual state, converting the alarm signal into an alarm signal identified by a communication card and transmitting the converted alarm signal to the communication card;
the communication card is respectively connected with the first internal PLC circuit and an industrial personal computer provided with a robot control software RCS and is used for receiving the converted alarm signal, converting the converted alarm signal into alarm data which can be identified by the RCS and sending the alarm data to the RCS through the industrial personal computer;
the RCS is used for sending a control signal to a second internal PLC circuit after receiving the alarm data and sending a shielding signal to the safety module;
the second internal PLC circuit is connected with the industrial personal computer and is used for receiving the control signal and controlling the contactor to be disconnected according to the control signal;
the safety module is respectively connected with the key switch and the industrial personal computer and is used for receiving the alarm signal and not controlling the contactor to be switched off when receiving the shielding signal within a preset delay time; otherwise, controlling the breaker to open.
2. The alarm circuit of claim 1, wherein the preset delay time is 100 ms.
3. The alert circuit as recited in claim 1, wherein the alert circuit further comprises:
and the alarm module is connected with the safety module and used for sending out an alarm signal when the safety module controls the contactor to be disconnected.
4. The alarm circuit of claim 3, wherein the alarm module is a display.
5. The alarm circuit of claim 3, wherein the alarm module is an audible alarm device.
6. The alarm circuit of claim 3, wherein said alarm module comprises a display and an audible alarm device.
7. Alarm circuit according to claim 5 or 6, characterised in that said acoustic alarm means is a buzzer.
8. A robot comprising a robot mode switching warning circuit according to any of claims 1-7.
9. A robot mode switching alarm method is characterized by comprising the following steps:
directly connecting a key switch into a first internal PLC circuit;
the first internal PLC circuit receives an alarm signal generated when the key switch is switched from an automatic state to a manual state, converts the alarm signal into an alarm signal identified by a communication card, and transmits the converted alarm signal to the communication card;
the communication card receives the converted alarm signal, converts the converted alarm signal into alarm data which can be identified by robot control software RCS arranged in an industrial personal computer, and sends the alarm data to the RCS through the industrial personal computer;
the RCS sends a control signal to a second internal PLC circuit after receiving the alarm data, and simultaneously sends a shielding signal to a safety module;
the second internal PLC circuit receives the control signal and controls the contactor to be disconnected according to the control signal;
the safety module receives the alarm signal, and does not control the contactor to be switched off when receiving the shielding signal within a preset delay time; otherwise, controlling the breaker to open.
10. The alerting method of claim 9 wherein the preset delay time is 100 ms.
11. The alerting method of claim 9, wherein the alerting method comprises:
and when the safety module controls the contactor to be disconnected, an alarm signal is sent out.
12. The warning method as claimed in claim 11, wherein said warning signal is an image warning signal.
13. The warning method of claim 11 wherein said warning signal is an audible warning signal.
14. The warning method as claimed in claim 11, wherein said warning signal includes a picture warning signal and an audio warning 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 CN108064359A (en) | 2018-05-22 |
| CN108064359B true 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) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7243326B2 (en) * | 2019-03-15 | 2023-03-22 | オムロン株式会社 | controller system |
| 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 |
| CN110609500B (en) * | 2019-09-23 | 2022-02-22 | 四川长虹电器股份有限公司 | Displacement sensor alarm state control system and method based on cloud |
| 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 |
| 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 |
| 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 |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5363207A (en) * | 1990-10-19 | 1994-11-08 | Nippon Conlux Co., Ltd. | Adaptor device for a facsimile |
| CN201726115U (en) * | 2010-06-18 | 2011-01-26 | 王建军 | Voltage fluctuation delay protective device of contactor |
| CN102707637A (en) * | 2012-05-09 | 2012-10-03 | 固高科技(深圳)有限公司 | Robot handheld teaching device |
| CN104777805A (en) * | 2015-02-11 | 2015-07-15 | 北京配天技术有限公司 | Industrial robot safety control system as well as backup safety circuit and safety module |
| CN105150189A (en) * | 2015-06-19 | 2015-12-16 | 北京云迹科技有限公司 | Wheel type robot drive mode seamless switching method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59218502A (en) * | 1983-03-15 | 1984-12-08 | Toyota Motor Corp | Safety device for industrial robot |
| CN202735763U (en) * | 2012-08-01 | 2013-02-13 | Abb技术有限公司 | Robot motion control safety system used for robot |
| CN103955160A (en) * | 2014-05-08 | 2014-07-30 | 安徽埃夫特智能装备有限公司 | Safety protection module for industrial robot |
| CN104678859B (en) * | 2015-02-11 | 2017-09-26 | 北京配天技术有限公司 | Industrial robot teaching device and its emergency triggering method |
-
2016
- 2016-12-30 WO PCT/CN2016/113916 patent/WO2018120209A1/en active Application Filing
- 2016-12-30 CN CN201680038486.5A patent/CN108064359B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5363207A (en) * | 1990-10-19 | 1994-11-08 | Nippon Conlux Co., Ltd. | Adaptor device for a facsimile |
| CN201726115U (en) * | 2010-06-18 | 2011-01-26 | 王建军 | Voltage fluctuation delay protective device of contactor |
| CN102707637A (en) * | 2012-05-09 | 2012-10-03 | 固高科技(深圳)有限公司 | Robot handheld teaching device |
| CN104777805A (en) * | 2015-02-11 | 2015-07-15 | 北京配天技术有限公司 | Industrial robot safety control system as well as backup safety circuit and safety module |
| CN105150189A (en) * | 2015-06-19 | 2015-12-16 | 北京云迹科技有限公司 | Wheel type robot drive mode seamless switching method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018120209A1 (en) | 2018-07-05 |
| CN108064359A (en) | 2018-05-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108064359B (en) | Robot mode switching alarm circuit and method and robot | |
| CN109445981B (en) | Computer running state monitoring device | |
| CN104932653A (en) | Computer startup management control system | |
| CN105527850A (en) | Power-cut reminding method and device | |
| WO2006126297A1 (en) | Control device, mobile terminal device, and program | |
| CN103226458A (en) | Multi-screen display control method for intelligent mobile equipment | |
| US20080123656A1 (en) | Network device and method for synchronously transmitting data employed by the same | |
| JP2004362543A (en) | Safety power disconnection system and its method | |
| US20130054676A1 (en) | Computer network based hazardous condition monitoring system and server | |
| KR0164411B1 (en) | Alarm processing method and device to maintain remote safety supervision system | |
| US10139891B2 (en) | Systems and methods of power-safe control panel installation | |
| CN110554935A (en) | Facility monitoring system and communication method in facility monitoring system | |
| JP7363442B2 (en) | Power line transport control system | |
| CN204613649U (en) | A kind of intelligent control management equipment | |
| KR101434596B1 (en) | System for monitoring building alarm using opc and modbus protocol | |
| JP4348161B2 (en) | Fire receiver | |
| CN105607980B (en) | User device responsive abnormality eliminating method and device | |
| WO2019056196A1 (en) | Detection device and portable electronic device having same | |
| CN201041693Y (en) | Digital home collection and control device | |
| CN101271611A (en) | Warning system based on smog alarm | |
| JP2006339955A (en) | LOCAL xDLS MODEM COMPATIBLE REBOOTING SYSTEM | |
| CN202632495U (en) | Communication interface-free alarm apparatus with DCS communication function | |
| JPH0991574A (en) | Line disconnecting device for terminal device | |
| JPH0723128A (en) | Guard terminal equipment | |
| CN111243232A (en) | Alarm device, alarm system and alarm method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |