CN209408506U - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
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- CN209408506U CN209408506U CN201822271573.4U CN201822271573U CN209408506U CN 209408506 U CN209408506 U CN 209408506U CN 201822271573 U CN201822271573 U CN 201822271573U CN 209408506 U CN209408506 U CN 209408506U
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Abstract
The utility model embodiment is related to field of automation technology, discloses a kind of robot control system, comprising: CPU module, Power Management Unit and security logic；Power Management Unit sends trigger signal to security logic when monitoring that external power supply or internal electric source occur abnormal；Security logic is used for when receiving trigger signal, and transmission stops signal to each servo-driver of robot controlling each servo-driver band-type brake, sending power-off signal to the Power Management Unit and sending notification signal to the CPU module fastly；CPU module is for saving currently processed data when receiving and stopping signal fastly；Power Management Unit is for disconnecting external power supply when receiving the power-off signal.A kind of robot control system provided by the utility model makes it possible to the case where handling abnormity of power supply power down in time, effectively releases the risk of abnormity of power supply bring servo-driver axis tenesmus and can save processing data in time.
Description
Technical field
The utility model embodiment is related to field of automation technology, in particular to a kind of robot control system.
Background technique
In recent years, with the propulsion of national intelligence manufacture " 2025 " plan and industry 4.0, the application of industrial robot is just prolonged
More and more industries are reached, production is also more and more intelligent, and the function of industrial robot is also more and more abundant.
However, it is found by the inventors that at least there are the following problems in the prior art: the existing power supply used in control cabinet is work
Industry robot is powered.But existing robot control system for abnormity of power supply power down in control cabinet the case where cannot and
When handle so that the current processing data of robot be easily lost and the servo-driver of robot there are the risks that axis drops.
Utility model content
The utility model embodiment is designed to provide a kind of robot control system, can handle power supply in time
The case where powered-off fault, effectively release the risk of abnormity of power supply bring servo-driver axis tenesmus and can be at preservation in time
Manage data.
In order to solve the above technical problems, the embodiments of the present invention provides a kind of robot control system, comprising:
CPU module, Power Management Unit and security logic；Power Management Unit is separately connected CPU module and security logic
Unit, and security logic is connect with CPU module；Power Management Unit connects external power supply, and external power supply is converted to
Internal electric source；Power Management Unit is respectively that CPU module and security logic are powered using internal electric source；Power management list
Member sends touching for monitoring external power supply and internal electric source, and when monitoring that external power supply or internal electric source occur abnormal
It signals to security logic；Security logic is used for when receiving trigger signal, and transmission stops signal to robot fastly
Each servo-driver to control each servo-driver band-type brake, send power-off signal to Power Management Unit and send logical
Know signal to CPU module；CPU module is for saving currently processed data when receiving notification signal；Power Management Unit is used
In disconnecting external power supply when receiving power-off signal.
The utility model embodiment in terms of existing technologies, provides a kind of robot control system, utilizes electricity
Source control unit monitors external power supply and internal electric source, can monitor external power supply in time or internal electric source whether occur it is different
Often, and when monitoring external power supply or internal electric source exception, trigger signal is sent to security logic；Security logic
Can send in time stop fastly signal controlled to each servo-driver of robot each servo-driver band-type brake, send power-off
Signal disconnects external power supply to Power Management Unit and sends notification signal to CPU module to save current place in time
Data are managed, when avoiding abnormity of power supply power down, control system cannot find and handle in time, and the servo-driver of robot continues
It operates and makes servo-driver there are the risks that axis drops；And CPU module saves at the first time after receiving notification signal
It is not easy to lose can to guarantee that robot handles data in the case where powered-off fault for currently processed data.
In addition, security logic includes: the first signal monitoring circuit；The connection of first signal monitoring circuit is for promptly stopping
Only the emergency stop switch of robot, for preventing personnel from entering the access control in robot manipulating task area and in manual band-type brake
When cutting system power supply manual band-type brake switch；First signal monitoring circuit is used to send when monitoring that either switch disconnects
Stop fastly signal to robot each servo-driver, send power-off signal and to Power Management Unit and send notification signal extremely
CPU module.The program, which is realized, abruptly enters robot manipulating task scene and manual band-type brake etc. in generation emergency, personnel
In the case where can stop robot running immediately, thus the guarantee personnel and operation field machine as much as possible when accident occurs
The safety of device.
In addition, security logic further include: second signal monitoring circuit, second signal monitoring circuit and the first signal are supervised
Survey time road is in parallel；Second signal monitoring circuit is used for when monitoring that either switch disconnects, and transmission stops signal to robot fastly
Each servo-driver, transmission power-off signal to Power Management Unit and send notification signal to CPU module.Believe in the program
Number monitoring circuit takes two-way Redundancy Design, and when arbitrarily signal monitoring circuit occurs abnormal all the way, security logic can
It is enough send stop fastly signal to robot each servo-driver, send power-off signal to Power Management Unit and send notice
Signal is to CPU module, to further ensure the reliability of the security logic under something unexpected happened.
In addition, further includes: communication unit, communication unit are connect with CPU module and Power Management Unit respectively, and communication is single
ANYBUS switching chip built in member.The program can realize robot control system and various bus types by ANYBUS switching chip
Communication between the equipment such as the PLC of type.
In addition, communication unit includes at least the interface of following one or any combination: for connecting the CANopen of welding machine
Main website interface, the EtherCAT main website interface for connecting servo-driver, for connect the bus of PLC device from station interface,
For connecting the multi computer communication interface of other robot.
In addition, communication unit further includes the interface of following one or any combination: RS232 interface, is used for RS485 interface
The Ethernet interface of program downloading.The program facilitates robot control system to carry out debugging and program by these common interfaces
Downloading.
In addition, further includes: I/O module, I/O module are connect with CPU module and Power Management Unit respectively, built in I/O module
STM32 chip.
In addition, STM32 chip includes: to realize the GPIO interface of digital quantity input and output and realize that analog input is defeated
SPI interface out.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the structural schematic diagram according to the robot control system of the utility model first embodiment；
Fig. 2 is the structural schematic diagram according to the security logic of the utility model second embodiment；
Fig. 3 is the structural schematic diagram according to the robot control system of the utility model third embodiment；
Fig. 4 is the structural schematic diagram according to the multi computer communication of the utility model third embodiment.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with attached drawing to this
Each embodiment of utility model is explained in detail.However, it will be understood by those skilled in the art that practical at this
In novel each embodiment, in order to make the reader understand this application better, many technical details are proposed.But even if do not have
It is claimed that the application also may be implemented in these technical details and various changes and modifications based on the following respective embodiments
Technical solution.
The first embodiment of the utility model is related to a kind of robot control system.As shown in Figure 1, comprising: CPU module
1, Power Management Unit 2 and security logic 3；Power Management Unit 2 is separately connected CPU module 1 and security logic list
Member 3, and security logic 3 is connect with CPU module 1；Power Management Unit 2 connects external power supply, and external power supply is converted
For internal electric source；Power Management Unit 2 is respectively that CPU module 1 and security logic 3 are powered using internal electric source.
Power Management Unit 2 is monitoring external power supply or internal electricity for monitoring external power supply and internal electric source
When source occurs abnormal, trigger signal is sent to security logic 3；Security logic 3 is used for when receiving trigger signal,
Each servo-driver of Kuai Ting signal robot is sent to control each servo-driver band-type brake, send power-off signal to power supply
Administrative unit 2 simultaneously sends notification signal to CPU module 1；CPU module 1 is currently processed for saving when receiving notification signal
Data；Power Management Unit 2 is for disconnecting external power supply when receiving power-off signal.
Specifically, core cell of the CPU module 1 as robot control system, has Peripheral Interface abundant, lead to
Crossing extension can satisfy various communication requirements.CPU module 1 can be X86 module or ARM module in present embodiment, for more multiple
Miscellaneous motion control chooses the higher X86 module of performance as CPU module 1；And for relatively simple application, and cost is wanted
Lower application is asked, low-power consumption, the lower ARM module of cost are chosen.The selection of specific CPU module 1 can be according to reality
Border application and cost needs select.
Power module in control cabinet provides external power supply, and external power supply is converted to internal electric source by Power Management Unit 2,
And using internal electric source be robot control system in modules power, Power Management Unit 2 distribute multiple power supplies to
CPU module 1 and security logic 3 are powered.External power supply is usually the three-phase electricity of 220V or 380V, and internal electric source is usually
24V, Power Management Unit 2 are monitored the external three-phase electricity and internal electric source of control cabinet, and Power Management Unit 2 is monitoring
Occur to the power supply for inputting or exporting robot control system any one or more in the three-phase electricity in exception or control cabinet
When occurring abnormal, Power Management Unit 2 can open protection mechanism in time, send trigger signal to security logic 3.Safety is patrolled
Unit 3 is collected when receiving trigger signal, transmission stops signal to each servo-driver of robot to control each servo fastly
Driver band-type brake successfully allows the current action of robot to stop, and controls Power Management Unit 2 and disconnect external power supply,
When so as to avoid abnormity of power supply power down, robot control system cannot find and handle in time, the servo-driver of robot
It remains in operation and makes servo-driver there are the risks that axis drops；Notification signal is sent simultaneously to CPU module 1, is notified in time
CPU module 1 completes the work such as data storage, avoids the loss of currently processed data caused by abnormity of power supply；And it sends disconnected
Electric signal disconnects external power supply to Power Management Unit, realizes security protection.
Compared with prior art, a kind of robot control system that the utility model embodiment provides, utilizes power supply pipe
It manages unit 2 and monitors external power supply and internal electric source, external power supply can be monitored in time or whether internal electric source exception occurs, and
When monitoring external power supply or internal electric source exception, trigger signal is sent to security logic 3；3 energy of security logic
Enough send in time stops signal to each servo-driver of robot to control each servo-driver band-type brake fastly, and sends power-off
Signal disconnects external power supply to Power Management Unit 2；Security logic 3 send notification signal to CPU module 1 to and
The currently processed data of Shi Baocun, when avoiding abnormity of power supply power down, robot control system cannot find and handle in time, machine
The servo-driver of people remains in operation and makes servo-driver there are the risks that axis drops；And CPU module 1 is receiving notice
Currently processed data are saved when signal at the first time, it can be ensured that robot handles data in the case where powered-off fault and is not easy to lose
It loses.
The second embodiment of the utility model is related to a kind of robot control system.As shown in Fig. 2, second embodiment
It is the improvement to first embodiment, mainly thes improvement is that, security logic 3 includes: the first signal monitoring circuit 31；
The connection of first signal monitoring circuit 31 is used for the emergency stop switch of emergency stops robot, for preventing personnel from entering robot manipulating task
The access control in area and in manual band-type brake cutting system power supply manual band-type brake switch；First signal monitoring returns
Road 31 is used for when monitoring that either switch disconnects, and sends each servo-driver stopped fastly signal to robot, transmission power-off
Signal is to Power Management Unit 2 and sends notification signal to CPU module 1.
Specifically, the particularity of the workplace due to industrial robot generally requires live touching for safety grounds
Some signals of hair make robot emergent stopping, to guarantee robot manipulating task safety and personnel safety.In present embodiment
Security logic 3 includes: the first signal monitoring circuit 31, and the connection of the first signal monitoring circuit 31 is used for the emergency stop of emergent stopping
Switch K1, it is for preventing personnel from entering the access control signal K2 of operation area and be used to need to cut off in manual band-type brake
The manual band-type brake switch K3 etc. of system power supply.Specifically, the first signal monitoring circuit 31 will be connected after the series connection of above-mentioned switch, works as series connection
Any one switch disconnect after, the first signal monitoring circuit 31 can monitor route disconnect, just send and stop signal fastly to machine
Each servo-driver of people to control each servo-driver band-type brake, successfully allow the current action of robot to stop,
And power-off signal is sent to Power Management Unit 2 to disconnect external power supply in time while send notification signal to CPU module 1
It notifies CPU module 1 to complete the work such as data storage, avoids the loss of currently processed data caused by power supply disconnects.To
Realizing can stand in the case where emergency occurs, personnel abruptly enter robot manipulating task scene and manual band-type brake etc.
Stop robot running, to guarantee the safety of personnel and operation field machine as much as possible when accident occurs.
Further, security logic 3 further include: second signal monitoring circuit 32, second signal monitoring circuit 32 with
First signal monitoring, 21 circuit is in parallel；Second signal monitoring circuit 32 is used for when monitoring that either switch disconnects, and transmission stops fastly
Each servo-driver, the transmission power-off signal of signal to robot to Power Management Unit 2 and send notification signal to CPU
Module 1.
Specifically, two-way Redundancy Design is taken in signal monitoring circuit in present embodiment, security logic 3 is provided with
Two signal monitoring circuits, the first signal monitoring circuit 31 and second signal monitoring circuit 32.Second signal monitoring circuit 32 with
First signal monitoring circuit 31 is in parallel, and identical as the effect in the first signal monitoring circuit 31, when arbitrarily signal monitoring returns all the way
When road occurs abnormal, security logic 3 can be sent stops signal to each servo-driver of robot to control respectively fastly
A servo-driver band-type brake successfully allows the current action of robot to stop and sends power-off signal to power management list
Member 2 notifies CPU module 1 to complete data storage etc. to disconnect external power supply in time, send notification signal to CPU module 1 simultaneously
Work avoids the loss of currently processed data caused by power supply disconnects, to further ensure in something unexpected happened
The reliability of lower security logic 3.
It is worth noting that trip switch when power supply signal exception can also connect with above-mentioned switch and be followed by into this embodiment party
In signal monitoring circuit in formula, thus when realizing power supply signal exception robot control system reliable treatments.And ability
Field technique personnel it is understood that other in addition to above-mentioned switch need robot to cut off the power the switch to stop working,
It can connect and be followed by signal monitoring circuit with the switch in present embodiment, not to access signal prison in present embodiment
The number of switches and type on survey time road are defined.
Compared with prior art, embodiments, provides a kind of robot control system, security logics for the utility model
Unit 3 includes: the first signal monitoring circuit 31；Emergency stop of first signal monitoring circuit 31 connection for emergency stops robot is opened
It closes, for preventing personnel from entering the access control in robot manipulating task area and for the cutting system power supply in manual band-type brake
Manual band-type brake switch；First signal monitoring circuit 31 is used for when monitoring that either switch disconnects, and transmission stops signal to machine fastly
Each servo-driver of people to control each servo-driver band-type brake, successfully allow the current action of robot to stop,
And power-off signal is sent to Power Management Unit 2 to disconnect external power supply in time while send notification signal to CPU module 1
It notifies CPU module 1 to complete the work such as data storage, avoids the loss of currently processed data caused by power supply disconnects, realize
Can it stop immediately in the case where emergency occurs, personnel abruptly enter robot manipulating task scene and manual band-type brake etc.
Only robot operates, to guarantee the safety of personnel and operation field machine as much as possible when accident occurs.And signal is supervised
Two-way Redundancy Design is taken on survey time road, and there are two signal monitoring circuit, the first signal monitoring circuits 31 for the setting of security logic 3
With second signal monitoring circuit 32, when arbitrarily signal monitoring circuit occurs abnormal all the way, security logic 3 can be sent
Stop fastly signal to robot each servo-driver, send power-off signal and to Power Management Unit 2 and send notification signal extremely
CPU module 1, to further ensure the reliability of the security logic 3 under something unexpected happened.
The third embodiment of the utility model is related to a kind of robot control system.As shown in figure 3, third embodiment
Be the further improvement for applying mode to second, mainly the improvement is that: further include: communication unit 4, communication unit 4 respectively with
CPU module 1 and Power Management Unit 2 connect, ANYBUS switching chip built in communication unit 4.
Specifically, CPU module 1 reserves RS232 bus interface dedicated all the way, expanded by CPU module by UART bus
Zhan Erlai, the RS232 bus interface are responsible for chip communication of transferring with the ANYBUS of communication unit 4 as special purpose interface.ANYBUS
Chip transfer by different configurations, CanOpen, CC-Link, Devicenet, EthernetIP, Profibus_ may be implemented
Any one in these fieldbus of DP, Profinet.When user need with the module of any one of the above fieldbus into
When row communication, it is only necessary to directly selection bus type, and be attached by RS232 interface and CPU module 1, so that it may it realizes
Communication between the equipment such as the PLC of robot control system and various bus types.
Further, communication unit 4 includes at least the interface of following one or any combination: for connecting welding machine
The main website interface of CANopen, the EtherCAT main website interface for connecting servo-driver, the bus for connecting PLC device
From station interface, the multi computer communication interface for connecting other robot.
Specifically, welding machine of the industry spot for welding is the bus protocol of CANOPEN, pass through communication unit 4
CANopen main website interface, realizes the communication between robot control system and welding machine, and robot can be made smooth in industry spot
Completion welding etc. operation.
The mechanical arm of robot is made of multiple joint shafts, one motor of each joint shaft band, is usually driven by a servo
Dynamic device control, industrially commonly uses EtherCAT bus to realize the driving of servo-driver, passes through the EtherCAT of communication unit 4
Main website interface on robot control system realize EtherCAT master function, can with the multiple servo-drivers of carry,
To realize multijoint control.
Since different industry spots sometimes can there is the PLC device of a variety of bus types, these equipment and robots
When control system interacts, it is desirable that robot control system has a slave station interface of corresponding fieldbus, in present embodiment
By the way that bus is arranged from station interface on being built-in with the communication unit that ANYBUS transfers chip, may be implemented and different bus type
PLC device data interaction.
Multiple working procedure is usually contained on one industrial flow, and more robots can be related in practical application and are cooperated, often
The movement that one robot fixes.The information such as working condition, position and the operation executive condition of front robot are intended to accuse
The robot of subsequent handling is known, so that later process is made whether the judgement of movement.Later process robot road before receiving
After the information that the robot of process is sent, the operation of later process is carried out, and by the executive condition feedforward of oneself.This implementation
By the multi computer communication interface being set on communication unit in mode, cooperating for producing line Shang Duotai robot may be implemented.
The example of multi computer communication chooses CAN bus as shown in figure 4, by taking punching operation as an example to realize more robots
Communication.Live practical application is often completed the punching press of a component by multiple working procedure, and every one of stamping procedure is by a punching press
System is completed, and after the completion of a procedure, the robot of latter procedure is given by current robot.In practical application, machine
Promoter of the people A as first working procedure, checks whether stamping system 1 has been lifted to home, when stamping system 1 is raised up to peace
After all positon, returns to a DO signal and inform robot A, after receiving signal, robot A puts down stamping parts, and retracts machinery
Arm is to home.Then first of stamping procedure to stamping parts, stamping system 1 after the completion of punching press are completed by stamping system 1
It is raised up to home and informs that robot A and B, robot B take stamping parts away, and robot A is informed by bus, then
A continues to put down second stamping parts；After robot B takes the stamping parts after the first procedure away, when needing to be put into later process,
Then need to be repeated the way of similar preceding working procedure, the communication side of robot C, robot X, robot Y of subsequent connection etc.
Formula is roughly the same with the communication modes of robot B.The data that CAN bus realizes all robots when robot punching press are handed over
Mutually, can will include punching press quantity, whether operate successfully etc. information by CAN bus be uploaded at robot, First main website into
Row summarizes.It should be noted that carry build-out resistor is needed in starting and extreme positions in CAN bus, for intermediate node
It does not need then.
In addition, communication unit 4 further includes the interface of following one or any combination: RS232 interface, is used for RS485 interface
The Ethernet interface of program downloading.Be additionally provided on communication unit 4 in present embodiment it is some for debugging RS232 interfaces with
And RS485 interface, there are also the 100 m ethernet interfaces that program downloading is carried out for PC, are debugged convenient for robot control system
And program downloading.
Further, robot control system further include: I/O module 5, I/O module 5 respectively with CPU module 1 and power supply pipe
Manage unit 2 connect, STM32 chip built in I/O module 5, STM32 chip include: realize digital quantity input and output GPIO interface,
And realize the SPI interface of analog input and output.
Specifically, the equipment and the most direct mode of robot communication in user's field application are exactly I/O communication, including
Digital quantity and analog quantity.It is conventional to apply general 16 railway digital amount IO of standard configuration and 4 tunnel analog quantity IO, the distribution of existing prevalence
Control system although flexible at high cost, generally requires 16 railway digital amount of standard configuration, some projects are answered by bus extension IO
With needing to extend 16 railway digital amount IO and 4 tunnel analog quantity IO.And the GPIO interface carried in present embodiment by STM32 chip
It realizes robot control system local digital amount IO, includes 16DI and 16DO；The spi bus interface carried by STM32 chip
It is communicated with ADC chip and DAC chip realization, to realize outputting and inputting for analog quantity.Specifically, STM32 chip and CPU mould
Data interaction is realized by UART bus or USB between block 1, be built-in with STM32 chip I/O module 5 external signal is handled after
Packing is uploaded to CPU module 1, and CPU module 1 is being handed down to corresponding execution operating mechanism after having handled, and STM32 chip processing is complete
It is exported afterwards to respective I/O port.For some projects application, need to carry out the extension of IO, then it can directly in the present embodiment
Local I/O expansion is carried out on STM32 chip, is not defined in specific extended mode present embodiment.
Compared with prior art, the robot control system provided in the utility model embodiment, further includes: communication is single
Member 4, communication unit 4 is connect with CPU module 1 and Power Management Unit 2 respectively, ANYBUS switching chip built in communication unit 4,
Realize the communication between the equipment such as the PLC of robot control system and various bus types.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And range.
Claims (8)
1. a kind of robot control system characterized by comprising CPU module, Power Management Unit and security logic list
Member；The Power Management Unit is separately connected the CPU module and the security logic, and the security logic
It is connect with the CPU module；The Power Management Unit connects external power supply, and the external power supply is converted to internal electricity
Source；The Power Management Unit is respectively that the CPU module and the security logic are powered using the internal electric source；
The Power Management Unit is monitoring the external electrical for monitoring the external power supply and the internal electric source
When source or the internal electric source occur abnormal, trigger signal is sent to the security logic；
The security logic is used for when receiving the trigger signal, sends that stop signal fastly each to the robot
Servo-driver is to control each servo-driver band-type brake, transmission power-off signal to the Power Management Unit and send
Notification signal is to the CPU module；
The CPU module is for saving currently processed data when receiving the notification signal；
The Power Management Unit is for disconnecting the external power supply when receiving the power-off signal.
2. robot control system according to claim 1, which is characterized in that the security logic includes: first
Signal monitoring circuit；The connection of first signal monitoring circuit is used for the emergency stop switch of emergency stops robot, for preventing people
Member enters the access control in robot manipulating task area and the manual band-type brake switch for the cutting system power supply in manual band-type brake；
First signal monitoring circuit is used for when monitoring that either switch disconnects, and transmission stops signal to the robot fastly
Each servo-driver, transmission power-off signal to the Power Management Unit and send notification signal to the CPU module.
3. robot control system according to claim 2, which is characterized in that the security logic includes: second
Signal monitoring circuit, the second signal monitoring circuit are in parallel with first signal monitoring circuit；
The second signal monitoring circuit is used for when monitoring that either switch disconnects, and transmission stops signal to the robot fastly
Each servo-driver, transmission power-off signal to the Power Management Unit and send notification signal to the CPU module.
4. robot control system according to claim 1, which is characterized in that further include: communication unit, the communication are single
Member is connect with the CPU module and the Power Management Unit respectively, ANYBUS switching chip built in the communication unit.
5. robot control system according to claim 4, which is characterized in that the communication unit include at least it is following it
One or any combination interface: for connecting the main website interface of the CANopen of welding machine, for connecting servo-driver
EtherCAT main website interface connects for connecting the bus of PLC device from station interface, for connecting the multi computer communication of other robot
Mouthful.
6. robot control system according to claim 5, which is characterized in that the communication unit further includes following one
Or the interface of any combination: RS232 interface, RS485 interface, the Ethernet interface downloaded for program.
7. robot control system according to claim 1, which is characterized in that further include: I/O module, the I/O module point
It is not connect with the CPU module and the Power Management Unit, STM32 chip built in the I/O module.
8. robot control system according to claim 7, which is characterized in that the STM32 chip includes: to realize number
It measures the GPIO interface of input and output and realizes the SPI interface of analog input and output.
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| CN201822271573.4U CN209408506U (en) | 2018-12-29 | 2018-12-29 | A kind of robot control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331619A (en) * | 2020-04-26 | 2020-06-26 | 珠海格力电器股份有限公司 | Safety control device for robot, control method for robot, and robot |
| CN111781891A (en) * | 2020-06-10 | 2020-10-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN112099404A (en) * | 2020-09-10 | 2020-12-18 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
| CN114505845A (en) * | 2022-02-21 | 2022-05-17 | 哈尔滨工业大学（深圳） | Controller system and welding system for multi-mechanical arm cooperative control based on EtherCAT |
-
2018
- 2018-12-29 CN CN201822271573.4U patent/CN209408506U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331619A (en) * | 2020-04-26 | 2020-06-26 | 珠海格力电器股份有限公司 | Safety control device for robot, control method for robot, and robot |
| CN111331619B (en) * | 2020-04-26 | 2023-08-25 | 珠海格力电器股份有限公司 | Safety control device for robot, control method for robot, and robot |
| CN111781891A (en) * | 2020-06-10 | 2020-10-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN111781891B (en) * | 2020-06-10 | 2021-07-16 | 杭州凯尔达机器人科技股份有限公司 | Robot safety logic control system |
| CN112099404A (en) * | 2020-09-10 | 2020-12-18 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
| CN112099404B (en) * | 2020-09-10 | 2021-08-24 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
| CN114505845A (en) * | 2022-02-21 | 2022-05-17 | 哈尔滨工业大学（深圳） | Controller system and welding system for multi-mechanical arm cooperative control based on EtherCAT |
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