CN108724223A - Robot controller - Google Patents
Robot controller Download PDFInfo
- Publication number
- CN108724223A CN108724223A CN201710647033.9A CN201710647033A CN108724223A CN 108724223 A CN108724223 A CN 108724223A CN 201710647033 A CN201710647033 A CN 201710647033A CN 108724223 A CN108724223 A CN 108724223A
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- Prior art keywords
- control signal
- robot
- robot controller
- control
- switch
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of robot controller.The robot controller of an embodiment according to the present invention, including：Robot controller connect and controls the action of the robot of the connection with robot；And teaching machine, it is connect with the robot controller, the control signal for the action for controlling the robot is generated according to the operation of user, transmitted to the robot controller, also, the robot controller, including：Control unit handles the 1st control signal unrelated with safety inputted from the teaching machine, exports control instruction；Safety PLC (Programmable Logic Control) is handled for being inputted from the teaching machine with the 2nd security-related control signal, output safety signal by soft wired logic；And safe unit, what is inputted for the safety signal that is inputted from the safety PLC or from the teaching machine by firmware hardwired logic is handled with the 3rd security-related control signal, the emergent stopping instruction of the output emergent stopping of the robot in order to control.
Description
Technical field
The present invention relates to robots to control skill and technique, in particular, being related to a kind of machine of mixed firmware hardwired logic and soft wired logic
Device people control device (APPARATUS FOR CONTROLLING ROBOT).
Background technology
In general, operating machinery or industrial robot etc. by motor-driven machinery, according to safety countermeasure etc.
Invite, by pressure control device emergency stop button or send out alarm, emergency stops robot.
Previous control device is using in order to jointly realize that sequence uses work hardwired (hard wired)
Mode is then unable to control without welding or wiring or pipeline arrangement.
It is it to be visually easy very much the image device confirmed really by the advantages of Mechanical course of hardwired fashion,
But the shortcomings that being difficult to change modification program when also having higher manufacturing cost, change configuration.
In order to solve the problems, such as the structural of hardwired fashion, the PLC of soft line (soft wired) mode is used,
As long as such soft connection mode is characterized as change, program changes logic.
For example, the robot system for logging in No. 10-1704094 proposition of patent gazette is that safety PLC is arranged in machine
Inside people's controller, washout processing is carried out.In particular, robot system set forth above is handled in safety PLC
All signals in relation to safety.
The advantages of above-mentioned soft connection mode, is that only a change program can easily change logic, but, there is also because of program
Mistake and the possibility of maloperation occurs.
【Look-ahead technique document Prior Art】
【Patent document】
(patent document 1) logs in patent gazette the 10-1704094th, date of declaration 2017.02.07.
Invention content
Technical problems to be solved
The problem of in order to solve conventional art as described above, the purpose of the present invention are to provide a kind of robot control dress
It sets, the safety PLC for being formed with the safe unit formed by firmware hardwired logic and being formed by soft wired logic, the 1st priority
Control signal is directly to be handled to safe unit input, and the control signal of the 2nd priority is at safety PLC input
Reason.
Only, the purpose of the present invention is not limited to above-mentioned purpose, in the premise for the thought and field for not departing from the present invention
Under can carry out various expansions.
The technical solution solved the problems, such as
In order to achieve the above object, the robot controller of an embodiment according to the present invention, including：Robot controls
Device connect and controls the action of the robot of the connection with robot；And teaching machine, it is connect with the robot controller,
The control signal that the action for controlling the robot is generated according to the operation of user is transmitted to the robot controller, and
And the robot controller, including：Control unit, for the 1st control signal unrelated with safety inputted from the teaching machine
It is handled, exports control instruction；Safety PLC (Programmable Logic Control), by soft wired logic for
What is inputted from the teaching machine is handled with the 2nd security-related control signal, output safety signal；And safe unit, lead to
Cross that firmware hardwired logic inputs for the safety signal that is inputted from the safety PLC or from the teaching machine with security-related
3 control signals are handled, and the emergent stopping instruction of the emergent stopping of the robot in order to control is exported.
Also, the teaching machine includes the input being made of the multiple switch for generating control signal according to the operation of user
Portion, also, the input unit, including：1st switch generates the 1st control signal unrelated with the safety；2nd switch, generates
With the security-related 2nd control signal with the 2nd priority；And the 3rd switch, generate security-related has the with described
3rd control signal of 1 priority.
Also, the 2nd switch, including：
Mode conversion switch is generated for carrying out pattern between the automatic operating pattern and teaching pattern to the robot
2nd control signal of conversion；And starting switch, generate robot described in the mode of operation emergent stopping according to the operator
2nd control signal.
Also, it is described 3rd switch include be generated as robot described in emergent stopping the 3rd control signal emergent stopping by
Button.
Also, the teaching machine exports the 1st control signal generated from the 1st switch to the control unit,
The 2nd control signal generated from the 2nd switch is exported to the safety PLC, the institute that will be generated from the 3rd switch
The 3rd control signal is stated to export to the safe unit.
Also, the teaching machine further includes the output for exporting the result handled according to the switching manipulation of the user
Portion.
Also, the robot controller is assigned with the security-related control signal to the 3rd control signal
Highest 1st priority is given, and is most preferably handled.
Also, the robot controller further includes relay, can be turned on and off and to according to from the safety
The emergent stopping of unit output instructs and the servomotor of the robot is driven to supply or cut off the power.
Also, robot controller according to the present invention, the robot further include the 4th generated for emergent stopping
Control at least one safety equipment of signal；Also, the 4th control signal generated from least one safety equipment is straight
It connects and is input to the safe unit.
The robot controller of another implementation of the present invention, including：
Robot controller is connect with robot, controls the action of the robot of the connection；And
Teaching machine connect with the robot controller, and the robot in order to control is generated according to the action of user
The control signal of action is transmitted to the robot controller；
Also, the robot controller, including：Control unit, will be from 1st unrelated with safety that the teaching machine inputs
Control signal is handled, and exports control instruction；Safe unit will input and the security-related the 3rd from the teaching machine
Control signal is handled by firmware hardwired logic, and output safety signal；And safety PLC (Programmable Logic
Control), what is inputted by the safety signal inputted from the safe unit or from the teaching machine controls with the security-related the 2nd
Signal processed is handled by soft wired logic, and exports the emergent stopping instruction of the emergent stopping of the robot in order to control.
Also, the teaching machine includes the input being made of the multiple switch for generating control signal according to the operation of user
Portion, also, the input unit includes：1st switch generates the 1st control signal unrelated with the safety；2nd switch, generate with
2nd control signal of the 2nd security-related priority；And the 3rd switch, generate with it is the described security-related 1st preferential
3rd control signal of sequence.
Also, it is described 3rd switch include be generated as robot described in emergent stopping the 3rd control signal emergent stopping by
Button.
Also, the 2nd switch includes：Mode conversion switch, generate to the automatic operating pattern of the robot with show
The 2nd control signal of pattern conversion is carried out between religion pattern；And starting switch, it generates tight according to the mode of operation of the operator
Emergency stop stops the 2nd control signal of the robot.
Also, the teaching machine exports the 1st control signal generated from the 1st switch to the control unit,
The 2nd control signal generated from the 2nd switch is exported to the safety PLC, the institute that will be generated from the 3rd switch
The 3rd control signal is stated to export to the safe unit.
Invention effect
As described above, the peace that the present invention is formed with the safe unit formed by firmware hardwired logic and is formed by soft wired logic
Full PLC, the control signal of the 1st priority are directly handled to safe unit input, the control signal of the 2nd priority to
Safety PLC input is handled, thus, it is possible to steadily be controlled under dangerous situation.
Also, the present invention can prevent the mistake of the robot caused by the program error of safety PLC from operating.
Also, the present invention can steadily control robot in a dangerous situation, and robot control is used therefore, it is possible to improve
The degree of belief of the operator of system processed.
Description of the drawings
Fig. 1 is the attached drawing that the globality for the robot system for indicating an embodiment according to the present invention is constituted；
Fig. 2 is the attached drawing of the teaching machine terminal for indicating to illustrate in Fig. 1 constituted in detail；
Fig. 3 is the attached drawing of the robot controller for indicating an embodiment according to the present invention constituted in detail；
Fig. 4 is the attached drawing of the robot controller for indicating the other embodiment of the present invention constituted in detail.
Reference sign
100:Teaching machine
110:Input unit
120:Output section
200:Safety equipment
300:Robot controller
310:Control unit
320:Safety PLC
330:Safe unit
340:Relay
400:Robot
Specific implementation mode
The aftermentioned attached drawing for the present invention that the feature embodiments with reference to the example illustration implementation present invention are described in detail.This
A little embodiments, which will be sufficiently carried out, to be described in detail and those skilled in the art of the invention is made easily to implement the present invention.
Various embodiments of the present invention are although mutually different but mutually non-exclusive.For example, the specific shape recorded herein, knot
Structure and characteristic ground related with an embodiment without departing from the spirit or scope of the invention under the premise of can other embodiments embody.
Also, the position of individual inscapes of each disclosed embodiment or configuration are before without departing from the spirit or scope of the invention
Putting can change.To which aftermentioned detailed description is not intended to for limited meaning, and the scope of the present invention will be with power
Profit requires only to be defined according to claim in the impartial range of application.Similar reference marks is censured each in attached drawing
Same or similar function on side.
Hereinafter, being described with reference to the robot controller of the illustrative implementation form of the present invention.
The present invention provides a kind of peace for being formed with the safe unit formed by firmware hardwired logic and being formed by soft wired logic
The control signal of full PLC, the 1st priority are directly handled to safe unit input, and the control signal of the 2nd priority is straight
It connects to safety PLC and inputs the new control program handled.
1) the case where firmware hardwired logic
When carrying out sequential control by relay (relay), the logic that equipment is assembled by wiring operation embodies.Such dress
It is very clear and be easy the image device visually confirmed that the advantages of mechanicalness control set, which is it, on the contrary, there is also because
Uncertain, the higher manufacturing cost of abrasion, change are not easy modifications and changes program when configuring.
2) the case where soft wired logic
With program software replaces being constituted the logic of relay circuit and the logic for discarding wiring operation is used to embody.It is such to patrol
The price of PLC hardware can be saved by collecting, and be not necessarily to wiring operation, therefore, it is possible to save manufacturing cost, economy is outstanding, is easy to set
Meter, the possibility that the human errors such as wiring operation and failure occur is relatively low, also, occurs to be easy to find the cause when problem, but, it deposits
The possibility accidentally operated occurs due to the mistake because of program.
Programmable logic controller (Programmable Logic Controller) is carried out by the change of program
The device of Ethics Control.That is, being a kind of personal computer only carrying out ON/OFF control by sequentially logic, ON/OFF signal is received
Carry out set ON/OFF control, therefore, it is possible to carry out Signalized control, automated machine control etc., be in factory automation and
The core apparatus that must be used in computer integrated manufacturing system (CIM).PLC is by relay, timer, the counter in control device
Etc. functions with direct element, that is, integrated circuit (Integrated Circuit), transistor (Transistor) replace, with sequence
It is basic to control (sequence control), and executes data calculation, the calculation that counts, the function of data transmission and feedback function
Self-disciplining device processed.That is, replacing the various relays, the meter that are used on previous various control devices with semiconductor element IC
When the functions such as device, counter a kind of microcomputer.
Fig. 1 is the attached drawing that the globality for the robot system for indicating an embodiment according to the present invention is constituted.Referring to Fig.1,
The robot system of an embodiment according to the present invention, including：Teaching machine (100), safety equipment (200), robot controller
(300), robot (400).
The control that teaching machine (100) occurs as the action of control robot according to the menu or keyboard operation of user is believed
Number.Teaching machine (100) connect with robot controller (300) and passes the control signal of generation to robot controller (300)
It send.
At this point, control signal is the control signal of the action of robot in order to control, include the control signal unrelated with safety
With with security-related control signal.
For example, 1) the control signal unrelated with safety is to control action or spinning movement etc. by upper and lower, left and right
The general action of robot in relation to operation and make servomotor driving current it is effective 1st control signal.
2) it is the 2nd control signal and the 3rd signal according to prioritization with security-related control signal.2nd control
Signal be between the automatic operating pattern and teaching pattern of robot the signal of translative mode, according to the mode of operation of operator
And make the signal of the robot emergent stopping.3rd control signal is the signal for emergency stops robot.
At this point, the 3rd control signal receives the 1st priority, the 2nd control signal receives the 2nd priority.1st is preferential suitable
Sequence is higher than the priority of the 2nd priority, and therefore, the 3rd control signal is handled compared to the 2nd control signal priority.
The case where herein only to assign priority to the control signal in relation to safety, is illustrated as example, but, and
It is non-limiting in this, with security-related control signal and the control signal in relation to safety can all assign priority.
For example, the 1st priority can be assigned to the 3rd control signal, the 2nd priority is assigned to the 2nd control signal, to the
1 control signal assigns the 3rd priority.
Safety equipment (200) is the instrument installed in the equipment being arranged on the periphery of robot, according to the behaviour of user
Make that the control signal for emergency stops robot occurs, and is connect with robot controller (300) and believe the control of generation
Number it is sent to robot controller (300).
Robot controller (300) is connected to teaching machine (100) and safety equipment (200), from teaching machine (100) and safety
Equipment (200) receives control signal, and is controlled robot (400) based on the control signal of reception.
As an example, robot controller (300) receives the 1st control signal provided from teaching machine (100), and will receive
The 1st control signal handled, export control instruction.
As another example, robot controller (300) receives the 2nd control from teaching machine (100) and safety equipment (200)
Signal or the 3rd control signal, and the 2nd control signal of reception or the 3rd control signal are handled, output emergent stopping refers to
It enables.
At this time, it is preferable that teaching machine (100), safety equipment (200) are connect by wired with robot controller (300),
Robot controller (300) is connect by wired with robot (400), but, it is not limited to this, wireless connection can be passed through.
Robot (400) is according to the operation of user and the robot that works, for example, in factory etc. in order to improve production
Property or save labour and the industrial robot that uses.
Fig. 2 is the attached drawing of the teaching machine for indicating to illustrate in Fig. 1 constituted in detail.
Reference Fig. 2, the teaching machine (100) of an embodiment according to the present invention, including：Input unit (110), output section
(120)。
Input unit (110) receives the information of input according to the menu of user or keyboard operation.Above-mentioned input unit (110)
It may include the multiple switch of robot in order to control.
At this point, input unit (110) may include at least one switch, the generation that generate the 1st control signal unrelated with safety
With at least one switch of the 2nd security-related control signal and the 3rd control signal.
As an example, input unit (110) is formed with as the switch that the control signal unrelated with safety occurs so that servo
The effective servo starting switch of driving current of motor.
As another example, switch of the input unit (110) as generation and security-related control signal, is formed with generation
The teaching pattern of pattern conversion for the 2nd control signal of translative mode between the automatic operating pattern and to(for) robot is opened
Pass, generates promptly the starting switch that the 2nd control signal for making robot emergent stopping is generated according to the mode of operation of operator
Stop the emergency stop button of the 3rd control signal of robot.
Here, starting switch, which is known as driving losing, knows brake apparatus (dead man's switch), in operator's loss of control
When ability, the device that can automatically take safety measures.
Above-mentioned starting switch, for example, the applicable form stepped on foot or the form held, place hand form or
The various manner of execution such as the form of dependence.
Output section (120) exports handling result related with the operation handled according to switching manipulation.For example, output section
(120) output informs the pattern that the operation according to mode conversion switch is converted as automatic operating pattern or teaching pattern, or accuses
Know the handling result that washout occurs according to the operation of emergency stop button.
Output section (120) receives handling result related with operation from robot controller.Above-mentioned output section (120),
It may be, for example, the display for indicating handling result.
An embodiment according to the present invention, the control signal of the 1st priority is directly inputted to safe unit to be handled,
After the control signal of 2nd priority carries out 1 processing to safety PLC input, 2 processing are carried out to safe unit input.
Fig. 3 is the attached drawing of the robot controller for indicating an embodiment according to the present invention constituted in detail.
Reference Fig. 3, the robot controller (300) of an embodiment according to the present invention, including：Control unit (310), safety
PLC (320), safe unit (330), relay (340).
Control unit (310) receives the 1st control signal inputted from teaching machine, and the 1st control signal of reception is handled,
And the control instruction of robot in order to control is exported to robot.
Above-mentioned control unit (310) includes processor, memory etc. and constitutes.
Safety PLC (320) is embodied by soft wired logic, receives the 2nd control signal from teaching machine, the 2nd control received
Signal processed carries out 1 processing, and safety signal is exported to safe unit (330).Here, the 2nd control signal may include to machine
The signal of translative mode, the mode of operation emergent stopping machine according to user between the automatic operating pattern and teaching pattern of people
The signal of people.
Safe unit (330) is embodied by firmware hardwired logic, is received the 2nd control signal from safety PLC (320) and is received
The 2nd control signal carry out 2 times processing, output relay ON/OFF signal.
Safe unit (330) receives the 3rd control signal from teaching machine or receives the 4th control signal from safety equipment, and will
It inputs the 3rd control signal received or the 4th control signal is handled, output relay ON/OFF signal.Here, the 3rd control
Signal and the 4th control signal may include the signal for emergency stops robot.
At this point, safe unit (330) is if the 2nd control signal inputs the 3rd control signal of reception or the 4th control simultaneously together
When signal, according to priority, priority processing the 3rd controls signal or the 4th control signal.
Relay (340) is according to relay ON/OFF signal blocker or supplies the servo-electric electromechanical source supplied to robot.
For example, when relay (340) receiving relay open signal, the power supply for the servomotor supplied to robot is blocked.
According to another embodiment of the present invention, the control signal of the 1st priority directly carries out 1 time to safe unit input
After processing, 2 processing are carried out to safety PLC input, the control signal of the 2nd priority is directly located to safety PLC input
Reason.
Fig. 4 is the attached drawing constituted in detail for indicating robot controller according to another embodiment of the present invention.
With reference to Fig. 4, the robot controller (300) of an embodiment according to the present invention, including control unit (311), safety
PLC (321), safe unit (331), relay (341) and constitute, each inscape is identical as Fig. 3, but, processing procedure
It is differently composed.
Here, only simpling illustrate the processing procedure between inscape.
Safety PLC (321) receives the 2nd control signal from teaching machine, and the 2nd control signal received is handled,
Output relay ON/OFF signal.
Safe unit (331) is from the 3rd control signal progress that teaching machine receives the 3rd control signal and is received 1 time
Reason exports safety signal to safety PLC (321).
Safety PLC (321) receives the 3rd control signal from safe unit (331) and the 3rd control signal received carries out
2 processing, output relay ON/OFF signal.
Feature, structure, effect for illustrating in embodiment above etc. are included in one embodiment of the present of invention, and non-limiting
In one embodiment.Also, the ordinary skill of the technical field of the present embodiment can be also combined in other embodiments
Or the exemplary feature of each embodiment kind, structure, effect etc. are implemented in change.To combine and deform related content with such
The scope of the present invention should be included in.
Also, it is illustrated centered on embodiment above, but, it is only exemplary, is not intended to limit this hair
Bright, the those of ordinary skill of technical field of the invention should understand that the premise in the essential feature for not departing from the present embodiment
Under, the above not illustrated various modifications and application can be carried out.For example, each inscape being shown in detail in embodiment can
Change implementation.Also, the range that claims should be included in such deformation and the related discrepancy of application provides
The scope of the present invention in.
Claims (14)
1. a kind of robot controller, which is characterized in that including：
Robot controller connect and controls the action of the robot of the connection with robot；And
Teaching machine is connect with the robot controller, and the action for controlling the robot is generated according to the operation of user
Signal is controlled, is transmitted to the robot controller,
Also, the robot controller includes：
Control unit handles the 1st control signal unrelated with safety inputted from the teaching machine, and output control refers to
It enables；
Safety PLC (Programmable Logic Control), by soft wired logic for being inputted from the teaching machine
It is handled with the 2nd security-related control signal, output safety signal；And
Safe unit is inputted by firmware hardwired logic for the safety signal that is inputted from the safety PLC or from the teaching machine
Handled with security-related 3rd control signal, the emergent stopping of the output emergent stopping of the robot in order to control refers to
It enables.
2. robot controller according to claim 1, which is characterized in that
The teaching machine includes the input unit being made of the multiple switch for generating control signal according to the operation of user,
Also, the input unit includes：
1st switch generates the 1st control signal unrelated with the safety；
2nd switch generates and the security-related 2nd control signal with the 2nd priority；And
3rd switch generates and the security-related 3rd control signal with the 1st priority.
3. robot controller according to claim 2, which is characterized in that
It is described 2nd switch include：
Mode conversion switch is generated for carrying out pattern conversion between the automatic operating pattern and teaching pattern to the robot
The 2nd control signal；And
Starting switch generates the 2nd control signal of robot described in the mode of operation emergent stopping according to the operator.
4. robot controller according to claim 2, which is characterized in that
3rd switch includes the emergency stop button for the 3rd control signal for being generated as robot described in emergent stopping.
5. robot controller according to claim 2, which is characterized in that
The teaching machine exports the 1st control signal generated from the 1st switch to the control unit,
The 2nd control signal generated from the 2nd switch is exported to the safety PLC,
The 3rd control signal generated from the 3rd switch is exported to the safe unit.
6. robot controller according to claim 2, which is characterized in that
The teaching machine further includes the output section for exporting the result handled according to the switching manipulation of the user.
7. robot controller according to claim 2, which is characterized in that
The robot controller is assigning highest the with the security-related control signal to the 3rd control signal
1 priority, and most preferably handled.
8. robot controller according to claim 1, which is characterized in that
The robot controller further includes relay, can be turned on and off and to according to being exported from the safe unit
The emergent stopping instructs and the servomotor of the robot is driven to supply or cut off the power.
9. robot controller according to claim 1, which is characterized in that
The robot further includes at least one safety equipment for generating the 4th control signal for emergent stopping；
Also, the 4th control signal generated from least one safety equipment is directly inputted into the safe unit.
10. a kind of robot controller, which is characterized in that including：
Robot controller is connect with robot, controls the action of the robot of the connection；And
Teaching machine is connect with the robot controller, and the action of the robot in order to control is generated according to the action of user
Control signal, to the robot controller transmit；
Also, the robot controller includes：
The 1st control signal unrelated with safety inputted from the teaching machine is handled, and exports control and refer to by control unit
It enables；
Safe unit, will be inputted from the teaching machine carried out by firmware hardwired logic with security-related 3rd control signal from
Reason, and output safety signal；And
Safety PLC (Programmable Logic Control), by the safety signal inputted from the safe unit or from institute
Being handled by soft wired logic with the 2nd security-related control signal for teaching machine input is stated, and is exported described in order to control
The emergent stopping of the emergent stopping of robot instructs.
11. robot controller according to claim 10, which is characterized in that
The teaching machine includes the input unit being made of the multiple switch for generating control signal according to the operation of user,
Also, the input unit includes：
1st switch generates the 1st control signal unrelated with the safety；
2nd switch generates the 2nd control signal with the 2nd security-related priority；And
3rd switch generates the 3rd control signal with the 1st security-related priority.
12. robot controller according to claim 11, which is characterized in that
3rd switch includes the emergency stop button for the 3rd control signal for being generated as robot described in emergent stopping.
13. robot controller according to claim 11, which is characterized in that
It is described 2nd switch include：
Mode conversion switch generates and carries out the of pattern conversion between the automatic operating pattern and teaching pattern of the robot
2 control signals；And
Starting switch generates the 2nd control signal of robot described in the mode of operation emergent stopping according to the operator.
14. robot controller according to claim 11, which is characterized in that
The teaching machine exports the 1st control signal generated from the 1st switch to the control unit,
The 2nd control signal generated from the 2nd switch is exported to the safety PLC,
The 3rd control signal generated from the 3rd switch is exported to the safe unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2017-0048398 | 2017-04-14 | ||
| KR1020170048398A KR101799999B1 (en) | 2017-04-14 | 2017-04-14 | Apparatus for controlling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724223A true CN108724223A (en) | 2018-11-02 |
| CN108724223B CN108724223B (en) | 2021-09-21 |
Family
ID=60808798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710647033.9A Active CN108724223B (en) | 2017-04-14 | 2017-08-01 | Robot control device |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101799999B1 (en) |
| CN (1) | CN108724223B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616378A (en) * | 2018-12-06 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of emergency stop control device, robot and its emergency stop control method |
| CN110269561A (en) * | 2018-03-16 | 2019-09-24 | 青岛海尔洗碗机有限公司 | A kind of spray structure of dish-washing machine |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN113557481A (en) * | 2019-03-11 | 2021-10-26 | 三菱电机株式会社 | Safety control device and safety control system |
| 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 |
| CN115933515A (en) * | 2022-12-21 | 2023-04-07 | 中国铁建重工集团股份有限公司 | Remote control system of heading machine |
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| CN110269561A (en) * | 2018-03-16 | 2019-09-24 | 青岛海尔洗碗机有限公司 | A kind of spray structure of dish-washing machine |
| CN110269561B (en) * | 2018-03-16 | 2022-06-21 | 青岛海尔洗碗机有限公司 | Spraying structure of dish-washing machine |
| CN109616378A (en) * | 2018-12-06 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of emergency stop control device, robot and its emergency stop control method |
| CN113557481A (en) * | 2019-03-11 | 2021-10-26 | 三菱电机株式会社 | Safety control device and safety control system |
| CN113557481B (en) * | 2019-03-11 | 2022-09-23 | 三菱电机株式会社 | Safety control device and safety control system |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| 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 |
| CN115933515A (en) * | 2022-12-21 | 2023-04-07 | 中国铁建重工集团股份有限公司 | Remote control system of heading machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108724223B (en) | 2021-09-21 |
| KR101799999B1 (en) | 2017-11-21 |
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