CN205043783U - Industrial robot's safety protection control system - Google Patents
Industrial robot's safety protection control system Download PDFInfo
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- CN205043783U CN205043783U CN201520818269.0U CN201520818269U CN205043783U CN 205043783 U CN205043783 U CN 205043783U CN 201520818269 U CN201520818269 U CN 201520818269U CN 205043783 U CN205043783 U CN 205043783U
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Abstract
The utility model relates to an industrial robot's safety protection control system, including safety signal input module, safe unit, main control unit and the servo who connects in order in proper order, safe unit still with be controlled output element and connect, be controlled output element and still be connected with servo and power supply respectively. The utility model discloses an industrial robot's safety protection control system can guarantee the industrial robot safe and reliable operation, and the mode of safety stop simultaneously is more reasonable.
Description
Technical field
The utility model relates to technical field of industrial control, is specifically related to a kind of safety protection control system of industrial robot.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant robot, is the installations automatically performing work, is to realize a kind of machine of various function by self power and control ability.Because it can accept mankind commander, also can run according to the program of layout in advance, therefore be widely used in every field, safety and the protection question of robot use simultaneously become increasingly conspicuous.Current most of domestically produced machine people is perfect not in safety protection control, and safety stop mode is single, can not meet industry spot demand.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of safety protection control system of industrial robot, can ensure industrial robot safe and reliable operation, and safety stop mode is more reasonable simultaneously.
The technical scheme that the utility model solves the problems of the technologies described above is as follows: a kind of safety protection control system of industrial robot, comprises the safety signal input module, safe unit, master controller and the servo-drive system that connect successively; Described safe unit is also connected with controlled output element, and described controlled output element is also connected with electrical source of power with servo-drive system respectively.
The beneficial effects of the utility model are: processed by the safety signal of safe unit to input, thus control carries out safety stop and cuts off the electricity supply, and can ensure industrial robot safe and reliable operation, safety stop mode is more reasonable simultaneously; The communication of safe unit and master controller, realizes the information exchange of safe unit and controller and mutually monitors.
On the basis of technique scheme, the utility model can also do following improvement.
Further, described safety signal input module comprises the washout input block, enable switch signal input unit, safety door signal input unit, mode select signal input block, band-type brake power detecting input block, servo alarm signal input block and the power on buttons that are connected with safe unit respectively.
The beneficial effect of above-mentioned further scheme is adopted to be: to avoid robot security in prior art and stop mode single, the mode of industry spot demand can not be met.
Further, described mode select signal input block adopts 3 key switches.
The beneficial effect of above-mentioned further scheme is adopted to be: to be manual mode and automatic mode by 3 key switches by the signal distinguishing that safety signal input module inputs, and then determine to stop mode accordingly according to the input signal under different mode, make safety stop more reasonable.
Further, enable switch signal input unit, safety door signal input unit, band-type brake power detecting input block, servo alarm signal input block are all set to button.
Further, described urgency signal stops input block adopting double loop mode.
Further, the signal of described washout input block is by keyset access security unit.
The beneficial effect of above-mentioned further scheme is adopted to be: to be convenient to expansion and shielding that correspondence realizes emergency stop function, when not needing this function, then to utilize loop to be fallen by this functional shielding, as the hot plug of teaching machine under automatic mode.
Further, described controlled output element adopts two DC control contactor series connection, and forms EDM loop with safe unit.
The beneficial effect of above-mentioned further scheme is adopted to be: safe and reliablely can realize being communicated with and cut-out of servo-drive system and electrical source of power.
Further, described safe unit and described master controller are serial communication mode.
Further, master controller is communicated with servo-drive system by real-time industrial ethernet.
Further, described safe unit adopts safety governor.
The beneficial effect of above-mentioned further scheme is adopted to be: the safety governor of this series possesses self-examination and controlling, reliably electrical equipment, and the safety measures such as backfeed loop, ensure, when defect own or external fault, still can ensure security function.
Accompanying drawing explanation
Fig. 1 is the structural representation of the safety protection control system of a kind of industrial robot of the utility model;
Fig. 2 is the electrical block diagram that in the utility model, urgency signal stops input block.
In accompanying drawing, the list of parts representated by each label is as follows:
1, safety signal input module, 11, washout input block, 12, enable switch signal input unit, 13, safety door signal input unit, 14, mode select signal input block, 15, band-type brake power detecting input block, 16, servo alarm signal input block, 17, power on buttons, 2, safe unit, 3, master controller, 4, controlled output element, 5, servo-drive system, 6, electrical source of power.
Detailed description of the invention
Be described principle of the present utility model and feature below in conjunction with accompanying drawing, example, only for explaining the utility model, is not intended to limit scope of the present utility model.
As shown in Figure 1, a kind of safety protection control system of industrial robot, comprises the safety signal input module 1, safe unit 2, master controller 3 and the servo-drive system 5 that are linked in sequence successively; Safe unit 2 is also connected with controlled output element 4, and controlled output element 4 is also connected with electrical source of power 6 with servo-drive system 5 respectively.Master controller 2 is communicated with servo-drive system 5 by Ethernet.Safe unit 2 and described master controller 3 are serial communication mode.
Safe unit 1 adopts safety governor, it adopts redundancy, various structure, possess self-examination and controlling, reliably electrical equipment, the safety measures such as backfeed loop, ensure when defect own or external fault, still can ensure trouble free service, and can in time by fault detect out.Safety governor can adopt G9SP series, but is not limited thereto the safety governor of series.
Controlled output element 4 adopts two DC control contactor series connection, and DC controller contactor band auxiliary contact, form EDM loop with safe unit 2 and realize measuring ability.
Safety signal input module 1 comprises: washout input block 11, enable switch signal input unit 12, safety door signal input unit 13, mode select signal input block 14, band-type brake power detecting input block 15, servo alarm signal input block 16, power on buttons 17; Wherein, enable switch signal input unit 12, safety door signal input unit 13, band-type brake power detecting input block 15, servo alarm signal input block 16 are all set to button.
Detected by band-type brake power detecting input block 15 pairs of band-type brake power supplys, industrial robot can be avoided to run when band-type brake is not opened, cause the band brake apparatus even damage of motor.
Power on buttons 17 is system of the present utility model resetting means after fault recovery, system normally starts robot control system and fault recovery adopts different processing modes, be specially: robot control system normally starts, when the safe input signal that safe unit 2 gathers is normal, need not by power on buttons 17, servo-drive system 5 and electrical source of power 3 are directly connected; When robot control system fault recovery, must by power on buttons 17, servo-drive system 5 and electrical source of power 3 could be connected.
Washout input block 11 comprises switch board washout, teaching machine washout and outside washout three kinds of input pattern signals.Washout input block 11 adopts double loop mode, and urgency signal stops the signal of input block 11 by keyset access security unit 2, specifically as shown in Figure 2, when by port 2 and port 3 short circuit, time simultaneously by port 6 and port 7 short circuit, then represent the circuitry cuts at teaching machine place, make the bypass of teaching machine sudden-stop function; When by port one and port 2 short circuit, time simultaneously by port 7 and port 8 short circuit, then represent the bypass of switch board sudden-stop function; When by port 3 and port 4 short circuit, time simultaneously by port 5 and port 6 short circuit, then represent outside sudden-stop function bypass.
The method of shutting down of robot is divided into stop0, stop1, stop2 tri-kinds, as described below:
Stop0: power-off stops, representative disconnects servo power supply immediately, makes the robot method of shutting down that the action of robot is stopping in a flash.Adopt in this way, the track of robot retarded motion can not get controlling;
Stop1: control to stop, referring to by robot main controller controls, make robot after action is slowed down, disconnect the method for shutting down of servo power supply, robot, adopt in this way, the track of robot retarded motion is controlled;
Stop2: keep, refers to maintain servo power supply, the action deceleration of robot is stopped, the method for shutting down of robot.
The safety protection control system of industrial robot adopts stop0 according to fault type, and stop1, stop2 tri-kinds of methods carry out safety stop control, and safety stop logic is as shown in table 1:
Table 1 safety stop logic
| Trigger condition | Manual mode | Automatic mode |
| Pine rocking bar or Play key | Stop 2 | --- |
| Press Stop/Pause key | --- | Stop 2 |
| Unclamp enable button | Stop 0 | --- |
| Operational mode is selected | Stop 0 | Stop 0 |
| Safety door signal | Stop 0 | Stop 1 |
| Scram button | Stop 0 | Stop 1 |
| Outside critical failure signal | Stop 0 | Stop 1 |
| Servo-drive system fault | Stop 0 | Stop 0 |
| Band-type brake power failure | Stop 0 | Stop 0 |
| Master controller catastrophe failure | Stop 0 | Stop 0 |
"---" represents under this pattern without this demand
Wherein, mode select signal input block is the key switch of 3, with two contacts, the input pattern signal of each signal input unit selected in safety signal input module by mode select signal input block is manual mode or automatic mode, thus selects different stopping modes according to the varying input signal under different mode.
Industrial robot safety control system of the present utility model, safe unit 2 gathers the signal of safety signal input module, to go forward side by side row relax, when result is stop0, safe unit 2 controls the connection that controlled output element 4 cuts off servo-drive system 5 and electrical source of power 3, thus deenergization, the action of industrial robot is being stopped in a flash; When result is stop1, safe unit 2 transmits control signal to master controller 3, and master controller 3 cuts off the connection of servo-drive system 5 and electrical source of power 3 again after action is slowed down according to control signal control; When result is stop2, then safe unit 2 transmits control signal to master controller 3, and master controller 3, according to control signal control not deenergization when action is slowed down, still maintains power supply.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a safety protection control system for industrial robot, is characterized in that, comprises the safety signal input module (1), safe unit (2), master controller (3) and the servo-drive system (5) that connect successively; Described safe unit (2) is also connected with controlled output element (4), and described controlled output element (4) is also connected with electrical source of power (6) with servo-drive system (5) respectively.
2. the safety protection control system of a kind of industrial robot according to claim 1; it is characterized in that, described safety signal input module (1) comprises the washout input block (11), enable switch signal input unit (12), safety door signal input unit (13), mode select signal input block (14), band-type brake power detecting input block (15), servo alarm signal input block (16) and the power on buttons (17) that are connected with safe unit (2) respectively.
3. the safety protection control system of a kind of industrial robot according to claim 2, is characterized in that, described mode select signal input block (14) adopts 3 key switches.
4. the safety protection control system of a kind of industrial robot according to claim 2; it is characterized in that, enable switch signal input unit (12), safety door signal input unit (13), band-type brake power detecting input block (15), servo alarm signal input block (16) are all set to button.
5. the safety protection control system of a kind of industrial robot according to claim 2, is characterized in that, described urgency signal stops input block (11) to adopt double loop mode.
6. the safety protection control system of a kind of industrial robot according to claim 5, it is characterized in that, described washout input block (11) is by keyset access security unit (2).
7. the safety protection control system of a kind of industrial robot according to claim 1, is characterized in that, described controlled output element (4) adopts two DC control contactors series connection, and forms EDM loop with safe unit (2).
8. the safety protection control system of a kind of industrial robot according to claim 1, is characterized in that, described safe unit (2) and described master controller (3) are serial communication mode.
9. the safety protection control system of a kind of industrial robot according to claim 1, it is characterized in that, described master controller (3) is communicated with servo-drive system (5) by real-time industrial ethernet.
10. the safety protection control system of a kind of industrial robot according to claim 1, is characterized in that, described safe unit (2) adopts safety governor.
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| CN201520818269.0U CN205043783U (en) | 2015-10-21 | 2015-10-21 | Industrial robot's safety protection control system |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104834272A (en) * | 2015-03-12 | 2015-08-12 | 中国工程物理研究院化工材料研究所 | Machine tool multi-position control method and machine tool multi-position control system |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| CN107399303A (en) * | 2017-07-11 | 2017-11-28 | 上海蔚来汽车有限公司 | Electrical changing station and its protection system |
| CN107621799A (en) * | 2017-10-25 | 2018-01-23 | 南京埃斯顿机器人工程有限公司 | Articulated robot Special safety signal control circuit based on transistor |
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| CN108500984A (en) * | 2018-05-07 | 2018-09-07 | 南宁汇专科技有限公司 | Automatic short circuit formula teaching machine connects box |
| CN108594767A (en) * | 2018-06-01 | 2018-09-28 | 珠海格力电器股份有限公司 | A kind of emergency stop control circuit of industrial robot |
| CN108724223A (en) * | 2017-04-14 | 2018-11-02 | 罗普伺达机器人有限公司 | Robot controller |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN109848960A (en) * | 2018-12-17 | 2019-06-07 | 珠海格力电器股份有限公司 | A kind of plug-and-play circuit and its control method for industrial robot teaching device |
| CN111093908A (en) * | 2017-09-15 | 2020-05-01 | 西门子股份公司 | Redundant differentiated crash monitoring |
| CN111708330A (en) * | 2020-06-10 | 2020-09-25 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN111781891A (en) * | 2020-06-10 | 2020-10-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN111897244A (en) * | 2020-06-29 | 2020-11-06 | 埃夫特智能装备股份有限公司 | Industrial robot safety control system |
| CN112083644A (en) * | 2019-06-13 | 2020-12-15 | 北京京东尚科信息技术有限公司 | Safety control method and system for robot, electronic device and readable medium |
| WO2022057292A1 (en) * | 2020-09-16 | 2022-03-24 | 珠海格力电器股份有限公司 | Robot control apparatus and method, and robot |
| CN115657450A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Safety control system, circuit and method of industrial robot |
| WO2023077458A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system for industrial robot and safety controller |
| US20230238193A1 (en) * | 2022-01-25 | 2023-07-27 | Hiwin Technologies Corp. | Teaching equipment of electromechanical system |
| TWI819401B (en) * | 2020-11-09 | 2023-10-21 | 日商日本電產三協股份有限公司 | Control device for industrial robot |
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| CN104834272A (en) * | 2015-03-12 | 2015-08-12 | 中国工程物理研究院化工材料研究所 | Machine tool multi-position control method and machine tool multi-position control system |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| CN108724223A (en) * | 2017-04-14 | 2018-11-02 | 罗普伺达机器人有限公司 | Robot controller |
| CN108724223B (en) * | 2017-04-14 | 2021-09-21 | 罗普伺达机器人有限公司 | Robot control device |
| CN107399303A (en) * | 2017-07-11 | 2017-11-28 | 上海蔚来汽车有限公司 | Electrical changing station and its protection system |
| CN111093908A (en) * | 2017-09-15 | 2020-05-01 | 西门子股份公司 | Redundant differentiated crash monitoring |
| CN107621799A (en) * | 2017-10-25 | 2018-01-23 | 南京埃斯顿机器人工程有限公司 | Articulated robot Special safety signal control circuit based on transistor |
| CN107621799B (en) * | 2017-10-25 | 2023-10-20 | 南京埃斯顿机器人工程有限公司 | Transistor-based safety signal control circuit special for multi-joint robot |
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| CN108500984A (en) * | 2018-05-07 | 2018-09-07 | 南宁汇专科技有限公司 | Automatic short circuit formula teaching machine connects box |
| CN108500984B (en) * | 2018-05-07 | 2023-10-03 | 南宁汇专科技有限公司 | Automatic short-circuit type demonstrator connection box |
| CN108594767A (en) * | 2018-06-01 | 2018-09-28 | 珠海格力电器股份有限公司 | A kind of emergency stop control circuit of industrial robot |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN109848960A (en) * | 2018-12-17 | 2019-06-07 | 珠海格力电器股份有限公司 | A kind of plug-and-play circuit and its control method for industrial robot teaching device |
| CN109848960B (en) * | 2018-12-17 | 2020-09-22 | 珠海格力电器股份有限公司 | Hot plug circuit for industrial robot demonstrator and control method thereof |
| CN112083644A (en) * | 2019-06-13 | 2020-12-15 | 北京京东尚科信息技术有限公司 | Safety control method and system for robot, electronic device and readable medium |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN111781891B (en) * | 2020-06-10 | 2021-07-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN111708330B (en) * | 2020-06-10 | 2022-02-18 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
| CN111781891A (en) * | 2020-06-10 | 2020-10-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN111708330A (en) * | 2020-06-10 | 2020-09-25 | 杭州凯尔达机器人科技股份有限公司 | Robot data transmission system |
| EP4167035A4 (en) * | 2020-06-10 | 2024-02-21 | Hangzhou Kaierda Welding Robot Co Ltd | General-purpose computer-based robot control system |
| CN111897244A (en) * | 2020-06-29 | 2020-11-06 | 埃夫特智能装备股份有限公司 | Industrial robot safety control system |
| WO2022057292A1 (en) * | 2020-09-16 | 2022-03-24 | 珠海格力电器股份有限公司 | Robot control apparatus and method, and robot |
| EP4151375A4 (en) * | 2020-09-16 | 2023-12-06 | Gree Electric Appliances, Inc. of Zhuhai | Robot control apparatus and method, and robot |
| TWI819401B (en) * | 2020-11-09 | 2023-10-21 | 日商日本電產三協股份有限公司 | Control device for industrial robot |
| WO2023077458A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system for industrial robot and safety controller |
| US20230238193A1 (en) * | 2022-01-25 | 2023-07-27 | Hiwin Technologies Corp. | Teaching equipment of electromechanical system |
| CN115657450A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Safety control system, circuit and method of industrial robot |
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Effective date of registration: 20180704 Address after: 100080 4, 5 floors, 37 Building, 1 North Beach, Chaoyang District, Beijing. Patentee after: National Taiwan Intelligent Technology Research Institute Co Ltd Address before: 510530 2 new high tech Industrial Development Zone, Guangzhou, Guangdong Patentee before: China Intelligent Technology Co., Ltd. |
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