CN109848960B - Hot plug circuit for industrial robot demonstrator and control method thereof - Google Patents
Hot plug circuit for industrial robot demonstrator and control method thereof Download PDFInfo
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- CN109848960B CN109848960B CN201811545284.7A CN201811545284A CN109848960B CN 109848960 B CN109848960 B CN 109848960B CN 201811545284 A CN201811545284 A CN 201811545284A CN 109848960 B CN109848960 B CN 109848960B
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Abstract
The invention relates to a hot plug circuit for an industrial robot demonstrator and a control method thereof, wherein the hot plug circuit comprises the following steps: the hot plug button branch and the indicator light branch are connected; the hot plug button branch comprises a hot plug button K2 and an optical coupler U1 which are connected in series; an INPUT end INPUT is arranged between the hot plug button K2 and the optocoupler U1; the INPUT terminal INPUT is arranged at the positive terminal of the light emitting diode D1 in the indicating lamp branch. The invention enables field personnel to operate any robot independently by arranging the independent button and the switch emergency stop operating device on the robot.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a hot plug circuit for an industrial robot demonstrator and a control method thereof.
Background
In recent years, the development of robotics and products thereof is fast, and the development of robotics and products thereof is increasingly remarkable in the aspects of improving the production automation level, labor productivity and economic benefit, ensuring product quality, improving labor conditions and the like. At present, robots have become an industry of great interest in various countries in the world, and as a robot has a device that operates with multiple degrees of freedom, stability and safety of use of the robot are increasingly emphasized.
In the industrial field use process, the robot demonstrator is used as a man-machine interaction platform to realize the functions of robot teaching, alarming and the like. Generally, one robot is used with one teaching aid, but with the development of industrial robots, in order to save cost, one teaching aid can be used with a plurality of robots. When one demonstrator is connected to the robot control system to complete teaching programming and other works, after the robot automatically runs, the demonstrator can be taken down and replaced to another robot to perform teaching programming and other works. Because the demonstrator is provided with the emergency stop switch, the normally closed emergency stop loop is disconnected after the demonstrator is taken down, so that the robot gives an alarm in emergency stop to cause abnormal shutdown.
Therefore, when the demonstrator is required to be hot plugged and unplugged, the robot does not have the sudden stop alarm when the demonstrator is taken down, and the robot can respond to the sudden stop of the demonstrator after the demonstrator is connected.
The invention designs a safe and reliable hot plug circuit which is simple to operate aiming at the requirement of an industrial robot on the hot plug function of a demonstrator.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, embodiments of the present invention provide a hot swap circuit for an industrial robot teach pendant and a control method thereof.
A hot swap circuit for an industrial robot teach pendant comprising: the hot plug button branch and the indicator light branch are connected; the hot plug button branch comprises a hot plug button K2 and an optical coupler U1 which are connected in series; an INPUT end INPUT is arranged between the hot plug button K2 and the optocoupler U1; the INPUT terminal INPUT is arranged at the positive terminal of the light emitting diode D1 in the indicating lamp branch.
The hot plug button branch circuit further comprises: a first resistor R1 and a second resistor R3; an emitter of a triode in the optocoupler U1 is connected with one end of the first resistor R1 and is provided with a plugging signal GPIO; the other end of the first resistor R1 is grounded; a collector of a triode in the optocoupler U1 is connected with a power supply voltage VCC; the negative electrode of a light emitting diode in the optocoupler U1 is connected with one end of the second resistor R3, and the other end of the second resistor R3 is grounded; the positive pole of emitting diode among the opto-coupler U1 with hot plug button K2's one end links to each other, the other end of hot plug button K2 sets up scram signal.
The pilot lamp branch road still includes: a third resistor R4; one end of the third resistor R4 is connected with the cathode of the light emitting diode in the indicator light branch circuit; the other end of the third resistor R4 is grounded.
The hot plug button K2 is a button or a knob switch with self-locking.
The control method of the hot plug circuit comprises the following steps: after the teaching of the industrial robot is finished, entering an automatic operation state; if the industrial robot demonstrator needs to be unplugged, closing the hot plug button K2, changing an INPUT end INPUT to a high level, and lighting a light emitting diode D1 in the indicating lamp branch; and if the robot demonstrator needs to be used, the hot plug button K2 is switched off, the INPUT end INPUT is changed into low level, and the light-emitting diode D1 in the indicating lamp branch is turned off.
Compared with the closest prior art, the technical scheme provided by the invention has the following advantages:
1. according to the invention, by arranging the independent button and the switch emergency stop operating device on the robot, field personnel can independently operate any robot;
2. the invention can realize the control and monitoring of the whole network robot, improve the utilization rate of the user operation device, contribute to saving the cost and conveniently realize the unified management of the robot;
3. the button and the indicator light in the circuit further facilitate the operation of a user and the state indication of the robot;
4. the hot plug circuit of the invention has simple principle, few components, high reliability and convenient installation and use.
Drawings
FIG. 1 is a diagram of the installation location of the hot swap circuit of the present invention;
FIG. 2 is a block diagram of a hot swap circuit of the present invention.
Detailed Description
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiment of the invention provides a hot plug circuit for an industrial robot demonstrator and a control method thereof.
As shown in fig. 1, when the industrial robot works normally, the robot demonstrator is connected to the robot controller through a corresponding interface, and the interface circuit comprises a power line, a communication line and an emergency stop alarm signal line of the demonstrator. The K1 is a normally closed emergency stop switch, a power line refers to a +24V power supply provided by the robot controller for the robot demonstrator, a communication line is used for communication between the robot controller and the demonstrator, and an emergency stop alarm signal line works through a power circuit formed between the demonstrator and the controller.
In emergency, pressing the emergency stop switch on the demonstrator, disconnecting the emergency stop loop, and triggering the corresponding emergency stop processing mechanism by the demonstrator and the robot controller respectively: the robot controller responds to cut off the power source of the robot motor; the panel of the robot demonstrator can bounce the frame to display that the robot is pressed down in sudden stop, and meanwhile, the robot cannot be manually and automatically controlled to move, so that the robot stops running at once.
As shown in fig. 2, the hot swap circuit of the robot teach pendant includes: the hot plug button K2, an optical coupler U1 and an LED indicator lamp D1 are arranged in the hot plug button. K2 is a button switch with self-locking function; the optical coupler U1 is used for isolation, and external signal input needs optical coupler isolation; the indicator light D1 is a hot plug indicator light of the robot demonstrator, the indicator light D1 represents that the robot demonstrator can be taken down at the moment when being lighted, when the high-low level control K2 of the INPUT end is switched on, the INPUT is changed into high level, and the D1 is switched on to emit light.
During normal work, the hot plug button K2 is in an off state, the GPIO signal is low level, and the robot controller can trigger an emergency stop processing mechanism when a user presses the emergency stop. When the robot is required to use the hot plug function in the automatic running state, a hot plug button switch K2 (with a self-locking function) on the surface of the robot controller is pressed.
The user is using the hot plug circuit, as follows:
after the teaching programming and the robot automatically run are completed: firstly, press hot plug button K2, hot plug pilot lamp D1 is bright, and GPIO is become high level by the low level simultaneously, and hot plug signal transmission to robot controller, afterwards, the controller will no longer trigger the demonstrator scram, and the suggestion can pull out the demonstrator on the demonstrator page.
The connection and disconnection of the hot plug button K2 are manually controlled, and the hot plug button K2 is a button with self-locking or a knob switch. When the K2 is communicated, the GPIO is high level, and the robot program control does not respond to the demonstrator emergency stop signal; when K2 is disconnected, GPIO is low level, and robot program control responds to the demonstrator emergency stop signal.
The procedure for reinserting the teach pendant is similar: 1. inserting a demonstrator; 2. and pressing a hot plug button of the demonstrator, and extinguishing the hot plug indicator lamp D1 at the moment.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be 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.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, 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.
In addition, functional units in the embodiments of the present invention 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It is to be noted that 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.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A hot swap circuit for an industrial robot teach pendant comprising: the hot plug button branch and the indicator light branch are connected;
the hot plug button branch comprises a hot plug button (K2), a first resistor (R1), a second resistor (R3) and an optical coupler (U1) which are connected in series;
an emitter of a triode in the optocoupler (U1) is connected with one end of the first resistor (R1) and is provided with a plugging signal (GPIO);
the other end of the first resistor (R1) is grounded;
the collector of a triode in the optocoupler (U1) is connected with a power supply Voltage (VCC);
the negative electrode of a light emitting diode in the optocoupler (U1) is connected with one end of the second resistor (R3), and the other end of the second resistor (R3) is grounded;
the anode of a light emitting diode in the optocoupler (U1) is connected with one end of the hot plug button (K2), and the other end of the hot plug button (K2) is provided with an emergency stop signal;
an INPUT end (INPUT) is arranged between the hot plug button (K2) and the optocoupler (U1);
the INPUT end (INPUT) is arranged at the positive end of a light emitting diode (D1) in the indicating lamp branch.
2. The hot swap circuit for an industrial robot teach pendant of claim 1 wherein the indicator light branch further comprises: a third resistor (R4);
one end of the third resistor (R4) is connected with the cathode of the light-emitting diode in the indicator light branch;
the other end of the third resistor (R4) is grounded.
3. Hot swap circuit for an industrial robot teach pendant according to claim 1 wherein the hot swap button (K2) is a button with self-locking or a rotary switch.
4. A control method for a hot swap circuit of an industrial robot teach pendant according to any one of claims 1-3 comprising the steps of:
after the teaching of the industrial robot is finished, the industrial robot enters an automatic running state;
if the industrial robot demonstrator needs to be unplugged, closing the hot plug button (K2), changing an INPUT end (INPUT) to a high level, and lighting a light emitting diode (D1) in the indicator light branch;
if the robot demonstrator needs to be used, the hot plug button (K2) is switched off, the INPUT end (INPUT) becomes low level, and the light emitting diode (D1) in the indicating lamp branch is turned off.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811545284.7A CN109848960B (en) | 2018-12-17 | 2018-12-17 | Hot plug circuit for industrial robot demonstrator and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811545284.7A CN109848960B (en) | 2018-12-17 | 2018-12-17 | Hot plug circuit for industrial robot demonstrator and control method thereof |
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| CN109848960A CN109848960A (en) | 2019-06-07 |
| CN109848960B true CN109848960B (en) | 2020-09-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111045356B (en) * | 2019-11-07 | 2020-12-18 | 珠海格力电器股份有限公司 | Method and circuit for realizing hot plug of industrial robot demonstrator |
| CN111002327B (en) * | 2019-12-09 | 2023-10-27 | 珠海格力电器股份有限公司 | Pulling-out and inserting control system and method of demonstrator and robot |
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| CN1819387A (en) * | 2006-01-13 | 2006-08-16 | 彩虹集团电子股份有限公司 | Inspecting circuit and method for switching power-supply outputting voltage |
| WO2010025768A1 (en) * | 2008-09-04 | 2010-03-11 | Abb Technology Ab | A device and a method for facilitating editing of a robot program |
| CN205043783U (en) * | 2015-10-21 | 2016-02-24 | 国机集团科学技术研究院有限公司 | Industrial robot's safety protection control system |
| JP2016030324A (en) * | 2014-07-30 | 2016-03-07 | ファナック株式会社 | Robot controller to which teaching control panel is detachably attached |
| CN107688313A (en) * | 2017-09-27 | 2018-02-13 | 上海焕巍智能科技有限公司 | A kind of opened industrial robot controller |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2672417B2 (en) * | 1991-08-15 | 1997-11-05 | ファナック株式会社 | Emergency stop circuit for teaching operation panel |
| JP2014167681A (en) * | 2013-02-28 | 2014-09-11 | Fanuc Ltd | Control system provided with detachably attachable operation panel |
| CN106313125A (en) * | 2015-06-25 | 2017-01-11 | 老河口市第八小学 | Multi-edge cutter |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1819387A (en) * | 2006-01-13 | 2006-08-16 | 彩虹集团电子股份有限公司 | Inspecting circuit and method for switching power-supply outputting voltage |
| WO2010025768A1 (en) * | 2008-09-04 | 2010-03-11 | Abb Technology Ab | A device and a method for facilitating editing of a robot program |
| JP2016030324A (en) * | 2014-07-30 | 2016-03-07 | ファナック株式会社 | Robot controller to which teaching control panel is detachably attached |
| CN205043783U (en) * | 2015-10-21 | 2016-02-24 | 国机集团科学技术研究院有限公司 | Industrial robot's safety protection control system |
| CN107688313A (en) * | 2017-09-27 | 2018-02-13 | 上海焕巍智能科技有限公司 | A kind of opened industrial robot controller |
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