CN212795026U - Safety control device and industrial robot control system - Google Patents
Safety control device and industrial robot control system Download PDFInfo
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- CN212795026U CN212795026U CN202021847679.5U CN202021847679U CN212795026U CN 212795026 U CN212795026 U CN 212795026U CN 202021847679 U CN202021847679 U CN 202021847679U CN 212795026 U CN212795026 U CN 212795026U
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Abstract
The utility model provides a safety control device and industrial robot control system, it sets up on the industrial robot body, include: an energy storage power supply, an alarm and a receiver; one end of the energy storage power supply is connected with one end of a fault protection circuit breaker in the industrial robot body, and the other end of the fault protection circuit breaker is connected with the other end of the energy storage power supply through an alarm, so that when the fault protection circuit breaker detects that a fault exists in the industrial robot body, the fault protection circuit breaker is switched from an open state to a closed state, and the alarm sends an alarm signal; the two ends of the energy storage power supply are also connected with two power supply input ends of the receiver, supply power to the receiver and are used for receiving the movement control instruction sent by the remote sensing equipment; the output end of the receiver is connected with the first wheel motor, and the industrial robot is controlled to move to a preset position according to the movement control instruction. The application can realize that the industrial robot automatically returns to a safe position when a fault occurs, and a technician is not required to enter a dangerous industrial field.
Description
Technical Field
The utility model relates to an industrial robot field especially relates to safety control device and industrial robot control system.
Background
In order to reduce the load weight of a robot body, a traditional welding robot is generally divided into a robot, a relay cable and a control cabinet. Due to the flexibility, the relay cable connecting the robot and the control cabinet is often very long, so that the range of the robot which can move is longer, the length of the relay cable is often as long as five meters to fifty meters on the actual industrial manufacturing site, and the robot can be manually controlled (through the control cabinet or remote sensing equipment) in the longer range. When important faults (overhigh temperature of a part, power loss and the like) occur to the robot body, the robot body can be generally transmitted to the control cabinet through the relay cable to send out an alarm.
In an actual industrial manufacturing site, when a relay cable is damaged, the cable is too long, external electromagnetic interference and other factors cause transmission signal attenuation, the electric control cabinet cannot receive an alarm signal, and a related action instruction is sent. Meanwhile, in practical applications, when the robot is possibly in a dangerous area or an area where a technician cannot enter or reach due to the limitation of a working environment, the robot needs to automatically return to a safe position for inspection.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a safety control device and control system to the not enough among the above-mentioned prior art to solve because of the trunk cable damages, cable overlength or outside electromagnetic interference lead to the unable technical problem who transmits to automatically controlled cabinet of alarm signal, the simultaneous control robot gets back to the safe position by oneself and inspects after breaking down.
In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present application provides a safety control device, where the safety control device is disposed on an industrial robot body, and a safety control module includes: an energy storage power supply, an alarm and a receiver;
one end of the energy storage power supply is connected with one end of a fault protection circuit breaker in the industrial robot body, and the other end of the fault protection circuit breaker is connected with the other end of the energy storage power supply through the alarm, so that when the fault protection circuit breaker detects that the industrial robot body has a fault, the fault protection circuit breaker is switched from a disconnected state to a closed state, a power supply path between the energy storage power supply and the alarm is conducted, and the alarm sends an alarm signal;
the two ends of the energy storage power supply are also respectively connected with two power supply input ends of the receiver to supply power to the receiver, so that the receiver receives a mobile control instruction sent by remote sensing equipment under the condition that the alarm sends an alarm signal;
the output end of the receiver is further connected with a first wheel motor of the industrial robot body, so that the industrial robot is controlled to move to a preset position according to the movement control instruction.
Optionally, the safety control device further comprises a mechanical delay device, the other end of the fault protection circuit breaker is connected with one end of the mechanical delay switch, and the other end of the mechanical delay switch is connected with the other end of the energy storage power supply through the alarm.
Optionally, the fault protection circuit breaker comprises an over-temperature protection circuit breaker and an under-voltage protection circuit breaker; one end of the overheating protection circuit breaker and one end of the undervoltage protection circuit breaker after being connected in parallel are connected with one end of the energy storage power supply, and the other end of the overheating protection circuit breaker and the other end of the undervoltage protection circuit breaker after being connected in parallel are connected with one end of the mechanical delay switch.
Optionally, the other end of the parallel connection is connected with one end of a power switch of the industrial robot body, and the other end of the power switch of the industrial robot body is connected with the other end of the energy storage power supply through the alarm;
the two ends of the power switch are respectively connected with the power supply output end of the electric control cabinet corresponding to the industrial robot, so that the power switch is in a closed state when the industrial robot body supplies power and is in an open state when the power switch is off.
Optionally, the alarm is an audible and visual alarm.
Optionally, the energy storage power source is a lithium battery.
In a second aspect, the embodiment of the application also provides an industrial robot control system, which comprises a safety control device and an industrial robot body; the safety control device is the safety control device according to the first aspect;
the energy storage power supply in the safety control device is connected with the alarm device: a fault protection circuit breaker in the industrial robot body;
the receiver in the safety control device is also connected to a first wheel motor in the industrial robot body.
Optionally, the industrial robot control system further comprises: an electric control cabinet;
and the power supply output end of the electric control cabinet is connected with a second wheel motor of the industrial robot body.
Optionally, the control output end of the electric control cabinet is further connected with the control end of the industrial robot body through a relay cable.
Optionally, the industrial robot body is a welding robot.
The beneficial effect of this application is: through the safety control device who sets up on industrial robot body, when making the unable industrial robot's of transmission abnormal signal of relay cable, because be connected with the fault protection circuit breaker of industrial robot body between energy storage power supply and the alarm among the safety control device, can make the fault protection circuit breaker detect when industrial robot body has the trouble, switch over to the closure state from the off-state, make the power supply route between energy storage power supply and the alarm switch on, make the alarm send alarm signal, so alright make technical staff after finding alarm signal, accessible remote sensing equipment sends the movement control instruction to the receiver among this safety control device, make the receiver rotate according to the first wheel motor of movement control instruction control industrial robot body, thereby control industrial robot removes to preset the position. To sum up, the utility model provides a set up the safety control device at industrial robot body, not only solved because the problem that the relay cable damaged, cable overlength or outside electromagnetic interference lead to the unable unusual signal transmission of industrial robot for automatically controlled cabinet of relay cable, still accessible adopt remote sensing equipment control industrial robot to remove for when industrial robot is in comparatively complicated or the industrial field that the people is difficult to reach, industrial robot can independently get back to safe position, the inspection and the maintenance of the robot of being convenient for.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a safety control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a safety control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a safety control device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a safety control device according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of an industrial robot control system provided by an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of an industrial robot control system provided by an embodiment of the present invention.
Reference numerals:
10-an energy storage power supply; 11-an alarm; 12-a receiver; 13-mechanical time delay switch;
100-an industrial robot body; 101-fault protection circuit breaker; 101 a-overheat protection breaker; 101 b-undervoltage protection circuit breaker; 102-a power switch;
200-a safety control device; 300-electric control cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, "connected" and/or "connected" should be understood as "electrically connected", "communicatively connected", and the like, if the circuits, modules, units, and the like, which are connected and/or "connected" have electrical signals or data transmission therebetween.
The embodiment of the application provides a safety control device, solve among the prior art because the problem that the trunk cable can't give industrial robot's abnormal signal transmission to automatically controlled cabinet is led to trunk cable damage, cable overlength or outside electromagnetic interference, guarantee simultaneously that industrial robot can independently get back to preset the position.
The following detailed description of the present disclosure will be made in conjunction with several embodiments.
Fig. 1 shows a schematic structural diagram of a safety control device provided by an embodiment of the present invention, as shown in fig. 1, the safety control device disposed on an industrial robot body includes: an energy storage power supply 10, an alarm 11 and a receiver 12;
energy storage power supply 10's one end is connected this internal fault protection circuit breaker 101 of industrial robot's one end, and energy storage power supply 10's the other end is connected through alarm 11 to fault protection circuit breaker 101's the other end, and when fault protection circuit breaker 101 detected industrial robot body to have a trouble, switch over from the off-state to the on-state, make the power supply route between energy storage power supply 10 and the alarm 11 switch on to make alarm 11 send alarm signal.
The two ends of the energy storage power supply 10 are also respectively connected with two power supply input ends of the receiver 12 to supply power to the receiver 12, so that the receiver 12 receives the mobile control instruction sent by the remote sensing device under the condition that the alarm 11 sends out an alarm signal.
The output end of the receiver 12 is also connected with a first wheel motor M1 of the industrial robot body, and the industrial robot is controlled to move to a preset position according to the movement control instruction.
In the safety control device provided in this embodiment, the energy storage power source 10 may be, for example, a lithium battery, and certainly, may also be other types of batteries, which may be a rechargeable battery or a non-rechargeable battery, and the application is not limited thereto.
Optionally, the alarm 11 may be an audible and visual alarm, and if the alarm is an audible and visual alarm, the alarm signal sent by the audible and visual alarm is an audible and visual alarm signal. Of course, other types of alarm devices may be used to output other types of alarm signals, and an audible and visual alarm device is only one possible example, and the embodiment of the present application is not limited thereto.
Alternatively, the receiver 12 may be a wireless receiver, a signal receiver matched to a transmitter in the remote sensing device. In a possible implementation manner, the first wheel motor M1 may be, for example, at least one wheel motor on the body of the industrial robot, and the first wheel motor M1 of the industrial robot is connected through the output end of the receiver 12, so that when the receiver 12 receives the movement control signaling, the first wheel motor M1 is driven based on the movement control signaling, so that the first wheel motor M1 drives the corresponding wheel to move, so that the industrial robot moves to the preset position.
The safety control device provided by the embodiment of the utility model has the advantages that the fault protection circuit breaker in the industrial robot body is connected between the energy storage power supply and the alarm, so that when the fault protection circuit breaker detects that the industrial robot body has a fault, the fault protection circuit breaker is switched from a cut-off state to a closed state, a power supply path between the energy storage power supply and the alarm is conducted, and the alarm sends alarm information; connect the receiver in the first wheel motor of industrial robot body for the technical staff sends the movement control instruction to the receiver through remote sensing equipment after finding alarm signal, and the receiver rotates according to the first wheel motor of movement control instruction control industrial robot body, thereby makes industrial robot remove to predetermineeing the position.
Therefore, safety control device, the accessible is connected with the fault protection circuit breaker in the industrial robot body between energy storage power and alarm, utilize the alarm to send out the alarm signal of industrial robot trouble, the problem of the relay cable that leads to because of the relay cable damages among the prior art, cable overlength or outside electromagnetic interference can't give industry and hot abnormal signal transmission for automatically controlled cabinet, receive the mobility control instruction with remote communication's mode through the receiver, make when industrial robot is in comparatively complicated or the industrial field that the people is difficult to reach, industrial robot accessible mobility control instruction independently returns preset position and accepts inspection and maintenance.
On the basis of the safety control device that above-mentioned embodiment provided, the utility model discloses still provide a possible implementation. Fig. 2 shows a schematic structural diagram of a safety control device provided in an embodiment of the present invention, as shown in fig. 2, the safety control device further includes, on the basis of the device shown in fig. 1: and the other end of the fault protection circuit breaker 101 is connected with one end of the mechanical delay switch 13, and the other end of the mechanical delay switch 13 is connected with the other end of the energy storage power supply 10 through the alarm 11.
A mechanical delay switch 13 is arranged between the fault protection circuit breaker 101 and an alarm 11, when the fault protection circuit breaker 101 is detected to be in a fault state, the fault protection circuit breaker 101 is switched to be in a closed state from a cut-off state, and when the fault protection circuit breaker 13 is detected to be in a state that the industrial robot does not complete related safety actions within a specified time, the mechanical delay switch 13 is switched to be in the closed state from the cut-off state after a preset delay is reached, and the mechanical delay switch is not directly switched to be in the closed state from. Therefore, only after the mechanical delay switch 13 is closed, the power supply path between the energy storage power supply 10 and the alarm 11 is conducted, and the alarm 11 generates an alarm signal.
By adding the mechanical delay switch, the fault protection circuit breaker 101 can be prevented from misjudging that the industrial robot has a fault, and the reliability of the safety control device is improved.
In other possible implementations, the present invention exemplifies the safety control device in connection with possible examples of the fault protection circuit breaker 101. Fig. 3 shows a schematic structural diagram of a safety control device according to an embodiment of the present invention. As shown in fig. 3, in the safety control device as described above, the fault protection breaker 101 includes an overheat protection breaker 101a and an undervoltage protection breaker 101 b. The overheat protection circuit breaker 101a is used for switching from an open state to a closed state when detecting that an internal part of the industrial robot body is overheated, and the undervoltage protection circuit breaker 101b is used for switching from an open state to a closed state when detecting that the industrial robot body is undervoltage.
In an alternative embodiment of the safety control device, the overheating protection circuit breaker 101a and the undervoltage protection circuit breaker 101b are connected in parallel, one end of the parallel connection is connected to one end of the energy storage power supply 10, and the other end of the parallel connection is connected to one end of the mechanical delay switch 13.
This internal fault short circuit protector who sets up two different grade types of industrial robot can detect the trouble of the different grade type that industrial robot probably appears in the course of the work respectively, and in other possible implementation, this internal condition that can detect the trouble as required of industrial robot sets up the fault protection circuit breaker of different grade type, and this application is not to this restriction.
The utility model provides an among the safety control device, after the overheat protection circuit breaker that fault protection circuit breaker includes and undervoltage protection circuit breaker parallelly connected, connect between energy storage power and mechanical time delay switch, can make in overheat protection circuit breaker and the undervoltage protection circuit breaker at least one circuit breaker detect the trouble, switch into after the closed condition from the off-state, alright realize that the power supply route between energy storage power and the alarm just can switch on, so that alarm signal takes place for the alarm, so, alright make, safety control device no matter detects overheat fault at overheat protection circuit breaker, still after undervoltage protection circuit breaker detects undervoltage fault, all trigger control alarm and send alarm signal, be convenient for remote control equipment carries out the remote control and removes it to predetermineeing the position, make things convenient for industrial robot's breakdown maintenance.
Fig. 4 shows a schematic structural diagram of a safety control device according to an embodiment of the present invention. On the basis of the safety control device shown in fig. 3, the power switch 102 in the industrial robot body is connected between the fault protection circuit breaker 101 and the mechanical delay switch 13, specifically: the other end of the overheating protection circuit breaker 101a and the undervoltage protection circuit breaker 101b connected in parallel is connected with one end of a power switch 102 of the industrial robot body, and the other end of the power switch 102 of the industrial robot body is connected with one end of a mechanical delay switch 13.
Wherein, switch 102's both ends still are connected respectively at the power supply output end of the automatically controlled cabinet that industrial robot corresponds to when industrial robot body supplies power, be in the closure state, be in the off-state when the outage.
In the safety control device provided by this embodiment, the power switch 102 of the industrial robot body is connected between the fault protection circuit breaker 101 and the mechanical delay switch 13, so that when the fault protection circuit breaker 101 detects that the industrial robot breaks down, the fault protection circuit breaker 101 turns to the closed state from the open state, and, when it is ensured that the power supply of the control cabinet is not artificially disconnected, after a period of time delay, the mechanical delay switch 13 is closed, so that the power supply path between the energy storage power supply 10 and the alarm 11 is switched on, and the alarm 11 sends out an alarm signal. Like this, when the artificial switch board power that breaks makes industrial robot body under-voltage fault appear and lead to under-voltage protection circuit breaker 101b to close, this safety control device can not send alarm signal.
Through inciting somebody to action the utility model discloses safety control device is connected with the switch of industrial robot body, can prevent that the manual work from breaking when falling the switch board power, and fault protection circuit breaker erroneous judgement industrial robot breaks down, avoids this safety control device wrong report alert, improves this safety control device's reliability.
The embodiment of the utility model provides a still provide an industrial robot control system, including above-mentioned safety control device 200 and industrial robot body 100, it is right to combine fig. 5 below the utility model provides an industrial robot control system explains. Fig. 5 shows a schematic structural diagram of an industrial robot control system provided by an embodiment of the present invention. As shown in fig. 5, the industrial robot control system includes:
a safety control device 200 and an industrial robot body 100; the safety control device 200 is any one of the safety control devices described above with reference to fig. 1-4;
the energy storage power supply 10 and the alarm 11 in the safety control device 200 are connected with each other: a fault protection circuit breaker 101 in the industrial robot body 100;
the receiver 12 in the safety control device 200 is also connected to a first wheel motor M1 in the industrial robot body 100.
Specifically, the utility model discloses industrial robot control system's relation of connection is: the one end of energy storage power supply 10 is connected the one end of the fault protection circuit breaker 101 of industrial robot body 100, and the other end passes through the other end that alarm 11 connects energy storage power supply 10, and the both ends of energy storage power supply 10 are connected to two power input ends of receiver 12, supply power for receiver 12 through energy storage power supply 10, and the first wheel motor M1 of industrial robot body 100 is connected to the output of receiver 12.
The embodiment of the utility model provides an industrial robot control system, when detecting that industrial robot body 100 breaks down through fault protection circuit breaker 101, fault protection circuit breaker 101 changes from the off-state to the closed state, makes the power supply path between energy storage power supply 10 and alarm 11 in the safety control device switch on, and alarm 11 sends alarm signal; after finding the alarm signal, the technician sends a movement control command to the receiver 12 in the safety control device through the remote sensing device, and the receiver 12 controls the first wheel motor M1 of the industrial robot body 100 to rotate according to the received movement control command, so that the industrial robot moves to the preset position.
Alternatively, the industrial robot control system as shown above may further include: an electric control cabinet 300;
the power supply output end of the electric control cabinet 300 is connected with a second wheel motor M2 of the industrial robot body.
Optionally, the control output end of the electric control cabinet 300 is further connected to the control end of the industrial robot body 100 through a relay cable.
Fig. 6 shows a schematic structural diagram of an industrial robot control system provided by an embodiment of the present invention. As shown in fig. 6, the industrial robot body 100 further includes a second wheel motor M2, a power supply output end of the electric control cabinet is connected to the second wheel motor M2 of the industrial robot body 100 through a junction cable, and a control output end of the electric control cabinet is connected to a control end of the industrial robot body 100 through a junction cable.
The utility model discloses industrial robot control system's theory of operation does:
when the industrial robot works normally, the electric control cabinet 300 supplies power to the second wheel motor M2 through the relay cable, and simultaneously outputs a control signal to the industrial robot body 100, and the industrial robot body 100 controls the second wheel motor M2 to rotate according to the control signal and moves to a specified position.
When detecting that the industrial robot body 100 has a fault, the fault protection circuit breaker 101 is switched from an open state to a closed state, so that a power supply path between the energy storage power supply 10 and the alarm 11 is switched on, and the alarm 11 sends an alarm signal. After receiving the alarm signal, the technician sends a movement control instruction through the remote sensing device, and after receiving the movement control instruction, the receiver 12 controls the first wheel motor M1 to rotate, so that the industrial robot moves to a preset position.
In other example implementations, the industrial robot body 100 as shown in any of the above may be a welding robot, or a robot in other industrial environments.
Because the operation environment of the welding robot is complex, when the relay cable can not transmit the fault signal of the industrial robot to the electric control cabinet due to damage, external electromagnetic interference and the like, the safety control device arranged on the body of the industrial robot can transmit the fault signal to a technician through the audible and visual alarm, the technician sends a movement control command through the remote sensing equipment, and the receiver controls the first wheel motor to rotate according to the movement control command to enable the welding robot to return to the preset position, thereby not only solving the problem that the relay cable can not transmit the fault signal of the welding robot to the electric control cabinet due to damage of the relay cable, overlong cable or external electromagnetic interference, but also controlling the welding robot to move by adopting the remote sensing equipment to enable the welding robot to be in a complex industrial field or a field which is difficult to reach by people, the welding robot can autonomously return to a safe position without the need for a technician to enter a hazardous operating environment.
The above description is only a preferred embodiment 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 protection scope of the present invention.
Claims (10)
1. A safety control device, characterized in that the safety control device is provided on an industrial robot body, the safety control device comprising: an energy storage power supply, an alarm and a receiver;
one end of the energy storage power supply is connected with one end of a fault protection circuit breaker in the industrial robot body, and the other end of the fault protection circuit breaker is connected with the other end of the energy storage power supply through the alarm, so that when the fault protection circuit breaker detects that the industrial robot body has a fault, the fault protection circuit breaker is switched from a disconnected state to a closed state, a power supply path between the energy storage power supply and the alarm is conducted, and the alarm sends an alarm signal;
the two ends of the energy storage power supply are also respectively connected with two power supply input ends of the receiver to supply power to the receiver, so that the receiver receives a mobile control instruction sent by remote sensing equipment under the condition that the alarm sends an alarm signal;
the output end of the receiver is further connected with a first wheel motor of the industrial robot body, so that the industrial robot is controlled to move to a preset position according to the movement control instruction.
2. The safety control device according to claim 1, characterized by further comprising: and the other end of the fault protection circuit breaker is connected with one end of the mechanical delay switch, and the other end of the mechanical delay switch is connected with the other end of the energy storage power supply through the alarm.
3. The safety control device of claim 2, wherein the fault protection circuit breaker comprises: over-temperature and under-voltage protection circuit breakers;
one end of the overheating protection circuit breaker and one end of the undervoltage protection circuit breaker after being connected in parallel are connected with one end of the energy storage power supply, and the other end of the overheating protection circuit breaker and the other end of the undervoltage protection circuit breaker after being connected in parallel are connected with one end of the mechanical delay switch.
4. The safety control device according to claim 3, wherein the other end of the parallel connection is connected with one end of a power switch of the industrial robot body, and the other end of the power switch of the industrial robot body is connected with the other end of the energy storage power supply through the alarm;
the two ends of the power switch are respectively connected with the power supply output end of the electric control cabinet corresponding to the industrial robot, so that the power switch is in a closed state when the industrial robot body supplies power and is in an open state when the power switch is off.
5. The safety control device according to any one of claims 1 to 4, wherein the alarm is an audible and visual alarm.
6. The safety control device according to any one of claims 1 to 4, wherein the energy storage power source is a lithium battery.
7. An industrial robot control system, characterized by comprising: a safety control device and an industrial robot body; the safety control device is the safety control device of any one of claims 1 to 6;
the energy storage power supply in the safety control device is connected with the alarm device: a fault protection circuit breaker in the industrial robot body;
the receiver in the safety control device is also connected to a first wheel motor in the industrial robot body.
8. An industrial robot control system according to claim 7, characterized in that it further comprises: an electric control cabinet;
and the power supply output end of the electric control cabinet is connected with a second wheel motor of the industrial robot body.
9. An industrial robot control system according to claim 8, characterized in that the control output of the electric control cabinet is further connected to the control end of the industrial robot body by a trunk cable.
10. An industrial robot control system according to claim 7, characterized in that the industrial robot body is a welding robot.
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| CN202021847679.5U CN212795026U (en) | 2020-08-28 | 2020-08-28 | Safety control device and industrial robot control system |
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| CN202021847679.5U CN212795026U (en) | 2020-08-28 | 2020-08-28 | Safety control device and industrial robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115657450A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Safety control system, circuit and method of industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115657450A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Safety control system, circuit and method of industrial robot |
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