CN111045356A

CN111045356A - Method and circuit for realizing hot plug of industrial robot demonstrator

Info

Publication number: CN111045356A
Application number: CN201911084162.7A
Authority: CN
Inventors: 余刚; 李伊君; 许亚飞
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2020-04-21
Anticipated expiration: 2039-11-07
Also published as: CN111045356B

Abstract

A method and a circuit for realizing hot plug of an industrial robot demonstrator relate to the technical field of robots, before the teaching machine is pulled out from the robot, the communication signal and the power supply signal between the teaching machine and the robot are cut off, and the signal of the sudden stop state transmitted to the CPU is maintained unchanged, after the demonstrator is plugged, the power supply of the demonstrator is connected, then the communication between the demonstrator and the robot is restored, the circuit comprises a demonstrator power supply switching circuit and an emergency stop non-alarm control circuit, wherein the demonstrator power supply switching circuit and the emergency stop non-alarm control circuit are both electrically connected with the CPU, the method and the circuit for realizing the hot plug of the industrial robot demonstrator can well protect hardware of the demonstrator from being damaged when the demonstrator is plugged in or unplugged from a power failure, can not trigger scram when the demonstrator is unplugged from the robot, and can normally communicate when the demonstrator is connected to the robot.

Description

Method and circuit for realizing hot plug of industrial robot demonstrator

Technical Field

The invention relates to the technical field of communication, in particular to a method and a circuit for realizing hot plug of an industrial robot demonstrator.

Background

In modern society, traditional manufacturing has gradually degraded and replaced by smart manufacturing, in which industrial robots play an extremely important role and more robots are used in the production line. Generally, one robot is matched with one set of demonstrator, and in many large-scale factories, a plurality of robots often work together, at this time, if one robot is matched with one set of demonstrator, the robot is wasted, so that a plurality of robots are matched with one set of demonstrator many times, and after one robot is taught, the demonstrator is pulled down to receive the next robot to continue teaching.

Because the motion control ware of robot passes through many pencil with the demonstrator and is connected, mainly include: demonstrator power cord, communication signal line, scram signal line if do not handle before pulling out the demonstrator, motion control ware will arouse the warning because the communication is not smooth and trigger the scram, makes the robot can not normally work, so, before pulling out the demonstrator, must realize: 1. and 2, the motion controller is informed to stop communication with the demonstrator without triggering emergency stop alarm, and 3, after the demonstrator is plugged, the emergency stop, the power supply and the communication can be recovered to be normal.

However, the current industrial robots have the following problems:

1. the demonstrator hardware can be damaged when the demonstrator is plugged or unplugged in an electrified way;

2. the existing hot plug function does not process communication signals, so that unstable phenomena of the communication signals can occur.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a method and a circuit for realizing hot plug of an industrial robot demonstrator.

The purpose of the invention is realized by the following technical scheme:

on one hand, the method for realizing hot plug of the industrial robot demonstrator is provided, before the demonstrator is pulled out of the robot, the communication signal and the power supply signal between the demonstrator and the robot are disconnected, the signal of the emergency stop state transmitted to a CPU is maintained unchanged, after the demonstrator is plugged in, the power supply of the demonstrator is connected, and then the communication between the demonstrator and the robot is recovered.

Preferably, before the robot pulls the teach pendant up and down, the step of disconnecting the communication signal and the power supply signal between the teach pendant and the robot specifically comprises: before the teaching machine is pulled out, the teaching machine receives a command of pulling out the teaching machine input by a user, and then the motion controller of the robot is informed to disconnect the communication between the motion controller and the teaching machine, and then the power supply of the teaching machine is disconnected.

Preferably, before the robot pulls the teach pendant up and down, the step of maintaining the emergency stop signal transmitted to the CPU is specifically: the original emergency stop circuit is switched to an emergency stop signal conversion circuit, and the emergency stop signal conversion circuit can maintain the emergency stop state signal transmitted to the CPU unchanged.

Preferably, after the teaching machine is plugged in, the power supply of the teaching machine is connected, and then the communication between the teaching machine and the robot is recovered specifically: and after the demonstrator is reinserted to the motion controller of the robot, the motion controller receives a signal that a user presses a button of the motion controller, the motion controller can try to communicate with the demonstrator, and if the communication is successful, the CPU is informed to disconnect the emergency stop signal conversion circuit and switch back to the original emergency stop circuit.

Preferably, the method is realized by acquiring the requirement of hot plug of the demonstrator through communication between the demonstrator and the robot motion controller and further generating state change through controlling a hardware circuit.

Preferably, the state change includes a change in on/off of an indicator light.

On the other hand, the circuit for realizing the hot plug of the industrial robot demonstrator is used for realizing the method, and comprises a demonstrator power supply switching circuit and an emergency stop non-alarm control circuit, wherein the demonstrator power supply switching circuit and the emergency stop non-alarm control circuit are both electrically connected with the CPU.

Preferably, the POWER supply switching circuit comprises a triode Q1, a single-pole double-throw relay RL1, a resistor R1, a resistor R4, a resistor R8 and a resistor R9, the base of the triode Q1 is connected with one end of a CONTROL signal CPU _ CONTROL _1 and one end of a resistor R4 of the CPU, the other end of the resistor R4 and the emitter of the triode Q1 are grounded, the collector of the triode Q1 is connected with the a end of the single-pole double-throw relay RL1, the B end of the single-pole double-throw relay 686rl 8 is connected with a 24V POWER supply through a resistor R1, the C end of the single-pole double-throw relay RL1 is connected with the 24V POWER supply, the contact D of the single-pole double-throw relay RL1 is connected with a teaching device POWER supply SJQ _ POWER, the normally open contact E of the single-pole double-throw relay RL1 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the other end of the resistor R9 and the teaching device.

Preferably, the emitting electrode of the triode Q1 is connected to ground through the light emitting diode D1, the anode of the light emitting diode D1 is connected to the emitting electrode of the triode Q1, and the cathode of the light emitting diode D1 is grounded.

Preferably, the scram non-alarm CONTROL circuit comprises a triode Q2, a single-pole double-throw relay RL2, a scram switch S2, a resistor R5, a scram circuit and a scram signal conversion circuit, wherein the base of the triode Q2 is connected with a CONTROL signal CPU _ CONTROL _2 of a CPU, the emitter of the triode Q2 is grounded, the collector of the triode a2 is connected with the a end of the single-pole double-throw relay RL2, the B end of the single-pole double-throw relay RL2 is connected with a 24V power supply through a resistor R1, the scram switch S2 and the resistor R5 are connected between the C end of the single-pole double-throw relay RL2 and the input end of the scram signal conversion circuit indirectly, the scram switch S2 and the resistor R5 are connected in series, the normally closed contact D of the single-pole double-throw relay RL2 is connected with the scram circuit, and the normally open contact E of the single-pole double-throw relay RL2 is connected with the input end of the scram.

Preferably, the emergency stop circuit comprises a resistor R10 and a resistor R11, one end of the resistor R10 is connected with the normally closed contact D of the single-pole double-throw relay RL2, the other end of the resistor R10 is connected with a signal end CPU _ SIGN _ B of the CPU and one end of a resistor R11, and the other end of the resistor R11 is grounded.

Preferably, the emergency STOP signal conversion circuit comprises an optical coupler U1 and a resistor R3, wherein the positive pole a of a light emitter of the optical coupler U1 is connected with the normally open contact E of the single-pole double-throw relay RL2, the negative pole K of the light emitter of the optical coupler U1 is grounded, the collector C of a light receiver of the optical coupler U1 is connected with a 5V power supply, the emitter E of the light receiver of the optical coupler U1 is connected with one end of the resistor R3 and the emergency STOP signal end STOP _ SIGN of the CPU, and the other end of the resistor R3 is grounded.

Preferably, the LED lamp CONTROL end LED _ CONTROL of the CPU is connected to the cathode of the light emitting diode D2, and the anode of the light emitting diode D2 is connected to the 5V power supply through the resistor R7.

Preferably, the button signal end CPU _ TP of the CPU is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a button S1 on the motion controller, and the other end of the button S1 is connected with a 5V power supply.

The invention has the beneficial effects that:

according to the invention, the demonstrator is pulled out after power failure is controlled, the demonstrator is plugged in and then powered on, and after the demonstrator is pulled out, the motion controller can not give an alarm due to emergency stop and communication problems, and after the demonstrator is plugged in, all functions can be continuously and normally used.

The invention solves the following technical problems:

1. the problem that the existing hot plug function has no demonstrator power supply control part and the demonstrator hardware of the demonstrator is damaged possibly due to power-off plugging and unplugging is solved;

2. the invention solves the problem that the existing hot plug function does not process communication signals, and the invention increases the communication processing during hot plug so as to provide more stable hot plug function.

Secondly, signal indicating lamps in various states of the demonstrator are added, so that the defect that the connection states of the demonstrator cannot be intuitively known is overcome.

Drawings

The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived on the basis of the following drawings without inventive effort.

FIG. 1 is a flow chart of the present invention for removing a teach pendant.

FIG. 2 is a flow chart of the present invention plugging in a teach pendant.

Fig. 3 is a circuit diagram of a circuit for realizing hot plug of an industrial robot demonstrator in the invention.

Fig. 4 is a partial circuit schematic of fig. 3.

The figure includes:

the teaching machine comprises a demonstrator power supply switching circuit 1, an emergency stop non-alarm control circuit 2, an emergency stop circuit 21 and an emergency stop signal conversion circuit 22.

Detailed Description

The invention provides a circuit for realizing hot plug of an industrial robot demonstrator, which comprises a demonstrator power supply switching circuit and an emergency stop non-alarm control circuit, wherein the demonstrator power supply switching circuit and the emergency stop non-alarm control circuit are both electrically connected with a CPU. The demonstrator power supply switching circuit is used for switching the demonstrator to be grounded without being connected with a power supply before the demonstrator is pulled out, namely, the power supply is disconnected, so that the problem that the demonstrator hardware is damaged possibly due to the fact that the demonstrator has no demonstrator power supply control part in the conventional hot-plug function and is pulled out when power is cut is solved; the scram non-alarm control circuit can switch the alarm to non-alarm when the scram button S1 of the demonstrator is pressed.

As a preferred embodiment, the POWER supply switching circuit comprises a triode Q1, a single-pole double-throw relay RL1, a resistor R1, a resistor R4, a resistor R8 and a resistor R9, the base of the triode Q1 is connected with one end of a CONTROL signal CPU _ CONTROL _1 and a resistor R4 of the CPU, the other end of the resistor R4 and the emitter of the triode Q1 are grounded, the collector of the triode Q1 is connected with the a end of the single-pole double-throw relay RL1, the B end of the single-pole double-throw relay RL1 is connected with a 24V POWER supply through the resistor R1, the C end of the single-pole double-throw relay RL1 is connected with the 24V POWER supply, the normally closed contact D of the single-pole double-throw relay RL1 is connected with the demonstrator POWER supply SJQ _ por, the normally open contact E of the single-pole double-throw relay RL1 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the other end of the resistor R9 and the demonstrator of the CPU collects the POWER supply, the POWER supply signal CPU _ SIGN a, the other end of the single-pole double-throw relay is connected And (4) changing.

In a preferred embodiment, the emitter of the transistor Q1 is connected to the ground through the light emitting diode D1, the anode of the light emitting diode D1 is connected to the emitter of the transistor Q1, the cathode of the light emitting diode D1 is connected to the ground, and the light emitting diode D1 is used for prompting the power supply state of the power supply switching circuit.

As a preferred embodiment, the scram non-alarm CONTROL circuit comprises a triode Q2, a single-pole double-throw relay RL2, a scram switch S2, a resistor R5, a scram circuit and a scram signal conversion circuit, wherein the base of the triode Q2 is connected with a CONTROL signal CPU _ CONTROL _2 of a CPU, the emitter of the triode Q2 is grounded, the collector of the triode a2 is connected with the a end of the single-pole double-throw relay RL2, the B end of the single-pole double-throw relay RL2 is connected with a 24V power supply through a resistor R1, the scram switch S2 and the resistor R5 are connected between the C end of the single-pole double-throw relay RL2 and the input end of the scram signal conversion circuit, the scram switch S38 and the resistor R5 are connected in series, the normally closed contact D of the single-pole double-throw relay RL2 is connected with the scram circuit, the normally open contact E of the single-pole double-throw relay RL2 is connected with the input end of the scram signal conversion circuit, and the input end of the single-pole, before the demonstrator is pulled away, the emergency stop circuit is switched to the emergency stop signal conversion circuit, then the demonstrator is pulled away, emergency stop alarming can be avoided, and after the demonstrator is inserted, the emergency stop signal conversion circuit is switched to the emergency stop circuit, so that the demonstrator can recover to work normally.

As a preferred embodiment, the emergency stop circuit comprises a resistor R10 and a resistor R11, one end of the resistor R10 is connected with the normally closed contact D of the single-pole double-throw relay RL2, the other end of the resistor R10 is connected with the signal end CPU _ SIGN _ B of the CPU and one end of the resistor R11, and the other end of the resistor R11 is grounded.

As a preferred embodiment, the emergency STOP signal conversion circuit comprises an optical coupler U1 and a resistor R3, the positive pole a of the light emitter of the optical coupler U1 is connected with the normally open contact E of the single-pole double-throw relay RL2, the negative pole K of the light emitter of the optical coupler U1 is grounded, the collector C of the light receiver of the optical coupler U1 is connected with a 5V power supply, the emitter E of the light receiver of the optical coupler U1 is connected with one end of the resistor R3 and the emergency STOP signal end STOP _ SIGN of the CPU, and the other end of the resistor R3 is grounded, so that the emergency STOP signal conversion circuit can ensure that when the demonstrator is ready to be pulled out, the signal received by the CPU at the emergency STOP signal end STOP _ SIGN is unchanged, and therefore the circuit cannot generate an alarm.

As a preferred embodiment, the LED lamp CONTROL end LED _ CONTROL of the CPU is connected with the cathode of a light-emitting diode D2, the anode of the light-emitting diode D2 is connected with a 5V power supply through a resistor R7, and the light-emitting diode D2 can be used for prompting the working state of the emergency stop non-alarm CONTROL circuit.

In a preferred embodiment, the button signal end CPU _ TP of the CPU is connected with one end of a resistor R2, the other end of a resistor R2 is connected with one end of a button S1 on the motion controller, and the other end of the button S1 is connected with a 5V power supply.

The invention is further described with reference to the following examples.

The present invention is described in detail below with reference to fig. 1 to 4, in fig. 3 and 4, RL1 and RL2 are both single-pole double-throw relays, "24V" is a POWER supply, "SJQ _ POWER" is a POWER supply for a teach pendant, "STOP _ 24V" is an emergency STOP POWER supply, "CPU _ CONTROL _ 1" is a teach pendant POWER supply CONTROL signal, "CPU _ CONTROL _ 2" is an emergency STOP circuit CONTROL signal, "STOP _ SIGN" is an emergency STOP signal, "CPU _ TP" is a button signal, "CPU _ SIGN _ a" is a teach pendant POWER supply signal, "CPU _ SIGN _ B" is an emergency STOP signal conversion circuit continuation signal, "LED _ CONTROL" is a teach pendant turn-on indicator signal, wherein: "CPU _ CONTROL _ 1", "CPU _ CONTROL _ 2", "STOP _ SIGN", "CPU _ SIGN _ a", "CPU _ SIGN _ B", "LED _ CONTROL", and "CPU _ TP" are all connected to the CPU.

When the demonstrator is normally inserted to work, the CPU _ CONTROL _1 and the CPU _ CONTROL _2 are all in a low level, at this time, the relays RL1 and RL2 are both positioned at normally closed contacts, the CPU _ SIGN _ A is in a low level, the CPU _ SIGN _ B is in a high level, the LED _ CONTROL outputs a low level, the LED lamp D2 (namely the light emitting diode D2) is on, the emergency STOP button S2 of the demonstrator is in a closed state, at this time, the STOP _ SIGN signal is a high level signal, when an accident occurs, after the emergency STOP button S2 is pressed, the demonstrator emergency STOP button S2 is in an open state, the optical coupler U1 does not work, at this time, the STOP _ SIGN signal is changed into a low level, and the level change identified by the CPU can STOP the robot action.

As shown in fig. 1, when the teach pendant needs to be pulled out, a command of "pulling out the teach pendant" is clicked on the teach pendant, the command is sent to the robot motion controller through a signal line, after the motion controller receives the command, the communication with the teach pendant is cut off firstly, then high level signals are output to "CPU _ CONTROL _ 1" and "CPU _ CONTROL _ 2", the triodes Q1 and Q2 are conducted, the LED lamp D1 (namely the light emitting diode D1) is turned on, both the relays RL1 and RL2 are located at normally open contacts at the moment, the power supply of the teach pendant is cut off, the "CPU _ SIGN _ a" is changed to high level, the "CPU _ SIGN _ B" is changed to low level, the "LED _ CONTROL" is made to output high level, and the LED lamp D2 is turned off, at the moment, the teach pendant can be pulled out, and the robot does not give an alarm and works normally.

As shown in fig. 2, after the teach pendant is reinserted, the S1 button on the motion controller is pressed (which can be automatically released), the CPU recognizes that "CPU _ TP" becomes high, at this time, "CPU _ CONTROL _ 1" outputs low, the transistor Q1 is turned off, the LED lamp D1 is turned off, the relay RL1 returns to the normally open point, the teach pendant is powered on, then the motion controller attempts to communicate with the teach pendant, if the communication is successful, "CPU _ CONTROL _ 2" outputs low, the transistor Q2 is turned off, the relay RL2 returns to the normally closed point, the subsequent emergency stop signal conversion circuit is turned off, then "LED _ CONTROL" outputs low, the LED lamp D2 is turned on, and at this time, the teach pendant can start to be used normally. If the motion controller can not successfully communicate with the demonstrator after a period of time, the CPU _ CONTROL _1 is enabled to output a high level again, the LED _ CONTROL is enabled to output a low level, the LED lamps D1 and D2 are enabled to be in an illumination state, and the power of the demonstrator is disconnected, so that a user is prompted that the demonstrator is not plugged, and the user can take corresponding measures.

The invention has the advantages that the on-off of the LED lamps (the light emitting diodes D1 and D2 mentioned above) can be used for identifying the current state of the demonstrator, namely 1, D1 off, D2 on, and the demonstrator works normally; d1 is on, D2 is off, and the demonstrator is in a pull-down state or is already pulled down; 3. d1 goes off, D2 goes off, and the motion controller is trying to communicate with the teach pendant just after the teach pendant is plugged in; 4. d1 is bright, D2 is bright, the motion controller cannot successfully communicate with the demonstrator, the demonstrator is not plugged, or the button S1 is touched by mistake, so that the motion controller cannot normally communicate with the demonstrator, at this time, if a user determines that the demonstrator does not need to be plugged, the user does not need to take care of the meeting, and determines that the demonstrator needs to be used, the fact that the demonstrator cannot communicate is checked, whether the demonstrator is damaged or not well contacted is checked, if the demonstrator is determined to be not well contacted, the button S1 is pressed after the demonstrator is plugged again, and the motion controller can recognize again.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for realizing hot plug of an industrial robot demonstrator is characterized in that: before the robot pulls the demonstrator up and down, the communication signal and the power supply signal between the demonstrator and the robot are disconnected, the signal of the sudden stop state transmitted to the CPU is maintained unchanged, the power supply of the demonstrator is connected after the demonstrator is plugged, and then the communication between the demonstrator and the robot is recovered.

2. A method of implementing hot swap of an industrial robot teach pendant as claimed in claim 1, wherein: before the teaching machine is pulled up and down from the robot, the specific steps of firstly disconnecting the communication signal and the power supply signal between the teaching machine and the robot are as follows: before the teaching machine is pulled out, the teaching machine receives a command of pulling out the teaching machine input by a user, and then the motion controller of the robot is informed to disconnect the communication between the motion controller and the teaching machine, and then the power supply of the teaching machine is disconnected.

3. A method of implementing industrial robot teach pendant hot swap according to any of claims 1 or 2, wherein: before the robot pulls out the demonstrator, the step of maintaining the scram signal transmitted to the CPU is as follows: the original emergency stop circuit is switched to an emergency stop signal conversion circuit, and the emergency stop signal conversion circuit can maintain the emergency stop state signal transmitted to the CPU unchanged.

4. A method of implementing hot swap of an industrial robot teach pendant according to claim 3, wherein: after the demonstrator is plugged, the power supply of the demonstrator is connected, and then the communication between the demonstrator and the robot is recovered specifically: and after the demonstrator is reinserted to the motion controller of the robot, the motion controller receives a signal that a user presses a button of the motion controller, the motion controller can try to communicate with the demonstrator, and if the communication is successful, the CPU is informed to disconnect the emergency stop signal conversion circuit and switch back to the original emergency stop circuit.

5. A method of implementing hot swap of an industrial robot teach pendant as claimed in claim 1, wherein: the method is realized by acquiring the requirement of hot plug of the demonstrator through the communication between the demonstrator and the robot motion controller and further controlling the hardware circuit to generate state change.

6. A method of implementing industrial robot teach pendant hot swap according to claim 5, wherein: the state change comprises the on-off change of the indicator light.

7. The utility model provides a circuit that realizes industrial robot demonstrator hot plug which characterized in that: the circuit is used for realizing the method of any one of claims 1 to 6, and comprises a demonstrator power supply switching circuit and an emergency stop non-alarm control circuit, wherein the demonstrator power supply switching circuit and the emergency stop non-alarm control circuit are both electrically connected with a CPU.

8. A method of implementing industrial robot teach pendant hot swap according to claim 7, wherein: the POWER supply switching circuit comprises a triode Q1, a single-pole double-throw relay RL1, a resistor R1, a resistor R4, a resistor R8 and a resistor R9, the base electrode of the triode Q1 is connected with one end of a CONTROL signal CPU _ CONTROL _1 and a resistor R4 of the CPU, the other end of the resistor R4 and the emitter electrode of the triode Q1 are grounded, the collector electrode of the triode Q1 is connected with the A end of the single-pole double-throw relay RL1, the B end of the single-pole double-throw relay RL1 is connected to a 24V POWER supply through a resistor R1, the C end of the single-pole double-throw relay RL1 is connected with the 24V POWER supply, the normally closed contact D of the single-pole double-throw relay RL1 is connected with a teach pendant POWER supply SJQ _ POWER, the normally open contact E of the single-pole double-throw relay RL1 is connected with one end of a resistor R8, the other end of the resistor R8 is connected with the other end of the resistor R9 and.

9. A method of implementing industrial robot teach pendant hot swap of claim 8, wherein: the emitting electrode of the triode Q1 is connected with the ground through the light-emitting diode D1, the positive electrode of the light-emitting diode D1 is connected with the emitting electrode of the triode Q1, and the negative electrode of the light-emitting diode D1 is grounded.

10. A method of implementing industrial robot teach pendant hot swap according to claim 7 or 8 or 9 wherein: the scram non-alarm CONTROL circuit comprises a triode Q2, a single-pole double-throw relay RL2, a scram switch S2, a resistor R5, a scram circuit and a scram signal conversion circuit, wherein the base electrode of the triode Q2 is connected with a CONTROL signal CPU _ CONTROL _2 of a CPU, the emitter electrode of the triode Q2 is grounded, the collector electrode of the triode A2 is connected with the end A of the single-pole double-throw relay RL2, the end B of the single-pole double-throw relay RL2 is connected with a 24V power supply through a resistor R1, the scram switch S2 and the resistor R5 are connected between the end C of the single-pole double-throw relay RL2 and the input end of the scram signal conversion circuit indirectly, the scram switch S2 and the resistor R5 are connected in series, the normally closed contact D of the single-pole double-throw relay RL2 is connected with the scram circuit, and the normally closed contact E of the single-pole double-throw relay RL2 is connected with the input end.

11. A method of implementing industrial robot teach pendant hot swap of claim 10 wherein: the emergency stop circuit comprises a resistor R10 and a resistor R11, one end of the resistor R10 is connected with a normally closed contact D of the single-pole double-throw relay RL2, the other end of the resistor R10 is connected with a signal end CPU _ SIGN _ B of the CPU and one end of a resistor R11, and the other end of the resistor R11 is grounded.

12. A method of implementing industrial robot teach pendant hot swap of claim 10 wherein: the emergency STOP signal conversion circuit comprises an optical coupler U1 and a resistor R3, wherein the anode A of a light emitter of the optical coupler U1 is connected with a normally open contact E of the single-pole double-throw relay RL2, the cathode K of the light emitter of the optical coupler U1 is grounded, the collector C of a light receiver of the optical coupler U1 is connected with a 5V power supply, the emitter E of the light receiver of the optical coupler U1 is connected with one end of the resistor R3 and an emergency STOP signal end STOP _ SIGN of the CPU, and the other end of the resistor R3 is grounded.

13. A method of implementing industrial robot teach pendant hot swap of claim 10 wherein: the LED _ CONTROL end of the CPU is connected with the cathode of a light emitting diode D2, and the anode of the light emitting diode D2 is connected with a 5V power supply through a resistor R7.

14. A method of implementing industrial robot teach pendant hot swap of claim 10 wherein: the button signal end CPU _ TP of the CPU is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a button S1 on the motion controller, and the other end of the button S1 is connected with a 5V power supply.