CN111002327B - Pulling-out and inserting control system and method of demonstrator and robot - Google Patents
Pulling-out and inserting control system and method of demonstrator and robot Download PDFInfo
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- CN111002327B CN111002327B CN201911253556.0A CN201911253556A CN111002327B CN 111002327 B CN111002327 B CN 111002327B CN 201911253556 A CN201911253556 A CN 201911253556A CN 111002327 B CN111002327 B CN 111002327B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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Abstract
The invention discloses a system and a method for controlling pulling and inserting of a demonstrator and a robot. Wherein, this system includes: the first control switch is used for generating a state switching signal; and the control device is connected with the first control switch and is used for controlling the power circuit of the demonstrator to be disconnected and the scram loop to be short-circuited or controlling the power circuit to be conducted and the scram loop to be disconnected based on the state switching signal. The invention solves the technical problems of complex operation and low safety of the pulling-inserting control mode of the demonstrator in the related technology.
Description
Technical Field
The invention relates to the field of industrial robot control, in particular to a system and a method for controlling pulling and inserting of a demonstrator and a robot.
Background
In the field use process of the industrial robot, the demonstrator is used as a platform for man-machine interaction, so that various controls of a user on the robot are realized. Under the general condition, a robot is matched with a demonstrator, and as the interface of the demonstrator is increasingly developed to be universal, the situation that the demonstrator can be matched with a plurality of industrial robots for use appears: after the user connects the demonstrator with one robot, programming realizes the automatic operation of the demonstrator, and then the demonstrator is taken down to be connected with the other industrial robot through a hot plug technology to continue the corresponding operation.
The interface signals of the robot demonstrator and the motion controller generally comprise three types of a demonstrator power line, a communication line of the demonstrator and the motion controller and a demonstrator scram signal. The emergency stop signal works through a power supply loop formed between the demonstrator and the motion controller, if the demonstrator is not subjected to corresponding processing, the demonstrator is directly taken down from the motion controller, and the motion controller can start emergency stop alarm processing, so that the robot stops running. Therefore, in order to realize the hot plug of the demonstrator, the emergency stop signal and the related processing are required. I.e. the following two problems have to be solved: ensuring the integrity of the emergency stop loop (corresponding emergency stop standby loop needs to be started in advance) in the process of removing the demonstrator, and avoiding triggering the controller for emergency stop alarm; after the demonstrator is connected, the emergency stop switch on the demonstrator panel can be normally used (the corresponding emergency stop standby loop is disconnected).
In order to solve the above-mentioned problems, two schemes are provided in the related art, and the first scheme is implemented as follows: a demonstrator hot-plug knob switch is left on the motion controller panel, the knob has 0/1 gear, when the knob is placed in 1 gear, the demonstrator can be normally used only by being connected, otherwise, the control cabinet alarms; when the knob is placed in the 0 th gear, the demonstrator can be pulled out, and the robot system can still continue to operate. The second scheme is realized as follows: a hot plug button (which can be a self-ejecting normally open button switch) is reserved on the motion controller panel, meanwhile, a special short connector is provided for a user, and the steps of pulling out the demonstrator are as follows: the hot plug button is always pressed, and the corresponding indicator lamp is lighted at the moment; the demonstrator is pulled out, and a special short circuit is inserted into an interface of the demonstrator; and releasing the hot plug button. The steps of reinserting the teach pendant are as follows: pressing the hot plug button all the time; the short circuit is pulled down, and then the demonstrator is inserted; and releasing the hot plug button.
However, with the first solution, if the user reinserts the teach pendant to the motion controller and forgets to place the knob in gear 1, the scram button on the teach pendant is caused to be in a disabled state, and normal operation of the function is based on absolute normal operation of the user, with a potential safety risk. For the second scheme, the operation is more complicated and unreliable, the user needs to press the hot plug button all the time, and once the hot plug button is loosened in the process of plugging the demonstrator and the short connector, the robot can be in emergency stop alarming, so that automatic operation is stopped.
Aiming at the problems of complex operation and low safety of a pulling-inserting control mode of a demonstrator in the related art, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a system and a method for controlling the pulling and inserting of a demonstrator and a robot, which at least solve the technical problems of complex operation and low safety of a pulling and inserting control mode of the demonstrator in the related art.
According to an aspect of an embodiment of the present invention, there is provided a system for controlling plug and play of a demonstrator, including: the first control switch is used for generating a state switching signal; and the control device is connected with the first control switch and is used for controlling the power circuit of the demonstrator to be disconnected and the scram loop to be short-circuited or controlling the power circuit to be conducted and the scram loop to be disconnected based on the state switching signal.
Further, the system further comprises: the first relay is connected in series on the power circuit and is used for being opened based on a power-off signal output by the control device or closed based on a power-on signal output by the control device.
Further, the control device includes: the control module is connected with the first control switch and is used for stopping receiving the heartbeat packet sent by the demonstrator based on the first trigger signal sent by the first control switch and releasing a network port connected with the demonstrator; the acquisition module is connected with the first control switch and used for acquiring the current state of the robot based on a second trigger signal sent by the first control switch, wherein the current state is used for initializing the demonstrator and at least comprises one of the following steps: an operational state, an enabled state, and an alarm state.
Further, the control device includes: the receiving module is connected with the demonstrator and is used for receiving the first control signal or the second control signal sent by the demonstrator; the control module is connected with the receiving module and is used for stopping receiving the heartbeat packet sent by the demonstrator based on the first control signal and releasing a network port connected with the demonstrator; and the acquisition module is connected with the receiving module and is used for acquiring the current state of the robot based on the second control signal.
Further, the system further comprises: the second control switch is arranged on the demonstrator and is used for generating a first trigger signal or a second trigger signal; and the demonstrator is connected with the second control switch and is used for transmitting the first control signal based on the first trigger signal or transmitting the second control signal based on the second trigger signal.
Further, the second control switch includes: the first button switch is connected with the demonstrator and used for generating a first trigger signal; and the second button switch is connected with the demonstrator and used for generating a second trigger signal.
Further, the control device further includes: and the sending module is connected with the control module and used for sending the current state to the demonstrator.
Further, the system further comprises: the short circuit is connected with the emergency stop loop through a second relay, and the second relay is used for being opened based on a power-off signal output by the control device or closed based on a power-on signal output by the control device.
Further, the first control switch is a knob switch.
According to another aspect of the embodiment of the present invention, there is also provided a method for controlling plug and play of a demonstrator, including: receiving a state switching signal generated after the first control switch is triggered; based on the state switching signal, the power supply circuit of the demonstrator is controlled to be disconnected and the scram loop is controlled to be short-circuited, or the power supply circuit is controlled to be conducted and the short circuit of the scram loop is controlled to be disconnected.
Further, controlling the power circuit to be turned off or on includes: the first relay connected in series on the power supply circuit is controlled to be opened or closed.
Further, the method further comprises: under the condition that a first trigger signal sent by a first control switch is received, stopping receiving a heartbeat packet sent by the demonstrator, and releasing a network port connected with the demonstrator; under the condition that a second trigger signal sent by the first control switch is received, acquiring the current state of the robot, wherein the current state is used for initializing the demonstrator and at least comprises one of the following steps: an operational state, an enabled state, and an alarm state.
Further, the method further comprises: under the condition that a first control signal sent by the demonstrator is received, stopping receiving a heartbeat packet sent by the demonstrator, and releasing a network port connected with the demonstrator; and under the condition that a second control signal sent by the demonstrator is received, acquiring the current state of the robot.
Further, the first control signal is generated by the demonstrator based on the first trigger signal, and the second control signal is generated by the demonstrator based on the second trigger signal, wherein the first trigger signal or the second trigger signal is generated after being triggered by a second control switch arranged on the demonstrator.
Further, after the control power supply circuit is turned on, the current state is transmitted to the demonstrator.
Further, controlling the shorting of the scram circuit or opening the shorting of the scram circuit includes: and controlling a second relay connected in series with the short circuit to be opened or closed, wherein the short circuit is connected with the scram loop through the second relay.
According to another aspect of the embodiment of the present invention, there is also provided a robot including: the pulling-out and inserting control system of the demonstrator.
According to another aspect of the embodiment of the present invention, there is further provided a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the above-mentioned method for controlling the plug and the socket of the teach pendant.
According to another aspect of the embodiment of the present invention, a processor is further provided, where the processor is configured to run a program, and when the program runs, the above-mentioned method for controlling the plug and the socket of the demonstrator is executed.
In the embodiment of the invention, the first control switch is used for generating the state switching signal, and the control device is used for controlling the power supply circuit of the demonstrator to be disconnected and the scram loop to be short-circuited or controlling the power supply circuit to be conducted and the scram loop to be short-circuited to be disconnected based on the state switching signal, so that the requirement of the industrial robot on hot plug of the demonstrator is met. Compared with the prior art, the hot plug of the demonstrator can be realized by operating the first control switch, the operation complexity is reduced, and the problem of circuit damage caused by virtual connection of connecting wires when the demonstrator is hot plugged is prevented by disconnecting or conducting the power supply circuit of the demonstrator, the demonstrator is in an uncharged state in the plug-in process, the safety is higher, the problem that the sudden stop of the demonstrator is accidentally shorted in the non-hot plug state of the robot can be effectively prevented, and the technical problems that the plug-in control mode of the demonstrator is complex in operation and low in safety in the related art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a control system for a teach pendant in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative teach pendant plug control system in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative teach hot-pull operation in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram of an alternative teach pendant hot plug operation in accordance with an embodiment of the present application; and
fig. 5 is a flowchart of a method for controlling the plug and play of a teach pendant in accordance with an embodiment of the present application.
Wherein, the drawings include the following reference numerals:
10. a motion controller; 12. hot-plug knob; 14. a control device; 16. a motion controller scram switch; 18. A connector; 20. a demonstrator; 22. a demonstrator scram switch; 30. and (5) connecting wires.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to the embodiment of the invention, a system for controlling the pulling and inserting of a demonstrator is provided.
Fig. 1 is a schematic diagram of a system for controlling the plugging and unplugging of a teach pendant according to an embodiment of the present invention, as shown in fig. 1, the system comprising: a first control switch 12 and a control device 14.
Wherein the first control switch 12 is used for generating a state switching signal; the control device 14 is connected with the first control switch, and is used for controlling the power circuit of the demonstrator to be disconnected and the short circuit of the emergency stop loop to be connected or controlling the power circuit to be connected and the short circuit of the emergency stop loop to be disconnected based on the state switching signal.
Specifically, the first control switch may be disposed on a panel of the motion controller, where the first control switch may be a knob switch, and includes two gear positions of hot plug and hot pull, and when the knob switch rotates from the hot plug to the hot pull or from the hot pull to the hot plug, a state switching signal is output; the first control switch may be a key switch, and when the key switch is pressed or sprung, a state switching signal is output; the first control switch may also be two key switches, and only one of the two key switches can be pressed at the same time, and when any one key switch is pressed, a state switching signal is output. In view of the system cost and the space occupied, in the embodiment of the present invention, the first control switch is taken as a single knob switch for illustration.
The control device may be a chip, a single chip or an FPGA (Field-Programmable Gate Array, field programmable gate array) for controlling the insertion and extraction of the demonstrator in the motion controller, which is not particularly limited in the present invention.
In an alternative scheme, when a user needs to pull out the demonstrator, the user can rotate the hot-plug knob to a hot-plug state, after receiving a state switching signal for switching the hot-plug state to the hot-plug state, the control device shorts an emergency stop loop between the demonstrator and the motion controller, and meanwhile, a power circuit between the demonstrator and the motion controller is disconnected, at the moment, the demonstrator is powered off, and the user can pull out the demonstrator. When the user needs to reinsert the demonstrator, the user inserts the demonstrator, and rotates the hot plug knob to the hot plug gear, and after receiving a state switching signal for switching the hot plug state to the hot plug state, the control device cuts off the short circuit of the scram loop, and simultaneously conducts the power circuit, and at the moment, the demonstrator is electrified. In the whole hot plug process, the robot can always keep an automatic operation state and cannot trigger a corresponding alarm mechanism.
According to the embodiment of the invention, the state switching signal is generated through the first control switch, and the power circuit of the demonstrator is controlled to be disconnected and the scram loop is controlled to be short-circuited or the power circuit is controlled to be conducted and the scram loop is controlled to be short-circuited and disconnected based on the state switching signal through the control device, so that the requirement of the industrial robot on hot plug and pull of the demonstrator is met. Compared with the prior art, the hot plug of the demonstrator can be realized by operating the first control switch, the operation complexity is reduced, and the problem of circuit damage caused by virtual connection of connecting wires when the demonstrator is hot plugged is prevented by disconnecting or conducting the power supply circuit of the demonstrator, the demonstrator is in an uncharged state in the plug-in process, the safety is higher, the problem that the sudden stop of the demonstrator is accidentally shorted in the non-hot plug state of the robot can be effectively prevented, and the technical problems that the plug-in control mode of the demonstrator is complex in operation and low in safety in the related art are solved.
Optionally, in the above embodiment of the present invention, the system further includes: the first relay is connected in series on the power circuit and is used for being opened based on a power-off signal output by the control device or closed based on a power-on signal output by the control device.
Specifically, the motion controller provides +24v power for the demonstrator through the power line of the demonstrator, and the first relay may be connected in series to a power circuit in the motion controller, for example, may be a relay at a connector, where the connector may be a multi-pin aviation plug.
In an alternative scheme, when a user needs to hot-pull the demonstrator, the control device sends a power-off signal to control the first relay to be disconnected, so that a power circuit at the connector lug is disconnected, and the connector lug is powered off, namely the demonstrator is powered off; when a user needs to plug the demonstrator, the control device sends out a power-on signal to control the first relay to be closed, so that a power circuit at the connector lug is conducted, and the connector lug is electrified, namely the demonstrator is electrified.
Optionally, in the above embodiment of the present invention, the control device includes: the control module is connected with the first control switch and is used for stopping receiving the heartbeat packet sent by the demonstrator based on the first trigger signal sent by the first control switch and releasing a network port connected with the demonstrator; the acquisition module is connected with the first control switch and used for acquiring the current state of the robot based on a second trigger signal sent by the first control switch, wherein the current state is used for initializing the demonstrator and at least comprises one of the following steps: an operational state, an enabled state, and an alarm state.
Specifically, the control module may be a control chip or a control circuit in the control circuit, and the acquisition module may be an acquisition port of the control device or may be an acquisition circuit in the control device. The above-mentioned operating state includes start or stop; the enabling state includes an up-enable or a down-enable; the alarm state includes alarm or no alarm.
In addition, the first trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the demonstrator, and the second trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the demonstrator.
The demonstrator and the controller generally adopt TCP/IP communication, the network abnormality judgment generally adopts a heartbeat packet mechanism, namely, the demonstrator sends heartbeat packets to the motion controller at regular time, the motion controller replies immediately after receiving the heartbeat packets, if the heartbeat packets are abnormal, the network is considered abnormal, and the robot is stopped due to alarm at the moment. On the basis, if the demonstrator is pulled out and is not processed, the heartbeat packet is abnormal, so that an alarm is caused. In the embodiment of the invention, in order to realize hot plug of the demonstrator, the hot plug knob outputs a state switching signal and outputs a hot plug signal at the same time, so that the motion controller can process the heartbeat packet according to the hot plug signal, namely, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can acquire the current state of the robot in advance according to the hot plug signal, and sends the current state to the demonstrator after the demonstrator and the motion controller are connected through a network, so that the initialization of the demonstrator is realized.
Optionally, in the above embodiment of the present invention, the control device includes: the receiving module is connected with the demonstrator and is used for receiving the first control signal or the second control signal sent by the demonstrator; the control module is connected with the receiving module and is used for stopping receiving the heartbeat packet sent by the demonstrator based on the first control signal and releasing a network port connected with the demonstrator; and the acquisition module is connected with the receiving module and is used for acquiring the current state of the robot based on the second control signal.
Specifically, the demonstrator and the motion controller communicate through a TCP/IP protocol, and the first control signal may be a signal obtained by encapsulating the hot plug signal by the demonstrator, and the second control signal may be a signal obtained by packaging the hot plug signal by the demonstrator. The receiving module may be an input/output port of the control device, or may be a receiving circuit in the control device.
In an alternative scheme, the hot plug signal and the hot plug signal can be sent to the demonstrator, and the demonstrator sends a corresponding first control signal or a corresponding second control signal to the motion controller to perform hot plug control, so that the motion controller can process the heartbeat packet according to the first control signal, namely, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can acquire the current state of the robot in advance according to the second control signal, and sends the current state to the demonstrator after the demonstrator and the motion controller are connected through a network, so that the initialization of the demonstrator is realized.
According to the scheme, the motion controller receives the state switching signal and also needs to receive the trigger signal or the control signal, so that the motion controller can be accurately hot plugged in the software layer, and the stability and safety of the motion controller are ensured.
Optionally, in the above embodiment of the present invention, the system further includes: the second control switch is arranged on the demonstrator and is used for generating a first trigger signal or a second trigger signal; and the demonstrator is connected with the second control switch and is used for transmitting the first control signal based on the first trigger signal or transmitting the second control signal based on the second trigger signal.
Specifically, the second control switch may be a key switch, and is disposed on the panel of the demonstrator, and the user may press a corresponding button as required, so as to touch the hot plug signal or the hot pull signal, and further, the hot plug signal or the hot pull signal is encapsulated by the demonstrator based on a TCP/IP protocol, so as to obtain a first control signal and a second control signal, thereby realizing data transmission between the demonstrator and the motion controller.
Optionally, in the above embodiment of the present invention, the second control switch includes: the first button switch is connected with the demonstrator and used for generating a first trigger signal; and the second button switch is connected with the demonstrator and used for generating a second trigger signal.
In an alternative solution, for convenience of user operation, two button switches may be respectively disposed on the panel of the demonstrator, and the user may press only one button switch at a time, and different button switches are used for generating different trigger signals. At this time, the first control switch functions to control the power supply circuit of the teach pendant to be turned on or off.
It should be noted that, a prompt message may be set for each button switch, so as to facilitate the user to operate the correct button switch.
Optionally, in the above embodiment of the present invention, the control device further includes: and the sending module is connected with the control module and used for sending the current state to the demonstrator.
Specifically, the above-mentioned transmitting module may be an input/output port of the control device, or may be a transmitting circuit in the control device.
In an alternative scheme, in order to enable the demonstrator to display the latest state of the robot after being started, the current state data of the robot can be collected in advance before the demonstrator is reinserted, and after the demonstrator and the motion controller are connected through a network, the current state data are sent to the demonstrator through the network connection, and the demonstrator can be initialized according to the received data.
Optionally, in the above embodiment of the present invention, the system further includes: the short circuit is connected with the emergency stop loop through a second relay, and the second relay is used for being opened based on a power-off signal output by the control device or closed based on a power-on signal output by the control device.
Specifically, the short circuit can be used as a standby circuit of the emergency stop loop in the demonstrator, and an implementation manner in the related art can be adopted, which is not particularly limited by the invention.
In an alternative scheme, the short circuit is connected with the scram loop through the second relay, and the connection and disconnection of the short circuit and the scram loop can be controlled by controlling the closing and opening of the second relay. When the short circuit is connected with the scram loop, the scram loop is a complete closed loop and is not affected by hot plug of the demonstrator, so that the scram alarm of the motion controller is not triggered. When the short circuit is disconnected with the scram loop, the scram loop and the scram loop of the demonstrator form a complete closed loop, so that a user can trigger the scram processing of the motion controller through the scram button of the demonstrator, that is, the user can normally use the scram switch on the panel of the demonstrator.
A preferred embodiment of the present invention will be described in detail with reference to fig. 2 to 4, taking the first control device transmitting the first trigger signal or the second trigger signal as an example. As shown in fig. 2, when the industrial robot is operating normally, the demonstrator 20 is connected to the motion controller 10 of the robot through a corresponding interface (i.e., the connector 18), and the connection line 30 between the demonstrator and the motion controller includes: the demonstrator power line, the communication line and the emergency stop alarm signal line. The power line is a +24v power supply provided by the motion controller 10 to the demonstrator 20, the communication line is used for communication between the demonstrator 20 and the motion controller 10, the scram alarm signal line works through a power supply loop formed between the demonstrator 20 and the motion controller 10, and the scram loop is kept in a communicated state during normal operation; in an emergency, the demonstrator scram switch 22 on the panel of the demonstrator 20 or the motion controller scram switch 16 on the panel of the motion controller is pressed, the scram loop is disconnected, and the demonstrator 20 and the motion controller 10 respectively trigger corresponding scram processing mechanisms, so that the robot stops running immediately. In order to realize the hot plug of the demonstrator 20, a hot plug knob 12 is further arranged on the panel of the motion controller 10, and a user can switch between a hot plug state and a hot plug state by rotating the hot plug knob 12.
As shown in fig. 3, the hot-drawing operation of the teach pendant 20 is as follows: the user rotates the hot plug knob 12 to the hot shift position, at which point the teach pendant 20 scram circuit is shorted, and simultaneously sends a hot plug signal to the motion controller 10 (as shown in step S301 in fig. 3). After receiving the hotpull signal (as shown in step S302 in fig. 3), the motion controller 10 actively stops the heartbeat packet reception (as shown in step S303 in fig. 3) to prevent occurrence of a network abnormality alarm, and simultaneously releases the network port connected to the demonstrator 20 (as shown in step S304 in fig. 3) for the next connection. After the preparation is done, the motion controller 10 sends a connector power-off signal (as shown in step S305 in fig. 3) for controlling a connector relay (not shown in fig. 2) to turn off the power supply circuit of the demonstrator 20 (as shown in step S306 in fig. 3), and at this time, the demonstrator 20 is powered off and the robot will remain in normal operation.
As shown in fig. 4, the hot-plug operation of the teach pendant 20 is as follows: the user reinserts the teach pendant 20 into the motion controller 10 (as shown in step S401 of fig. 4), and rotates the hot plug knob 12 to the hot plug gear position, at which time the short circuit of the sudden stop circuit of the teach pendant 20 is disconnected (i.e., at which time the teach pendant sudden stop switch 22 can be used normally), and simultaneously sends a hot plug signal to the motion controller 10 (as shown in step S402 of fig. 4). After receiving the hot plug signal (as shown in step S403 in fig. 4), the motion controller 10 prepares to reinsert the teach pendant, at which point it is necessary to prepare the robot operating state to be transmitted to the teach pendant 20 (as shown in step S404 in fig. 4). After the preparation work is finished, the motion controller 10 sends an electrical signal on the connector (as shown in step S405 in fig. 4), and the electrical signal is used for controlling the connector relay to conduct the power circuit of the demonstrator 20 (as shown in step S406 in fig. 4), and the network connection is built with the motion controller 10 again, and meanwhile, the running state of the robot at the moment is obtained and is used for initializing the demonstrator 20.
Through the scheme, the invention provides a safe and reliable hot plug scheme combining software and hardware. Because the power-off mechanism on the connector of the controller and the demonstrator is adopted, when the demonstrator is hot inserted, the problem of equipment short circuit caused by misplug of the aviation plug can be effectively avoided, and a user can determine that the aviation plug is correctly inserted and then is electrified, so that the equipment circuit can be effectively protected; the hot plug of the demonstrator can be prevented from being forgotten to be carried out by a user when the demonstrator is hot plugged, and the demonstrator can not be electrified if the hot plug of the demonstrator is not carried out by the user, so that the operation safety is ensured. After the demonstrator is connected again, the normal use of the demonstrator emergency stop switch can be ensured only by beating the hot plug knob to the hot plug gear, and the user operation is simple and convenient.
Example 2
According to an embodiment of the present invention, there is provided a method of controlling the pulling and inserting of a teach pendant, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown or described herein.
Alternatively, the method provided in this embodiment may be performed by the system provided in embodiment 1, and the preferred solution in this embodiment may be described with reference to the foregoing related description in embodiment 1.
Fig. 5 is a flowchart of a method for controlling the plug and play of a teach pendant according to an embodiment of the present invention, as shown in fig. 5, the method includes the steps of:
step S502, receiving a state switching signal generated after the first control switch is triggered.
Specifically, the first control switch may be disposed on a panel of the motion controller, where the first control switch may be a knob switch, and includes two gear positions of hot plug and hot pull, and when the knob switch rotates from the hot plug to the hot pull or from the hot pull to the hot plug, a state switching signal is output; the first control switch may be a key switch, and when the key switch is pressed or sprung, a state switching signal is output; the first control switch may also be two key switches, and only one of the two key switches can be pressed at the same time, and when any one key switch is pressed, a state switching signal is output. In view of the system cost and the space occupied, in the embodiment of the present invention, the first control switch is taken as a single knob switch for illustration.
Step S504, based on the state switching signal, the power supply circuit of the demonstrator is controlled to be disconnected and the scram loop is controlled to be short-circuited, or the power supply circuit is controlled to be conducted and the scram loop is controlled to be disconnected.
In an alternative scheme, when a user needs to pull out the demonstrator, the user can rotate the hot-plug knob to a hot-plug state, after receiving a state switching signal for switching the hot-plug state to the hot-plug state, the control device shorts an emergency stop loop between the demonstrator and the motion controller, and meanwhile, a power circuit between the demonstrator and the motion controller is disconnected, at the moment, the demonstrator is powered off, and the user can pull out the demonstrator. When the user needs to reinsert the demonstrator, the user inserts the demonstrator, and rotates the hot plug knob to the hot plug gear, and after receiving a state switching signal for switching the hot plug state to the hot plug state, the control device cuts off the short circuit of the scram loop, and simultaneously conducts the power circuit, and at the moment, the demonstrator is electrified. In the whole hot plug process, the robot can always keep an automatic operation state and cannot trigger a corresponding alarm mechanism.
According to the embodiment of the invention, the state switching signal is generated through the first control switch, and the power circuit of the demonstrator is controlled to be disconnected and the scram loop is controlled to be short-circuited or the power circuit is controlled to be conducted and the scram loop is controlled to be short-circuited and disconnected based on the state switching signal through the control device, so that the requirement of the industrial robot on hot plug and pull of the demonstrator is met. Compared with the prior art, the hot plug of the demonstrator can be realized by operating the first control switch, the operation complexity is reduced, and the problem of circuit damage caused by virtual connection of connecting wires when the demonstrator is hot plugged is prevented by disconnecting or conducting the power supply circuit of the demonstrator, the demonstrator is in an uncharged state in the plug-in process, the safety is higher, the problem that the sudden stop of the demonstrator is accidentally shorted in the non-hot plug state of the robot can be effectively prevented, and the technical problems that the plug-in control mode of the demonstrator is complex in operation and low in safety in the related art are solved.
Optionally, in the above embodiment of the present invention, controlling the power supply circuit to be turned off or on includes: the first relay connected in series on the power supply circuit is controlled to be opened or closed.
Specifically, the motion controller provides +24v power for the demonstrator through the power line of the demonstrator, and the first relay may be connected in series to a power circuit in the motion controller, for example, may be a relay at a connector, where the connector may be a multi-pin aviation plug.
In an alternative scheme, when a user needs to hot-pull the demonstrator, the control device sends a power-off signal to control the first relay to be disconnected, so that a power circuit at the connector lug is disconnected, and the connector lug is powered off, namely the demonstrator is powered off; when a user needs to plug the demonstrator, the control device sends out a power-on signal to control the first relay to be closed, so that a power circuit at the connector lug is conducted, and the connector lug is electrified, namely the demonstrator is electrified.
Optionally, in the above embodiment of the present invention, the method further includes: under the condition that a first trigger signal sent by a first control switch is received, stopping receiving a heartbeat packet sent by the demonstrator, and releasing a network port connected with the demonstrator; under the condition that a second trigger signal sent by the first control switch is received, acquiring the current state of the robot, wherein the current state is used for initializing the demonstrator and at least comprises one of the following steps: an operational state, an enabled state, and an alarm state.
Specifically, the first trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the teach pendant, and the second trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the teach pendant.
The demonstrator and the controller generally adopt TCP/IP communication, the network abnormality judgment generally adopts a heartbeat packet mechanism, namely, the demonstrator sends heartbeat packets to the motion controller at regular time, the motion controller replies immediately after receiving the heartbeat packets, if the heartbeat packets are abnormal, the network is considered abnormal, and the robot is stopped due to alarm at the moment. On the basis, if the demonstrator is pulled out and is not processed, the heartbeat packet is abnormal, so that an alarm is caused. In the embodiment of the invention, in order to realize hot plug of the demonstrator, the hot plug knob outputs a state switching signal and outputs a hot plug signal at the same time, so that the motion controller can process the heartbeat packet according to the hot plug signal, namely, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can acquire the current state of the robot in advance according to the hot plug signal, and sends the current state to the demonstrator after the demonstrator and the motion controller are connected through a network, so that the initialization of the demonstrator is realized.
Optionally, in the above embodiment of the present invention, the method further includes: under the condition that a first control signal sent by the demonstrator is received, stopping receiving a heartbeat packet sent by the demonstrator, and releasing a network port connected with the demonstrator; and under the condition that a second control signal sent by the demonstrator is received, acquiring the current state of the robot.
Specifically, the demonstrator and the motion controller communicate through a TCP/IP protocol, and the first control signal may be a signal obtained by encapsulating the hot plug signal by the demonstrator, and the second control signal may be a signal obtained by packaging the hot plug signal by the demonstrator.
In an alternative scheme, the hot plug signal and the hot plug signal can be sent to the demonstrator, and the demonstrator sends a corresponding first control signal or a corresponding second control signal to the motion controller to perform hot plug control, so that the motion controller can process the heartbeat packet according to the first control signal, namely, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can acquire the current state of the robot in advance according to the second control signal, and sends the current state to the demonstrator after the demonstrator and the motion controller are connected through a network, so that the initialization of the demonstrator is realized.
According to the scheme, the motion controller receives the state switching signal and also needs to receive the trigger signal or the control signal, so that the motion controller can be accurately hot plugged in the software layer, and the stability and safety of the motion controller are ensured.
Alternatively, in the above embodiment of the present invention, the first control signal is generated by the teach pendant based on the first trigger signal, and the second control signal is generated by the teach pendant based on the second trigger signal, wherein the first trigger signal or the second trigger signal is generated after being triggered by the second control switch provided on the teach pendant.
Specifically, the second control switch may be a key switch, and is disposed on the panel of the demonstrator, and the user may press a corresponding button as required, so as to touch the hot plug signal or the hot pull signal, and further, the hot plug signal or the hot pull signal is encapsulated by the demonstrator based on a TCP/IP protocol, so as to obtain a first control signal and a second control signal, thereby realizing data transmission between the demonstrator and the motion controller.
In an alternative solution, for convenience of user operation, two button switches may be respectively disposed on the panel of the demonstrator, and the user may press only one button switch at a time, and different button switches are used for generating different trigger signals. At this time, the first control switch functions to control the power supply circuit of the teach pendant to be turned on or off.
It should be noted that, a prompt message may be set for each button switch, so as to facilitate the user to operate the correct button switch.
Alternatively, in the above-described embodiment of the present invention, the current state is transmitted to the teach pendant after the control power supply circuit is turned on.
In an alternative scheme, in order to enable the demonstrator to display the latest state of the robot after being started, the current state data of the robot can be collected in advance before the demonstrator is reinserted, and after the demonstrator and the motion controller are connected through a network, the current state data are sent to the demonstrator through the network connection, and the demonstrator can be initialized according to the received data.
Optionally, in the foregoing embodiment of the present invention, controlling the scram circuit to short or disconnect the scram circuit includes: and controlling a second relay connected in series with the short circuit to be opened or closed, wherein the short circuit is connected with the scram loop through the second relay.
Specifically, the short circuit can be used as a standby circuit of the emergency stop loop in the demonstrator, and an implementation manner in the related art can be adopted, which is not particularly limited by the invention.
In an alternative scheme, the short circuit is connected with the scram loop through the second relay, and the connection and disconnection of the short circuit and the scram loop can be controlled by controlling the closing and opening of the second relay. When the short circuit is connected with the scram loop, the scram loop is a complete closed loop and is not affected by hot plug of the demonstrator, so that the scram alarm of the motion controller is not triggered. When the short circuit is disconnected with the scram loop, the scram loop and the scram loop of the demonstrator form a complete closed loop, so that a user can trigger the scram processing of the motion controller through the scram button of the demonstrator, that is, the user can normally use the scram switch on the panel of the demonstrator.
Example 3
According to an embodiment of the present application, there is provided a robot including: the system for controlling the insertion and removal of the teaching tool in the above embodiment 1.
Example 4
According to an embodiment of the present application, there is provided a storage medium including a stored program, wherein the device in which the storage medium is controlled to execute the plug control method of the demonstrator in embodiment 2 described above when the program runs.
Example 5
According to an embodiment of the present application, there is provided a processor for running a program, wherein the program executes the plug-and-socket control method of the demonstrator in embodiment 2.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (17)
1. A pull-out control system for a teach pendant, comprising:
the first control switch is used for generating a state switching signal;
the control device is connected with the first control switch and is used for controlling the power circuit of the demonstrator to be disconnected and the scram loop to be short-circuited or controlling the power circuit to be conducted and the scram loop to be short-circuited and disconnected based on the state switching signal;
wherein the control device includes:
the control module is connected with the first control switch and is used for stopping receiving the heartbeat packet sent by the demonstrator based on a first trigger signal sent by the first control switch and releasing a network port connected with the demonstrator, wherein the first trigger signal is a hot-pull signal sent to the motion controller when a user pulls the demonstrator;
the acquisition module is connected with the first control switch and is used for acquiring the current state of the robot based on a second trigger signal sent by the first control switch, wherein the current state is used for initializing the demonstrator and at least comprises one of the following steps: the second trigger signal is a hot plug signal sent to the motion controller when the user hot plugs the demonstrator.
2. The system of claim 1, wherein the system further comprises:
and the first relay is connected in series with the power supply circuit and is used for being opened based on a power-off signal output by the control device or being closed based on a power-on signal output by the control device.
3. The system of claim 1, wherein the control means comprises:
the receiving module is connected with the demonstrator and is used for receiving a first control signal or a second control signal sent by the demonstrator;
the control module is connected with the receiving module and is used for stopping receiving the heartbeat packet sent by the demonstrator based on the first control signal and releasing a network port connected with the demonstrator;
and the acquisition module is connected with the receiving module and is used for acquiring the current state of the robot based on the second control signal.
4. A system according to claim 3, wherein the system further comprises:
the second control switch is arranged on the demonstrator and is used for generating a first trigger signal or a second trigger signal;
the demonstrator is connected with the second control switch and is used for transmitting the first control signal based on the first trigger signal or transmitting the second control signal based on the second trigger signal.
5. The system of claim 4, wherein the second control switch comprises:
the first button switch is connected with the demonstrator and used for generating the first trigger signal;
and the second button switch is connected with the demonstrator and used for generating the second trigger signal.
6. A system according to claim 1 or 3, wherein the control means further comprises:
and the sending module is connected with the control module and used for sending the current state to the demonstrator.
7. The system of claim 1, wherein the system further comprises:
the short circuit is connected with the emergency stop loop through a second relay, and the second relay is used for being disconnected based on a power-off signal output by the control device or being closed based on a power-on signal output by the control device.
8. The system of claim 1, wherein the first control switch is a rotary switch.
9. The method for controlling the pulling and inserting of the demonstrator is characterized by comprising the following steps of:
receiving a state switching signal generated after the first control switch is triggered;
based on the state switching signal, controlling the power circuit of the demonstrator to be disconnected and the scram loop to be short-circuited, or controlling the power circuit to be conducted and the scram loop to be short-circuited to be disconnected;
Wherein the method further comprises:
stopping receiving a heartbeat packet sent by the demonstrator and releasing a network port connected with the demonstrator under the condition that a first trigger signal sent by the first control switch is received, wherein the first trigger signal is a hot-pull signal sent to a motion controller when a user pulls the demonstrator;
under the condition that a second trigger signal sent by the first control switch is received, acquiring a current state of the robot, wherein the current state is used for initializing the demonstrator, and the current state at least comprises one of the following steps: the second trigger signal is a hot plug signal sent to the motion controller when the user hot plugs the demonstrator.
10. The method of claim 9, wherein controlling the power circuit to be turned off or on comprises:
a first relay connected in series on the power supply circuit is controlled to be opened or closed.
11. The method according to claim 9, wherein the method further comprises:
under the condition that a first control signal sent by the demonstrator is received, stopping receiving a heartbeat packet sent by the demonstrator, and releasing a network port connected with the demonstrator;
And under the condition that a second control signal sent by the demonstrator is received, acquiring the current state of the robot.
12. The method of claim 11, wherein the first control signal is generated by the teach pendant based on a first trigger signal and the second control signal is generated by the teach pendant based on a second trigger signal, wherein the first trigger signal or the second trigger signal is generated after being triggered by a second control switch disposed on the teach pendant.
13. A method according to claim 9 or 11, wherein the current state is sent to the teach pendant after controlling the power circuit to conduct.
14. The method of claim 9, wherein controlling the scram circuit to short or open the scram circuit to short comprises:
and controlling a second relay connected in series with a short circuit to be opened or closed, wherein the short circuit is connected with the scram loop through the second relay.
15. A robot, comprising: a pull-in control system of the teach pendant of any one of claims 1 to 8.
16. A storage medium comprising a stored program, wherein the program, when executed, controls a device in which the storage medium is located to perform the method of controlling the insertion and removal of the teach pendant of any one of claims 9 to 14.
17. A processor, wherein the processor is configured to run a program, and wherein the program runs to execute the method for controlling the insertion and removal of the demonstrator according to any one of claims 9 to 14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253556.0A CN111002327B (en) | 2019-12-09 | 2019-12-09 | Pulling-out and inserting control system and method of demonstrator and robot |
| PCT/CN2020/110746 WO2021114719A1 (en) | 2019-12-09 | 2020-08-24 | Plugging control system and method for demonstrator, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911253556.0A CN111002327B (en) | 2019-12-09 | 2019-12-09 | Pulling-out and inserting control system and method of demonstrator and robot |
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| CN111002327B true CN111002327B (en) | 2023-10-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111571620B (en) * | 2020-04-24 | 2021-06-22 | 库卡机器人(广东)有限公司 | Demonstrator connecting device, robot control cabinet and demonstrator interface board |
| CN112091985B (en) * | 2020-09-30 | 2023-12-08 | 珠海格力电器股份有限公司 | Demonstrator hot plug circuit and demonstrator hot plug control method |
| CN112743521A (en) * | 2020-12-30 | 2021-05-04 | 深圳市朗宇芯科技有限公司 | Method for offline use of manipulator demonstrator with emergency stop switch |
| CN113759807B (en) * | 2021-09-28 | 2023-05-12 | 珠海格力电器股份有限公司 | Scram control circuit and method and industrial robot |
| CN115882487B (en) * | 2022-12-13 | 2024-01-26 | 厦门海辰储能科技股份有限公司 | Control device, control method, storage medium and energy storage system |
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| CN111002327A (en) | 2020-04-14 |
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