CN208880707U

CN208880707U - Demonstrator hot plug device and industrial robot

Info

Publication number: CN208880707U
Application number: CN201821675566.4U
Authority: CN
Inventors: 朱钦炜; 钟成堡; 胡飞鹏; 王虎; 高健; 殷伟豪; 颜鲁齐; 余刚
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2018-10-16
Filing date: 2018-10-16
Publication date: 2019-05-21
Anticipated expiration: 2028-10-16

Abstract

The utility model discloses a demonstrator hot plug device and industrial robot, the device includes: the control switch is arranged between a preset power supply and the relay control circuit and is used for controlling the power-off of an emergency stop control loop set by a motion controller of an industrial robot controlled by the demonstrator in the hot plugging process of the demonstrator; and the relay control circuit is connected in parallel on the emergency stop control loop to form an emergency stop standby control signal of the set emergency stop standby control loop, and is used for realizing switching control of the emergency stop control loop and the standby emergency stop control loop in the hot plugging process of the demonstrator through relay self-locking and relay unlocking under the control of the control switch. The utility model discloses a problem that demonstrator hot plug implementation mode's operation process is complicated can be solved to the scheme, reaches the effect of simplified operation process.

Description

Demonstrator hot plug device and industrial robot

Technical Field

The utility model belongs to the technical field of industrial robot, concretely relates to demonstrator hot plug device and industrial robot especially relate to an industrial robot demonstrator hot plug circuit, have this hot plug circuit's industrial robot and this industrial robot's demonstrator hot plug method.

Background

In the field use process of the industrial robot, the demonstrator is used as a man-machine interaction platform to realize various controls of the robot by a user. Under general conditions, a robot is used with a demonstrator, and along with the development of demonstrator interface to general type more and more, a demonstrator has appeared and can be used with many industrial robots: after the user connects the demonstrator with one robot, the automatic operation of the robot is realized through programming, and then the demonstrator is taken down and connected to another industrial robot through a hot plug technology to continue to perform corresponding operation. This can greatly reduce the running cost of the robot. The interface signals of the robot demonstrator and the motion controller generally comprise three types of signals, namely a demonstrator power line, a communication line between the demonstrator and the motion controller, and an demonstrator emergency stop signal. The emergency stop signal works through a power supply loop formed between the demonstrator and the operation controller, if corresponding processing is not carried out, the demonstrator is directly taken down from the motion controller, the motion controller can start emergency stop alarm processing, and the robot stops running. Therefore, to realize hot plug of the demonstrator, the scram signal needs to be processed, namely the following two purposes need to be realized:

1. the demonstrator is taken down to ensure the completeness of an emergency stop loop (a corresponding emergency stop standby loop needs to be started in advance) in the process of taking down the demonstrator, and the emergency stop alarm of the controller is prevented from being triggered; 2. after the demonstrator is connected, the emergency stop switch on the demonstrator panel can be normally used (the corresponding emergency stop standby loop needs to be disconnected).

Through investigation, the conventional ABB demonstrator hot plug technology is realized as follows: leave the hot plug button (from bullet formula normally open button switch) on the controller panel, be equipped with dedicated short connector for the user simultaneously, the user uses the hot plug step as follows:

1. pressing the hot plug button all the time, and then lighting a corresponding indicator light; 2. pulling down the hand-held device, and inserting a special short connector on an interface of the hand-held device; 3. and releasing the hot plug button. The procedure for reinserting the teach pendant is similar: 1. pressing the hot plug button all the time; 2. pulling off the short connector, and then inserting the handheld device; 3. and releasing the hot plug button. The operation is not only more tedious and unreliable, because the hot plug button is pressed all the time, once the hot plug button is loosened in the process of plugging the demonstrator and the short connector by a user, the robot can generate the condition of emergency stop alarm, and the robot stops automatically.

In addition, some hot plug modes, such as the hot plug implementation mode of Anhui distribution day, are as follows:

a demonstrator hot plug knob switch is reserved on the control cabinet, the knob has 0/1 two gears, when the knob is set to 1 gear, the demonstrator is required to be connected for normal use, otherwise the control cabinet gives an alarm; when the knob is placed in the 0 gear, the demonstrator can be pulled down, and the robot system can still continue to operate at the moment. When using the demonstrator plug knob, must place 1 shelves earlier with the plug knob, and the linker demonstrator (this hot plug knob need be placed 1 shelves when being connected with the demonstrator promptly, otherwise the scram button on the demonstrator can't be used, lead to unable in time shut down under the emergency), this condition that probably appears forgetting to place the hot plug knob back to 1 shelves after the user inserts the demonstrator, in order to avoid this phenomenon, must do corresponding processing on the software (if insert behind the demonstrator remind the user to place the hot plug knob in 1, otherwise report to the police always). Therefore, the hot plug implementation mode of the demonstrator also has the conditions of complex implementation and inconvenient use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to above-mentioned defect, provide a demonstrator hot plug device and industrial robot to solve the problem that demonstrator hot plug implementation mode's operation process is complicated among the prior art, reach the effect of simplifying operation process.

The utility model provides a demonstrator hot plug device, include: a control switch and a relay control circuit; the control switch is arranged between a preset power supply and the relay control circuit and is used for controlling the relay control circuit to be powered on or powered off so as to control the emergency stop control loop of the industrial robot to be powered on in a normal working state of the industrial robot controlled by the demonstrator or control the emergency stop control loop set by the motion controller of the industrial robot controlled by the demonstrator to be powered off in the hot plugging process of the demonstrator; the relay control circuit is connected in parallel to the emergency stop control loop to form an emergency stop standby control signal of the set emergency stop standby control loop, and the emergency stop standby control signal is used for realizing switching control of the emergency stop control loop and the standby emergency stop control loop in the hot plugging process of the demonstrator through relay self-locking and relay unlocking under the control of the control switch.

Optionally, wherein the control switch includes: a normally closed inching switch; wherein, normally closed inching switch includes: a self-ejection type normally closed key switch; and/or the relay control circuit is a first modular circuit; or the control switch and the relay control circuit are a second modular circuit.

Optionally, the relay control circuit includes: a first relay, a second relay and a third relay; wherein the control switch is disposed between the power source and the first coil of the first relay; the first relay, the second relay and the third relay are connected in a self-locking and unlocking manner; the first relay and the second relay are respectively connected to the emergency stop control loop; and the third relay is connected to the emergency stop standby control loop.

Optionally, wherein a connection terminal of a first contact switch of the first relay is connected to the emergency stop control loop, and a first control terminal of the first contact switch is connected to the second coil of the second relay and a connection terminal of a second contact switch of the second relay; a first control end of a third contact switch of the second relay is suspended; the second control end of the third contact switch is connected to the emergency stop control loop and the first control end of the fourth contact switch of the second relay; a connection terminal of the fourth contact switch is connected to a third coil of the third relay; and the connecting end of a fifth contact switch of the third relay is connected to a preset power supply, and a first control end of the fifth contact switch is connected to the emergency stop standby control loop.

Optionally, the relay control circuit further includes: at least one of a hot plug indication module, a first isolation module and a second isolation module; the hot plug indicating module is connected to the emergency stop standby control loop and used for indicating the hot plug state of the demonstrator in the hot plug process of the demonstrator; and/or the first isolation module is arranged between the emergency stop standby control loop and a preset emergency stop processing circuit and is used for isolating the emergency stop control loop and the emergency stop standby control loop at the side of the emergency stop standby control loop; and/or the second isolation module is arranged between the emergency stop control loop and a preset emergency stop processing circuit and is used for isolating the emergency stop control loop and the emergency stop standby control loop on the side of the emergency stop control loop.

Optionally, the relay control circuit further includes: a current limiting module; the current limiting module is connected to the hot plug indicating module and used for limiting the current of the hot plug indicating module within a set current range.

Optionally, the hot plug indication module includes: an LED indicator light; the anode of the LED indicator lamp is connected to the emergency stop standby control loop, and the cathode of the LED indicator lamp is connected to the current limiting module; and/or, the current limiting module includes: a current limiting resistor; and/or, the first isolation module comprises: a first diode; the anode of the first diode is connected to the emergency stop standby control loop, and the cathode of the first diode is connected to the emergency stop processing circuit; and/or, the second isolation module comprises: a second diode; the anode of the second diode is connected to the emergency stop control loop, and the cathode of the second diode is connected to the emergency stop processing circuit; and/or at least one relay of the first relay, the second relay and the third relay, comprising: an electromagnetic relay; the contact switch of the electromagnetic relay comprises: a double pole double throw switch.

Optionally, the relay control circuit is locked and unlocked by the relay in the hot plug process of the demonstrator, and includes: in a normal working state of the industrial robot, the first relay and the third relay are electrified to work, and the second relay does not work, so that the emergency stop standby control loop is disconnected and works; or, when a set emergency situation occurs in a normal working state of the industrial robot or a hot plug function of the teach pendant needs to be used in an automatic running state of one industrial robot under the condition that more than one industrial robot shares one teach pendant, receiving a disconnection command sent by a user and used for disconnecting an emergency stop control loop set between the teach pendant and a motion controller of the industrial robot, enabling the first relay and the third relay to be out of work, enabling the second relay to work, so as to connect the emergency stop standby control loop and enable the second relay to be self-locked after the disconnection command; or after the demonstrator is pulled out in the hot plugging process, the first relay is enabled to work, the second relay is enabled to be in contact with the self-locking power-off failure to work, and the third relay is enabled to be in power-off failure to work, so that the emergency stop standby control loop is in a conducting state in the hot plugging process and the motion controller does not give an alarm; or, in the hot plug process, under the condition that the demonstrator is unplugged and then is plugged into the motion controller again, the third relay is electrified to work so as to disconnect the emergency stop standby loop, and the demonstrator and the industrial robot are both in a normal working state.

With the above device phase-match, the utility model discloses another aspect provides an industrial robot, include: the hot plug device for the demonstrator is described above.

The utility model discloses a scheme through realize relay auto-lock and unblock at the hot plug in-process, reaches industrial robot's motion control ware and the switching between two sets of emergency stop return circuits of demonstrator, has simplified the operation structure and the process of demonstrator hot plug implementation mode, has promoted the convenience and the reliability of hot plug implementation mode, also guarantees not to trigger the emergency stop warning.

Further, the utility model discloses a scheme is through parallelly connected a set of relay control circuit on motion controller's scram return circuit, realizes the switching of industrial robot demonstrator between hot plug in-process scram return circuit and reserve scram return circuit, has simplified demonstrator hot plug implementation's operation structure and process for user operation is simpler, convenient.

Furthermore, the scheme of the utility model, through connecting a set of relay control circuit in parallel on the scram circuit of motion controller for the user only needs to press down corresponding hot plug switch earlier and can take off the handheld device when using the hot plug function of industrial robot demonstrator, directly insert when needing to reuse the demonstrator; in addition, in the whole hot plugging process, the robot can always keep an automatic running state, a corresponding alarm mechanism cannot be triggered, and the operation of a user is simpler and more convenient.

Therefore, the utility model discloses a scheme, through connect a set of relay control circuit in parallel on industrial robot's motion controller's scram return circuit, realize industrial robot's demonstrator in the switching between hot plug in-process scram return circuit and reserve scram return circuit, realize relay auto-lock and unblock at the hot plug in-process, solve the problem that the operation process of demonstrator hot plug implementation mode is complicated among the prior art, thereby, overcome among the prior art operation process complicacy, the structure is complicated and use inconvenient defect, realize operation process simple, simple structure and convenient to use's beneficial effect.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a demonstrator hot plug device of the present invention;

FIG. 2 is a schematic diagram of a connection interface circuit between a conventional teaching machine and a motion controller;

FIG. 3 is a schematic structural diagram of an embodiment of a hot plug circuit in a hot plug device of a demonstrator according to the present invention;

fig. 4 is a schematic structural diagram of an embodiment of an emergency stop circuit/emergency stop standby circuit in a hot plug device for a demonstrator according to the present invention.

Fig. 5 is a schematic flow chart illustrating an embodiment of a demonstrator hot plug method according to the present invention.

With reference to the accompanying drawings, the embodiments of the present invention have the following reference numerals:

j1-normally closed emergency stop switch on the demonstrator panel; j2-connection interface of demonstrator end; j3-connection interface of motion controller end; k1-normally closed inching switch; LED 1-hot swap indicator light.

Detailed Description

To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

According to the utility model discloses an embodiment provides a demonstrator hot plug device. Referring to fig. 1, a schematic structural diagram of an embodiment of the apparatus of the present invention is shown. The hot plug device of the demonstrator can comprise: control switch and relay control circuit.

In an alternative example, the control switch (e.g. the normally closed inching switch K1) is disposed between a preset power supply (e.g. +24V dc power supply) and the relay control circuit, and can be used to control the relay control circuit to be powered on or off, so as to control the power on of the emergency stop control loop (e.g. the emergency stop loop in fig. 3 and 4) of the industrial robot controlled by the teach pendant to be powered on in the normal working state of the industrial robot controlled by the teach pendant, or to control the power off of the emergency stop control loop set by the motion controller of the industrial robot controlled by the teach pendant during the hot swap process of the teach pendant.

Wherein, the control switch may include: a normally closed inching switch. Wherein the normally closed inching switch may include: self-ejection type normally closed key switch.

For example: k1 is a normally closed jog switch (normally closed, pressed open, and released to remain closed) that a user must first press when using the hot swap function of the teach pendant.

Therefore, the inching switch using the self-elastic normally closed key switch is simple and convenient to operate, reliable and safe in control mode and labor-saving.

In an alternative example, the relay control circuit is connected in parallel to the emergency stop control loop of the motion controller of the industrial robot controlled by the demonstrator, and forms an emergency stop standby control signal of a set emergency stop standby control loop (such as the emergency stop standby control loop in fig. 3 and 4), and can be used for realizing switching control of the emergency stop control loop and the standby emergency stop control loop during the hot plugging process of the demonstrator (namely the demonstrator of the industrial robot) under the control of the control switch through relay self-locking and relay unlocking during the hot plugging process of the demonstrator.

For example: aiming at the requirements of the industrial robot on hot plug of the demonstrator, the hot plug circuit of the demonstrator of the industrial robot has the advantages of simple use principle, safety, reliability and convenient use, when a user uses the function (such as the hot plug function of the demonstrator of the industrial robot), the user only needs to press the corresponding hot plug switch first to take down the handheld device, and the demonstrator needs to be reused and directly inserted without performing corresponding processing on software; in addition, in the whole hot plugging process, the robot can always keep an automatic running state, and a corresponding alarm mechanism cannot be triggered.

For example: the emergency stop circuit of the controller (namely the motion controller) is connected with a group of relay control circuits in parallel, so that the industrial robot demonstrator can be switched between the emergency stop circuit and the standby emergency stop circuit (or emergency stop standby circuit) in the hot plugging process, and the operation of a user is simple and convenient. Thus, the self-locking and the unlocking of the relay are realized in the hot plugging process, the switching between two groups of emergency stop loops is realized, and the emergency stop alarm is not triggered; the robot hot plugging device has the advantages of simple principle, convenience in use and the like, more importantly, the reliability of the hot plugging process is greatly improved, the robot keeps automatically running before and after the hot plugging process is really performed, a corresponding emergency stop standby loop is immediately disconnected after the demonstrator is reinserted, an emergency stop switch on the demonstrator can be normally used, and redundant operation is not needed.

From this, through parallelly connected relay control circuit on industrial robot's motion controller's scram control circuit, form scram standby control circuit, realize the switching control of scram control circuit and scram standby control circuit under control switch's control at the hot plug in-process, simplified the structure and the operation process of hot plug implementation, promoted the convenience and the reliability of hot plug.

The relay control circuit is a first modular circuit; or the control switch and the relay control circuit are a second modular circuit.

For example: the whole set of hot plug circuit can be made into a modularized product, only corresponding interfaces are reserved on a hardware circuit board on the motion controller, a user installs the module in a motion control cabinet, and the demonstrator can be conveniently used for hot plug by switching on the circuit.

For example: can make the relay wiring combination of figure 3 into electric module, relevant binding post is left to the outside, and the user only needs to reserve supporting signal interface on the motion controller circuit board, and the user connects each signal line according to the explanation, just can realize the utility model discloses well demonstrator hot plug function.

Therefore, the modularized circuit can improve the convenience and reliability of use, and has the advantages of compact structure, small occupied space and convenience in maintenance.

Optionally, the relay control circuit may include: a first relay, a second relay, and a third relay.

Specifically, the control switch is disposed between the power supply (e.g., +24V dc power supply) and the first coil of the first relay. The control switch may be located on a motion controller of the robot controlled by the teach pendant (for example, may be located on a motion control cabinet where the motion controller is located), and specifically may be located between a preset power supply (for example, a +24V dc power supply) and the first coil of the first relay. The first coil of the first relay is connected to the control switch, and may specifically be: and a first connecting end of a first coil of the first relay is connected to the control switch, and a second connecting end of the first coil is grounded.

Specifically, the first relay, the second relay and the third relay are in self-locking and unlocking connection; the first relay and the second relay are respectively connected to the emergency stop control loop; and the third relay is connected to the emergency stop standby control loop.

For example: due to the fact that the relay is adopted for self-locking, the teaching hot plug can adopt a self-elastic normally closed inching switch, a button type or knob type switch (needing a user to operate when the switch is opened and closed) is avoided, and the problem that the robot stops or other safety problems caused by user errors in the using process are avoided.

Therefore, the self-locking and unlocking of the relay control circuit are realized through the self-locking and unlocking connection between the first relay and the third relay, the structure is simple, and the control reliability is high.

The connection end of the first contact switch of the first relay is connected to the emergency stop control loop, the first control end of the first contact switch is connected to the second coil of the second relay (specifically, the first control end of the first contact switch is connected to the first connection end of the second coil of the second relay, and the second connection end of the second coil is grounded), and the connection end of the second contact switch of the second relay, and the second control end of the first contact switch is suspended. And the second contact switch of the first relay is suspended. And a first control end of a third contact switch of the second relay is suspended. And the second control end of the third contact switch is connected to the emergency stop control loop and the first control end of a fourth contact switch of the second relay, and the second control end of the fourth contact switch is suspended. A connection terminal of the fourth contact switch is connected to the third coil of the third relay (specifically, the connection terminal of the fourth contact switch may be connected to the first connection terminal of the third coil of the third relay, and the second connection terminal of the third coil is grounded). The connecting end of a fifth contact switch of the third relay is connected to a preset power supply (such as a +24V direct-current power supply), the first control end of the fifth contact switch is connected to the emergency stop standby control loop, and the second control end of the fifth contact switch is suspended. And a sixth contact switch of the third relay is suspended.

From this, through first to third relay respectively with control switch, scram control circuit and scram standby control circuit's cooperation be connected, can realize relay control circuit's auto-lock and unblock, and the reliability is high, the security is strong.

Specifically, at least one relay among the first relay, the second relay, and the third relay may include: an electromagnetic relay. The contact switch of the electromagnetic relay may include: a double pole double throw switch.

For example: the first relay, the second relay and the third relay can be double-pole double-throw switches, and the function that after K1 is pressed, the emergency stop standby loop is connected with 24V and the state is not changed after hands are released is achieved through the wiring of figure 3.

Therefore, the electromagnetic relay using the double-pole double-throw switch has good control flexibility and high reliability.

The relay control circuit is self-locked and unlocked through a relay in the hot plugging process of the demonstrator, and can comprise any one of the following control processes.

A first control process: and under the normal working state of the industrial robot (namely the industrial robot controlled by the demonstrator), the first relay and the third relay are electrified to work, and the second relay does not work, so that the emergency stop standby control loop is disconnected and works.

For example: when the robot works normally, an emergency stop loop between the demonstrator and the motion controller is connected (namely, an emergency stop signal is connected to a +24V power supply). As shown in fig. 3, during normal operation, the normally closed inching switch K1 is in a closed state, the first relay and the third relay are electrified to operate, the second relay does not operate, the emergency stop standby circuit is disconnected at the moment, and the whole robot only has a single emergency stop circuit on the panel of the demonstrator to operate.

A second control process: when a set emergency situation occurs in a normal working state of the industrial robot (namely, the industrial robot controlled by the demonstrator), or when the hot plug function of the demonstrator needs to be used in an automatic running state of the industrial robot under the condition that more than one industrial robot shares a single demonstrator, a disconnection instruction which is sent by a user and can be used for disconnecting an emergency stop control loop set between the demonstrator and a motion controller of the industrial robot is received, so that the first relay and the third relay are powered off and do not work, and the second relay works to connect the emergency stop standby control loop and enable the second relay to self-lock after the disconnection instruction.

For example: in an emergency situation, a user can press an emergency stop button on a panel of the demonstrator, disconnect an emergency stop loop and trigger a subsequent emergency stop processing mechanism (for example, a power supply or a driving signal of the industrial robot is cut off), so that the robot stops running immediately.

For example: when a plurality of robots can share a single teaching aid, a user needs to use a hot plug function. The user makes the robot be in automatic operation state through the programming, presses the hot plug switch on the motion control cabinet (as normally closed inching switch K1 in fig. 3), and the hot plug pilot lamp is bright (as LED1 in fig. 4) this moment, and the suggestion user can carry out the hot plug operation, and the user can directly take off the demonstrator from the controller, and the hot plug pilot lamp keeps the light state all the time.

For example: as shown in figure 3, if need use the hand-held set hot plug function when the robot is in automatic operation state, only need press normally closed inching switch, first relay and third relay outage inoperative this moment, the work of second relay, emergency stop spare circuit switch-on (promptly emergency stop spare circuit link to +24V), unclamp inching switch (if normally closed inching switch K1) after, the second relay is in self-locking state, emergency stop spare circuit is not influenced, the hot plug pilot lamp is bright, remind the user can directly pull out the demonstrator with the electricity.

A third control process: and after the demonstrator is pulled out in the hot plugging process, the first relay is enabled to work, the second relay is enabled to be in contact with the self-locking power-off failure mode and the third relay is enabled to be in power-off failure mode, so that the emergency stop standby control loop is in a conducting state in the hot plugging process and the motion controller does not give an alarm.

For example: as shown in figure 3, the first relay works after the demonstrator is pulled down, the second relay releases self-locking and is not operated when power is cut off, the third relay does not work, the emergency stop standby loop is always in a conducting state, and the motion controller is guaranteed not to give an alarm. If the demonstrator is taken down and is wanted to be reused, the demonstrator can be directly connected with the motion controller.

A fourth control process: and under the condition that the demonstrator is unplugged and then is plugged into the motion controller again in the hot plugging process, the third relay is electrified to work so as to disconnect the emergency stop standby loop and enable the demonstrator and the industrial robot to be in normal working states.

For example: if the demonstrator needs to be reused subsequently, the user can directly connect the demonstrator, and after the demonstrator is connected, the hot-plug indicator lamp is automatically turned off, so that the demonstrator works normally; therefore, after the demonstrator is connected again, the emergency stop standby loop can be automatically disconnected without any treatment, the normal use of the emergency stop switch of the demonstrator is ensured, and the operation of a user is simple and convenient. As shown in fig. 3, once the teach pendant is plugged again, the third relay is powered on to work, the emergency stop standby loop is disconnected, the whole robot is kept in the single emergency stop loop (i.e. the emergency stop switch on the teach pendant panel is ensured to play the emergency stop function), and both the teach pendant and the industrial robot can work normally.

Therefore, under the matching of the control switch and the relay control circuit, the normal working state of the robot and various controls in the hot plugging process can be realized, the operation process is simple, and the reliability and safety are also ensured.

Further optionally, the relay control circuit may further include: at least one of a hot swap indicating module (e.g., a hot swap indicating light LED1), a first isolation module (e.g., an isolation diode D1), and a second isolation module (e.g., an isolation diode D2).

Specifically, the hot plug indication module is connected to the emergency stop standby control loop (e.g., disposed between the emergency stop standby control loop and the ground), and may be configured to indicate a state in which the teach pendant is capable of hot plug during hot plug of the teach pendant.

The hot plug indication module may include: an LED indicator light (e.g., indicator light LED 1). The anode of the LED indicator light is connected to the emergency stop standby control loop, and the cathode of the LED indicator light is connected to the current limiting module.

For example: the LED1 is a hot swap indicator light (light emitting diode) that lights up when the user presses K1 in fig. 3, alerting the user that hot swap is available at this time.

From this, instruct the hot plug state through using the LED pilot lamp, simple structure, and indicating effect are good, and the user of being convenient for looks over.

Specifically, the first isolation module is disposed between the emergency stop standby control loop and a preset emergency stop processing circuit, and may be configured to isolate the emergency stop control loop and the emergency stop standby control loop on the side of the emergency stop standby control loop.

Wherein the first isolation module may include: a first diode (e.g., diode D1). The anode of the first diode is connected to the emergency stop standby control loop, and the cathode of the first diode is connected to the emergency stop processing circuit.

Therefore, the first diode is used as the first isolation module, so that the structure is simple, and the isolation effect is good.

Specifically, the second isolation module is disposed between the emergency stop control loop and a preset emergency stop processing circuit, and may be configured to isolate the emergency stop control loop and the emergency stop standby control loop on the side of the emergency stop control loop.

From this, through the cooperation setting of hot plug instruction module, first isolation module and second isolation module etc. can promote accurate nature and reliability to hot plug process control, and more humanized.

Wherein the second isolation module may include: a second diode (e.g., diode D2). The anode of the second diode is connected to the emergency stop control loop, and the cathode of the second diode is connected to the emergency stop processing circuit.

For example: d1 and D2 are ordinary diodes and function to separate the emergency stop circuit from the emergency stop backup circuit.

Therefore, the second diode is used as the second isolation module, so that the structure is simple, and the isolation effect is good.

Further optionally, the relay control circuit may further include: and a current limiting module.

Specifically, the current limiting module is connected to the hot plug indication module, and may be configured to limit a current of the hot plug indication module within a set current range.

From this, through injecing the electric current of hot plug indication module, can promote accuracy and the security of instructing the hot plug state.

Wherein, the current limiting module may include: a current limiting resistor (e.g., current limiting resistor R1).

For example: as shown in fig. 3 and 4, the solution of the present invention may mainly include 1 click switch (normally closed), 3 relays, 1 diode D1, 1 indicator LED1, and a resistor R1. The inching switch is a self-elastic normally closed key switch, the relay adopts an electromagnetic relay with a double-pole double-throw switch, a diode D1 is used for isolating 2 emergency stop loops, an indicator light LED1 is used for indicating hot plug use, and R1 is a current-limiting resistor.

For example: r1 is a current limiting resistor to ensure the conduction current of the LED is in the normal range.

Therefore, the current is limited by using the current limiting resistor, the structure is simple, and the current limiting reliability is high.

Through a large amount of experimental verifications, adopt the technical scheme of the utility model, through realize relay auto-lock and unblock at the hot plug in-process, reach industrial robot's motion controller and the switching between two sets of emergency stop return circuits of demonstrator, simplified the operation structure and the process of demonstrator hot plug implementation mode, promoted hot plug implementation mode's convenience and reliability, also guaranteed not to trigger emergency stop and report to the police.

According to the utility model discloses an embodiment still provides an industrial robot corresponding to demonstrator hot plug device. The industrial robot may include: the hot plug device for the demonstrator is described above.

In an optional implementation mode, to the demand of industrial robot to demonstrator hot plug now, the utility model discloses a scheme provides the circuit design of principle simple, safe and reliable, convenient to use's industrial robot demonstrator hot plug. In the scheme of the utility model, when using the function (such as the hot plug function of the industrial robot demonstrator), the user can take down the handheld device by pressing down the corresponding hot plug switch first, and directly insert the demonstrator for reuse without performing corresponding processing on software; in addition, in the whole hot plugging process, the robot can always keep an automatic running state, and a corresponding alarm mechanism cannot be triggered.

In an optional example, a group of relay control circuits is connected in parallel to an emergency stop circuit of a controller (namely, a motion controller), so that the industrial robot demonstrator can be switched between the emergency stop circuit and a standby emergency stop circuit (or emergency stop standby circuit) in the hot plugging process, and the operation of a user is simple and convenient. Therefore, the self-locking and the unlocking of the relay are realized in the hot plugging process, the switching between two groups of emergency stop loops is realized, and the emergency stop alarm is not triggered.

Wherein, the utility model discloses a scheme, concretely relates to industrial robot handheld ware hot plug circuit design. As shown in fig. 3 and 4, the solution of the present invention may mainly include 1 click switch (normally closed), 3 relays, 1 diode D1, 1 indicator LED1, and a resistor R1. The inching switch is a self-elastic normally closed key switch, the relay adopts an electromagnetic relay with a double-pole double-throw switch, a diode D1 is used for isolating 2 emergency stop loops, an indicator light LED1 is used for indicating hot plug use, and R1 is a current-limiting resistor.

Specifically, when the robot works normally, an emergency stop loop between the demonstrator and the motion controller is switched on (namely, an emergency stop signal is connected to a +24V power supply), and in an emergency situation, a user can press an emergency stop button on a panel of the demonstrator, disconnect the emergency stop loop, trigger a subsequent emergency stop processing mechanism (for example, a power supply or a driving signal of the industrial robot is switched off), and immediately stop the robot. When a plurality of robots can share a single teaching aid, a user needs to use a hot plug function. A user enables the robot to be in an automatic running state through programming, a hot plug switch (such as a normally closed inching switch K1 in fig. 3) on the motion control cabinet is pressed, a hot plug indicator lamp is turned on (such as an LED1 in fig. 4) at the moment, the user is prompted to carry out hot plug operation, the user can directly take off the demonstrator from the controller, and the hot plug indicator lamp is kept in a turned-on state all the time; if the demonstrator needs to be reused subsequently, the user can directly connect the demonstrator, and after the demonstrator is connected, the hot-plug indicator lamp is automatically turned off, and the demonstrator works normally.

It is visible, compare with prior art, the utility model discloses a scheme is an industrial robot demonstrator hot plug circuit design, and it is simple not only to possess the principle, advantages such as convenient to use, and more importantly improves the reliability of hot plug process greatly, and the robot keeps automatic operation around really doing the hot plug, and corresponding scram reserve circuit breaks off immediately after the demonstrator reinsertion, and scram switch on the demonstrator can normal use, need not to carry out unnecessary operation. Specifically, the utility model discloses a scheme can reach following beneficial effect at least:

1. due to the fact that the relay is adopted for self-locking, the teaching hot plug can adopt a self-elastic normally closed inching switch, a button type or knob type switch (needing a user to operate when the switch is opened and closed) is avoided, and the problem that the robot stops or other safety problems caused by user errors in the using process are avoided.

2. After the demonstrator is reconnected, the emergency stop standby loop can be automatically disconnected without any treatment, the normal use of the emergency stop switch of the demonstrator is ensured, and the operation of a user is simple and convenient.

In an alternative embodiment, reference may be made to the examples shown in fig. 2 to 4, which illustrate embodiments of the invention in more detail.

FIG. 2 is a schematic diagram illustrating the definition of pins of a connection interface between a conventional teaching machine and a motion controller. The connecting line between the common industrial robot demonstrator and the motion controller comprises a power signal, an emergency stop signal line and a communication line. The power line supplies power to the demonstrator hardware board, the communication line is used for data communication between the demonstrator and the motion controller, and the emergency stop signal line is used for emergency stop operation. In fig. 2, J1 is an interface of an emergency stop switch (normally closed) on a panel of the teach pendant on a hardware circuit board, and J2 and J3 are interfaces of the teach pendant and a motion controller connected with each other at a teach pendant end and a motion controller end.

As shown in fig. 2, when the industrial robot works normally, the demonstrator is connected to the robot motion controller through a corresponding interface, and the interface circuit comprises a demonstrator power line, a communication line and an emergency stop alarm signal line. Wherein, the power cord is +24V power that motion controller provided for the teach pendant, the communication line is used for the communication between hand-held device (such as hand-held device of industrial robot teach pendant) and motion controller, the alarm signal line of scram works through the power return circuit formed between teach pendant and motion controller, when working normally, the scram return circuit keeps the connected state (namely the scram signal in figure 2 is connected to +24V power); when the emergency stop switch on the panel is pressed down in an emergency, the emergency stop circuit is disconnected, and the handheld device and the motion controller respectively trigger the corresponding emergency stop processing mechanism to immediately stop the robot.

In an alternative embodiment, a schematic diagram of a hot plug circuit of a teach pendant according to the present invention is shown in fig. 3. During normal work, normally closed inching switch K1 is in the closed condition, and electricity work is gone up to first relay and third relay, and the second relay is out of work, and scram standby circuit disconnection this moment, whole robot only has the work of single scram circuit on the demonstrator panel.

Optionally, if the hot plug function of the hand-held unit is needed when the robot is in an automatic running state, only the normally closed inching switch needs to be pressed, at the moment, the first relay and the third relay are powered off and do not work, the second relay works, the emergency stop standby circuit is connected (namely, the emergency stop standby circuit is connected to +24V), and after the inching switch is released (such as the normally closed inching switch K1), the second relay is in a self-locking state, the emergency stop standby circuit is not affected, the hot plug indicator lamp is on, and a user is reminded that the demonstrator can be directly pulled off in an electrified mode.

Optionally, the first relay works after the demonstrator is pulled down, the second relay releases the self-locking power-off and does not work, the third relay does not work, the emergency stop standby loop is always in a conducting state, and the motion controller is guaranteed not to give an alarm. If the demonstrator is taken down and is wanted to be reused, the demonstrator can be directly connected with the motion controller.

Optionally, once the demonstrator is plugged again, the third relay is powered on to work, the emergency stop standby loop is disconnected, the whole robot is kept in the single emergency stop loop (that is, the emergency stop switch on the demonstrator panel is ensured to play an emergency stop role), and both the demonstrator and the industrial robot can work normally.

Fig. 2 is a diagram for explaining the line interface definition between the teach pendant and the operation control and the working principle of the emergency stop circuit, and explaining that the teach pendant cannot be hot-plugged when the robot automatically runs without a special hot-plugging circuit of the teach pendant; FIG. 3 is a schematic diagram of the hot plug circuit of the present invention, illustrating the principle of implementing the hot plug function of the demonstrator; fig. 4 is a schematic diagram of the whole emergency stop processing circuit, and after the hot plug function is added, the original emergency stop processing circuit of the motion controller needs to be partially modified (that is, the emergency stop standby circuit in the hot plug circuit of fig. 3 is connected to the original emergency stop processing circuit).

In FIG. 3, K1 is a normally closed inching switch (normally closed, pressed open, and kept closed after releasing the hand), which the user needs to press first when using the hot plug function of the demonstrator; the first relay, the second relay and the third relay can be double-pole double-throw switches, and the function that after K1 is pressed, the emergency stop standby loop is connected with 24V and the state is not changed after hands are released is achieved through the wiring of figure 3.

In fig. 4, the LED1 is a hot swap indicator (light emitting diode) that lights up when the user presses K1 in fig. 3, prompting the user that hot swap is available at this time; r1 is a current-limiting resistor to ensure the conduction current of the LED to be within the normal range; d1 and D2 are ordinary diodes and function to separate the emergency stop circuit from the emergency stop backup circuit.

In an alternative embodiment, the above description is only given as a preferred embodiment of the invention, and not as a limitation of the invention, and all other conceivable embodiments based on the above embodiment are also within the scope of the invention.

Optionally, the whole set of hot plug circuit can be made into a modularized product, only corresponding interfaces are reserved on a hardware circuit board on the motion controller, a user installs the module in a motion control cabinet, and the demonstrator can be conveniently used for hot plug by switching on the circuit.

For example: as long as it is based on the implementation principle in fig. 3, the remaining easily conceivable embodiments: if change relay model, quantity, increase and delete hot plug pilot lamp etc. all belong to within the protection scope of the utility model.

Since the processes and functions implemented by the industrial robot of this embodiment substantially correspond to the embodiments, principles and examples of the apparatuses shown in fig. 1, fig. 3 and fig. 4, the description of this embodiment is not detailed, and reference may be made to the related description of the foregoing embodiments, which is not repeated herein.

Through a large amount of experimental verifications, adopt the technical scheme of the utility model, through a set of relay control circuit that connects in parallel on motion controller's scram return circuit, realize industrial robot demonstrator in the hot plug in-process scram return circuit and reserve scram return circuit between the switching, simplified demonstrator hot plug implementation's operation structure and process for user operation is simpler, convenient.

According to an embodiment of the present invention, there is also provided a demonstrator hot plug method for an industrial robot corresponding to the industrial robot, as shown in fig. 5, the flowchart of an embodiment of the method of the present invention is illustrated. The hot plug method of the demonstrator can comprise the following steps: step S110 and step S120.

At step S110, the relay control circuit is controlled to be powered on or powered off by a control switch (such as a normally closed inching switch K1) to control a sudden stop control loop (such as the sudden stop control loop in fig. 3 and 4) of the industrial robot to be powered on under a normal working state of the industrial robot controlled by the teach pendant, or to control the sudden stop control loop set by a motion controller of the industrial robot controlled by the teach pendant to be powered off during a hot swap process of the teach pendant.

At step S120, an emergency stop standby control signal of a set emergency stop standby control loop (such as the emergency stop standby loop in fig. 3 and 4) is formed through a relay control circuit connected in parallel to the emergency stop control loop of the motion controller of the industrial robot controlled by the teach pendant, and under the control of the control switch, the switching control of the emergency stop control loop and the standby emergency stop control loop is realized during the hot plug process of the teach pendant (i.e. the teach pendant of the industrial robot) through relay self-locking and relay unlocking.

In an alternative example, the teaching machine is locked and unlocked through a relay during the hot plug process of the teaching machine, and any one of the following control processes can be included.

In an alternative embodiment, the method may further include: at least one of the following control scenarios.

The first control scenario: indicating the hot plug state of the demonstrator during the hot plug process of the demonstrator through a hot plug indicating module connected to the emergency stop standby control loop (such as arranged between the emergency stop standby control loop and the ground).

The second control scenario: the emergency stop control circuit and the emergency stop standby control circuit are isolated on the side of the emergency stop standby control circuit through a first isolation module arranged between the emergency stop standby control circuit and a preset emergency stop processing circuit.

The third control scenario: and isolating the emergency stop control loop and the emergency stop standby control loop on the side of the emergency stop control loop through a second isolation module arranged between the emergency stop control loop and a preset emergency stop processing circuit.

The fourth control scenario: and limiting the current of the hot plug indicating module within a set current range through a current limiting module connected to the hot plug indicating module.

Since the processes and functions implemented by the method of the present embodiment substantially correspond to the embodiments, principles and examples of the industrial robot, the description of the present embodiment may refer to the related descriptions in the foregoing embodiments without further details.

Through a large number of tests, the technical scheme of the embodiment is adopted, and the group of relay control circuits are connected in parallel on the emergency stop loop of the motion controller, so that when a user uses the hot plug function of the industrial robot demonstrator, the user only needs to press the corresponding hot plug switch first to take down the handheld device, and the user can directly insert the demonstrator when the user needs to reuse the demonstrator; in addition, in the whole hot plugging process, the robot can always keep an automatic running state, a corresponding alarm mechanism cannot be triggered, and the operation of a user is simpler and more convenient.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A demonstrator hot plug device, comprising: a control switch and a relay control circuit; wherein,

the control switch is arranged between a preset power supply and the relay control circuit and is used for controlling the relay control circuit to be powered on or powered off so as to control the emergency stop control loop of the industrial robot to be powered on in a normal working state of the industrial robot controlled by the demonstrator or control the emergency stop control loop set by the motion controller of the industrial robot controlled by the demonstrator to be powered off in the hot plugging process of the demonstrator;

the relay control circuit is connected in parallel to the emergency stop control loop to form an emergency stop standby control signal of the set emergency stop standby control loop, and the emergency stop standby control signal is used for realizing switching control of the emergency stop control loop and the standby emergency stop control loop in the hot plugging process of the demonstrator through relay self-locking and relay unlocking under the control of the control switch.

2. The apparatus of claim 1, wherein,

the control switch includes: a normally closed inching switch; wherein, normally closed inching switch includes: a self-ejection type normally closed key switch;

and/or the presence of a gas in the gas,

3. The apparatus of claim 1 or 2, wherein the relay control circuit comprises: a first relay, a second relay and a third relay; wherein,

the control switch is arranged between the power supply and the first coil of the first relay;

the first relay, the second relay and the third relay are connected in a self-locking and unlocking manner; the first relay and the second relay are respectively connected to the emergency stop control loop; and the third relay is connected to the emergency stop standby control loop.

4. The apparatus of claim 3, wherein,

the connecting end of a first contact switch of the first relay is connected to the emergency stop control loop, and a first control end of the first contact switch is connected to a second coil of the second relay and the connecting end of a second contact switch of the second relay;

a first control end of a third contact switch of the second relay is suspended; the second control end of the third contact switch is connected to the emergency stop control loop and the first control end of the fourth contact switch of the second relay; a connection terminal of the fourth contact switch is connected to a third coil of the third relay;

and the connecting end of a fifth contact switch of the third relay is connected to a preset power supply, and a first control end of the fifth contact switch is connected to the emergency stop standby control loop.

5. The apparatus of claim 3, wherein the relay control circuit further comprises: at least one of a hot plug indication module, a first isolation module and a second isolation module; wherein,

the hot plug indicating module is connected to the emergency stop standby control loop and used for indicating the hot plug state of the demonstrator in the hot plug process of the demonstrator;

and/or the presence of a gas in the gas,

the first isolation module is arranged between the emergency stop standby control loop and a preset emergency stop processing circuit and is used for isolating the emergency stop control loop and the emergency stop standby control loop on the side of the emergency stop standby control loop;

and/or the presence of a gas in the gas,

the second isolation module is arranged between the emergency stop control loop and a preset emergency stop processing circuit and used for isolating the emergency stop control loop from the emergency stop standby control loop on the side of the emergency stop control loop.

6. The apparatus of claim 5, wherein the relay control circuit further comprises: a current limiting module;

the current limiting module is connected to the hot plug indicating module and used for limiting the current of the hot plug indicating module within a set current range.

7. The apparatus of claim 6, wherein,

the hot plug indicating module comprises: an LED indicator light; the anode of the LED indicator lamp is connected to the emergency stop standby control loop, and the cathode of the LED indicator lamp is connected to the current limiting module;

and/or the presence of a gas in the gas,

the current limiting module includes: a current limiting resistor;

and/or the presence of a gas in the gas,

the first isolation module, comprising: a first diode; the anode of the first diode is connected to the emergency stop standby control loop, and the cathode of the first diode is connected to the emergency stop processing circuit;

and/or the presence of a gas in the gas,

the second isolation module comprising: a second diode; the anode of the second diode is connected to the emergency stop control loop, and the cathode of the second diode is connected to the emergency stop processing circuit;

and/or the presence of a gas in the gas,

at least one relay of the first relay, the second relay, and the third relay, comprising: an electromagnetic relay; the contact switch of the electromagnetic relay comprises: a double pole double throw switch.

8. The apparatus of any one of claims 2 and 4-7, wherein the relay control circuit is locked and unlocked by a relay during hot plug of the demonstrator, and comprises:

in a normal working state of the industrial robot, the first relay and the third relay are electrified to work, and the second relay does not work, so that the emergency stop standby control loop is disconnected and works;

or,

when a set emergency situation occurs in a normal working state of the industrial robot or a hot plug function of the demonstrator needs to be used in an automatic running state of one industrial robot under the condition that more than one industrial robot shares one demonstrator, receiving a disconnection command sent by a user and used for disconnecting an emergency stop control loop set between the demonstrator and a motion controller of the industrial robot, enabling the first relay and the third relay to be powered off and not operated, and enabling the second relay to work so as to switch on the emergency stop standby control loop and enable the second relay to be self-locked after the disconnection command;

or,

after the demonstrator is pulled out in the hot plugging process, the first relay is enabled to work, the second relay is enabled to be in contact with the self-locking power-off state and not to work, and the third relay is enabled to be in power-off state and not to work, so that the emergency stop standby control loop is in a conducting state in the hot plugging process and the motion controller does not give an alarm;

or,

and under the condition that the demonstrator is unplugged and then is plugged into the motion controller again in the hot plugging process, the third relay is electrified to work so as to disconnect the emergency stop standby loop and enable the demonstrator and the industrial robot to be in normal working states.

9. An industrial robot, characterized by comprising: a teach pendant hot plug device as claimed in any of claims 1-8.