CN212825427U - Safety control hardware platform applied to robot control system - Google Patents
Safety control hardware platform applied to robot control system Download PDFInfo
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- CN212825427U CN212825427U CN202021240771.5U CN202021240771U CN212825427U CN 212825427 U CN212825427 U CN 212825427U CN 202021240771 U CN202021240771 U CN 202021240771U CN 212825427 U CN212825427 U CN 212825427U
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Abstract
The utility model provides a be applied to robot control system's safety control hardware platform, this hardware platform includes: the device comprises a double-path redundant input module, a control module, a double-path redundant output module, a control power-on module, a power management module, a common digital quantity input module and a communication module. The dual-path redundant input module is in circuit connection with the control module and used for receiving an external input signal and transmitting the input signal to the control module. The control module circuit is connected with the two-way redundant output module, the two-way redundant output module controls the power-on module to work, and the control circuit controls the power management module to power on or power off the mechanical arm. And the mechanical arm up-down electric signal fed back by the control power-on module is transmitted to the control module through a common digital input module circuit, and then the up-down electric signal is uploaded to the host. The utility model provides a hardware platform passes through the output signal that double-circuit signal output made accurate, and output control safety more, promotes the security and the reliability of work.
Description
Technical Field
The utility model relates to a safety control technical field especially relates to robot safety control, specifically is a be applied to robot control system's safety control hardware platform.
Background
In real life, the application scenes of the robot are more and more extensive, and the shadow of the robot can appear in both industrial production and household life. As the demands on the number and performance of robots increase, the iteration speed of the robots is also increasing continuously. In addition, safety of the robot during production and use is also important. The performance is improved, the safety is also synchronously improved, and the production safety and the use safety are ensured. However, in the industrial production process of the robot, a safety control system is rarely adopted in a field robot control system, mainly due to the reasons of high cost, high technical difficulty and the like. This often leads to signal transmission mistake, instruction execution mistake scheduling problem, causes certain potential safety hazard.
Therefore, those skilled in the art need to provide a set of safety control hardware platform capable of performing signal self-checking, signal feedback, and low signal transmission error rate of the robot control system.
Disclosure of Invention
An object of the utility model is to overcome prior art's not enough, provide a be applied to robot control system's safety control hardware platform. The hardware platform can control the robot to input and output safety signals by adopting signal detection of the double controllers, and can supply power to and discharge power from the mechanical arm by controlling the power-on module and the power management module, so that the safety and the reliability of the robot work are greatly improved.
The utility model provides a be applied to robot control system's safety control hardware platform, this hardware platform includes: the device comprises a double-path redundant input module, a control module, a double-path redundant output module, a control power-on module, a power management module, a common digital quantity input module, a communication module and a host, wherein the double-path redundant input module is in circuit connection with the control module and is used for receiving an external input signal and transmitting the input signal to the control module; the control module comprises a master controller and a slave controller, and the master controller and the slave controller are respectively in circuit connection with the double-path redundant input module and are used for processing input signals and issuing control instructions; the dual-path redundancy output module is in circuit connection with the control module and is used for receiving and sending a control signal to the control power-on module, and the control power-on module controls the power management module to power on or power off the mechanical arm through a circuit; the common digital quantity input module is in circuit connection with the control module and the control power-on module and is used for transmitting an up-and-down electric signal of the mechanical arm to the control module by the control power-on module, and the control module uploads the signal to the host through the communication module.
The utility model discloses an among the embodiment, this hardware platform still includes: the emergency stop control system comprises a temperature sensor, an emergency stop output module and a safety output module, wherein the temperature sensor is connected with the control module and used for detecting the temperature of a mainboard and feeding temperature information back to the control module; the emergency stop output module is connected with the two-way redundant output module and is used for outputting an emergency stop control signal; and the safety output module is connected with the two-way redundant output module and is used for outputting other safety control signals.
The utility model discloses an among the embodiment, main control unit with from receiving respectively from the controller come the redundant input module input signal of double-circuit, and main control unit with from the controller carry out cross check to input signal.
The utility model discloses an among the embodiment, the redundant output module of double-circuit receives simultaneously main control unit with from the control signal of controller, and it is right according to two signals electricity module is controlled on the control.
The utility model discloses an among the embodiment, the redundant input module of double-circuit mainly comprises optoelectronic isolation chip, triode current-limiting circuit and current-limiting chip.
The utility model discloses an among the embodiment, the redundant output module of double-circuit mainly comprises MOSFET pipe, transient state suppression diode and common mode inductance.
The utility model discloses an among the embodiment, the electric module mainly comprises optoelectronic isolation core and power management chip on the control.
The utility model discloses an in the embodiment, communication module includes: the first communicator is connected with the host computer and the main controller through an SPI bus and is used for uploading input signals, output signals and temperature detection signals to the host computer; and the second communicator is connected with the host machine and the main controller through an SPI bus and is used for feeding back a power-on signal of the mechanical arm and issuing an instruction signal.
The utility model discloses an among the embodiment, power management module is power manager, external power supply to for the arm power supply.
According to the above embodiment, the utility model provides a be applied to robot control system's safety control hardware platform has following benefit: the hardware platform carries out cross check on input signals by adopting a dual-controller signal detection mode, judges whether system line communication is normal or not, and improves the accuracy of signal transmission. In addition, the control signal is output in a double-path mode, so that the control effect to be achieved is more accurate, and the hardware platform controls the power-on module and the power management module to power on and power off the mechanical arm, so that the safety and the reliability of the robot work are greatly improved. In addition, the hardware platform can feed back the control signal and the input and output signal in time and present the control signal and the input and output signal on the host.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the invention, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is the utility model provides a be applied to robot control system's safety control hardware platform's circuit connection sketch.
Fig. 2 is a detailed circuit connection diagram of a safety control hardware platform applied to a robot control system.
Description of reference numerals:
the system comprises a 1-double-path redundant input module, a 2-control module, a 3-double-path redundant output module, a 4-control power-on module, a 5-power management module, a 6-common digital input module, a 7-communication module, an 8-host, a 9-main controller, a 10-slave controller, an 11-mechanical arm, a 12-temperature sensor, a 13-emergency stop output module, a 14-safety output module, a 15-first communicator and a 16-second communicator.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, which should not be considered limiting of the invention, but rather should be understood to be a more detailed description of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
Fig. 1 shows a schematic circuit connection diagram of a safety control hardware platform applied to a robot control system according to the present invention. In the embodiment shown in the figure, the hardware platform comprises: the device comprises a double-path redundant input module 1, a control module 2, a double-path redundant output module 3, a control power-on module 4, a power management module 5, a common digital quantity input module 6, a communication module 7 and a host 8. The dual-path redundant input module 1 is used for receiving an input signal with a diagnostic pulse outside, and the dual-path redundant input module 1 is in circuit connection with the control module 2 and transmits the input signal to the control module 2 for further processing and judging the signal. As shown in fig. 2, the control module 2 in this embodiment includes a master controller 9 and a slave controller 10. The main controller 9 and the sub-controller 10 are respectively in circuit connection with the double-path redundant input module 1, simultaneously receive input signals from the double-path redundant input module 1, judge and process the signals, and then issue control instructions according to the input signals. In this embodiment, the master controller 9 and the slave controller 10 respectively receive input signals from the dual-path redundant input module 1, and the master controller 9 and the slave controller 10 perform cross check on the input signals to determine the accuracy of the signals. If the signals are consistent, the circuit of the dual-path redundant input module 1 is proved to have no fault, and the master controller 9 and the slave controller 10 output control signals. If the input signals are not consistent, the master controller 9 and the slave controller 10 will automatically report an error.
The dual-path redundant output module 3 is electrically connected with the control module 2 and is used for receiving and sending a control signal to the control power-on module 4. The dual-path redundancy output module 3 receives the control signals of the master controller 9 and the slave controller 10 at the same time, and controls the power-on control module 4 according to the two signals, namely, the power-on control module 4 only works when receiving the two control signals, thereby improving the safety of the system. Wherein the master controller 9 sends a control signal with a diagnostic pulse signal and the slave controller 10 sends an active control signal. After the control power-on module 4 receives the two control signals from the dual-path redundancy output module 3, the control power-on module 4 controls the power-on module 4 to power on or power off the mechanical arm 11 through the circuit control power management module 5.
And the common digital quantity input module 6 is in circuit connection with the control module 2 and the control power-on module 4. The utility model discloses an among the embodiment, ordinary digital input module 6 is used for electric module 4 for the control with the arm about the signal transmission of telecommunication for control module 2, control module 2 passes through communication module 7 with the signal upload to host computer 8. In addition, the host 8 can issue a power-on command to the control module 2 through the communication module 7, and the control module 2 can issue a control command to the dual-path redundant output module 3, so as to control the power-on module 4 to work.
As shown in fig. 2, in a specific embodiment of the present invention, the hardware platform further includes: a temperature sensor 12, an emergency stop output module 13 and a safety output module 14. Wherein the content of the first and second substances,
the temperature sensor 12 is connected to the control module 2, and the temperature sensor 12 is used for detecting the temperature of the motherboard and feeding back the temperature information to the control module 2. The control module 2 uploads the temperature information to the host computer 8 through the communication module 7.
The emergency stop output module 13 is connected with the two-way redundant output module 3, and the emergency stop output module 13 is used for outputting emergency stop control signals to realize emergency stop of the mechanical arm. The safety output module 14 is connected with the dual-path redundant output module 3, and the safety output module 14 is used for outputting other safety control signals.
The utility model discloses an among the embodiment, redundant input module 1 of double-circuit mainly comprises optoelectronic isolation chip, triode current-limiting circuit and current-limiting chip, still includes some resistance and capacitive element in addition. Preferably, the photoelectric isolation chip is TLP291, and the current limiting chip is CLT3-4BT 6. In a specific embodiment, the master controller 9 sends a diagnostic pulse signal to a photoelectric isolation chip of the dual-path redundant input module 1, then the diagnostic pulse signal passes through a triode current limiting circuit to a safety signal input interface, and then the diagnostic pulse signal is connected to the current limiting chip CLT3-4BT6 and the photoelectric isolation chip TLP291 through a contactless device such as an external emergency stop switch, and then the diagnostic pulse signal is simultaneously transmitted to the master controller 9 and the slave controller 10. The master controller 9 and the slave controller 10 judge whether the line is faulty or not by comparing whether the interval time of the captured diagnosis pulse is within the valid range or not. If one of the controllers fails to capture the diagnostic pulse signal, indicating that one of the lines is faulty, the safety system immediately stops the safety output and enters a safety protection state.
The dual-path redundant output module 3 mainly comprises a MOSFET, a transient suppression diode and a common-mode inductor, and additionally comprises some resistance and capacitance elements. The MOSFET adopts transistors with models of TPS1H200A-Q1 and SI7469 DP-T1-E3.
The control power-on module 4 mainly comprises a photoelectric isolation chip and a power management chip.
The utility model discloses an among the concrete implementation, communication module 7 includes: a first communicator 15 and a second communicator 16. Wherein, first communicator 15 passes through SPI bus connection host computer 8 and main control unit 9 and connects, and first communicator 15 is used for uploading input signal, output signal and temperature detect signal to host computer 8. The input signals comprise a control cabinet emergency stop signal, a demonstrator manual-automatic mode selection signal, a demonstrator three-position enabling signal, a user-connectable grating and other external active signals. In addition, the dual redundant output module 3 will also transmit the output signal to the main controller 9, and then upload the output signal to the host 8 through the first communicator 15. Preferably, the first communicator 15 is an EtherCAT communicator.
The second communicator 16 is connected with the main controller 9 through the SPI bus connection host 8, and the second communicator 16 is used for feeding back a power-on signal of the mechanical arm and issuing an instruction signal. The power management module 5 feeds back normal up-down electric signals to the control power-on module 4 when powering on the mechanical arm 11, the control power-on module 4 sends out up-down electric feedback signals, the up-down electric feedback signals are transmitted to the main controller 9 and the slave controller 10 through the common digital quantity input module 6, and then the main controller 9 uploads the up-down electric feedback signals to the host computer 8 through the second communicator 16. Preferably, the second communicator 16 is an RS232 communicator.
The utility model discloses an among the embodiment, power management module 5 is the power manager, and its control signal who goes up power module 4 in the receipt control, and external power supply, for the arm power supply.
The utility model discloses in, external input signal passes through the redundant input module of double-circuit 1 and gets into, and the redundant input module of double-circuit transmits input signal for main control unit 9 respectively and from controller 10, and main control unit 9 inspects input signal respectively with from controller 10, then carries out the cross check-up. And when the verification is unqualified, the system reports errors. When the two input signals are consistent as a result of the check, the master controller 9 and the slave controller 10 simultaneously output control signals to the dual-path redundant output module 3, and the dual-path redundant output module 3 further transmits the control signals of the master controller 9 and the slave controller 10 to the control power-on module 4. And when detecting that the two control signals are missing, controlling the power-on module 4 not to perform the next control operation. The control power-on module 4 will perform the control operation when it detects two control signals. The power-on module 4 is controlled to control the power-on or power-off operation of the power management module 5, and the power management module 5 controls the mechanical arm 11 to carry out the power-on or power-off operation according to the control signal. Meanwhile, when the power management module 5 powers on the mechanical arm 11, a normal up-down electric signal is fed back to the control power-on module 4, the control power-on module 4 sends out an up-down electric feedback signal, the up-down electric feedback signal is transmitted to the main controller 9 and the slave controller 10 through the common digital input module 6, and then the main controller 9 uploads the up-down electric feedback signal to the host 8 through the second communicator 16. In addition, the main controller 9 uploads the input signal, the output signal of the dual redundant output module 3 and the temperature signal to the host 8 through the first communicator 15.
The foregoing is only an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the protection scope of the present invention.
Claims (9)
1. A safety control hardware platform for use in a robotic control system, the hardware platform comprising: a double-path redundant input module (1), a control module (2), a double-path redundant output module (3), a control power-on module (4), a power management module (5), a common digital quantity input module (6), a communication module (7) and a host (8), wherein,
the dual-path redundant input module (1) is in circuit connection with the control module (2) and is used for receiving an external input signal and transmitting the input signal to the control module (2);
the control module (2) comprises a master controller (9) and a slave controller (10), wherein the master controller (9) and the slave controller (10) are respectively in circuit connection with the two-way redundant input module (1) and used for processing input signals and issuing control instructions;
the dual-path redundant output module (3) is in circuit connection with the control module (2) and is used for receiving and sending a control signal to the control power-on module (4), and the control power-on module (4) controls the power management module (5) to power on or power off the mechanical arm (11) through a circuit;
the common digital quantity input module (6) is in circuit connection with the control module (2) and the control power-on module (4) and is used for transmitting an up-and-down electric signal of the mechanical arm to the control module (2) through the control power-on module (4), and the control module (2) uploads the signal to the host (8) through the communication module (7).
2. A safety control hardware platform for use in a robotic control system as claimed in claim 1, wherein the hardware platform further comprises: a temperature sensor (12), an emergency stop output module (13) and a safety output module (14), wherein,
the temperature sensor (12) is connected with the control module (2) and is used for detecting the temperature of the mainboard and feeding back temperature information to the control module (2);
the emergency stop output module (13) is connected with the two-way redundant output module (3) and is used for outputting an emergency stop control signal; and
the safety output module (14) is connected with the two-way redundant output module (3) and is used for outputting a safety control signal.
3. A safety control hardware platform for application in a robot control system according to claim 1, characterized in that the master controller (9) and the slave controller (10) receive input signals from the two-way redundant input module (1), respectively, and the master controller (9) and the slave controller (10) cross-check the input signals.
4. The safety control hardware platform applied to the robot control system according to claim 1, wherein the dual-path redundancy output module (3) receives control signals of the master controller (9) and the slave controller (10) at the same time, and controls the control power-on module (4) according to the two signals.
5. The safety control hardware platform applied to the robot control system according to claim 1, wherein the dual-path redundant input module (1) mainly comprises a photoelectric isolation chip, a triode current limiting circuit and a current limiting chip.
6. Safety control hardware platform applied to robot control system according to claim 1, characterized by that, the dual redundant output module (3) is mainly composed of MOSFET tube, transient suppression diode and common mode inductance.
7. The safety control hardware platform applied to the robot control system according to claim 1, wherein the control power-on module (4) mainly comprises a photoelectric isolation core and a power management chip.
8. The safety control hardware platform applied to robot control system according to claim 2, wherein the communication module (7) comprises: a first communicator (15) and a second communicator (16), wherein,
the first communicator (15) is connected with the host (8) and the main controller (9) through an SPI bus and is used for uploading input signals, output signals and temperature detection signals to the host (8); and
the second communicator (16) is connected with the host (8) and the main controller (9) through an SPI bus and used for feeding back power-on signals of the mechanical arm and issuing command signals.
9. The safety control hardware platform applied to the robot control system according to claim 1, wherein the power management module (5) is a power manager, is externally connected with a power supply, and supplies power to the mechanical arm.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618744A (en) * | 2021-08-27 | 2021-11-09 | 库卡机器人(广东)有限公司 | Robot safety control method and device, electronic equipment and readable storage medium |
| CN114115055A (en) * | 2021-11-30 | 2022-03-01 | 重庆川仪自动化股份有限公司 | Redundant control system and method for complying with functional safety of electric actuating mechanism |
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2020
- 2020-06-30 CN CN202021240771.5U patent/CN212825427U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618744A (en) * | 2021-08-27 | 2021-11-09 | 库卡机器人(广东)有限公司 | Robot safety control method and device, electronic equipment and readable storage medium |
| CN114115055A (en) * | 2021-11-30 | 2022-03-01 | 重庆川仪自动化股份有限公司 | Redundant control system and method for complying with functional safety of electric actuating mechanism |
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