CN206426102U - The controller and safety system of a kind of robot - Google Patents

The controller and safety system of a kind of robot Download PDF

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Publication number
CN206426102U
CN206426102U CN201621232995.5U CN201621232995U CN206426102U CN 206426102 U CN206426102 U CN 206426102U CN 201621232995 U CN201621232995 U CN 201621232995U CN 206426102 U CN206426102 U CN 206426102U
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China
Prior art keywords
signal
detection unit
relay
robot
safety
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CN201621232995.5U
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Chinese (zh)
Inventor
王毅
何烽光
王松柏
孙亮
刘正勇
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Hefei Sineva Intelligent Machine Co Ltd
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Hefei Sineva Intelligent Machine Co Ltd
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Abstract

The utility model discloses a kind of controller of robot and safety system; the unsafe problem of robot, the problem of further solving the complexity of the wiring of the safety system of robot in the prior art and difficult malfunction elimination caused by various safety signal exceptions and artificial incorrect operation to avoid robot correlation.The controller of the robot includes safe unit, main control unit and the multiple detection units being sequentially connected in series；The output end for the class safety signal that each detection unit is used in the safety signal related to robot is connected, when the either signal in the class safety signal corresponding to the detection unit is abnormal, or the abnormal signal of the input of the detection unit, then the detection unit stop output Continuity signal；Safe unit is used for the Continuity signal for receiving the output of last detection unit, when not receiving the Continuity signal of last detection unit output, disconnects the electrical source of power and braking power for being powered to joint of robot motor and its brake.

Description

The controller and safety system of a kind of robot
Technical field
The utility model is related to robotic technology field, more particularly to a kind of robot controller and safeguard protection system System.
Background technology
Robot, especially industrial robot are the new technologies occurred in automation field, and referred to as modern mechanical An important component in manufacture.Robot considerably improves labor productivity, improves product quality, and work is realized in quickening Industry production mechanization and the paces of automation, especially in high temperature, high pressure, high accuracy, dust, noise and with radioactivity and dirt The occasion of dye, the scope of robot application is more extensive.
But so for many years, people are studying the safety problem of robot always, at least including following three kinds of schemes：
Patent (CN103955160A) discloses a kind of security protection module of industrial robot, will be various safety-related Whether signal is all connected to safety relay and carries out logic judgment control, then safe using the real-time monitoring robot of software.But All safety-related direct lines of signal are connected to safety relay by the patent, one are that wiring is complicated, are difficult to repair, two be only to lean on The monitoring of software is easy to produce leak.So there is very big hidden danger in the input circuit of safety-related signal in patent.
Patent (CN205043783U) discloses a kind of safety protection control system of industrial robot, is sequentially connected safety Input signal module, safe unit, master controller and servo-drive system.But how the patent does not illustrate safe input signal module Safe unit is controlled, how specifically to ensure the safe operation of industrial robot.
Patent (CN105652726A) discloses a kind of robot security's control device, by gathering input I/O signal twice Data processing, contrast, verification are carried out, and then safety is judged whether by software, corresponding measure processing is then carried out.But the patent Only pass through software monitors and control so that control difficulty, time, cost increase, and be unfavorable for safeguarding.
It can be seen that, in the safety system of the prior art for robot, monitored in real time by software has to reach Effect control, but monitoring point is limited, and software goes back other orders such as control machine human action in itself, easily causes software and goes out in itself Now many problems, are purely unable to reach safe class requirement by software.A serious safety problem is have ignored in addition, is exactly people It is easy to occur security incident during operation robot, all safety-related signals are directly inputted to multiple safety by prior art In relay or safety PLC, but the error signal in controller mainboard loop can not be linked into safety relay or safety In PLC, difficult wiring, malfunction elimination hardly possible, safe class is caused not to ensure.
In summary, in the safety system of the robot provided in the prior art, complex, malfunction elimination is connected up Difficulty, and safe class can not ensure.
Utility model content
In view of this, the utility model provides a kind of controller and safety system of robot, to avoid machine The unsafe problem of robot caused by the related various safety signal exceptions of people and artificial incorrect operation, is further solved existing The problem of complexity of the wiring of the safety system of robot and malfunction elimination are difficult in technology.
The utility model embodiment provides a kind of controller of robot, and the controller includes main control unit, safety Unit and multiple detection units being sequentially connected in series, wherein, the output end of last detection unit in multiple detection units Be connected with the safe unit and monitoring outlay, the input of first in multiple detection units detection unit with it is initial Power supply signal is connected, and the output end of any detection unit in addition to last detection unit is also connected with main control unit；
The output end for the class safety signal that each detection unit is used in the safety signal related to robot is connected, when Either signal in a class safety signal corresponding to the detection unit is abnormal, or the signal of the input of the detection unit is different Often, then the detection unit stops output Continuity signal；
The main control unit is used to receive the Continuity signal that the detection unit that is connected with the main control unit is exported, when not receiving To any detection unit Continuity signal when, determine that safety signal corresponding to the detection unit is abnormal, and abnormal conditions are defeated Go out to monitoring outlay；
The safe unit is used for the Continuity signal for receiving last detection unit output, described when not receiving During the Continuity signal of last detection unit output, disconnect for being powered to joint of robot motor and its brake Electrical source of power and braking power.
The controller for the robot that the utility model embodiment is provided includes main control unit, safe unit and multiple gone here and there successively The detection unit of connection；Wherein, each detection unit is for the defeated of the class safety signal in the safety signal related to robot Go out end to be connected, when the input of the either signal exception in the class safety signal corresponding to the detection unit, or the detection unit The abnormal signal at end, then detection unit stopping exports Continuity signal, it is seen then that it is single that the utility model embodiment passes through multiple detections A member classification pair safety signal related to robot is detected, so as to improve the efficiency detected to all kinds of safety signals；Its In, the input of first detection unit in multiple detection units is connected with initial power supply signal, except last detection is single The output end of any detection unit outside member is also connected with main control unit, and main control unit is used to receive and the main control unit phase The Continuity signal of detection unit output even, when not receiving the Continuity signal of any detection unit, determines the detection unit Corresponding safety signal is abnormal, and abnormal conditions are exported to monitoring outlay, it is seen then that main control unit is not by receiving Continuity signal corresponding to detection unit, so that it is determined that a class safety signal corresponding to the detection unit exists abnormal, enter One step is by itself processing or is sent to monitoring outlay, is overhauled by technical staff；Wherein, safe unit is used for The Continuity signal of last detection unit output is received, when the Continuity signal for not receiving the output of last detection unit When, disconnect the electrical source of power and braking power for being powered to joint of robot motor and its brake.By will be multiple Detection unit is connected, and the input of detection unit is connected with the output end of the detection unit of upper level, therefore, when multiple Any detection unit in detection unit does not export Continuity signal, the abnormal output Continuity signal of last detection unit, So that safe unit disconnects the electrical source of power and braking electricity for being powered to joint of robot motor and its brake Source, further ensures robot and the safety of operating personnel.Therefore, by the way that the various safety signals related to robot are led to Cross classification to be detected, safe unit is by whether receive the Continuity signal of last detection unit transmission to determine whether Stop electrical source of power and the braking power being powered to joint of robot motor and its brake, thus ensure that robot with And the safety of operating personnel；Because abnormal, last inspection occurs for either signal in the various safety signals related to robot Survey unit will not export Continuity signal, compared with prior art in robot safety system, the utility model implement Detection unit in example all takes into account various safety signals, and is attached, and simplifies the wiring of circuit, and classify to peace The abnormal conditions of full signal are detected, and abnormal conditions are sent into monitoring outlay, optimize the difficulty of malfunction elimination. To sum up, the controller for the robot that the utility model embodiment is provided, it is to avoid the related various safety signals of robot are abnormal And the unsafe problem of robot caused by artificial incorrect operation, further solve the safeguard protection of robot in the prior art The problem of complexity and malfunction elimination of the wiring of system are difficult.
It is preferred that the related various safety signals of the robot include the safety signal and machine triggered by operating personnel The related safety signal of device people pose, the safety signal related with outside plant environments with robot mode of operation, robot are electric The safety signal of machine power on signal and main control unit；
Wherein, the safety signal triggered by operating personnel includes：Operation handle, controller, remote control box and Being used in the emergency stop button switching signal in external equipment, robot body, external equipment detects that partes corporis humani position is entered Enter danger zone or the safety sensor signal of danger zone someone；
The safety signal related to robot pose includes：Being used on robot body limits each joint loads fortune Being used in the safety limit switch signal of dynamic scope, external equipment limits the safety limit switch letter in robot motion space Number；
The safety signal related with outside plant environments to robot mode of operation includes：Operation handle, controller, Mode selector switch signal in remote control box and external equipment, robot safety door switch signal and manipulator Handle secure validation command switch signal；
Robot motor's power on signal includes：In operation handle, controller, remote control box and external equipment Motor upper electrical switch signal；
The safety signal of the main control unit includes：What the soft and hardware operation safe condition of main control unit itself was provided has Imitate signal.
It is preferred that the first detection unit, the second detection unit, the 3rd detection that the controller includes being sequentially connected in series are single Member, the 4th detection unit and the 5th detection unit；
Wherein, first detection unit includes and the operation handle, controller, remote control box and external equipment In emergency stop button switching signal, being used on robot body, in external equipment detect that partes corporis humani position enters dangerous The multiple switch unit being sequentially connected in series corresponding to the safety sensor signal of region or danger zone someone, first detection Unit is used to detect whether the either signal in the safety signal triggered by operating personnel to be abnormal, if either signal generation is different Often, the corresponding switch element of the signal disconnects, and stops exporting the first Continuity signal to second detection unit, main control unit And monitoring outlay；
Second detection unit includes the safety that each joint loads range of movement is limited with being used on robot body Being used in limit switch signal, external equipment limit robot motion space safety limit switch signal it is one-to-one according to The multiple switch unit of secondary series connection, second detection unit is used to detecting in the safety signal related to robot pose Either signal it is whether abnormal, if the either signal exception in the safety signal related with robot pose, or do not connect First Continuity signal is received, then stops exporting the second Continuity signal to the 3rd detection unit and main control unit；
3rd detection unit includes and the pattern in operation handle, controller, remote control box and external equipment Switch switching signal, robot safety door switch signal, operation handle secure validation command switch signal it is one-to-one according to The multiple switch unit of secondary series connection, the 3rd detection unit is used to detect and robot mode of operation and outside plant environments phase Whether either signal in the safety signal of pass is abnormal, if the safety letter related with outside plant environments to robot mode of operation Either signal in number is abnormal, or does not receive second Continuity signal, then stops exporting the 3rd Continuity signal to described 4th detection unit and main control unit, and if the operation handle secure validation command switch abnormal signal, stopping output signal to The monitoring outlay；
4th detection unit is included in the operation handle, controller, remote control box and external equipment The self-locking circuit of multiple switch unit composition under the control of motor upper electrical switch signal, the 4th detection unit is used to detect institute Whether the either signal stated in the safety signal of the upper electricity of robot motor abnormal, if operation handle, controller, remote control box with And the either signal in the motor upper electrical switch signal in external equipment produces exception, or the 3rd conducting letter is not received Number, then stop exporting the 4th Continuity signal to the 5th detection unit and main control unit；
5th detection unit includes switch element corresponding with the safety signal of the main control unit, the 5th inspection Surveying unit is used to detect whether the safety signal of main control unit to be abnormal, if the safety signal of main control unit is abnormal, stops output 5th Continuity signal gives the safe unit and monitoring outlay.
It is preferred that first detection unit includes two branch roads of structure identical, and each branch road includes：
First switch, second switch, third switch, the 4th switch, the first signal relay, the secondary signal being sequentially connected in series Relay, described secondary signal relay one end is connected with first signal relay, and the other end is used as the described first detection The output end of unit；
Wherein, first switch is used to respond the operation handle emergency stop button switching signal, and the second switch is used In responding the controller emergency stop button switching signal, the described 3rd switchs and is pressed for responding remote control box emergent stopping Button switch signal, the described 4th switchs the emergency stop button switching signal for response external equipment, first signal after Electrical equipment is used to respond the safety sensor signal on robot body, and the secondary signal relay is used in response external equipment Safety sensor signal.
It is preferred that the first switch, second switch, third switch, the 4th switch are respectively that double loop emergent stopping is pressed Button switch；
The first signal relay positioned at tie point and the first signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts；
Secondary signal relay positioned at tie point and the secondary signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts.
It is preferred that second detection unit includes two branch roads of structure identical, and each branch road includes：
The 3rd signal relay, the 4th signal relay being sequentially connected in series with the output end of the first detection unit, described Four signal relay one end are connected with the 3rd signal relay, the other end as second detection unit output end；
Wherein, the 3rd signal relay is used to break when any joint loads of robot surmount prespecified home Open, the 4th signal relay is used to disconnect when robot body surmounts prespecified trouble free service space.
It is preferred that being same positioned at the 3rd signal relay of tie point and positioned at the 3rd signal relay of the second branch road One has the signal relay of two groups of contacts；
The 4th signal relay positioned at tie point and the 4th signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts.
It is preferred that the 3rd detection unit includes two branch roads of structure identical, and each branch road includes：
The 5th signal relay, the 6th signal relay, the 7th letter being sequentially connected in series with the output end of the second detection unit Number relay and the 8th signal relay, one end of the 8th signal relay are connected with the 7th signal relay, separately One end as the 3rd detection unit output end；
Wherein, the break-make of the 5th signal relay is controlled by the operation handle mode selector switch signal, described The break-make of 6th signal relay is controlled by the robot safety door switch signal, the 7th signal relay Break-make is controlled by operation handle secure validation command switch signal, and the break-make of the 8th signal relay is by controller, remote control Mode switching signal co- controlling in box and external equipment；5th signal relay, the 6th signal relay, the 8th The normally opened contact of normally-closed contact the 7th signal relay of series connection of signal relay, the 5th signal relay, the 6th signal relay Device, the normally opened contact of the 8th signal relay are serially connected, and normally-closed contact and the outside of the 7th signal relay Monitoring device is connected；During manual operation mode, the 5th signal relay, the 6th signal relay and the 8th signal relay it is normal Closed contact is closed, the normally opened contact closure of the 7th signal relay；During automatic operation mode, the 5th signal relay, the 6th letter The normally opened contact closure of number relay and the 8th signal relay, the normally opened contact of the 7th signal relay disconnects.
It is preferred that being same positioned at the 5th signal relay of tie point and positioned at the 5th signal relay of the second branch road One has the signal relay of two groups of contacts；
The 8th signal relay positioned at tie point and the 8th signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts.
It is preferred that the 4th detection unit includes two branch roads of structure identical, and each branch road includes：
The 9th signal relay being connected with the 3rd detection unit output end, it is in parallel with the 9th signal relay The tenth signal relay and the 11st signal relay, the 9th signal relay and the 11st signal relay connect The node connect as the 4th detection unit output end；
Wherein, the 9th signal relay is used for the motor power on signal in the external equipment or the electricity in operation handle Disconnected during machine upper electrical switch abnormal signal, the tenth signal relay positioned at tie point is used for the output end signal of tie point Disconnect, disconnected during the output end signal exception for being used for the second branch road positioned at the 11st signal relay of tie point when abnormal； It is used to disconnect during the output end signal exception of the second branch road positioned at the tenth signal relay of the second branch road, positioned at the second branch road 11st signal relay is used to disconnect during the output end signal exception of tie point.
It is preferred that being same positioned at the 9th signal relay of tie point and positioned at the 9th signal relay of the second branch road One has the signal relay of two groups of contacts；
The tenth signal relay positioned at tie point and the tenth signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts；
The 11st signal relay positioned at tie point and the 11st signal relay positioned at the second branch road are same Signal relay with two groups of contacts.
It is preferred that the 5th detection unit includes two branch roads of structure identical, each branch road includes：
The tenth binary signal relay being connected with the output end of the 4th detection unit, the tenth binary signal relay it is normal The output end that contact is opened with the 4th detection unit is connected, and normally-closed contact connects the main control unit, the tenth binary signal Relay is used to disconnect during the safety signal exception of main control unit.
Correspondingly, the utility model embodiment additionally provides a kind of safety system of robot, including this practicality is newly The controller for any robot that type embodiment is provided.
Brief description of the drawings
A kind of structural representation of the controller for robot that Fig. 1 provides for the utility model embodiment；
The structural representation of the controller for another robot that Fig. 2 provides for the utility model embodiment；
Fig. 3 (a) and Fig. 3 (b) are respectively the structural representation for the first detection unit that the utility model embodiment is provided；
Fig. 4 (a) and Fig. 4 (b) are respectively the structural representation for the second detection unit that the utility model embodiment is provided；
Fig. 5 (a) and Fig. 5 (b) are respectively the structural representation for the 3rd detection unit that the utility model embodiment is provided；
Fig. 6 (a) and Fig. 6 (b) are respectively the structural representation for the 4th detection unit that the utility model embodiment is provided；
The structural representation for the 5th detection unit that Fig. 7 provides for the utility model embodiment；
A kind of electrical block diagram for detection unit that Fig. 8 provides for the utility model embodiment；
A kind of structural representation for robot system that Fig. 9 provides for the utility model embodiment.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with accompanying drawing to this practicality It is new to be described in further detail, it is clear that described embodiment is only a part of embodiment of the utility model, rather than Whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work Under the premise of all other embodiment for being obtained, belong to the scope of the utility model protection.
The utility model provides a kind of controller and safety system of robot, to avoid each of robot correlation The unsafe problem of robot caused by safety signal exception and artificial incorrect operation is planted, machine in the prior art is further solved The problem of complexity and malfunction elimination of the wiring of the safety system of people are difficult.
Usually, robot can use two kinds of Working moulds of manual operation mode or automatic operation mode in normal work Formula.Manual operation mode, refers to that operating personnel carry out action control by operation handle to robot；Automatic operation mode, be Refer to without using operation handle, using the motion of the peripheral equipment control robot of control machine people's system, therefore, according to automatic During operator scheme, operating personnel can not be in the region of robot, and robot safety door switch must be closed. In robot normal work, manual operation mode is defaulted as, when needing that robot is controlled using automatic operation mode When, it is necessary to switch to automatic operation mode by mode switch function.
Including multiple robots on the production line of factory, controller of each robot including the control robot, Operation handle, remote control box and monitoring outlay, and the control of multiple robots then also needs to be controlled by external equipment System, for example, external equipment can be the equipment such as PLC.Therefore, to realize the control to robot, external equipment can be passed through It is controlled, or is controlled by the operation handle of itself, controller and remote control box.In order to avoid external equipment phase The safety problem of robot, this reality caused by the maloperation of the related safety signal of the signal of pass, robot or operating personnel A kind of controller of robot is provided with new embodiment.
Fig. 1 is participated in, the utility model is the controller 01 for the robot that example is provided, including main control unit 12, safety are singly Member 13 and multiple detection units 11 being sequentially connected in series, wherein, the output of last detection unit in multiple detection units End be connected with safe unit and monitoring outlay 03, the input of first in multiple detection units detection unit and initially Power supply signal (signal of voltage being provided to detection unit, represented with VC) is connected, any in addition to last detection unit The output end of detection unit is also connected with main control unit 12；
The output end for the class safety signal that each detection unit is used in the safety signal related to robot is connected, when Either signal in a class safety signal corresponding to the detection unit is abnormal, or the signal of the input of the detection unit is different Often, then the detection unit stops output Continuity signal；
Main control unit 12 is used to receive the Continuity signal that the detection unit that is connected with the main control unit is exported, when not receiving During the Continuity signal of any detection unit, determine that the safety signal corresponding to the detection unit is abnormal, and abnormal conditions are exported To monitoring outlay；
Safe unit 13 is used for the Continuity signal for receiving the output of last detection unit, is examined when not receiving last When surveying the Continuity signal of unit output, disconnect for the electrical source of power that is powered to joint of robot motor and its brake and Braking power.
Wherein, the detection unit number of controller can be according to the safety related to robot in the utility model embodiment The species number of signal carries out equipment, and the species of the safety signal related to robot can be carried out according to practical application scene Classification, or classified according to other principles, it is not specifically limited herein.
It should be noted that the electric power system of robot includes, the drive of servosupply, the band-type brake of driver and electrical source of power It is dynamic.Wherein, the utility model controls safe unit by multiple detection units, further control to joint of robot motor and its Electrical source of power and braking power that brake is powered, so that ensure the normal power supply of robot, once in detection unit Any safety signal is abnormal so that electrical source of power and braking power are unable to driven, so as to stop the work of robot, it is ensured that The safety of robot and operating personnel.
The controller for the robot that the utility model embodiment is provided includes main control unit, safe unit and multiple gone here and there successively The detection unit of connection；Wherein, each detection unit is for the defeated of the class safety signal in the safety signal related to robot Go out end to be connected, when the input of the either signal exception in the class safety signal corresponding to the detection unit, or the detection unit The abnormal signal at end, then detection unit stopping exports Continuity signal, it is seen then that it is single that the utility model embodiment passes through multiple detections A member classification pair safety signal related to robot is detected, so as to improve the efficiency detected to all kinds of safety signals；Its In, the input of first detection unit in multiple detection units is connected with initial power supply signal, except last detection is single The output end of any detection unit outside member is also connected with main control unit, and main control unit is used to receive and the main control unit phase The Continuity signal of detection unit output even, when not receiving the Continuity signal of any detection unit, determines the detection unit Corresponding safety signal is abnormal, and abnormal conditions are exported to monitoring outlay, it is seen then that main control unit is not by receiving Continuity signal corresponding to detection unit, so that it is determined that a class safety signal corresponding to the detection unit exists abnormal, enter One step is by itself processing or is sent to monitoring outlay, is overhauled by technical staff；Wherein, safe unit is used for The Continuity signal of last detection unit output is received, when the Continuity signal for not receiving the output of last detection unit When, disconnect the electrical source of power and braking power for being powered to joint of robot motor and its brake.By will be multiple Detection unit is connected, and the input of detection unit is connected with the output end of the detection unit of upper level, therefore, when multiple Any detection unit in detection unit does not export Continuity signal, the abnormal output Continuity signal of last detection unit, So that safe unit disconnects the electrical source of power and braking electricity for being powered to joint of robot motor and its brake Source, further ensures robot and the safety of operating personnel.Therefore, by the way that the various safety signals related to robot are led to Cross classification to be detected, safe unit is by whether receive the Continuity signal of last detection unit transmission to determine whether Stop electrical source of power and the braking power being powered to joint of robot motor and its brake, thus ensure that robot with And the safety of operating personnel；Because abnormal, last inspection occurs for either signal in the various safety signals related to robot Survey unit will not export Continuity signal, compared with prior art in robot safety system, the utility model implement Detection unit in example all takes into account various safety signals, and is attached, and simplifies the wiring of circuit, and classify to peace The abnormal conditions of full signal are detected, and abnormal conditions are sent into monitoring outlay, optimize the difficulty of malfunction elimination. To sum up, the controller for the robot that the utility model embodiment is provided, it is to avoid the related various safety signals of robot are abnormal And the unsafe problem of robot caused by artificial incorrect operation, further solve the safeguard protection of robot in the prior art The problem of complexity and malfunction elimination of the wiring of system are difficult.
It is preferred that by can be according to executive agent not with the various safety signals of robot in the utility model embodiment It is same to be divided into four classes.Cause robot or operating personnel when producing abnormal according to all kinds of safety signals in the utility model embodiment Priority in the hole is classified.For example, the safety of the working environment in order to ensure robot, when the work of robot It can be cut off and powered by operation handle emergency stop button when having exception as region, or by pressing controller emergent stopping Button cut-out power supply, it is ensured that the safety of staff and robot.Therefore, by the higher signal of safe class by operating personnel The safety signal of triggering, is specifically included：Emergent stopping in operation handle, controller, remote control box and external equipment is pressed Being used in button switch signal, robot body, external equipment detects that partes corporis humani position enters danger zone or danger zone and had The safety sensor signal of people.When the safety signal triggered by operating personnel is normal, in order to be further ensured that robot works Whether environment is normal, and the safety signal related to robot pose is included, and being used on robot body limits each joint and born The safe spacing for limiting robot motion space carried in the safety limit switch signal and external equipment of range of movement is opened OFF signal.When further, in order to be switched in manual operation mode and automatic operation mode also can normal work, because This, the safety signal related with outside plant environments to robot mode of operation includes：Operation handle, controller, remote control Mode selector switch signal in box and external equipment, robot safety door switch signal and operation handle are opened safely Dynamic switching signal.In addition, when pattern switching is normal and external equipment is all gone well, can be by joint of robot motor Supply electricity to robot and power be ready, specifically, robot motor's power on signal includes：Operation handle, controller, remote control Motor upper electrical switch signal in box and external equipment.In order to further detect that the soft and hardware of main control unit itself runs peace The useful signal that stateful security signal is sent is called the safety signal of main control unit as a class.Therefore, the utility model is real Apply in example, according to the priority level of safety signal, the various safety signals of robot are divided into four classes.
It should be noted that the various safety signals related to robot are not limited only to include above-mentioned safety signal, also wrap Include the safety signal that other operations are brought in actual applications.It is not specifically limited herein.
Wherein, the emergency stop button switching signal in the utility model embodiment, refer to by emergency stop switch by Button sends washout, so as to cut off effective execution signal of robot body so that periods of robot operation stop；Manipulator Handle motor upper electrical switch signal, refers in operation handle, coordinates joint of robot motor upper electrical switch, is enabled using three gears, One grade and three gears make loop be off can not electricity on start machine person joint's motor, only can starter motor when two keep off It is electric on device person joint's motor.Such as, staff is establishing by cable in the case of anxiety on the natural motor that can hold operation handle with strength Close, switch is in when third gear pattern, the not upper electricity of servo, or staff's imprudence throw away operation handle is in switch First grade of pattern, the not upper electricity of servo, the motor upper electrical switch for staff gently holds operation handle that and if only if makes switch be in the Electricity on two gears, joint of robot motor.Therefore, in the manual operating mode, operation handle motor upper electrical switch, could be machine Electricity is ready on person joint's motor.Robot safety door switch signal in the utility model embodiment, refer to by A pair of light projectors, the infrared ray electric transducers of light receiving device composition are arranged in the working region of robot, when light projector and receipts When not having object stop between light device, robot safety door switch signal is normal, when having between light projector and light receiving device When object stops, robot safety door switch abnormal signal is then controlled by robot safety door switch signal Switch element disconnect, electrical source of power and braking power are powered off immediately, it is ensured that the safety of robot and operating personnel.
Wherein, the safe unit in the utility model embodiment can be replaced with safety relay, and safety relay is one The safety measure for the risky operation that will not reduce production efficiency is planted, when any safety signal related to robot produces failure When, safety relay is acted, and stops driving braking power and electrical source of power, periods of robot operation stop.Wherein, safety relay Utensil has forced guiding contact point structure, just in case when occurring node clinkering phenomenon, also ensure that safety.Such as, if during normal work, this Detection unit in the controller for the robot that utility model embodiment is provided breaks down, then safety relay stops driving immediately Dynamic braking power and electrical source of power；When emergent stopping is released, robot can not start immediately.
, can be with it should be noted that the safe unit in the utility model embodiment is not limited to use safety relay The device realization control braking power that there are control and arbitration functions using other and the effect of electrical source of power.Do not do specific herein Limit.
Further, the concrete structure of the detection unit of the utility model embodiment offer is provided.
It is preferred that referring to Fig. 2, the first detection unit 110 that controller includes being sequentially connected in series, the second detection unit 111, the Three detection units 112, the 4th detection unit 113 and the 5th detection unit 114；
Wherein, the first detection unit 110 include with operation handle, controller, remote control box and external equipment Being used on emergency stop button switching signal, robot body, in external equipment detects that partes corporis humani position enters danger zone Or the multiple switch unit being sequentially connected in series corresponding to the safety sensor signal of danger zone someone, first detection unit For detecting whether the either signal in the safety signal triggered by operating personnel is abnormal, if either signal produces exception, The corresponding switch element of the signal disconnects, and stop export the first Continuity signal to second detection unit, main control unit and Monitoring outlay；
Second detection unit 111 includes limiting with the safety that being used on robot body limits each joint loads range of movement The safety limit switch signal that being used in bit switch signal, external equipment limits robot motion space is one-to-one successively The multiple switch unit of series connection, the second detection unit is used to detecting any in the safety signal related to robot pose Whether signal is abnormal, if the either signal exception in the safety signal related to robot pose, or do not receive first and lead Messenger, then stop exporting the second Continuity signal to the 3rd detection unit and main control unit；
3rd detection unit 112 includes cutting with the pattern in operation handle, controller, remote control box and external equipment Switching signal is changed, robot safety door switch signal, operation handle secure validation command switch signal is one-to-one successively The multiple switch unit of series connection, the 3rd detection unit is used to detect the peace related with outside plant environments to robot mode of operation Whether either signal in full signal is abnormal, if in the safety signal related with outside plant environments to robot mode of operation Either signal is abnormal, or does not receive the second Continuity signal, then stop export the 3rd Continuity signal to the 4th detection unit with Main control unit, and if operation handle secure validation command switch abnormal signal, stopping output signal to monitoring outlay；
4th detection unit 113 is included on the motor in operation handle, controller, remote control box and external equipment Establish the self-locking circuit of the multiple switch unit composition under OFF signal control by cable, the 4th detection unit is used to detect the robot electricity Whether the either signal on machine in electric safety signal is abnormal, if operation handle, controller, remote control box and external equipment In motor upper electrical switch signal in either signal produce abnormal, or do not receive the 3rd Continuity signal, then stop output 4th Continuity signal gives the 5th detection unit and main control unit；
5th detection unit 114 includes switch element corresponding with the safety signal of main control unit, and the 5th detection unit is used It is whether abnormal in the safety signal of detection main control unit, if the safety signal of main control unit is abnormal, stops output the 5th and turn on Signal is to safe unit and monitoring outlay.
It should be noted that the number of the controller detection unit in the utility model embodiment can also be according to each peace The difference of full signal is designed, or, each detection unit includes more safety signals, is not specifically limited herein.
Referring to Fig. 3 (a), the first detection unit 110 includes structure identical two branch roads A-1 and A-2, wherein, branch road A-1 Including：
First switch K1, second switch K2, the 3rd switch K3, the 4th switch K4, the first signal relay being sequentially connected in series CR1 and secondary signal relay CR2, secondary signal relay CR2 one end is connected with the first signal relay CR1, and the other end is made For the output end one of the first detection unit 110, wherein, first node Q1 as the first detection unit output end one；
Wherein, first switch K1 is used to respond operation handle emergency stop button switching signal, and second switch K2 is used to ring Controller emergency stop button switching signal is answered, the 3rd switch K3 is used to respond remote control box emergency stop button switch letter Number, the 4th switch K4 is used for the emergency stop button switching signal of response external equipment, and the first signal relay CR1 is used to respond Safety sensor signal on robot body, the safety sensor that secondary signal relay CR2 is used in response external equipment Signal.
Similarly, referring to Fig. 3 (a), branch road A-2 includes：The first switch K1 ' that is sequentially connected in series, second switch K2 ', the 3rd open Close K3 ', the 4th switch K4 ', the first signal relay CR1 ' and secondary signal relay CR2 ', secondary signal relay CR2 ' one End be connected with the first signal relay CR1 ', the other end as the first detection unit 110 output end two, wherein, first node Q1 ' as the first detection unit output end two；Wherein, first switch K1 ' is opened for responding operation handle emergency stop button OFF signal, second switch K2 ' is used for response controller emergency stop button switching signal, and the 3rd switch K3 ' is used to respond remotely Control box emergency stop button switching signal, the 4th switch K4 ' is used for the emergency stop button switching signal of response external equipment, First signal relay CR1 ' is used to respond the safety sensor signal on robot body, and secondary signal relay CR2 ' is used for Safety sensor signal in response external equipment.
It should be noted that because operation handle emergency stop button switching signal, controller emergency stop button are switched Signal, remote control box emergency stop button switching signal, the emergency stop button switching signal of external equipment, robot body On safety sensor signal, safety sensor signal in external equipment priority it is equal, and either switch signal is mutual Independent, therefore, each switch element in the first detection unit can be exchanged mutually, put in order and be not specifically limited, this reality With the structure in new embodiment shown in Fig. 3 (a) only as preferred embodiment, however it is not limited to the order shown in Fig. 3 (a).
Specifically, the security highest of emergency stop button switching signal, therefore by emergency button switch stop signal phase The safety signal of pass is connected in the first detection unit foremost, such as operation handle emergency stop button switching signal, control Device emergency stop button switching signal, remote control box emergency stop button switching signal, the emergency stop button of external equipment Switching signal is directly connected to the working environment of robot, therefore is connected in the first detection unit foremost.First detection Unit is mainly for detection of the safety signal triggered by operating personnel, due to operation handle emergency stop button switching signal, control Device emergency stop button switching signal processed, remote control box emergency stop button switching signal, the emergent stopping of external equipment are pressed The safety sensor signal in safety sensor signal, external equipment on button switch signal, robot body is easy sees Examine and separate signal, therefore will be exported after above-mentioned signal directly series connection to monitoring outlay, convenient outside monitoring is set It is standby to monitor in real time and easily search failure cause.
Specifically, for each branch road, the normally opened contact of the first signal relay and secondary signal relay is connected on Four switch after, when first switch, second switch, third switch and the 4th switch be in closure state, and corresponding letter When number without exception, when each position of robot is introduced into danger zone or danger zone nobody, the first signal relay Normally opened contact is closed, when the safety sensor signal in external equipment is normal, the normally opened contact closure of secondary signal relay, First switch, second switch, third switch, the 4th switch, the first signal relay and secondary signal relay group into branch road Conducting, first node exports the first Continuity signal；Or, when operation handle emergency stop button switching signal, controller are urgent Stop button switching signal, remote control box emergency stop button switching signal, the emergency stop button switch letter of external equipment Number, the safety sensor signal on robot body, in the safety sensor signal in external equipment any one signal production When raw abnormal, first node stops the first Continuity signal of output so that the first detection unit is off.
Further, in order to which the first Continuity signal for exporting first node (Q1 and Q1 ') is automatically fed to outside monitoring Equipment, a relay, and the outside prison of normally opened contact connection of each relay are connected at first node (Q1 and Q1 ') place respectively Equipment is controlled, normally-closed contact is connected on first node (Q1 or Q1 ') place, led when first node (Q1 and Q1 ') place exports first simultaneously During messenger, the normally opened contact closure of each relay, monitoring outlay receives the first conducting of first node (Q1 and Q1 ') Signal, when first node (Q1 or Q1 ') stops the first Continuity signal of output, the normally opened contact of the relay disconnects, outside prison Control equipment does not receive first node (Q1 and Q1 ') the first Continuity signal, it is determined that failure appears in operation handle emergent stopping Push-button switch signal, controller emergency stop button switching signal, remote control box emergency stop button switching signal, outside are set Standby emergency stop button switching signal, the safety sensor signal on robot body, the safety sensor in external equipment Cause after any one signal or the combination of several signals in signal.
Therefore, the first detection unit provided in the utility model embodiment is by detecting operation handle emergency stop button Switching signal, controller emergency stop button switching signal, remote control box emergency stop button switching signal, external equipment The safety sensor signal in safety sensor signal, external equipment in emergency stop button switching signal, robot body Etc. safe signal, so as to improve the security of robot and operating personnel and improve the convenience of malfunction elimination.
It is preferred that first switch K1, second switch K2, the 3rd switch K3, the 4th switch K4 are respectively that double loop is promptly stopped Only button switch；Therefore, the first switch K1 ' in first switch K1 and the second branch road A-2 in tie point A-1 can be same One double loop emergency stop button switch；Similarly, in tie point A-1 in second switch K2 and the second branch road A-2 Two switch K2 ' can be same double loop emergency stop button switch；The 3rd K3 and second, switch in tie point A-1 The 3rd switch K3 ' in the A-2 of road can be same double loop emergency stop button switch；The 4th in tie point A-1 opens The 4th switch K4 ' closed in K4 and the second branch road A-2 can be same double loop emergency stop button switch.So as to reduce The number of device in double-circuit system and the complexity for simplifying circuit.
Positioned at tie point A-1 the first signal relay CR1 and the first signal relay positioned at the second branch road A-2 CR1 ' is the same signal relay with two groups of contacts；Positioned at tie point A-1 secondary signal relay CR2 and positioned at Two branch road A-2 secondary signal relay CR2 ' is the same signal relay with two groups of contacts.So as to reduce controller In device number and simplify the complexity of circuit.Concrete structure is referring to Fig. 3 (b) Suo Shi.
It should be noted that the first detection unit can only include said one branch road.Only just can be real by a branch road Now to the detection of the safety signal triggered by operating personnel.In actual applications, in order to avoid the switch element on a branch road Or signal has other problemses, the first detection unit that the utility model embodiment is provided is set to two branch of structure identical Road, is further detected to safety signal exactly, it is ensured that the safety problem of robot and operating personnel.Wherein, by phase The signal relay being located in tie point and the second branch road of same signal control can be using two signal relays.Herein It is not specifically limited.Further, in order to reduce in the number of signal relay, the utility model embodiment by identical signal The signal relay being located in tie point and the second branch road of control is using a signal relay with two groups of contacts.
It is preferred that referring to Fig. 4 (a), the second detection unit 111 includes structure identical two branch roads B-1 and B-2, and branch Road B-1 includes：
The 3rd signal relay CR3 that is sequentially connected in series with the output end one (first node Q1) of the first detection unit, the 4th Signal relay CR4, the 4th signal relay CR4 one end is connected with the 3rd signal relay CR3, and the other end is used as the second detection The output end one of unit, as Section Point Q2；
Wherein, the 3rd signal relay CR3 is used to surmount prespecified home in any joint loads of robot When disconnect, the 4th signal relay CR4 is used to disconnect when in robot body surmounting between prespecified trouble free service.
Similarly, referring to Fig. 4 (a), branch road B-2 includes：With the output end two (first node Q1 ') of the first detection unit successively The 3rd signal relay CR3 ', the 4th signal relay CR4 ' of series connection, the 4th signal relay CR4 ' one end and the 3rd signal Relay CR3 ' is connected, and the other end is used as the output end two of the second detection unit, as Section Point Q2 '；Wherein, the 3rd signal Relay CR3 ' is used to disconnect when any joint loads of robot surmount prespecified home, the 4th signal relay CR4 ' is used to disconnect when in robot body surmounting between prespecified trouble free service.
It should be noted that because the safe spacing that being used on robot body limits each joint loads range of movement is opened The priority of the safety limit switch signal for limiting robot motion space in OFF signal, external equipment is equal, and phase Mutually independent, therefore, the position of the 3rd signal relay and the 4th signal relay in the second detection unit can be exchanged, arrangement Order is not specifically limited, and the structure in the utility model embodiment shown in Fig. 4 (a) is only as preferred embodiment, however it is not limited to Order shown in Fig. 4 (a).In addition, being used on robot body limits the safety limit switch of each joint loads range of movement The two class signals that being used in signal, or external equipment limits the safety limit switch signal in robot motion space can be with Including multiple signals, therefore, in the second detection unit, multiple signals in above-mentioned two classes signal can be controlled according to actual conditions When, increase multiple corresponding signal relays, the safety problem to detect each signal in detail.Specific each class signal includes Concrete signal can be increased according to practical application scene, be not specifically limited herein.
Specifically, the second detection unit is mainly for detection of the safety signal related to robot pose, due to robot Being used in the safety limit switch signal for limiting each joint loads range of movement on body, external equipment limits machine The safety limit switch signal of people's space is to be not easy observation and separate signal, therefore above-mentioned signal is directly gone here and there Exported after connection to main control unit, facilitate main control unit to further search for failure cause according to the feedback of signal.
Specifically, for each branch road, the normally opened contact of the 3rd signal relay and the 4th signal relay is connected on After one node, the logic unit conducting in the first detection unit, and during the first Continuity signal of output, and on robot body Safety limit switch signal for limiting each joint loads range of movement is normal, then the 3rd signal relay normally opened touch Point closure, when the safety limit switch signal that being used in external equipment limits robot motion space is normal, then the 4th signal The branch road conducting of the normally opened contact closure of relay, then the 3rd signal relay and the 4th signal relay composition, Section Point Export the second Continuity signal；Or, when the safe spacing that being used on robot body limits each joint loads range of movement is opened Being used in OFF signal, external equipment limits any one signal production in the safety limit switch signal in robot motion space When raw abnormal, Section Point stops the second Continuity signal of output so that the second detection unit is off.
Further, in order to which the second Continuity signal for exporting Section Point (Q2 and Q2 ') is automatically fed to main control unit, Connect a relay, and the normally opened contact connection main control unit of each relay respectively at Section Point (Q2 and Q2 ') place, often Closed contact is connected on Section Point (Q2 or Q2 ') place, when Section Point (Q2 and Q2 ') place exports the second Continuity signal simultaneously, The normally opened contact closure of each relay, main control unit receives Section Point (Q2 and Q2 ') the second Continuity signal, works as second section When point (Q2 or Q2 ') stops the second Continuity signal of output, the normally opened contact of the relay disconnects, and main control unit does not receive second section Second Continuity signal of point (Q2 and Q2 '), it is determined that failure appears in being transported for limiting each joint loads on robot body Being used in the safety limit switch signal of dynamic scope, external equipment limits the safety limit switch signal in robot motion space In any one signal or two signals it is abnormal.
Therefore, the second detection unit provided in the utility model embodiment is by detecting that being used on robot body limits Make the peace for limiting robot motion space in the safety limit switch signal of each joint loads range of movement, external equipment Full limit switch signal, so as to improve the security of robot and operating personnel and improve the convenience of malfunction elimination.
It is preferred that positioned at tie point B-1 the 3rd signal relay CR3 and the 3rd signal positioned at the second branch road B-2 Relay CR3 ' is the same signal relay with two groups of contacts, and referring to Fig. 4 (b) Suo Shi, the 3rd signal relay uses CR3 Represent；Positioned at tie point B-1 the 4th signal relay CR4 and the 4th signal relay CR4 ' positioned at the second branch road B-2 For the same signal relay with two groups of contacts, referring to Fig. 4 (b) Suo Shi, the 4th signal relay is represented with CR4.So as to Reduce the number of the device in controller and simplify the complexity of circuit.Concrete structure is referring to Fig. 4 (b) Suo Shi.
It should be noted that the second detection unit can only include said one branch road.Only just can be real by a branch road The now pair detection of the safety signal related to robot pose.In actual applications, in order to avoid the switch list on a branch road Member or signal have other problemses, and the second detection unit that the utility model embodiment is provided is set to two branch of structure identical Road, is further detected to safety signal exactly, it is ensured that the safety problem of robot and operating personnel.Wherein, by phase The signal relay being located in tie point and the second branch road of same signal control can be using two signal relays.Herein It is not specifically limited.Further, in order to reduce in the number of signal relay, the utility model embodiment by identical signal The signal relay being located in tie point and the second branch road of control is using a signal relay with two groups of contacts.
It is preferred that referring to Fig. 5 (a), the 3rd detection unit in the utility model embodiment includes structure identical two Branch road C-1 and C-2, and branch road C-1 includes：
The 5th signal relay CR5 that is sequentially connected in series with the output end one (Section Point Q2) of the second detection unit, the 6th Signal relay CR6, the 7th signal relay CR7 and the 8th signal relay CR8, the 8th signal relay CR8 one end with 7th signal relay CR7 is connected, and the other end is as the output end of the 3rd detection unit, i.e. the 3rd node Q3 in Fig. 5 (a)；
Wherein, the 5th signal relay CR5 break-make by operation handle mode selector switch signal control, the 6th signal after Electrical equipment CR6 break-make is controlled by robot safety door switch signal, and the 7th signal relay CR7 break-make is by manipulator Handle secure validation command switch signal is controlled, and the 8th signal relay CR8 break-make is by controller, remote control box and external equipment In mode switching signal co- controlling；5th signal relay CR5, the 6th signal relay CR6, the 8th signal relay CR8 the 7th signal relay CR7 of normally-closed contact series connection normally opened contact, the 5th signal relay CR5, the 6th signal relay The normally opened contact of device, CR6 and the 8th signal relay CR8 is serially connected, and the 7th signal relay CR7 normally-closed contact with it is outer Portion's monitoring device connection；During manual operation mode, the 5th signal relay CR5, the 6th signal relay CR6 and the 8th signal after Electrical equipment CR8 normally-closed contact closure, the 7th signal relay CR7 normally opened contact closure；During automatic operation mode, the 5th signal Relay CR5, the 6th signal relay CR6 and the 8th signal relay CR8 normally opened contact closure, the 7th signal relay CR7 normally opened contact disconnects.
Similarly, referring to Fig. 5 (a), branch road C-2 includes：With the output end two (Section Point Q2 ') of the second detection unit successively The 5th signal relay CR5 ', the 6th signal relay CR6 ', the 7th signal relay CR7 ' and the 8th signal relay of series connection Device CR8 ', the 8th signal relay CR8 ' one end is connected with the 7th signal relay CR7 ', and the other end is single as the 3rd detection The 3rd node Q3 ' in the output end two of member, i.e. Fig. 5 (a)；Wherein, the 5th signal relay CR5 ' break-make is by operation handle Mode selector switch signal is controlled, and the 6th signal relay CR6 ' break-make is by robot safety door switch signal control System, the 7th signal relay CR7 ' break-make is controlled by operation handle secure validation command switch signal, the 8th signal relay CR8 ' Break-make by the mode switching signal co- controlling in controller, remote control box and external equipment；5th signal relay CR5 ', the 6th signal relay CR6 ', the 8th signal relay CR8 ' normally-closed contact connect the 7th signal relay CR7's ' Normally opened contact, the 5th signal relay CR5 ', the 6th signal relay CR6 ' and the 8th signal relay CR8 ' normally opened contact It is serially connected, and the 7th signal relay CR7 ' normally-closed contact is connected with monitoring outlay；During manual operation mode, the 5th Signal relay CR5 ', the 6th signal relay CR6 ' and the 8th signal relay CR8 ' normally-closed contact closure, the 7th signal Relay CR7 ' normally opened contact closure；During automatic operation mode, the 5th signal relay CR5 ', the 6th signal relay CR6 ' Closed with the 8th signal relay CR8 ' normally opened contact, the 7th signal relay CR7 ' normally opened contact disconnects.
Specifically, the 3rd detection unit, mainly for detection of related to robot mode of operation and outside plant environments Whether safety signal is abnormal, including will be opened with the pattern switching in operation handle, controller, remote control box and external equipment OFF signal, robot safety door switch signal, operation handle secure validation command switch signal is detected successively.Wherein, 3rd detection unit make it that no matter robot is in automatic mode or manual mode, can realize robot mode of operation and outer The detection of the related safety signal of portion's facility environment.
Specifically, for each branch road, the 5th signal relay, the 6th signal relay are passed through in the utility model embodiment Device, the 7th signal relay and the 8th signal relay realize that robot mode switches.Wherein, the 5th signal relay, the 6th The normally opened contact and normally-closed contact of signal relay and the 8th signal relay are all connected with the circuit, the 5th signal relay The normally opened of the 7th signal relay of connection touches after the normally-closed contact series connection of device, the 6th signal relay and the 8th signal relay Point, constitutes branch P；The normally opened contact of 5th signal relay, the 6th signal relay and the 8th signal relay is sequentially connected in series, Constitute branch P '.Branch P is path when robot is in manual operation mode, and branch P ' is in for robot and is automatically brought into operation mould Path during formula.The normally opened contact of 7th signal relay is also connected with monitoring outlay, for by operation handle clean boot The state of switching signal inputs to monitoring outlay, convenient monitoring.
It should be noted that for the 8th signal relay break-make by controller, remote control box and external equipment In mode switching signal co- controlling situation, can with multiple signal relays series connection be replaced so that each signal Relay is controlled by a signal, or a signal relay is controlled by two signals.Therefore, pass through One or more signal controls the situation of a signal relay to belong to protection domain of the present utility model.
Specifically, referring to Fig. 5 (a) Suo Shi, by taking branch road C-1 as an example, default mode of operation when robot starts working is Manual operation mode, the 5th signal relay CR5, the 6th signal relay CR6 and the 8th signal relay CR8 coil must not Electricity, normally-closed contact is still closed, and normally opened contact still disconnects, in order that obtaining robot normal work, operation handle clean boot Switch is acted so that the 7th signal relay CR7 coil obtains electric, the normally opened contact closure of the 7th signal relay, point Branch P is turned on, and robot normal work exports the 3rd Continuity signal in manual operation mode, the 3rd node Q3.If operation handle is pacified Full starting switch abnormal signal, monitoring outlay can not receive the signal of operation handle secure validation command switch signal transmission, it is determined that Operation handle secure validation command switch failure, if operation handle secure validation command switch is normal, needs main control unit to further determine that Operation handle mode selector switch signal, robot safety door switch signal and controller, remote control box and Whether the mode switching signal in external equipment is abnormal.If robot needs to be switched to automatic operation mode and is operated, grasp Make handle mode selector switch signal enable so that the 5th signal relay CR5 normally opened contact closure, robot peace Air cock switching signal is enabled so that the 6th signal relay CR6 normally opened contact closure, controller, remote control box and outer The signal of mode switching signal co- controlling in portion's equipment is enabled so that the 8th signal relay CR8 normally opened contact closure, Branch P ' is turned on, and robot normal work exports the 3rd Continuity signal in automatic operation mode, the 3rd node Q3.If the 3rd node Q3 stops the 3rd Continuity signal of output, then needs main control unit to further determine that operation handle mode selector switch signal, machine People's workplace safety door switch signal and by the mode switching signal in controller, remote control box and external equipment whether It is abnormal.
Wherein, will in order to be further ensured that in the security of staff's switching working mode, the utility model embodiment Branch P is designed as manual operation mode, and when operation handle mode selector switch signalizing activity, could normal work；When need When switching back into automatic operation mode, as long as by the mode switching signal in controller, remote control box and external equipment, grasping Make handle mode selector switch signal, robot safety door switch signal and switch to automatic operation mode, work as robot During workplace safety door switch signals security, branch's P ' normal works, robot is in and is automatically brought into operation mode of operation, so as to ensure During pattern switching, the safety of staff and robot.Wherein, pattern switching action coordinate software need switching it is suitable Sequence, when being switched to manual operation mode from automatic operation mode, it is necessary to be first manually operated by director mode switching signal Pattern, then again by operation handle mode switching signal be manual operation mode；When switching to automatic behaviour from manual operation mode During operation mode, it is necessary to be first automatic operation mode by operation handle mode switching signal, then by director mode switching signal Nearby principle must be in operation handle for automatic operation mode, that is, manual operation mode, operating personnel can be ensured Security.
Further, in order to which the 3rd Continuity signal of the 3rd node (Q3 and Q3 ') is automatically fed into main control unit, Three nodes (Q3 and Q3 ') place connection relay, and the normally opened contact connection main control unit of each relay respectively, it is normally closed to touch Point is connected on the 3rd node (Q3 or Q3 ') place, each when the 3rd node (Q3 and Q3 ') place exports three Continuity signals simultaneously The normally opened contact closure of relay, main control unit receives the 3rd node (Q3 and Q3 ') the 3rd Continuity signal, when the 3rd node When (Q3 or Q3 ') stops three Continuity signal of output, the normally opened contact of the relay disconnects, and main control unit does not receive the 3rd node 3rd Continuity signal of (Q3 and Q3 '), then further determine that determination operation handle mode selector switch signal, robot Safety door switch signal and whether abnormal by the mode switching signal in controller, remote control box and external equipment.
Therefore, the 3rd detection unit in the utility model embodiment is by detecting robot in automatic operation mode and hand Dynamic mode of operation makees handle mode selector switch signal, robot safety door switch signal, operation handle safety The mode switching signal of starting switch signal and controller, remote control box and external equipment co- controlling so that operator No matter member can ensure that safety under which kind of mode of operation, so as to improve reliability.
It is preferred that positioned at tie point C-1 the 5th signal relay CR5 and the 5th signal positioned at the second branch road C-2 Relay CR5 ' is the same signal relay with two groups of contacts, and referring to Fig. 5 (b) Suo Shi, the 5th signal relay uses CR5 Represent；Positioned at tie point C-1 the 8th signal relay CR8 and the 8th signal relay CR8 ' positioned at the second branch road C-2 For the same signal relay with two groups of contacts, referring to Fig. 5 (b) Suo Shi, the 8th signal relay is represented with CR8.
It should be noted that for ideal situation, the 3rd detection unit can only include said one branch road.Actually should In, in order to avoid the device or signal on a branch road have other problemses, the 3rd inspection that the utility model embodiment is provided Survey unit and be designed as two branch roads, further safety signal is detected exactly, it is ensured that the safety problem of robot.Its In, robot safety door is two-way safety door lock, therefore, and tie point and the second branch road respectively need the 6th signal Relay.The state of operation handle secure validation command switch feeds back to monitoring outlay by the 7th signal relay, therefore, the One branch road and the second branch road respectively need the 7th signal relay.The 5th signal relay in tie point and the second branch road Two signal relays can be respectively adopted with the 8th signal relay to be controlled, or being respectively adopted one, there are two groups to be touched The signal relay of point is controlled, and is not especially limited herein.
It is preferred that referring to Fig. 6 (a), the 4th detection unit 112 includes structure identical two branch roads D-1 and D-2, and branch Road D-1 includes：
The 9th signal relay CR9 being connected with the 3rd detection unit output end one (the 3rd node Q3), with the 9th signal Tenth signal relay CR10 and the 11st signal relay CR11 in parallel relay CR9；9th signal relay CR9 and The node of 11 signal relay CR11 connections is as the output end one of the 4th detection unit, i.e. fourth node in Fig. 6 (a) Q4；
Branch road D-2 includes：
The 9th signal relay CR9 ' being connected with the 3rd detection unit output end two (the 3rd node Q3 '), with the 9th letter Tenth signal relay CR10 ' and the 11st signal relay CR11 ' in parallel number relay CR9 '；9th signal relay The node that CR9 ' is connected with the 11st signal relay CR11 ' as the 4th detection unit output end one, i.e. in Fig. 6 (a) Fourth node Q4 '；
Wherein, the 9th signal relay CR9 is used for the motor power on signal in external equipment or the electricity in operation handle Disconnected during machine upper electrical switch abnormal signal, the tenth signal relay CR10 positioned at tie point D-1 is used for the defeated of tie point Disconnected when going out end one (fourth node Q4) abnormal signal, the 11st signal relay CR11 positioned at tie point D-1 is used for the Disconnected during output end two (fourth node Q4 ') abnormal signal of two branch roads；Positioned at the second branch road D-2 the tenth signal relay CR10 ' is used to disconnect during the second branch road D-2 output end two (fourth node Q4 ') abnormal signal, positioned at the of the second branch road D-2 11 signal relay CR11 ' are used to disconnect during output end one (fourth node Q4) abnormal signal of tie point.
Specifically, when and first node export the first Continuity signal, Section Point export the second Continuity signal, the 3rd node When exporting three Continuity signals, electricity on joint of robot motor is carried out.The 4th detection unit that the utility model embodiment is provided For ensureing that robot is constantly in power supply state.
Specifically, for each branch road, the normally opened contact of the 9th signal relay is connected to the 3rd node and fourth node Between, when external equipment joint of robot motor power on signal or operation handle joint of robot motor power on signal enable, The normally opened contact closure of 9th signal relay, fourth node exports the 4th Continuity signal；When external equipment joint of robot electricity When machine power on signal or abnormal operation handle joint of robot motor power on signal, the normally opened contact of the 9th signal relay breaks Open, fourth node stops the 4th Continuity signal of output；The normally opened contact string of tenth signal relay and the 11st signal relay It is connected in parallel on after connection between the 3rd node and fourth node, once fourth node exports the 4th Continuity signal, then the tenth signal relay The normally opened contact closure of device and the 11st signal relay, fourth node continues to output the 4th Continuity signal.Therefore, operating personnel Only need to pin external equipment joint of robot motor upper electrical switch or operation handle joint of robot motor upper electrical switch 1 second with On, the 4th detection unit can just remain safety return circuit connected state, therefore operating personnel need not pin machine always Person joint's motor upper electrical switch.
Further, in order to which the 4th Continuity signal of fourth node (Q4 and Q4 ') is automatically fed into main control unit, Four node Q4 (Q4 and Q4 ') place connects a relay, and the normally opened contact connection main control unit of each relay respectively, normally closed Contact series are at fourth node (Q4 or Q4 ') place, when fourth node (Q4 and Q4 ') place exports four Continuity signals simultaneously, often The normally opened contact closure of one relay, main control unit receives fourth node (Q4 and Q4 ') the 4th Continuity signal, works as fourth node When (Q or Q4 ') stops four Continuity signal of output, the normally opened contact of the relay disconnects, and main control unit does not receive fourth node 4th Continuity signal of (Q4 and Q4 '), then further determine that joint of robot motor power on operation breaks down.
It is preferred that positioned at tie point D-1 the 9th signal relay CR9 and the 9th signal positioned at the second branch road D-2 Relay CR9 ' is the same signal relay with two groups of contacts, and referring to Fig. 6 (b) Suo Shi, the 9th signal relay uses CR9 Represent；Positioned at tie point D-1 the tenth signal relay CR10 and the tenth signal relay positioned at the second branch road D-2 CR10 ' is the same signal relay with two groups of contacts, and referring to Fig. 6 (b) Suo Shi, the tenth signal relay uses CR10 tables Show；Positioned at tie point D-1 the 11st signal relay CR11 and the 11st signal relay positioned at the second branch road D-2 CR11 ' is the same signal relay with two groups of contacts, and referring to Fig. 6 (b) Suo Shi, the tenth signal relay uses CR10 tables Show.
It is preferred that referring to Fig. 7, the 5th detection unit 114 includes structure identical two branch roads E-1 and E-2, branch road E-1 Including：
The tenth binary signal relay CR12 being connected with the output end one (fourth node Q4) of the 4th detection unit, the 12nd Signal relay CR12 normally opened contact is connected with the output end one of the 4th detection, and normally-closed contact is connected with main control unit, and the tenth Binary signal relay CR12 output end is as the output end one of the 5th detection, i.e. the 5th node Q5 in Fig. 7；Wherein, the tenth Binary signal relay CR12 is used to disconnect during the safety signal exception of main control unit.
Similarly, branch road E-2 includes：The 12nd letter being connected with the output end two (fourth node Q4 ') of the 4th detection unit Number relay CR12 ', the tenth binary signal relay CR12 ' normally opened contact is connected with the output end two of the 4th detection, normally closed tactile Point is connected with main control unit, and the tenth binary signal relay CR12 ' output end is as the 5th output end two detected, i.e. in Fig. 7 The 5th node Q5 '；Wherein, the tenth binary signal relay CR12 ' is used to disconnect during the safety signal exception of main control unit.
Specifically, when first node, Section Point, the 3rd node and normal fourth node, in order to further determine that It whether there is abnormal signal in main control unit, be controlled by the tenth binary signal relay.If main control unit sends effective letter Number give the tenth binary signal relay, then normally opened contact close so that the 5th node export the 5th Continuity signal.If main control unit is not When sending useful signal to the tenth binary signal relay, then normally opened contact disconnects so that the 5th node stops output the 5th and turned on Signal.
Further, in order to which the 5th Continuity signal of the 5th node (Q5 and Q5 ') is automatically fed into monitoring outlay, Connect a relay respectively at the 5th node (Q5 and Q5 ') place, and the outside monitoring of normally opened contact connection of each relay is set Standby, normally-closed contact is connected on the 5th node (Q5 or Q5 ') place, when the 5th node (Q5 and Q5 ') place exports five Continuity signals, The normally opened contact closure of the relay, monitoring outlay receives the 5th node (Q5 and Q5 ') the 5th Continuity signal, when the 5th When node (Q5 or Q5 ') stops five Continuity signal of output, the normally opened contact of the relay is disconnected, and monitoring outlay is not received 5th Continuity signal of the 5th node (Q5 and Q5 '), it is determined that failure is appeared in main control unit.
Wherein, when the 5th node Q5 in tie point and the second branch road normally exports useful signal, safe unit Electrical source of power and braking power that conducting joint of robot motor and its brake are powered.Once tie point or second When the 5th node in branch road does not export five Continuity signals, safe unit disconnects so that braking power and electrical source of power can not Bio-occlusion robot powers.
It should be noted that the embodiment of multiple detection units in the controller noted above that the utility model embodiment is provided In be not limited to the abnormal mode of operations of motion detection safety signal of coil control contacts using switch or signal relay. And the various safety signals of above-mentioned offer are provided, it can be extended to all other safety signals related to robot. This is not especially limited.
In addition, the first Continuity signal, the second Continuity signal, the 3rd Continuity signal, the 4th lead in the utility model embodiment Messenger and the 5th Continuity signal are only whether respective nodes have a kind of definition of useful signal, it is of course possible to using other fixed Justice carries out whether general introduction respective nodes have useful signal, is not specifically limited herein.Wherein, the first Continuity signal, the second conducting Signal, the 3rd Continuity signal, the 4th Continuity signal and the 5th Continuity signal are grading according to the priority scheduling of each safety signal respectively Row sequence.In actual applications, it can be ranked up according to other principles, however it is not limited to the arrangement mode in embodiment.
The structure of multiple detection units in the utility model embodiment in controller can be adopted only as preferred embodiment The monitoring of the various safety signals related to robot is realized with other circuit structure, is not especially limited herein.
Referring to the particular circuit configurations figure of Fig. 8, the utility model embodiment a kind of controller provided, including successively Multiple detection units 11, main control unit 12 and the safe unit 13 of series connection, wherein, detection unit 11 includes the first detection unit 110th, the second detection unit 111, the 3rd detection unit 112, the 4th detection unit 113 and the 5th detection unit 114, wherein, often The circuit of one detection unit includes the physical circuit figure of each detection unit of foregoing description, in order to further simplify each detection A signal relay or switch in place can be used in tie point and the second branch road in circuit structure in unit, Fig. 8, Using one.The effect of each detection unit and circuit structure are identical with foregoing description, will not be repeated here.
Based on same utility model thought, the utility model embodiment additionally provides a kind of safeguard protection system of robot System, includes the controller of any robot of the utility model embodiment offer.
Based on same utility model thought, a kind of robot system provided referring to Fig. 9, the utility model embodiment, bag Include the operation handle 02 and remote control box 04 for control machine people, and the monitoring outlay for supervisory-controlled robot 03, any controller 01 that robot system the utility model embodiment is provided.Wherein, the utility model embodiment is carried The embodiment of the robot system of confession may refer to the embodiment of the controller of above-mentioned robot, repeats part and repeats no more.
To sum up, the utility model embodiment provide robot controller include be sequentially connected in series multiple detection units, Main control unit and safe unit；Wherein, detection unit is used for related to robot various safety signals are more correspondingly Individual switch element is attached successively, and when the safety signal corresponding to either switch unit is abnormal, switch element action makes this Logic circuit conducting state change where switch element, and stop exporting the 5th Continuity signal to safe unit, wherein, machine Safety signal that the related various safety signals of people include being triggered by operating personnel, the safety signal related to robot pose, The safety signal related with outside plant environments to robot mode of operation, robot motor's power on signal and main control unit Safety signal；Wherein, the first detection unit in multiple detection units is used for when the safety signal triggered by operating personnel Exception is produced, then stops exporting the first Continuity signal to main control unit and monitoring outlay；Second detection unit is used to work as institute State the safety signal related to robot pose abnormal, then stop export the second Continuity signal to the main control unit；3rd inspection Surveying unit is used for when the safety signal related with outside plant environments with robot mode of operation is abnormal, then stopping exports the Three Continuity signals give the main control unit；4th detection unit is used to when robot motor's power on signal is abnormal, then stop The 4th Continuity signal is exported to the main control unit；As the first Continuity signal, the second Continuity signal, the 3rd Continuity signal, the 4th Any of Continuity signal abnormal signal, or the main control unit safety signal it is abnormal when, the 5th detection unit stops output 5th Continuity signal.It can be seen that, various safety signal sub-modules are detected in the utility model embodiment so that when the 5th inspection When surveying unit and stopping five Continuity signal of output, can determine quickly be which part signal produce it is abnormal, therefore, and classification pair The abnormal conditions of safety signal are detected, and abnormal conditions are sent into monitoring outlay, optimize the tired of malfunction elimination It is difficult.In addition, main control unit be used for monitor the first Continuity signal, the second Continuity signal, the 3rd Continuity signal, the 4th Continuity signal and Whether the safety signal of itself is abnormal, and abnormal conditions are exported to monitoring outlay, so that further according to main control unit Feedback further determine that be which part signal produce it is abnormal.Safe unit is defeated for ought not receive the 5th detection unit During five Continuity signal gone out, the electrical source of power for being powered to joint of robot motor and its brake and braking are disconnected Power supply.Therefore, by the way that the switch element corresponding to the various safety signals related to robot is attached, and by various peaces Working condition after full signal combination inputs to safe unit, safe unit by whether receiving the transmission of the 5th detection unit 5th Continuity signal determines whether to stop the electrical source of power that is powered to joint of robot motor and its brake and braking Power supply, so as to ensure that robot and the safety of operating personnel；Due to any in the various safety signals related to robot Signal occurs abnormal, and the 5th detection unit will not export the 5th Continuity signal, and multiple detection units are by by various safety Signal step by step abnormal conditions are sent to main control unit, compared with prior art in robot safety system, this Multiple detection units of controller in utility model embodiment all take into account various safety signals, and are attached, letter Change the wiring of circuit, and classification is detected to the abnormal conditions of safety signal, and abnormal conditions are sent to outside monitoring Equipment, optimizes the difficulty of malfunction elimination.To sum up, the controller for the robot that the utility model embodiment is provided, it is to avoid machine The unsafe problem of robot caused by the related various safety signal exceptions of device people and artificial incorrect operation, is further solved The problem of complexity of the wiring of the safety system of robot and malfunction elimination are difficult in the prior art.
Obviously, those skilled in the art can carry out various changes and modification without departing from this practicality to the utility model New spirit and scope.So, if these modifications and variations of the present utility model belong to the utility model claim and Within the scope of its equivalent technologies, then the utility model is also intended to comprising including these changes and modification.

Claims (13)

1. a kind of controller of robot, it is characterised in that the controller include main control unit, safe unit and it is multiple according to The detection unit of secondary series connection, wherein, the output end of last detection unit in multiple detection units and the safe unit It is connected with monitoring outlay, the input of first in multiple detection units detection unit is connected with initial power supply signal, The output end of any detection unit in addition to last detection unit is also connected with main control unit；
The output end for the class safety signal that each detection unit is used in the safety signal related to robot is connected, when the inspection The either signal surveyed in the class safety signal corresponding to unit is abnormal, or the input of the detection unit abnormal signal, then The detection unit stops output Continuity signal；
The main control unit is used for the Continuity signal for receiving the detection unit output being connected with the main control unit, takes office when not receiving During the Continuity signal of one detection unit, determine that safety signal corresponding to the detection unit is abnormal, and by abnormal conditions export to Monitoring outlay；
The safe unit is used for the Continuity signal for receiving last detection unit output, described last when not receiving During the Continuity signal that one detection unit is exported, the power for being powered to joint of robot motor and its brake is disconnected Power supply and braking power.
2. controller according to claim 1, it is characterised in that the related various safety signals of the robot include by The safety signal of operating personnel's triggering, the safety signal related with robot pose and robot mode of operation and external equipment The safety signal of the safety signal of environmental correclation, robot motor's power on signal and main control unit；
Wherein, the safety signal triggered by operating personnel includes：Operation handle, controller, remote control box and outside Being used in the emergency stop button switching signal in equipment, robot body, external equipment detects that partes corporis humani position enters danger Danger zone domain or the safety sensor signal of danger zone someone；
The safety signal related to robot pose includes：Being used on robot body limits each joint loads motion model Being used in the safety limit switch signal enclosed, external equipment limits the safety limit switch signal in robot motion space；
The safety signal related with outside plant environments to robot mode of operation includes：It is operation handle, controller, long-range Mode selector switch signal in control box and external equipment, robot safety door switch signal and operation handle peace Full starting switch signal；
Robot motor's power on signal includes：Motor in operation handle, controller, remote control box and external equipment Upper electrical switch signal；
The safety signal of the main control unit includes：Effective letter that the soft and hardware operation safe condition of main control unit itself is provided Number.
3. controller according to claim 2, it is characterised in that the first detection that the controller includes being sequentially connected in series is single Member, the second detection unit, the 3rd detection unit, the 4th detection unit and the 5th detection unit；
Wherein, first detection unit include with the operation handle, controller, remote control box and external equipment Being used on emergency stop button switching signal, robot body, in external equipment detects that partes corporis humani position enters danger zone Or the multiple switch unit being sequentially connected in series corresponding to the safety sensor signal of danger zone someone, first detection unit For detecting whether the either signal in the safety signal triggered by operating personnel is abnormal, if either signal produces exception, The corresponding switch element of the signal disconnects, and stop export the first Continuity signal to second detection unit, main control unit and Monitoring outlay；
Second detection unit includes limiting the safe spacing of each joint loads range of movement with being used on robot body The safety limit switch signal that being used in switching signal, external equipment limits robot motion space is gone here and there successively correspondingly The multiple switch unit of connection, second detection unit is used to detecting times in the safety signal related with robot pose Whether one signal is abnormal, if the either signal exception in the safety signal related with robot pose, or do not receive First Continuity signal, then stop exporting the second Continuity signal to the 3rd detection unit and main control unit；
3rd detection unit includes and the pattern switching in operation handle, controller, remote control box and external equipment Switching signal, robot safety door switch signal, operation handle secure validation command switch signal is gone here and there successively correspondingly The multiple switch unit of connection, the 3rd detection unit is used to detect related to robot mode of operation and outside plant environments Whether either signal in safety signal is abnormal, if in the safety signal related with outside plant environments to robot mode of operation Either signal it is abnormal, or do not receive second Continuity signal, then stop export the 3rd Continuity signal to the described 4th Detection unit and main control unit, and if the operation handle secure validation command switch abnormal signal, stopping outputs signal to described Monitoring outlay；
4th detection unit is included by the motor in the operation handle, controller, remote control box and external equipment The self-locking circuit of multiple switch unit composition under the control of upper electrical switch signal, the 4th detection unit is used to detect the machine Whether either signal on device people's motor in electric safety signal is abnormal, if operation handle, controller, remote control box and outer Either signal in motor upper electrical switch signal in portion's equipment produces abnormal, or does not receive the 3rd Continuity signal, Then stop exporting the 4th Continuity signal to the 5th detection unit and main control unit；
5th detection unit includes switch element corresponding with the safety signal of the main control unit, and the 5th detection is single Member is used to detect whether the safety signal of main control unit to be abnormal, if the safety signal of main control unit is abnormal, stops output the 5th Continuity signal gives the safe unit and monitoring outlay.
4. controller according to claim 3, it is characterised in that first detection unit includes structure identical two Branch road, and each branch road includes：
First switch, second switch, third switch, the 4th switch, the first signal relay, the secondary signal relay being sequentially connected in series Device, described secondary signal relay one end is connected with first signal relay, and the other end is used as first detection unit Output end；
Wherein, first switch is used to respond the operation handle emergency stop button switching signal, and the second switch is used to ring Answer the controller emergency stop button switching signal, the described 3rd switchs and opened for responding remote control box emergency stop button OFF signal, the described 4th switchs the emergency stop button switching signal for response external equipment, first signal relay For responding the safety sensor signal on robot body, the peace that the secondary signal relay is used in response external equipment Full sensor signal.
5. controller according to claim 4, it is characterised in that：
The first switch, second switch, third switch, the 4th switch are respectively double loop emergency stop button switch；
The first signal relay positioned at tie point and the first signal relay positioned at the second branch road have two groups to be same The signal relay of contact；
Secondary signal relay positioned at tie point and the secondary signal relay positioned at the second branch road have two groups to be same The signal relay of contact.
6. controller according to claim 4, it is characterised in that second detection unit includes structure identical two Branch road, and each branch road includes：
The 3rd signal relay, the 4th signal relay being sequentially connected in series with the output end of the first detection unit, the 4th letter Number relay one end is connected with the 3rd signal relay, the other end as second detection unit output end；
Wherein, the 3rd signal relay is used to disconnect when any joint loads of robot surmount prespecified home, 4th signal relay is used to disconnect when robot body surmounts prespecified trouble free service space.
7. controller according to claim 6, it is characterised in that：
The 3rd signal relay positioned at tie point and the 3rd signal relay positioned at the second branch road have two groups to be same The signal relay of contact；
The 4th signal relay positioned at tie point and the 4th signal relay positioned at the second branch road have two groups to be same The signal relay of contact.
8. controller according to claim 6, it is characterised in that the 3rd detection unit includes structure identical two Branch road, and each branch road includes：
The 5th signal relay that is sequentially connected in series with the output end of the second detection unit, the 6th signal relay, the 7th signal after Electrical equipment and the 8th signal relay, one end of the 8th signal relay are connected with the 7th signal relay, the other end It is used as the output end of the 3rd detection unit；
Wherein, the break-make of the 5th signal relay is controlled by the operation handle mode selector switch signal, and the described 6th The break-make of signal relay is controlled by the robot safety door switch signal, the break-make of the 7th signal relay Controlled by operation handle secure validation command switch signal, the break-make of the 8th signal relay by controller, remote control box with And the mode switching signal co- controlling in external equipment；5th signal relay, the 6th signal relay, the 8th signal The normally-closed contact of relay is connected the normally opened contact of the 7th signal relay, the 5th signal relay, the 6th signal relay, the The normally opened contact of eight signal relays is serially connected, and the normally-closed contact of the 7th signal relay is set with the outside monitoring Standby connection；During manual operation mode, the normally-closed contact of the 5th signal relay, the 6th signal relay and the 8th signal relay Closure, the normally opened contact closure of the 7th signal relay；During automatic operation mode, the 5th signal relay, the 6th signal relay The normally opened contact closure of device and the 8th signal relay, the normally opened contact of the 7th signal relay disconnects.
9. controller according to claim 8, it is characterised in that：
The 5th signal relay positioned at tie point and the 5th signal relay positioned at the second branch road have two groups to be same The signal relay of contact；
The 8th signal relay positioned at tie point and the 8th signal relay positioned at the second branch road have two groups to be same The signal relay of contact.
10. controller according to claim 8, it is characterised in that the 4th detection unit includes structure identical two Individual branch road, and each branch road includes：
The 9th signal relay being connected with the 3rd detection unit output end, in parallel with the 9th signal relay Ten signal relays and the 11st signal relay, what the 9th signal relay was connected with the 11st signal relay Node as the 4th detection unit output end；
Wherein, the 9th signal relay is used for the motor power on signal in the external equipment or the motor in operation handle Disconnected during electric switch abnormal signal, the output end signal for being used for tie point positioned at the tenth signal relay of tie point is abnormal When disconnect, positioned at the output end signal that the 11st signal relay of tie point is used for the second branch road it is abnormal when disconnect；It is located at Tenth signal relay of the second branch road is used to disconnect during the output end signal exception of the second branch road, positioned at the tenth of the second branch road the One signal relay is used to disconnect during the output end signal exception of tie point.
11. controller according to claim 10, it is characterised in that：
The 9th signal relay positioned at tie point and the 9th signal relay positioned at the second branch road have two groups to be same The signal relay of contact；
The tenth signal relay positioned at tie point and the tenth signal relay positioned at the second branch road have two groups to be same The signal relay of contact；
The 11st signal relay positioned at tie point and the 11st signal relay positioned at the second branch road have to be same The signal relay of two groups of contacts.
12. controller according to claim 10, it is characterised in that the 5th detection unit includes structure identical two Individual branch road, each branch road includes：
The tenth binary signal relay being connected with the output end of the 4th detection unit, the normally opened of the tenth binary signal relay touches Point is connected with the output end of the 4th detection unit, and normally-closed contact connects the main control unit, the tenth binary signal relay Device is used to disconnect during the safety signal exception of main control unit.
13. a kind of safety system of robot, it is characterised in that including the machine described in any claims of claim 1-12 The controller of people.
CN201621232995.5U 2016-11-16 2016-11-16 The controller and safety system of a kind of robot Withdrawn - After Issue CN206426102U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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
CN108521799A (en) * 2017-10-26 2018-09-11 深圳市大疆创新科技有限公司 Agricultural machine control method, apparatus and system
CN109367573A (en) * 2018-11-15 2019-02-22 中铁第四勘察设计院集团有限公司 A kind of train water robot emergency feedback system and method
CN111482944A (en) * 2020-04-23 2020-08-04 山东建筑大学 Robot system for automatically hanging and detaching ground wire and control method thereof
CN112643657A (en) * 2020-12-09 2021-04-13 深圳市优必选科技股份有限公司 Robot emergency stop braking safety prevention and control method and device, robot and storage medium
CN114047747A (en) * 2021-10-18 2022-02-15 北京华能新锐控制技术有限公司 Track type inspection robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
CN108521799A (en) * 2017-10-26 2018-09-11 深圳市大疆创新科技有限公司 Agricultural machine control method, apparatus and system
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
CN109367573A (en) * 2018-11-15 2019-02-22 中铁第四勘察设计院集团有限公司 A kind of train water robot emergency feedback system and method
CN111482944A (en) * 2020-04-23 2020-08-04 山东建筑大学 Robot system for automatically hanging and detaching ground wire and control method thereof
CN112643657A (en) * 2020-12-09 2021-04-13 深圳市优必选科技股份有限公司 Robot emergency stop braking safety prevention and control method and device, robot and storage medium
CN114047747A (en) * 2021-10-18 2022-02-15 北京华能新锐控制技术有限公司 Track type inspection robot
CN114047747B (en) * 2021-10-18 2023-12-08 北京华能新锐控制技术有限公司 Rail type inspection robot

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