CN109414818B - Method and device for controlling robot to stop, storage medium and robot system - Google Patents
Method and device for controlling robot to stop, storage medium and robot system Download PDFInfo
- Publication number
- CN109414818B CN109414818B CN201880002366.9A CN201880002366A CN109414818B CN 109414818 B CN109414818 B CN 109414818B CN 201880002366 A CN201880002366 A CN 201880002366A CN 109414818 B CN109414818 B CN 109414818B
- Authority
- CN
- China
- Prior art keywords
- robot
- circuit
- control
- signal
- drive
- 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
-
- 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
-
- 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
-
- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a method, a device, a storage medium and a robot system for controlling a robot to stop, wherein the control device of the robot comprises: a logic control circuit, a drive circuit and a semiconductor gating circuit; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is used for being connected with an external power supply, and the second connecting end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is also used for being connected with the robot; the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving the first trigger instruction, and controlling the semiconductor gating circuit to be disconnected so as to control the power supply of the driving circuit to be disconnected, so that the power signal of the robot is cut off. The control device of the robot can prolong the service life of the control device of the robot, reduce noise and improve user experience.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method, a device, a storage medium and a robot system for controlling a robot to stop.
Background
At present, robots have been applied to various fields, such as industrial fields. The industrial robot is divided into a robot body and a control system, the robot body is connected with the control system through a power line and a signal line, and the control system outputs a motion track signal for controlling the motion of the robot through the power line so that the robot moves according to a certain motion track.
In order to ensure that the robot can be safely stopped, the prior art is to stop the robot by opening the contactor. Because the contactor life-span is limited, frequent action can make it age rapidly, brings inconvenience for later maintenance, and the action noise of contactor is great, and user experience is poor.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method, an apparatus, a storage medium, and a robot system for controlling a robot to stop, which extend a lifetime of a control apparatus of the robot, reduce noise, and improve user experience.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: provided is a control device for a robot, the control device including: a logic control circuit, a drive circuit and a semiconductor gating circuit; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is used for being connected with an external power supply, and the second connection end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is used for being connected with the robot; the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving a first trigger instruction, and controlling the semiconductor gating circuit to be disconnected so as to control the power supply of the driving circuit to be disconnected, so that the power signal of the robot is cut off.
In order to solve the above technical problems, the second technical solution adopted by the present invention is: there is provided a method of controlling a robot to stop, the method of controlling a robot to stop including: the control device of the robot outputs a first control signal to a semiconductor gating circuit of the robot after a logic control circuit of the robot receives a first trigger instruction; controlling the semiconductor gating circuit to be switched off according to the first control signal so as to switch off the power supply of a driving circuit of a control device of the robot and cut off a power signal of the robot; the logic control circuit is respectively connected with the driving circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is used for being connected with an external power supply, and the second connecting end of the semiconductor gating circuit is connected with the driving circuit; the drive circuit is used for being connected with the robot.
In order to solve the above technical problems, the third technical solution adopted by the present invention is: there is provided a storage medium having stored thereon a computer program capable of being executed to implement the method of controlling a robot stop according to any one of the present invention.
In order to solve the technical problems, the fourth technical scheme adopted by the invention is as follows: providing a robot system comprising a control device of a robot, the robot and an external power supply; the control device of the robot comprises a logic control circuit, a drive circuit and a semiconductor gating circuit; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is connected with the external power supply, and the second connecting end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is connected with the robot; the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving a first trigger instruction, and controlling the semiconductor gating circuit to be disconnected so as to control the power supply of the driving circuit to be disconnected, so that the power signal of the robot is cut off.
The invention has the beneficial effects that: the control device of the robot according to the present embodiment includes a semiconductor gate circuit, and outputs a control signal to the semiconductor gate circuit after receiving a trigger command, and controls the semiconductor gate circuit to be turned off to control the power supply of the drive circuit to be turned off, thereby cutting off the power signal of the robot. The semiconductor gating circuit cuts off the gating branch circuit according to the control signal, so that the power supply is cut off, potential safety hazards caused by personnel operation can be avoided, meanwhile, the service life of a control device of the robot can be prolonged, on the other hand, noise in the power supply switching process is reduced, and user experience is improved.
Drawings
FIG. 1 is a schematic diagram of a robot system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a configuration of an embodiment of a control device of the robot in the robot system of FIG. 1;
FIG. 3 is a schematic structural diagram of an embodiment of a control device of the robot according to the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of a method for controlling a robot to stop according to the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a storage medium according to the present invention.
Detailed Description
The present invention provides a method, an apparatus, a storage medium and a robot system for controlling a robot to stop, which are further described in detail below to make the object, technical solution and technical effect of the present invention more clear and clearer, and it should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot system 10 according to an embodiment of the present invention, which includes an external power source 11, a robot control device 12, and a robot 13.
The control device 12 of the robot includes a logic control circuit, a drive circuit and a semiconductor gating circuit; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is connected with the external power supply 11, and the second connecting end of the semiconductor gating circuit is connected with the drive circuit; the drive circuit is connected to the robot 13.
Specifically, the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving a first trigger instruction, and controlling the semiconductor gating circuit to be disconnected so as to control the power supply of the driving circuit to be disconnected so as to cut off a power signal of the robot 13.
For a clear description of the specific structure of the control device 12 of the robot in the above embodiment, please refer to fig. 2, and fig. 2 is a schematic structural diagram of an embodiment of the control device of the robot in the robot system of fig. 1.
As shown in fig. 2, the control device 12 of the robot according to the present embodiment includes: a logic control circuit 121, a drive circuit 123, and a semiconductor gate circuit 122.
The semiconductor gating circuit 122 includes a thyristor, which is a high-power semiconductor device with a four-layer structure having three PN junctions, and can be used for controllable rectification, inversion, frequency conversion, voltage regulation, contactless switching, and the like. In the present embodiment, a thyristor is used as a switch to control the on/off of the semiconductor gating circuit 122. The controllable silicon is an electronic device, so that the size is small, occupied hardware resources are less, no obvious sound is generated during power failure, the noise is low, and the switching current can be effectively reduced.
The logic control circuit 121 is connected to the driving circuit 123 and the control end of the semiconductor gating circuit 122, the first connection end of the semiconductor gating circuit 122 is used for being connected to the external power source 11, the second connection end of the semiconductor gating circuit 122 is connected to the driving circuit 123, and the driving circuit 123 is used for being connected to the robot 13.
The external power source 11 may be a device providing 220V three-phase power, and the first connection terminal of the semiconductor gating circuit 122 is connected to a power line to obtain power. When the gating branch of the semiconductor gating circuit 122 is communicated, that is, the first connection end and the second connection end of the semiconductor gating circuit 122 are communicated, the robot 13 acquires a power signal through the driving circuit 123. When the semiconductor gate circuit 122 is turned off, the drive circuit 123 is turned off from the external power supply 11, and the power signal of the robot 13 is cut off.
Specifically, a signal line of the robot 13 and a power and brake line are respectively connected to the driving circuit 123, the driving circuit 123 provides a power source to the robot 13 through the power and brake line, the driving circuit 123 outputs a motion trajectory instruction sent by the control device 12 of the robot through the signal line so that the robot 13 operates according to the motion trajectory instruction, and meanwhile, the driving circuit 123 may also receive a feedback signal of the robot 13 through the signal line so as to adjust the motion accuracy of the robot 13 in real time according to the feedback signal.
At present, the robot 13 is mainly used in the industrial field, and is a multi-joint manipulator or a multi-degree-of-freedom robot device, which can automatically perform work to implement a machine with various functions. The robot 13 may be operated according to an instruction given by a user or may be operated according to a preprogrammed program.
In a specific application scenario, the robot 13 is a point-location robot, such as a robot arm, which can perform loading and unloading, spot welding, general transportation, loading and unloading, and the like of a machine tool. In another application scenario, the robot 13 is a continuous track type robot, and can perform continuous welding, painting, and the like.
At present, in order to meet the requirement of safe stop of the robot, a contactor is mainly adopted to isolate the main circuit of the control system of the robot from the power supply output of the drive circuit of the control system of the robot, so as to stop the robot. However, the drive circuit of the robot control system is rapidly aged due to the limited service life and frequent actions of the contactor, which brings inconvenience to later maintenance. Meanwhile, when the power of the circuit is switched through the contactor, large switching current is accompanied, so that interference is caused to the circuit, and the performance of the robot and the control system is further influenced.
In order to solve the above problem, the control device 12 of the robot according to the present embodiment employs the semiconductor gate circuit 122, and when the gate branch of the semiconductor gate circuit 122 is turned off, the drive circuit 123 cannot receive the power supply signal and cannot output the power signal to the robot 13.
Specifically, the logic control circuit 121 is configured to output a first control signal to the semiconductor gating circuit 122 after receiving the first trigger instruction, and control the semiconductor gating circuit 122 to be turned off to control the power supply of the driving circuit 123 to be turned off, so as to cut off the power signal of the robot 13.
In one embodiment, the control device 12 of the robot outputs the first control signal to the semiconductor gate circuit 122 when the logic control circuit 121 receives a trigger command indicating that the robot 13 is in an abnormal state or an emergency state. In a practical application scenario, the triggering instruction of the robot 13 in the abnormal state or the emergency state may be triggered manually, or may be triggered after the track detector detects that the robot 13 is in the abnormal state or the emergency state.
Specifically, a first stop instruction is preset in the logic control circuit 101, and when the robot 13 encounters an unexpected abnormal condition, such as a fault, the logic control circuit 121 sends the first stop instruction to the driving circuit 123, and the driving circuit 123 outputs a corresponding stop signal according to the preset instruction, so that the robot 13 stops at the fastest speed.
In the present embodiment, the robot 13 stops at a position deviated from the original trajectory, and within a preset time after the robot 13 stops, for example, after the robot 13 stops for 200ms, the logic control circuit 121 outputs a first control signal to the semiconductor gating circuit 122, so as to disconnect the gating branch where the first connection end and the second connection end of the semiconductor gating circuit 122 are located, so as to isolate the strong current.
Here, it should be noted that the first trigger command is triggered when the robot 13 is in an abnormal condition or an emergency condition, that is, the stopping operation in the above embodiment is mainly triggered when the robot 13 is in an abnormal condition or an emergency condition, so that the robot 13 can be stopped at the fastest speed to cope with the emergency condition. However, such a stop operation not only causes a certain damage to the robot 13, but also the robot 13 cannot stop on the original trajectory.
Further, referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a control device of a robot according to the present invention. In the present embodiment, the robot control device 201 includes a logic control circuit 2011, a drive circuit 2013, and a semiconductor gate circuit 2012.
The logic control circuit 2011 is respectively connected with the drive circuit 2013 and the control end of the semiconductor gating circuit 2012, the first connection end of the semiconductor gating circuit 2012 is connected with the external power supply 203, and the second connection end of the semiconductor gating circuit 2012 is connected with the drive circuit 2013; the drive circuit 2013 is also connected to the robot 202.
In the present embodiment, the control device 201 of the robot further includes a controller 2014, and the controller 2014 is connected to the drive circuit 2013.
Specifically, the controller 2014 is configured to send a second control signal to the driving circuit 2013 when receiving the second trigger instruction, and the driving circuit 2013 controls the robot 202 to stop working according to the second control signal and a preset program.
In one embodiment, the driving circuit 2013 includes a driving control circuit 20131 and a driving power circuit 20132, wherein the driving control circuit 20131 is connected to the controller 2014 and the logic control circuit 2011; the driving power circuit 20132 is connected with the second connection terminal of the semiconductor gating circuit 2012 to receive the power supply signal; the drive power circuit 20132 is also used to connect with the robot 202.
The drive control circuit 20131 is used for determining a control algorithm matched with the control signal according to the control signal of the controller 2014; the driving power circuit 20132 is configured to output a corresponding driving power signal according to a control algorithm, so that the robot 202 stops working according to the driving power signal.
Specifically, after the controller 2014 receives a second trigger instruction, where the second trigger instruction may be triggered by an operator, for example, a trigger instruction that the operator triggers the robot 202 to stop, the controller 2014 sends a second control signal to the driving circuit 2013 according to the second trigger instruction, the driving control circuit 20131 in the driving circuit 2013 determines a control algorithm matched with the control signal according to the control signal of the controller 2014 and outputs the control algorithm to the driving power circuit 20132, and the driving power circuit 20132 outputs a corresponding driving power signal according to the control algorithm, so that the robot 202 stops operating according to the driving power signal. Wherein, the driving power signal is a PWM signal.
The stopping operation of the present embodiment can stop the robot 202 on the original trajectory without causing damage to the robot 202.
In another embodiment, different from the above embodiments, after the robot 202 stops, the controller 2014 issues a first trigger command to the logic control circuit 2011, and the control device 201 of the robot outputs a first control signal to the semiconductor gating circuit 2012 after the logic control circuit 2011 receives the first trigger command issued by the controller 2014, so that the logic control circuit 2011 controls the semiconductor gating circuit 2012 to be turned off, and the power supply of the driving circuit 2013 is controlled to be turned off, thereby cutting off the power signal of the robot 202 to isolate the strong electricity.
Here, the first trigger command of the present embodiment is issued by the controller 2014, and after the robot 202 stops according to the second control signal, the controller 2014 further issues the first trigger command to turn off the semiconductor gate circuit 2012 and further turn off the power signal of the robot 202 in order to isolate the strong electric power.
That is, the source of the first trigger instruction in the present embodiment is different from that in the embodiment shown in fig. 2. But the same purpose is achieved by opening the semiconductor gating circuit 2012 and cutting off the power signal to the robot 202.
Unlike the prior art, the control device of the robot according to the present embodiment includes a semiconductor gate circuit, and outputs a control signal to the semiconductor gate circuit after the control device of the robot receives a trigger command, and controls the semiconductor gate circuit to be turned off to control the power supply of the driving circuit to be turned off, thereby cutting off the power signal of the robot. The semiconductor gating circuit cuts off the gating branch circuit according to the control signal, so that the power supply is cut off, potential safety hazards caused by personnel operation can be avoided, meanwhile, the service life of a control device of the robot can be prolonged, on the other hand, noise in the power supply switching process is reduced, and user experience is improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a method for controlling a robot to stop according to the present invention. The method of controlling the stop of the robot according to the present embodiment is applied to the control device of the robot according to any one of the above embodiments. The method for controlling the robot to stop according to the embodiment includes:
401: the control device of the robot outputs a first control signal to the semiconductor gating circuit after the logic control circuit of the robot receives the first trigger instruction.
The control device for a robot according to the present embodiment includes: logic control circuit, drive circuit and semiconductor gate circuit.
The semiconductor gating circuit comprises a silicon controlled rectifier, wherein the silicon controlled rectifier is a high-power semiconductor device with a four-layer structure of three PN junctions and can be used for controllable rectification, inversion, frequency conversion, voltage regulation, contactless switching and the like. In this embodiment, a thyristor is used as a switch to control the on/off of the semiconductor gating circuit. The controllable silicon is an electronic device, so that the size is small, occupied hardware resources are small, no obvious sound is generated during power failure, the noise is small, and the switching current can be effectively reduced.
The logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is connected with an external power supply, the second connecting end of the semiconductor gating circuit is connected with the drive circuit, and the drive circuit is further connected with the robot.
The external power supply can be a device for providing 220V three-phase power supply, and the first connecting end of the semiconductor gating circuit is connected with a power line to obtain power supply.
Specifically, a signal line and a power and band-type brake line of the robot are respectively connected with a driving circuit, the driving circuit provides a power source for the robot through the power and the band-type brake line, the driving circuit outputs a motion track instruction sent by a control device of the robot through the signal line so that the robot runs according to the motion track instruction, and meanwhile, the driving circuit can also receive a feedback signal of the robot through the signal line so as to adjust the motion precision of the robot in real time according to the feedback signal.
At present, the robot is mainly applied to the industrial field, is a multi-joint mechanical arm or a multi-degree-of-freedom machine device, and can automatically execute work to realize a machine with various functions. The robot may operate according to instructions given by a user, or may operate according to a preprogrammed program.
In a specific application scenario, the robot is a point-location robot, such as a robot arm, and can complete loading and unloading, spot welding, general transportation, loading and unloading and the like of a machine tool. In another application scenario, the robot is a continuous track type robot, and can complete continuous welding, coating and other operations.
At present, in order to meet the requirement of safe stop of the robot, a contactor is mainly adopted to isolate the main circuit of the control system of the robot from the power supply output of the drive circuit of the control system of the robot, so as to stop the robot. However, the drive circuit of the robot control system can be rapidly aged due to the limited service life and frequent actions of the contactor, so that inconvenience is brought to later maintenance; on the other hand, the contactor is a physical key, so that the action noise is large, the user experience is influenced, and potential safety hazards exist. Meanwhile, when the power of the circuit is switched through the contactor, large switching current is accompanied, so that interference is caused to the circuit, and the performance of the robot and the control system is further influenced.
In order to solve the above problem, the control device of the robot according to the present embodiment employs a semiconductor gate circuit, and when the gate branch of the semiconductor gate circuit is turned off, the drive circuit cannot receive a power supply signal and cannot output a power signal to the robot.
Specifically, after a logic control circuit of the control device of the robot receives a first trigger instruction, the logic control circuit sends a stop instruction to a driving circuit to stop the robot; after the robot is stopped, the logic control circuit outputs a first control signal to a semiconductor gate circuit of a control device of the robot. In one embodiment, the first trigger instruction is an instruction triggered when the robot is in an abnormal state or an emergency state, and the abnormal state or the emergency state may be triggered by a human being or triggered after the track detector detects that the robot is in the abnormal state or the emergency state. 402: controlling the semiconductor gating circuit to be switched off according to the first control signal so as to switch off the power supply of a driving circuit of the control device of the robot and cut off a power signal of the robot; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is connected with an external power supply, and the second connecting end of the semiconductor gating circuit is connected with the drive circuit; the drive circuit is also connected to the robot.
In the present embodiment, the control device of the robot controls the semiconductor gate circuit to be turned off in accordance with the first control signal, so that the power supply of the drive circuit of the control device of the robot is turned off to cut off the power signal of the robot. The first control signal is an enable signal for controlling the semiconductor gating circuit to be switched on and off, such as a high level or a low level.
Specifically, a first stop instruction is preset in the logic control circuit, and when the robot is in an abnormal state or an emergency state, for example, when the trajectory detector detects that the robot encounters an emergency, such as an actual trajectory deviates from a preset trajectory, the logic control circuit sends the first stop instruction to the driving circuit, and the driving circuit outputs a corresponding stop signal according to the preset instruction, so that the robot stops at the fastest speed.
In this embodiment, the robot stops at a position deviated from the original trajectory, and within a preset time after the robot stops, for example, after the robot stops for 200ms, the logic control circuit outputs a first control signal to the semiconductor gating circuit, so as to disconnect the gating branch where the first connection end and the second connection end of the semiconductor gating circuit are located, so as to isolate the strong current.
Here, it should be noted that the first trigger command is triggered when the robot 13 is in an abnormal condition or an emergency condition, that is, the stopping operation in the above embodiment is mainly triggered when the robot 13 is in an abnormal condition or an emergency condition, and the robot can be stopped at the fastest speed to cope with an emergency condition. However, such stopping operation not only causes damage to the robot to some extent, but also the robot cannot be stopped on the original trajectory.
In this embodiment, the control device of the robot further includes a controller, and the controller is connected to the drive circuit.
Specifically, the controller is used for sending a second control signal to the driving circuit when receiving a second trigger instruction, and the driving circuit controls the robot to stop working according to the second control signal and a preset program.
In one embodiment, the driving circuit comprises a driving control circuit and a driving power circuit, wherein the driving control circuit is connected with the controller; the driving power circuit is connected with the second connecting end of the semiconductor gating circuit to receive a power supply signal; the driving power circuit is also connected with the robot.
The drive control circuit determines a control algorithm matched with the control signal according to the control signal of the controller; the driving power circuit outputs a corresponding driving power signal according to the control algorithm, so that the robot stops working according to the driving power signal.
Specifically, after receiving a second trigger instruction, the controller may be triggered by an operator, for example, the operator trigger is a trigger instruction for stopping the robot, the controller sends a second control signal to the driving circuit according to the second trigger instruction, the driving control circuit in the driving circuit determines a control algorithm matched with the control signal according to the control signal of the controller and outputs the control algorithm to the driving power circuit, and the driving power circuit outputs a corresponding driving power signal according to the control algorithm, so that the robot stops working according to the driving power signal. Wherein, the driving power signal is a PWM signal.
The stopping operation of the present embodiment can stop the robot on the original trajectory without causing damage to the robot.
In another embodiment, different from the above embodiment, in order to isolate strong electricity, after the robot stops, the controller sends a first trigger command to the logic control circuit, and the control device of the robot, after receiving the first trigger command sent by the controller, outputs a first control signal to the semiconductor gating circuit of the robot, so that the logic control circuit outputs a corresponding control signal to the semiconductor gating circuit, and controls the semiconductor gating circuit to be turned off, so as to control the power supply of the driving circuit to be turned off, thereby cutting off the power signal of the robot, so as to isolate strong electricity.
Here, the first trigger command of the present embodiment is issued by the controller, and after the robot stops according to the second control signal, the controller further issues the first trigger command to open the semiconductor gate circuit and further to cut off the power signal of the robot in order to isolate the strong electric current.
That is, the source of the first trigger command of the present embodiment is different from the source of the first trigger command triggered by the robot being in an abnormal condition or an emergency condition. However, the purpose of both is the same, namely the semiconductor gating circuit is disconnected, and the power signal of the robot is cut off.
Unlike the prior art, the control device of the robot according to the present embodiment includes a semiconductor gate circuit, and outputs a control signal to the semiconductor gate circuit after receiving a trigger command, and controls the semiconductor gate circuit to be turned off to control the power supply of the driving circuit to be turned off, thereby cutting off the power signal of the robot. The semiconductor gating circuit cuts off the gating branch circuit according to the control signal, so that the power supply is cut off, potential safety hazards caused by personnel operation can be avoided, meanwhile, the service life of a control device of the robot can be prolonged, on the other hand, noise in the power supply switching process is reduced, and user experience is improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a storage medium according to an embodiment of the invention. In the present embodiment, at least one computer program 501 is stored in the storage medium 50. The program 501 is used to execute the method for controlling the robot to stop in any of the above embodiments.
The storage medium 50 may be a memory chip, a hard disk, or other readable and writable storage means such as a removable hard disk, a flash disk, an optical disk, or the like, or may be a server, and is not limited herein.
The method for controlling the stopping of the robot has been described in detail above, and will not be described herein.
Unlike the prior art, the control device of the robot according to the present embodiment includes a semiconductor gate circuit, and outputs a control signal to the semiconductor gate circuit after receiving a trigger command, and controls the semiconductor gate circuit to be turned off to control the power supply of the driving circuit to be turned off, thereby cutting off the power signal of the robot. The semiconductor gating circuit cuts off the gating branch circuit according to the control signal, so that the power supply is cut off, potential safety hazards caused by personnel operation can be avoided, meanwhile, the service life of a control device of the robot can be prolonged, on the other hand, noise in the power supply switching process is reduced, and user experience is improved.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium.
Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A control device of a robot, characterized by comprising: a logic control circuit, a drive circuit and a semiconductor gating circuit;
the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is used for being connected with an external power supply, and the second connection end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is used for being connected with the robot;
the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving a first trigger instruction triggered after the robot is in an abnormal state or an emergency state or stops, and controlling the semiconductor gating circuit to be switched off so as to control the power supply of the driving circuit to be switched off and cut off a power signal of the robot;
the signal line and power and the band-type brake line of robot respectively with drive circuit connects, drive circuit passes through power and band-type brake line the robot provides the power supply, drive circuit passes through the signal line output the robot the motion trail instruction that controlling means sent, so that the robot follows the motion trail instruction operation, just drive circuit passes through the signal line is received the feedback signal of robot, with real-time basis the motion accuracy of feedback signal regulation robot.
2. The control device of claim 1, wherein the semiconductor gating circuit comprises a thyristor.
3. The control device according to claim 1, wherein the drive circuit includes a drive control circuit and a drive power circuit connected to the drive control circuit.
4. The control device of claim 3, the drive control circuit being connected to the logic control circuit, the drive power circuit being adapted to be connected to the second connection of the semiconductor gating circuit and the robot, respectively.
5. The control device of claim 1, further comprising a controller connected to the drive circuit;
the controller is used for sending a second control signal to the driving circuit when receiving a second trigger instruction, and the driving circuit controls the robot to stop working according to the second control signal and a preset program.
6. The control device of claim 5, wherein the controller is further connected to the logic control circuit for issuing a command to the logic control circuit to open the semiconductor gating circuit after the robot stops operating according to a predetermined program in response to the second control signal.
7. The control device according to claim 5 or 6, wherein the drive circuit includes a drive control circuit and a drive power circuit connected to the drive control circuit;
the drive control circuit is connected with the controller; the driving power circuit is connected with the second connecting end of the semiconductor gating circuit to receive a power supply signal; the driving power circuit is also used for being connected with the robot;
the drive control circuit is used for determining a control algorithm matched with the control signal according to the control signal of the controller; and the driving power circuit is used for outputting a corresponding driving power signal according to the control algorithm so as to stop the robot working according to the driving power signal.
8. The control device of claim 7, wherein the drive power signal is a pulse width modulated signal.
9. A method of controlling a robot to stop, the method comprising:
the control device of the robot outputs a first control signal to a semiconductor gating circuit of the robot after a logic control circuit of the robot receives a first trigger instruction triggered when the robot is in an abnormal state or an emergency state or stops;
controlling the semiconductor gating circuit to be switched off according to the first control signal so as to switch off the power supply of a driving circuit of a control device of the robot and cut off a power signal of the robot; the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is used for being connected with an external power supply, and the second connection end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is also used for being connected with the robot;
the driving circuit provides a power source for the robot through power and a brake cable; the driving circuit outputs a motion track instruction sent by a control device of the robot through a signal line so that the robot operates according to the motion track instruction; the driving circuit also receives a feedback signal of the robot through the signal wire so as to adjust the motion precision of the robot in real time according to the feedback signal.
10. The method of claim 9, wherein the outputting of the first control signal to the semiconductor gating circuit of the robot after the logic control circuit of the robot receives the first trigger command specifically comprises:
after a logic control circuit of the control device of the robot receives a first trigger instruction, the logic control circuit sends a stop instruction to the drive circuit to stop the robot;
after the robot stops, the logic control circuit outputs a first control signal to its semiconductor gating circuit.
11. The method of claim 9, wherein the robot control device further comprises, before the logic control circuit outputs the first control signal to the semiconductor gating circuit before the logic control circuit receives the first trigger command:
when a controller of the robot receives a second trigger instruction, the control device of the robot sends a second control signal to the drive circuit, so that the drive circuit controls the robot to stop working according to the second control signal and a preset program, and sends the first trigger instruction to the logic control circuit;
the step of outputting a first control signal to a semiconductor gating circuit of the robot after a logic control circuit of the robot receives a first trigger instruction specifically includes:
and the control device of the robot outputs a first control signal to a semiconductor gating circuit of the robot after a logic control circuit of the robot receives the first trigger instruction sent by the controller.
12. A method for controlling robot stop according to any of claims 9-11, characterized in that the semiconductor gating circuit comprises a thyristor.
13. The method of claim 11, wherein the controlling device of the robot sends a second control signal to the driving circuit when the controller of the robot receives a second trigger command, so that the driving circuit controls the robot to stop working according to the second control signal and the preset program, and the sending the trigger command to the logic control circuit specifically comprises:
and the control device of the robot sends a second control signal to the drive circuit when the controller of the robot receives a second trigger instruction, so that the drive circuit determines a control algorithm matched with the control signal according to the second control signal and outputs a corresponding drive power signal according to the control algorithm, and further the robot stops working according to the drive power signal and sends the trigger instruction to the logic control circuit.
14. A method of controlling robot stop according to claim 13, characterized in that the driving power signal is a pulse width modulated signal.
15. A storage medium having stored thereon a computer program capable of being executed to implement the method of controlling a robot stop according to any one of claims 9 to 14.
16. A robot system, characterized in that the robot system comprises a control device of a robot, the robot and an external power supply;
the control device of the robot comprises a logic control circuit, a drive circuit and a semiconductor gating circuit;
the logic control circuit is respectively connected with the drive circuit and the control end of the semiconductor gating circuit, the first connecting end of the semiconductor gating circuit is connected with the external power supply, and the second connecting end of the semiconductor gating circuit is connected with the drive circuit; the driving circuit is connected with the robot;
the logic control circuit is used for outputting a first control signal to the semiconductor gating circuit after receiving a first trigger instruction triggered after the robot is in an abnormal state or an emergency state or stops, and controlling the semiconductor gating circuit to be switched off so as to control the power supply of the driving circuit to be switched off and cut off a power signal of the robot;
the signal line and power and the band-type brake line of robot respectively with drive circuit connects, drive circuit passes through power and band-type brake line the robot provides the power supply, drive circuit passes through the signal line output the motion trail instruction that the controlling means of robot sent, so that the robot follows the motion trail instruction operation, drive circuit still passes through the signal line is received the feedback signal of robot, with real-time basis the feedback signal adjusts the motion precision of robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/074610 WO2019148333A1 (en) | 2018-01-30 | 2018-01-30 | Method and device for controlling robot to stop, storage medium, and robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109414818A CN109414818A (en) | 2019-03-01 |
| CN109414818B true CN109414818B (en) | 2022-02-18 |
Family
ID=65462102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880002366.9A Active CN109414818B (en) | 2018-01-30 | 2018-01-30 | Method and device for controlling robot to stop, storage medium and robot system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109414818B (en) |
| WO (1) | WO2019148333A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201282325Y (en) * | 2008-09-27 | 2009-07-29 | 世融科技有限公司 | Power-off protection device for detecting input/output signal abnormal |
| CN101834486A (en) * | 2009-03-09 | 2010-09-15 | 贺雷 | Switch-off electronic motor and control system thereof |
| CN105223858A (en) * | 2014-06-13 | 2016-01-06 | 深圳市双赢伟业科技股份有限公司 | A kind of switching on and shutting down control circuit of electronic equipment |
| CN205644180U (en) * | 2016-05-19 | 2016-10-12 | 深圳市越疆科技有限公司 | Soft power -off control circuit and arm device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4226624B2 (en) * | 2006-10-02 | 2009-02-18 | ファナック株式会社 | Robot controller |
-
2018
- 2018-01-30 CN CN201880002366.9A patent/CN109414818B/en active Active
- 2018-01-30 WO PCT/CN2018/074610 patent/WO2019148333A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201282325Y (en) * | 2008-09-27 | 2009-07-29 | 世融科技有限公司 | Power-off protection device for detecting input/output signal abnormal |
| CN101834486A (en) * | 2009-03-09 | 2010-09-15 | 贺雷 | Switch-off electronic motor and control system thereof |
| CN105223858A (en) * | 2014-06-13 | 2016-01-06 | 深圳市双赢伟业科技股份有限公司 | A kind of switching on and shutting down control circuit of electronic equipment |
| CN205644180U (en) * | 2016-05-19 | 2016-10-12 | 深圳市越疆科技有限公司 | Soft power -off control circuit and arm device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109414818A (en) | 2019-03-01 |
| WO2019148333A1 (en) | 2019-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9102058B2 (en) | Method and apparatus for implementing a manipulator process | |
| US8099193B2 (en) | Control system for an industrial robot | |
| US20180123498A1 (en) | Motor drive device including shared converter | |
| US20170250645A1 (en) | Motor drive having function of protecting dynamic braking circuit | |
| CN105583828B (en) | The method and system to be shut down for the axle for making industrial robot | |
| JP5552564B1 (en) | Multi-axis robot power cutoff device and multi-axis robot | |
| JP2017158259A (en) | Motor controller with torque command limit part | |
| US10328585B2 (en) | Robot control device and robot system | |
| CN108927804B (en) | Composite robot control system and robot | |
| US20130193900A1 (en) | Motor drive control device for limiting output of motor | |
| US10815696B2 (en) | Robot, robot system, and robot control apparatus | |
| CN115021389A (en) | Industrial robot power-off self-protection method | |
| EP2863536A1 (en) | Motion and control system | |
| CN109414818B (en) | Method and device for controlling robot to stop, storage medium and robot system | |
| JP7385618B2 (en) | Control device for electric motor, robot equipped with same, and control method for electric motor | |
| WO2018155424A1 (en) | Motor control device | |
| CN108599628A (en) | Emergency stop control device, servo-driver and servo-drive system | |
| CN207039494U (en) | A kind of redundancy three-phase brushless dc motor control circuit | |
| JP6321591B2 (en) | Servo motor control device | |
| CN114301323A (en) | Bidirectional power supply and control method thereof | |
| CN103199792B (en) | Mechanical arm braking system | |
| JP2015231255A (en) | Servo motor drive device | |
| JP6327867B2 (en) | Robot control system | |
| JP6529878B2 (en) | Control system | |
| CN113021332B (en) | Industrial robot control system and control equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518063 23 Floor (Room 2303-2306) of Desai Science and Technology Building, Yuehai Street High-tech Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd. Address before: 518104 Shajing Industrial Co., Ltd. No. 3 Industrial Zone, Hexiang Road, Shajing Street, Baoan District, Shenzhen City, Guangdong Province Applicant before: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |