TW202146195A - Safety system and method for teaching a robot - Google Patents

Abstract

The invention is to disclose a safety system and method for teaching a robot, which configures suitable safety system by presetting corresponding safety module and safety function for each operation mode. When a mode switch device switches among the operation modes of the robot, the safety system starts corresponding safety module and safety function for the chosen operation mode to ensure special safety module and safety function for each operation mode.

Description

Safety system and method for teaching robots

The present invention relates to a safety system and method for a robot, in particular to a safety system and method for protecting the robot from teaching the robot to a user when the robot switches between automatic and hand-pulling or non-hand-pulling modes.

With the vigorous development of robot technology, the use of robots in factories can help operators to quickly carry out processing, assembly and manufacturing operations and improve factory production efficiency, but the normal operation of robots will seriously affect the safety of operators. safety standards and specifications to maintain the operational safety of robots.

Please refer to FIG. 5 , in order to teach the robot 1 to work in the prior art, a hand-pull button 2 is set at the end of the robot 1. The hand-pull button is usually designed to be pressed to run (Hold to Run). Connectivity or communication to Robot 1 Controller 3. When the teaching pendant 4 sets the robot 1 to be in the teaching mode, when the user presses the hand pulling button 2 , a signal is notified to the controller 3 to switch the robot 1 from the stationary state to the hand guiding mode (Hand Guiding). There are various methods for the hand-pull mode in the prior art. For example, through the calculation and compensation of the encoders of the actuators and the motor current sensors in each of the toggles 5 of the robot 1, the force applied to each joint or the hand-pull of the end can be obtained. Apply force to control the robot 1 to move in compliance with the hand pull. Teach the robot 1 to work by pulling the robot 1 to the point recording position, or pulling the recording path by hand. And when the hand pull button 2 is released, the robot 1 switches out of the hand pull mode and returns to the static state. stop state.

In order to meet the requirements of the safety standard specification ISO 10218-1, the teaching pendant 4 of the aforementioned prior art robot 1 is equipped with an enabling device (Enable Device) in the teaching mode to protect the collaborating users. The enabling device 6 is usually located on the teach pendant 4, which is a 3 Position Enabling Switch. Its structure is designed with three pressing stages, fully releasing, neutral, and pressing, of which only the neutral position can enable the robot 1 Carry out the teaching behavior, when fully released or pressed, the electrical or communication is transmitted to the controller 3, and the safety system 7 starts to interrupt the teaching behavior, so that the robot 1 stops moving, and monitors it through "Stand Still Monitoring" (Stand Still Monitoring) The robot 1 does not act rashly when the actuator is still powered. If the monitoring finds that the robot moves, the safety system 7 will cut off the power to the actuator of the robot 1 to protect the safety of the user during the teaching process.

However, in the teaching mode, the robot of the prior art needs to carry out various teaching operations such as hand-pulling, cooperative work, or non-hand-pulling such as jogging, test running, etc., and various teaching tasks have different safety requirements. In addition, there is manual traction in automatic mode, and a single-function safety system is applied to all teaching operations, which can easily cause danger to users. Therefore, there are still problems to be solved urgently in the safety system and method of hand-pulling the robot.

The purpose of the present invention is to provide a safety system for teaching a robot. The mode switching device is used to switch various operation modes of the robot, and cooperate with the enabling device to activate different preset safety modules and safety functions corresponding to each teaching mode, so as to facilitate mode switching.

Another object of the present invention is to provide a safety method for teaching a robot, which utilizes preset safety modules and safety functions corresponding to each operation mode to switch the robot, and constructs a safety system suitable for each operation mode to ensure the safety of users.

Another object of the present invention is to provide a safety method for teaching a robot, which can maintain the dedicated safety module and safety function of the manual mode when various operation modes are switched to the manual mode, so as to improve the safety of the user.

In order to achieve the purpose of the foregoing invention, the present invention teaches a safety system for a robot, a robot with multiple toggle joints, one end is a movable end, an actuator and a position sensor are arranged in each toggle joint, and a controller is connected to control the actuator. and a position sensor, the end of the mobile robot, the enabling device is connected to the controller, the safety module is set in the controller, and is electrically or communicatively connected to the enabling device, according to the switch state of the enabling device, an electrical or The communication signal enables the robot to enter the safe state or cancel the safe state. The safety function unit is set in the controller and is electrically or communicatively connected to the safety module. When the monitored safety function of the robot exceeds the preset limit, the safety function unit will be The safety module makes the robot enter a safe state, and the mode switching device is electrically or communicatively connected to the controller, the safety module and the safety function unit to switch the multiple operation modes of the robot. When the mode switching device switches the robot to each operation mode, the safety mode is enabled. The group and the safety function unit enable the preset safety modules and safety functions corresponding to each operating mode.

The safety module of the present invention is electrically or communicatively connected to the position sensors of each toggle of the robot, and receives signals from the position sensors to monitor the robot. The safety module contains at least one of the following types of safety states. The zero-class safety state is the power-off and shutdown function. When entering the safe state, the power of the actuator is directly turned off. The first-class safety state is the advanced power-off and shutdown function, entering the safe state. When the deceleration command is issued to the controller, after the deceleration movement of the robot is achieved after a fixed time, the power supply of the actuator is turned off. The second type of safety state is the non-power-off stop function. When entering the safe state, the controller is issued a After the deceleration command, after the deceleration movement of the robot is reached after a fixed time, the static monitoring safety function is turned on, and the position sensor is continuously monitored. When the robot is monitored for movement, That is, the power to the actuator is turned off. The safety function unit of the present invention activates at least one or more of the following safety functions: angle limitation of the toggle joint, spatial position limitation of the robot end, force limitation or speed limitation, and the like.

The operation mode switched by the mode switching device of the safety system of the teaching robot of the present invention includes a teaching mode and an automatic mode, and the teaching mode further includes a manual mode, a manual low-speed mode and a manual high-speed mode. The mode switching device is installed on the teaching pendant of the robot, or externally connected by the controller. The mode switching device is a multi-position knob, and the mode is indicated by the position of the knob, or the mode is displayed by a light signal. The mode switching device may also be a pure software key, or a combination of hardware keys, or a combination of software and hardware keys.

The invention teaches the safety method of the robot, presets the safety module and safety function corresponding to each operation mode, the safety module and safety function, whether to enable or not and the limit value are preset according to the requirements of each operation mode of the robot. Switch the mode, check that the switched mode is the teaching mode, such as manual low-speed mode or manual high-speed mode, enter the teaching mode, enable the corresponding safety module and safety function preset in the teaching mode, stop the robot and enter the safe state, enable the device Enable, detect the on state of the enabling device, release the safe state of the robot, and teach the robot operation. Check that the robot completes the job and ends the job, and returns to the switch mode to continue the job if the job is not completed.

When the checking and switching mode of the present invention is the automatic mode, the preset corresponding safety function of the automatic mode is activated, the robot is monitored, and the automatic operation of the robot is carried out. Check that when the switching mode is the hand-pull mode, enter the hand-pull mode, at least keep pressing the enabling device, release the safe state, and enable the hand-pull function. When the present invention switches from the manual slow mode, the manual high speed mode or the automatic mode to the manual mode, the robot records the breakpoints of the running program by itself, and starts the manual mode to preset Set the safety module and safety function first, teach the robot to work by hand, switch back to each operation mode, and continue to run the program from the interruption point.

10: Security System

11: Robots

12: Controller

13: Teach Pendant

14: Security Module

15: Safety functional unit

16: Enable Device

17: Mode switching device

18: Toggle

19: Pedestal

20: end

21: Position Sensor

FIG. 1 is a schematic diagram of the safety system of the teaching robot of the present invention.

FIG. 2 is a schematic diagram of the control function of the safety system of the present invention.

FIG. 3 is a schematic diagram of switching modes by a mode switching device according to the present invention.

FIG. 4 is a flow chart of the safety method of teaching a robot according to the present invention.

FIG. 5 is a schematic diagram of a prior art hand-pulled teaching robot.

Regarding the technical means adopted by the present invention to achieve the above-mentioned objects and their effects, preferred embodiments are given and described below with the accompanying drawings.

In order to meet the requirements of the safety standard specification ISO 10218-1, the robot has the following operating modes (Operation Mode): automatic mode (Auto Mode), manual (or teaching) mode (Manual Mode), and the teaching mode is divided into manual low speed. Mode (Manual Reduced Mode) and Manual High Speed Mode (Manual High Speed Mode), in which the automatic mode is defined as the automatic operation program of the robot, which is used for production automation operations, and the user is the production line operator; the manual or teaching mode is not used for production. Automatic operation is used for programming and testing of robot programs. The user is an automation engineer. The manual low-speed mode is used for point teaching, programming, and low-speed test running, while the manual high-speed mode is only used for program test running. , up to the test run at full speed in the program, similar in function to the automatic mode but with additional safety device protection - on the teach pendant, you must keep pressing the enabling device to ensure safety. These traditional operating mode switching commonly used mode switching devices (Mode Switch) to switch, such as AUT (automatic mode), T1 (manual low-speed mode), T2 (manual high-speed mode) three-position knob switching. The manual traction function is only defined as a collaborative function in ISO 10218-1, but it does not specify which of the above uses is used. Because the collaborative robot technology is still in the development stage, the safety regulations have not yet defined the emerging technology of manual traction. At present, manual traction has been used in various operation modes. It is commonly used in manual or teaching mode, which is convenient for automation engineers to teach points and drag paths. In addition, it is also commonly used in automatic mode, which is convenient for production line operators. Carry out the following tasks: hand-pull movement (e.g. pulling the robot to the next work start point), hand-pull demonstration (e.g. hand-pull demonstration of a work path), hand-pull collaboration (such as making the robot lift weights while a human guides its placement), above The manual pulling in the automatic mode is not the teaching behavior in the safety specification, but the manual pulling operation in the automatic production process. It can be seen that the manual traction can be widely used in automatic mode, manual or teaching mode.

Please refer to FIG. 1 to FIG. 2 at the same time, FIG. 1 is a schematic diagram of a safety system of the teaching robot of the present invention, FIG. 2 is a schematic diagram of a control function of the safety system of the present invention, and FIG. 3 is a schematic diagram of a mode switching device using a mode switching device of the present invention. In FIG. 1 , the safety system 10 of the present invention includes a robot 11 , a controller 12 , a teach pendant 13 , a safety module 14 , a safety function unit 15 , an enabling device 16 , a mode switching device 17 , and the like. The robot 11 has multiple toggle joints 18 , one end is a fixed base 19 , and the other end is a movable end 20 . The robot 11 is connected to the controller 12 , and the controller 12 includes a safety module 14 and a safety function unit 15 . The controller 12 controls the end 20 of the mobile robot 11 by controlling the actuators and position sensors 21 in each toggle 18 . The controller 12 is connected to the teach pendant 13 for editing the program of the robot 11 or operating and controlling the robot 11 . The enabling device 16 of the present invention can be provided on the teach pendant 13 or on the robot 11 such as the end 20, or the user can connect an independent enabling device 16 from the controller 12. The enabling device 16 can be set at any of the above positions or Plural location settings. Mode switching means 17, It can be built in the robot teach pendant 13 , or a mode switching device 17 externally connected by the controller 12 to the user.

In FIG. 2 , the security module 14 and the security function unit 15 are electrically or communicatively connected to the enabling device 16 , the mode switching device 17 and the position sensor 21 via the controller 12 . The enabling device 16 has the functions of operating in an ON state (ON) and an OFF state (OFF). When the enabling device 16 is in an ON state (ON), the safety module 14 cancels the safety state of the robot 11 , and when the enabling device 16 is in an ON state (ON) When the 16 is in the OFF state, the safety module 14 stops the robot 11 and enters the safety state. The safety module 14 is electrically or communicatively connected to the position sensors 21 of the toggles 18 of the robot 11 , and receives signals from the position sensors 20 to monitor the activity state of the robot 11 .

The safety module 14 stops the robot 11 from entering a safe state. There are three types. The zero safety state is a power-off stop function: when the safety module 14 determines that the robot 11 should enter a safe state, the power to the actuator is directly turned off. One type of safety state is the advanced power-off stop function: when the safety module 14 determines that the robot 11 should enter a safe state, after issuing a deceleration command to the controller 12, after a fixed period of time or after observing that the robot 11 decelerates, the actuation is turned off. device power supply. The second type of safety state is the non-power-off stop function: when the safety module 14 determines that the robot 11 should enter a safe state, after a deceleration command is issued to the controller 12, the static monitoring safety function is turned on after a fixed period of time or after observing the completion of the robot's deceleration movement. (Standstill Monitoring), the position sensor 20 is continuously monitored, and when the monitoring robot 11 produces motion, the power supply of the actuator is turned off.

The safety function unit 15 of the present invention can use the controller 12 to monitor the robot 11 through the safety module, and activate single or multiple safety functions, such as the angle limit of the toggle 18, the spatial position limit of the end 20 of the robot 11, the power limit (Power and Force) limiting) or speed limit, etc., but including but not limited to the security functions listed in this embodiment. When the safety function of the monitored robot 11 exceeds the preset limit and an abnormality occurs, let the safety module 14 make the robot 11 enter the safety state. Various security states of the security module 14 of the present invention, and a plurality of security functions of the security function unit 15 , whether to enable or not, and limit values are preselected and set according to the requirements of different modes of the robot 11 .

In FIG. 3 , the mode switching device 17 of the present invention is a multi-position knob, and the mode can be marked on the teach pendant 13 through the position of the knob, or the mode can be displayed by a light signal. The mode switching device 17 can also be a pure software button, a combination of hardware buttons, or a combination of software and hardware. For example, the hardware presses or rotates to allow input of the target mode, then the software selects the target mode, and then the hardware confirms the switch to the target mode. model. The mode switching device 17 can switch a variety of operation modes (Operation Mode) of the robot 11. The present embodiment includes an automatic mode (A mode), a manual mode (H mode) and a non-manual mode, and the non-manual mode includes a manual low-speed mode. (T1 mode) and manual high-speed mode (T2 mode), etc., but include but are not limited to the operation modes listed in this embodiment.

When the user uses the mode switching device 17 to switch to the hand-pull mode (H mode), the robot 11 of the present invention enters a safe state. Since the user switches the hand-pull mode to continue to pull the robot 11 by hand, the safety module 14 switches the hand-pull mode to the hand-pull mode. It is preset to the second type of safety state with non-power-off stop function, and then the user continues to press at least the enabling device 16 to release the safety state and enable the hand-pull function. The robot goes to the next work starting point, or pulls the demonstration work path by hand, or pulls the collaborative robot to lift and guide the placement, etc. Since in the hand-pull mode, the user works close to the robot 11 and requires strict safety protection, the angle limit of the toggle 18 of the safety function unit 15, the spatial position limit of the end 20 of the robot 11, the force limit and the speed limit, etc. are preset. Multiple safety features to ensure user safety.

The user uses the mode switching device 17 to switch to the non-manual manual low-speed mode (T1 mode), and the safety module 14 can preset the manual low-speed mode to, for example, an advanced level of a safe state. Power-off and shutdown function, the safety module 14 first enters a safe state after switching to ensure that the robot has been shut down, and then restarts the monitoring and response to the enabling device 16. At this time, the enabling device 16 is used to enable, including but not limited to, non-manual Pull teaching or teaching verification actions, such as jogging each axis direction of the coordinate system of each toggle 18, robot 11, and end 20, or correcting action of robot 11, or moving end 20 to a specific point, or single-step execution Teach programming actions, etc. Since the manual low-speed mode is a non-hand-pull mode, the user does not work close to the robot 11 and does not need strict safety protection. Therefore, only safety functions such as force limit and speed limit of the safety function unit 15 need to be preset.

The user uses the mode switching device 17 to switch to the manual high-speed mode (T2 mode). Since high-speed movement is more harmful to the user, the security module 14 can preset the manual high-speed mode, for example, to the zero-class safety state as the power-off shutdown function. After switching, the safety module 14 first enters a safe state, and after ensuring that the robot has stopped, the monitoring and response to the enabling device 16 is restarted, and the enabling device 16 needs to be continuously pressed to enable continuous enabling, such as a manual test run. Since the manual high-speed mode is a non-hand-pull mode, the user does not work close to the robot 11 and does not need strict safety protection. Therefore, only the safety functions such as the speed limit of the safety function unit 15 need to be preset.

The user switches to the automatic mode (A mode) using the mode switching device 17 , and the user controls the robot 11 to perform automatic operations through the controller 12 . Due to the automatic mode, since the automatic movement is more harmful to the user, the safety module 14 can preset the manual high-speed mode, for example, the zero-type safety state as the power-off and shutdown function, and also need to monitor whether the automatic operation of the robot 11 is abnormal. When the operation is in a collaborative situation, multiple safety functions such as spatial position limitation, force limitation and speed limitation of the end 20 of the robot 11 of the preset safety function unit 15 need to be enabled, and when the automatic mode is a non-collaborative situation, it can be disabled to ensure the operation. efficient.

Use the mode switching device 17 from manual slow mode or manual high speed mode or from automatic When the manual mode is switched to the hand-pull mode, the robot 11 records the breakpoints of the running program by itself, and activates the safety module 14 and multiple safety functions of the second-class safety state preset in the hand-pull mode, enabling the hand-pull function, and maintaining the hand-pull mode while maintaining the hand-pull mode. In the mode-specific safety system, after the user manually pulls and teaches the robot 11 to correct the new operation program, it switches back to each operation mode, and then resumes the operation of the program from the point of interruption. The foregoing embodiment uses the preset safety mode and safety function of each operating mode as an example, and the present invention includes but is not limited to the setting items of this embodiment.

As shown in FIG. 4 , it is a flow chart of the safety method for teaching a robot according to the present invention. The detailed steps of the safety method for teaching a robot according to the present invention are described as follows: step S1, according to the needs of various operation modes of the robot, preset the safety state types of the safety modules corresponding to each teaching mode; step S2, according to the needs of various operation modes of the robot , preset the security function of the security module corresponding to each operation mode; step S3, switch the mode; step S4, check whether the switched mode is the automatic mode? If the switched mode is not the automatic mode, go to step S5, and then check whether the switched mode is the manual mode? If the switched mode is the hand-pull mode, then go to step S6, enter the hand-pull mode; go to step S7, start the safety module corresponding to this mode preset, and stop the robot to enter a safe state; go to step S8, start the mode pre-set. Set the corresponding safety function to monitor the robot; then in step S9, enable the enabling device, in step S10, detect the on state of the enabling device, release the safe state of the robot, and teach the robot operation, and then go to step S11 , to check whether the robot has completed the job? If the robot completes the operation, go to step S12 to end the operation; if the robot does not complete the operation, return to step S3 to continue switching modes.

In step S4, when the mode to be checked and switched is the automatic mode, then go to step S13, enter the automatic mode, then go to step S14, start the safety module and safety function corresponding to the automatic mode preset, monitor the robot, and perform the automatic operation of the robot, Then, it returns to step S11 and continues the work.

In step S5, when it is checked that the switched mode is not the manual mode, then go to step S15 to check whether the switched mode is the manual high-speed mode? If the mode to be checked and switched is the manual high-speed mode, go to step S16 to enter the manual high-speed mode, then return to step S7 to continue the operation, if the mode to be checked and switched is not the manual high-speed mode, then go to step S17 to enter the manual low-speed mode, Then, it returns to step S7 and continues the work.

Therefore, according to the safety system and method for teaching a robot of the present invention, the mode switching device can switch various operation modes of the robot, and cooperate with the enabling device to activate the preset different safety modules and safety functions corresponding to each teaching mode. To achieve the purpose of convenient switching of various operating modes. In addition, the safety method for teaching a robot of the present invention utilizes preset safety modules and safety functions corresponding to each operation mode to switch the robot, constructs a safety system suitable for each operation mode, and at the same time ensures that when various operation modes are switched to the hand-pull mode , can maintain the exclusive security module and security function of the manual mode, to achieve the purpose of improving the security of the user.

The above descriptions are only for the convenience of describing the preferred embodiments of the present invention, and the scope of the present invention is not limited to these preferred embodiments. Any changes made according to the present invention shall not depart from the spirit of the present invention. , all belong to the scope of the patent application of the present invention.

10: Security System

11: Robots

12: Controller

13: Teach Pendant

14: Security Module

15: Safety functional unit

16: Enable Device

17: Mode switching device

18: Toggle

19: Pedestal

20: end

21: Position Sensor

Claims (15)

A safety system for teaching robots, including: The robot has multiple toggle joints, one end is a movable end, and each toggle joint is provided with an actuator and a position sensor; a controller, connected to the robot, controls the actuator and the position sensor, and moves the end of the robot; an enabling device, connected to the controller; The safety module is installed in the controller and is electrically or communicatively connected to the enabling device. According to the switch state of the enabling device, an electrical or communication signal is sent. The off state makes the robot enter a safe state, and the on state cancels the robot. safe state; A safety function unit, which is arranged in the controller and is electrically or communicatively connected to the safety module. When the monitored safety function of the robot exceeds a preset limit, the safety module enables the robot to enter a safe state; A mode switching device, which is electrically or communicatively connected with the controller, the safety module and the safety function unit to switch the operation mode of the robot; Wherein, the mode switching device switches between at least one hand-pull mode of the robot and the operation modes of the automatic mode or the manual low-speed mode or the manual high-speed mode, and the safety module and the safety function unit enable the preset corresponding to each operation mode. Security modules and security features. The safety system for teaching a robot as described in item 1 of the scope of the patent application, wherein in the hand-pull mode, the enabling device must be pressed to pull the robot by hand. The safety system for teaching a robot as described in claim 1, wherein the safety module is electrically or communicatively connected to the position sensor of each of the toggles of the robot, and receives the signal from the position sensor No. to monitor the robot. The safety system for teaching robots as described in item 3 of the scope of the application, wherein the safety module includes at least one of the following safety state types, and the zero-type safety state is a power-off and shutdown function. When entering a safe state, the actuation is directly turned off The first safety state is the advanced power-off and shutdown function. When entering the safe state, after a deceleration command is issued to the controller, after a fixed time has elapsed after the robot decelerates, the power to the actuator is turned off, and the second safety state It is a non-power-off stop function. When entering a safe state, after a deceleration command is issued to the controller, after a fixed time has elapsed when the robot decelerates, the static monitoring safety function is turned on, and the position sensor is continuously monitored. movement, which turns off the power to the actuator. The safety system for teaching a robot as described in claim 1, wherein the safety function unit activates at least one of the following safety functions: angle limit of the toggle, spatial position limit of the robot end, force limit or speed limit. The safety system for teaching a robot as described in item 1 of the scope of the application, wherein the mode switching device is provided on the teaching pendant of the robot, or is externally connected to the controller. The safety system for teaching a robot as described in item 1 of the patent application scope, wherein the mode switching device is a multi-position knob, and the mode is indicated by the position of the knob, or the mode is displayed by a light signal. The safety system for teaching a robot as described in claim 1, wherein the mode switching device is a pure soft key, or a combination of hardware keys, or a combination of software and hardware keys. A safe method for teaching robots, including: Preset security modules corresponding to each operating mode; Preset the safety functions corresponding to each operating mode; to switch modes; Check that the switching mode is the hand-pull mode; Enter the hand-pull mode; Enable the corresponding safety module and safety function preset in the manual mode, and stop the robot to enter a safe state; enabling the enabling device; The on state of the enabling device is detected, the safe state of the robot is released, and the robot is taught the operation. According to the safety method for teaching a robot as described in item 9 of the scope of the application, after the operation is performed, after checking that the robot has completed the operation, the operation will be terminated, and if the operation has not been completed, the operation will be returned to the switching mode to continue the operation. The safety method for teaching a robot as described in item 10 of the scope of the patent application, wherein when the mode of the inspection and switching is the automatic mode, the automatic mode is entered, the corresponding safety function preset in the automatic mode is activated, the robot is monitored, and the robot is automatically Operation. The safety method for teaching a robot as described in item 9 of the scope of the patent application, wherein when the switching mode of the inspection is the manual low-speed mode or the manual high-speed mode, the preset corresponding safety function of the manual low-speed or manual high-speed mode is activated to monitor the robot. , for robot teaching or trial operation. The safety method for teaching a robot as described in claim 12, wherein when switching from the manual low-speed mode or the manual high-speed mode or the automatic mode to the manual mode, the robot records the breakpoint of the running program by itself, and Activate the pre-set safety modules and safety functions in the manual mode, and after teaching the robot to operate manually, switch back to each running mode, and continue to run the program from the interruption point. The safety system for teaching a robot as described in claim 9, wherein entering the hand-drawn mold In the mode, at least keep pressing the enabling device to release the safe state and enable the hand-pull function. The safety system for teaching a robot as described in item 9 of the scope of the patent application, wherein the safety module and safety function, whether to enable or not, and the limit value are preset according to the requirements of each operation mode of the robot.

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