CN115328049A - Industrial robot safety control system - Google Patents
Industrial robot safety control system Download PDFInfo
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- CN115328049A CN115328049A CN202210997079.4A CN202210997079A CN115328049A CN 115328049 A CN115328049 A CN 115328049A CN 202210997079 A CN202210997079 A CN 202210997079A CN 115328049 A CN115328049 A CN 115328049A
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- 230000006698 induction Effects 0.000 claims description 14
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- 238000004458 analytical method Methods 0.000 abstract description 10
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- 238000011897 real-time detection Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 241000282414 Homo sapiens Species 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000006870 function Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a safety control system of an industrial robot, which relates to the technical field of robots and comprises a safety controller, wherein the safety controller comprises an information input module, an information identification module, an information comparison module, a judgment module and an information output module, and the information input module is in signal connection with an information acquisition module and a safety switch module. The invention has the advantages that: set up the detection module and detect robot work's environment and station execution condition, and carry out analysis and judgment to the result that detects, the difference of analysis real-time detection result and preset data, carry out automatic control to the robot according to the data difference, can carry out safety control fast according to the data that detect, carry out safety control along with the real-time transform of work, use the detection module to replace artifical the detection, can be more quick accurate analysis go out robot work's anomaly and safety control, the reaction rate of robot safety control has been increased, the security of robot control has been improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a safety control system of an industrial robot.
Background
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom robot for industrial fields, is a machine device for automatically executing work, and is a machine for realizing various functions by means of self power and control capacity. The device can be controlled by human beings and can also be operated according to a pre-programmed program, so that the device is widely applied to various fields.
The existing industrial robot is controlled by combining automatic control mode and manual control mode when safety control is carried out, wherein the automatic control mode can only carry out procedural control according to a preset program, and the safety control mode cannot carry out the safety control according to real-time transformation in the working process, so that the safety is low, and the reaction rate to safety accidents is low.
In order to solve the problems, the safety control system of the industrial robot is particularly provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a safety control system of an industrial robot, which has the advantages of real-time detection, quick response, real-time control and the like, and solves the problem that safety control cannot be carried out according to real-time change of work.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an industrial robot safety control system, includes the safety controller, safety controller signal connection has the braking module, safety controller signal connection has database, information acquisition module and safety switch module, and the safety controller includes information input module, information identification module, information contrast module, judgment module and information output module, information input module and information acquisition module and safety switch module signal connection, information input module signal connection has the information identification module, information identification module signal connection has the information contrast module, information contrast module signal connection has the judgment module information output module, information output module and braking module signal connection.
Preferably, the information acquisition module comprises an infrared sensing module, a video acquisition module, an infrared distance measurement sensor and a temperature and humidity sensor, and the infrared sensing module, the video acquisition module, the infrared distance measurement sensor and the temperature and humidity sensor are all in signal connection with the information input module.
Preferably, the information comparison module is in signal connection with a database, and the database comprises infrared safety information, video image safety information, distance safety information and temperature and humidity safety information.
Preferably, the safety switch module is in signal connection with an emergency stop button, a reset button and a switch knob, and the emergency stop button, the reset button and the switch knob are in signal connection with the brake module.
(III) advantageous effects
Compared with the prior art, the invention provides a safety control system of an industrial robot, which has the following beneficial effects:
this industrial robot safety control system, set up detection module and detect the environment and the station execution condition of robot work, and carry out analysis and judgment to the result that detects, analysis real-time detection result and the difference of predetermineeing the data, carry out automatic control to the robot according to the data difference, can carry out safety control according to the data that detect fast, carry out safety control along with the real-time transform of work, use detection module to replace artifical the detection, can be more quick accurate analysis go out the unusual and safety control of robot work, the reaction rate of robot safety control has been increased, the security of robot control has been improved.
Drawings
FIG. 1 is a schematic diagram of a system flow structure according to the present invention;
fig. 2 is a schematic diagram of a system structure of an information acquisition module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an embodiment i, an industrial robot safety control system, which includes a safety controller, the safety controller is in signal connection with a brake module, the safety controller is in signal connection with a database, an information acquisition module and a safety switch module, the safety controller includes an information input module, an information identification module, an information comparison module, a judgment module and an information output module, the information input module is in signal connection with the information acquisition module and the safety switch module, the information input module is in signal connection with the information identification module, the information identification module is in signal connection with the information comparison module, the information comparison module is in signal connection with the judgment module, the judgment module is in signal connection with the information output module, the information output module is in signal connection with the brake module, the information acquisition module includes an infrared sensing module, a video acquisition module, an infrared distance measuring sensor and a temperature and humidity sensor, the infrared sensing module, the video acquisition module, the infrared distance measuring sensor and the temperature and humidity sensor are in signal connection with the information input module, the information comparison module is in signal connection with the database, and the database includes infrared safety information, video image safety information, distance safety information and safety information.
The infrared induction module carries out infrared thermal induction on a human body close to the robot, the infrared thermal induction strength is increased according to the reduction of the approaching distance of the human body, the infrared thermal induction module conveys detected information to the information input module, the information input module conveys the information to the information identification module, the information identification module identifies that the information is infrared thermal induction information and conveys the information to the information comparison module, the information type is conveyed to the information comparison module, the information comparison module is connected with a database according to the received information type information, the infrared safety information in the database is read to the information comparison module, the infrared safety information is infrared induction information formed in a safety range where the human body is close to the robot and cannot damage the human body, real-time infrared induction information and pre-stored information are contrasted and analyzed, the difference between the real-time infrared induction information and the pre-stored information is analyzed and processed, the processed information and the information type are conveyed to the judgment module, a built-in judgment module can carry out conversion according to the difference range judged in an automatic program of the information type, the information is output to the safety control module if the difference range is not in which the safety information is output to the safety control module, and the safety control module outputs the information output process.
The embodiment II discloses an industrial robot safety control system, which comprises a safety controller, the safety controller is in signal connection with a brake module, the safety controller is in signal connection with a database, an information acquisition module and a safety switch module, the safety controller comprises an information input module, an information identification module, an information comparison module, a judgment module and an information output module, the information input module is in signal connection with the information acquisition module and the safety switch module, the information input module is in signal connection with the information identification module, the information identification module is in signal connection with the information comparison module, the information comparison module is in signal connection with the judgment module, the judgment module is in signal connection with the information output module, the information output module is in signal connection with the brake module, the information acquisition module comprises an infrared induction module, a video acquisition module, an infrared distance measurement sensor and a temperature and humidity sensor, the infrared induction module, the video acquisition module, the infrared distance measurement sensor and the temperature and humidity sensor are all in signal connection with the information input module, the information comparison module is in signal connection with the database, the database comprises infrared safety information, video image safety information, distance safety information and safety information.
The robot safety monitoring system comprises a video acquisition module, an information input module, an information identification module, an information comparison module and a judgment module, wherein the video acquisition module acquires video images close to a working station of the robot, the video acquisition module transmits acquired video information to the information input module, the information input module transmits the information to the information identification module, the information identification module identifies that the information is the video information and transmits the information to the information comparison module, the information type is transmitted to the information comparison module, the information comparison module is connected with a database according to the received information type information, video safety information in the database is read to the information comparison module, the video safety information is a conventional operation video of the working station of the robot for processing a workpiece, the video safety information comprises video contents such as the shape of the workpiece, the distance between the robot and the workpiece, the distance between the video acquisition module and the workpiece, real-time video information and pre-stored video safety information are compared and analyzed, difference analysis is carried out on different positions between the video safety information and the video safety information, the difference information is used as the difference information, the difference information and the information type are transmitted to the judgment module, a built-in-judgment module can automatically capture a difference range judged according to judge whether the difference information is in the safety information after the information processing, and the safety information is output by the judgment module, if the safety module, the safety module is not used for controlling module, and the safety module to output of the safety module, and the safety module is controlled if the safety module, and the safety module.
The embodiment three, an industrial robot safety control system, including the safety controller, the safety controller signal connection has the brake module, the safety controller signal connection has the database, information acquisition module and safety switch module, the safety controller includes information input module, information identification module, information contrast module, judgment module and information output module, information input module and information acquisition module and safety switch module signal connection, information input module signal connection has the information identification module, information identification module signal connection has the information contrast module, information contrast module signal connection has the judgment module, judgment module signal connection has the information output module, information output module and brake module signal connection, the information acquisition module includes infrared induction module, the video acquisition module, infrared distance measuring sensor and temperature and humidity sensor, infrared induction module, the video acquisition module, infrared distance measuring sensor and temperature and humidity sensor all with information input module signal connection, information contrast module and database signal connection, infrared safety information, video image safety information, distance safety information and safety information, safety switch module signal connection has emergency stop button, reset button and switch knob, emergency stop button, safety button and switch all with the brake module and the database signal connection.
Wherein, carry out automatic control to safety controller through detecting, when operating personnel realizes probably taking place danger, operating personnel can manually press emergency stop button, makes the safety switch module receive emergency stop information and transmit information to brake module and brake the robot, and the reset button starts control emergency stop button and resets after loosening emergency stop button, is convenient for carry out work next time.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
To sum up, this industrial robot safety control system, set up detection module and detect the environment and the station execution condition of robot work, and carry out analysis and judgment to the result that detects, the difference of analysis real-time detection result and preset data, carry out automatic control to the robot according to the data difference, can carry out safety control according to the data that detect fast, carry out safety control along with the real-time transform of work, use detection module to replace artifical the detection, the unusual and safety control of robot work of analysis that can be more quick accurate, the reaction rate of robot safety control has been increased, the security of robot control has been improved.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides an industrial robot safety control system, includes the safety controller, safety controller signal connection has brake module, its characterized in that: the safety controller is in signal connection with a database, an information acquisition module and a safety switch module, and comprises an information input module, an information identification module, an information comparison module, a judgment module and an information output module, wherein the information input module is in signal connection with the information acquisition module and the safety switch module, the information input module is in signal connection with the information identification module, the information identification module is in signal connection with the information comparison module, the information comparison module is in signal connection with the judgment module, the judgment module is in signal connection with the information output module, and the information output module is in signal connection with a brake module.
2. An industrial robot safety control system according to claim 1, characterized in that: the information acquisition module comprises an infrared induction module, a video acquisition module, an infrared distance measurement sensor and a temperature and humidity sensor, and the infrared induction module, the video acquisition module, the infrared distance measurement sensor and the temperature and humidity sensor are all in signal connection with the information input module.
3. An industrial robot safety control system according to claim 1, characterized in that: the information comparison module is in signal connection with a database, and the database comprises infrared safety information, video image safety information, distance safety information and temperature and humidity safety information.
4. An industrial robot safety control system according to claim 1, characterized in that: the safety switch module is in signal connection with an emergency stop button, a reset button and a switch knob, and the emergency stop button, the reset button and the switch knob are in signal connection with the brake module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997079.4A CN115328049A (en) | 2022-08-19 | 2022-08-19 | Industrial robot safety control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997079.4A CN115328049A (en) | 2022-08-19 | 2022-08-19 | Industrial robot safety control system |
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| Publication Number | Publication Date |
|---|---|
| CN115328049A true CN115328049A (en) | 2022-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210997079.4A Pending CN115328049A (en) | 2022-08-19 | 2022-08-19 | Industrial robot safety control system |
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| CN (1) | CN115328049A (en) |
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- 2022-08-19 CN CN202210997079.4A patent/CN115328049A/en active Pending
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