WO2021114719A1 - 示教器的拔插控制系统和方法、机器人 - Google Patents

示教器的拔插控制系统和方法、机器人 Download PDF

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Publication number
WO2021114719A1
WO2021114719A1 PCT/CN2020/110746 CN2020110746W WO2021114719A1 WO 2021114719 A1 WO2021114719 A1 WO 2021114719A1 CN 2020110746 W CN2020110746 W CN 2020110746W WO 2021114719 A1 WO2021114719 A1 WO 2021114719A1
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WO
WIPO (PCT)
Prior art keywords
teach pendant
control
signal
circuit
plug
Prior art date
Application number
PCT/CN2020/110746
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English (en)
French (fr)
Inventor
颜鲁齐
钟成堡
王长恺
殷伟豪
胡飞鹏
李伊君
邓楚雄
Original Assignee
珠海格力电器股份有限公司
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Application filed by 珠海格力电器股份有限公司 filed Critical 珠海格力电器股份有限公司
Publication of WO2021114719A1 publication Critical patent/WO2021114719A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means

Definitions

  • the present disclosure relates to the field of industrial robot control, and in particular, to a system and method for plug-in control of a teach pendant, and a robot.
  • the teach pendant is used as a human-computer interaction platform to realize various controls of the robot by the user.
  • a robot is equipped with a teach pendant.
  • the interface of the teach pendant becomes more and more general-purpose, there is a situation where a teach pendant can be used with multiple industrial robots: the user will teach After the robot is connected to a robot, it is programmed to realize its automatic operation, and then the teach pendant is removed and connected to another industrial robot through hot plug technology, and the corresponding operation is continued.
  • the interface signals between the robot teach pendant and the motion controller generally include the teach pendant power cord, the communication line between the teach pendant and the motion controller, and the emergency stop signal of the teach pendant.
  • the emergency stop signal works through the power circuit formed between the teach pendant and the motion controller. If no corresponding processing is done, the teach pendant is directly removed from the motion controller, and the motion controller will start emergency stop alarm processing. , Causing the robot to stop running. Therefore, in order to realize the hot swap of the teach pendant, the emergency stop signal and related processing must be carried out.
  • the following two problems must be solved: during the process of removing the teach pendant, ensure that the emergency stop circuit is intact (the corresponding emergency stop backup circuit needs to be activated in advance) to avoid triggering the emergency stop alarm of the controller; after the teach pendant is connected, display
  • the emergency stop switch on the teaching device panel can be used normally (disconnect the corresponding emergency stop backup circuit).
  • the first solution is implemented as follows: there is a hot-swappable knob switch of the teach pendant on the motion controller panel, and the knob has two 0/1 Gear position, when the knob is set to gear 1, it means that the teach pendant must be connected for normal use, otherwise the control cabinet will alarm; when the knob is set to gear 0, it means that the teach pendant can be unplugged, and the robot system can still continue at this time run.
  • the implementation of the second solution is as follows: there are hot-swappable buttons on the panel of the motion controller (it can be a self-popping normally open button switch), and the user is equipped with a dedicated short connector.
  • the steps to unplug the teach pendant are as follows : Keep pressing the hot-swap button, and the corresponding indicator light is on at this time; unplug the teach pendant, and insert a special short connector into the teach pendant interface at the same time; release the hot-swappable button.
  • the steps to re-insert the teach pendant are as follows: keep pressing the hot plug button; unplug the short connector, then plug in the teach pendant; release the hot plug button.
  • the emergency stop button on the teach pendant will become invalid.
  • the normal operation of this function is based on Based on the absolute normal operation of the user, there are potential security risks.
  • the operation is cumbersome and unreliable. The user needs to keep pressing the hot plug button. Once the hot plug button becomes loose during the process of plugging and unplugging the teach pendant and the short connector, the robot will An emergency stop alarm occurs, causing the automatic operation to stop.
  • the embodiments of the present disclosure provide a plug-in control system and method of a teach pendant, and a robot, so as to at least solve the technical problems of complicated operation and low safety of the plug-in control method of the teach pendant in the technology known by the inventor.
  • a plug-in control system of a teach pendant including: a first control switch for generating a state switching signal; a control device connected to the first control switch for state-based Switch signal, control the power circuit of the teach pendant to disconnect and the emergency stop circuit short circuit, or control the power circuit to conduct and the emergency stop circuit short circuit to open.
  • the system further includes: a first relay, connected in series to the power circuit, for disconnection based on the power-off signal output by the control device, or close based on the power-on signal output by the control device.
  • control device includes: a control module connected to the first control switch, configured to stop receiving the heartbeat packet sent by the teach pendant based on the first trigger signal sent by the first control switch, and release the connection with the teach pendant
  • the acquisition module connected to the first control switch, is used to obtain the current state of the robot based on the second trigger signal sent by the first control switch, where the current state is used to initialize the teach pendant, and the current state includes at least One of the following: running status, enabling status and alarm status.
  • the control device includes: a receiving module, which is connected to the teach pendant, and is used to receive the first control signal or the second control signal sent by the teach pendant; the control module, which is connected to the receiving module, is used to receive the first control signal or the second control signal sent by the teach pendant; The control signal stops receiving the heartbeat packet sent by the teach pendant, and releases the network port connected with the teach pendant; the acquisition module is connected with the receiving module to obtain the current state of the robot based on the second control signal.
  • the system further includes: a second control switch, which is arranged on the teach pendant, and is used to generate the first trigger signal or the second trigger signal; the teach pendant, which is connected to the second control switch, is used to generate the first trigger signal or the second trigger signal; The first trigger signal sends the first control signal, or the second control signal is sent based on the second trigger signal.
  • a second control switch which is arranged on the teach pendant, and is used to generate the first trigger signal or the second trigger signal
  • the teach pendant which is connected to the second control switch, is used to generate the first trigger signal or the second trigger signal
  • the first trigger signal sends the first control signal, or the second control signal is sent based on the second trigger signal.
  • the second control switch includes: a first button switch connected to the teach pendant and used to generate the first trigger signal; and a second button switch connected to the teach pendant and used to generate the second trigger signal.
  • control device further includes: a sending module, connected to the control module, for sending the current state to the teach pendant.
  • the system further includes: a short circuit, which is connected to the emergency stop circuit through a second relay, and the second relay is used for disconnection based on the power-off signal output by the control device, or based on the power-on signal output by the control device closure.
  • the first control switch is a rotary switch.
  • a method for controlling the removal and insertion of a teach pendant including: receiving a state switching signal generated after the first control switch is triggered; and controlling the teach pendant based on the state switching signal The power circuit is disconnected and the emergency stop circuit is short-circuited, or the control power circuit is turned on and the emergency stop circuit is short-circuited.
  • controlling the power supply circuit to be opened or turned on includes: controlling the first relay connected in series on the power supply circuit to be opened or closed.
  • the method further includes: in the case of receiving the first trigger signal sent by the first control switch, stopping receiving the heartbeat packet sent by the teach pendant, and releasing the network port connected to the teach pendant;
  • the current state of the robot is acquired.
  • the current state is used to initialize the teach pendant.
  • the current state includes at least one of the following: running state, enabled state, and Alarm status.
  • the method further includes: in the case of receiving the first control signal sent by the teach pendant, stop receiving the heartbeat packet sent by the teach pendant, and release the network port connected to the teach pendant; In the case of the second control signal sent by the teach pendant, the current state of the robot is acquired.
  • the first control signal is generated by the teach pendant based on the first trigger signal
  • the second control signal is generated by the teach pendant based on the second trigger signal, wherein the first trigger signal or the second trigger signal is set at Generated after the second control switch on the teach pendant is triggered.
  • the current status is sent to the teach pendant.
  • controlling the short circuit of the emergency stop circuit or disconnecting the short circuit of the emergency stop circuit includes: controlling the second relay connected in series with the short circuit to open or close, wherein the short circuit is connected to the emergency stop through the second relay. Loop connection.
  • a robot including: the above-mentioned pull-and-plug control system of the teaching pendant.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for controlling the plugging and unplugging of the teach pendant is realized.
  • a plug-in control system of a teach pendant including: a memory; and a processor coupled to the memory, and the processor is configured to be stored in the memory based on The instructions in the device execute the above-mentioned plug-in control method of the teach pendant.
  • the state switching signal is generated by the first control switch, and the power circuit of the teach pendant is controlled to be disconnected and the emergency stop circuit is shorted, or the power circuit is controlled to be turned on and the emergency stop is controlled by the control device based on the state switching signal
  • the circuit is short-circuited and disconnected, realizing the demand of industrial robots for hot plugging of the teach pendant.
  • the hot plug of the teach pendant can be realized by operating the first control switch, reducing the operation complexity, and by disconnecting or conducting the power circuit of the teach pendant to prevent heat
  • the teach pendant is plugged in or hot unplugged, the circuit damage caused by the virtual connection of the connection line, the teach pendant is in an uncharged state during the plugging and unplugging process, which has higher safety and can effectively prevent the robot from being in a non-hot plugging state.
  • the problem of the emergency stop of the teach pendant being accidentally short-circuited, thereby solving the technical problem of the complicated operation and low safety of the pull/plug control method of the teach pendant in the technology known by the inventor.
  • Fig. 1 is a schematic diagram of a plug-in control system of a teach pendant according to some embodiments of the present disclosure
  • FIG. 2 is a schematic diagram of a plug-in control system of a teach pendant according to other embodiments of the present disclosure
  • FIG. 3 is a schematic diagram of a hot pull operation of the teach pendant according to some embodiments of the present disclosure
  • FIG. 4 is a schematic diagram of the hot plug operation of the teach pendant according to some embodiments of the present disclosure.
  • Fig. 5 is a flowchart of a method for plugging and unplugging a teach pendant according to some embodiments of the present disclosure.
  • a plug-in control system of a teach pendant is provided.
  • FIG. 1 is a schematic diagram of a plug-in control system of a teach pendant according to some embodiments of the present disclosure. As shown in FIG. 1, the system includes: a first control switch 12 and a control device 14.
  • the first control switch 12 is used to generate a state switching signal;
  • the control device 14 is connected to the first control switch, and is used to control the power circuit of the teach pendant to be disconnected and the emergency stop circuit short-circuited, or to control the power supply based on the state switching signal The circuit is turned on and the emergency stop circuit is short-circuited.
  • the above-mentioned first control switch may be set on the panel of the motion controller, and the first control switch may be a rotary switch, including two positions of hot plug and hot pull.
  • the first control switch can also be a key switch, when the key switch is pressed or popped up, the state switching signal is output; the first control switch It can also be two key switches. Only one of the two key switches can be pressed at the same time. When any key switch is pressed, the state switching signal will be output.
  • the first control switch is a single rotary switch as an example for description.
  • the above-mentioned control device may be a chip, a single-chip microcomputer, or an FPGA (Field-Programmable Gate Array, Field-Programmable Gate Array) used for plug-in control of the teach pendant in the motion controller, which is not specifically limited in the present disclosure.
  • FPGA Field-Programmable Gate Array, Field-Programmable Gate Array
  • the user when the user needs to unplug the teach pendant, the user can turn the hot plug knob to the hot plug state, and after the control device receives the state switching signal that the hot plug state is switched to the hot plug state, it will teach The emergency stop circuit between the controller and the motion controller is short-circuited, and the power circuit between the teach pendant and the motion controller is disconnected. At this time, the teach pendant is powered off and the user can unplug the teach pendant.
  • the user needs to reinsert the teach pendant, the user inserts the teach pendant and rotates the hot-swappable knob to the hot-swappable position. After the control device receives the state switching signal that the hot-swappable state is switched to the hot-swappable state, it will be anxious.
  • the short circuit of the stop circuit is disconnected, and the power circuit is turned on at the same time, and the teach pendant is powered on at this time. Throughout the process of hot plugging, the robot can always keep running automatically without triggering the corresponding alarm mechanism.
  • the state switching signal is generated by the first control switch, and the power circuit of the teach pendant is controlled to be disconnected and the emergency stop circuit is short-circuited, or the power circuit is controlled to be turned on and the emergency stop is controlled based on the state switching signal
  • the circuit is short-circuited and disconnected, realizing the demand of industrial robots for hot plugging of the teach pendant.
  • the hot plug of the teach pendant can be realized by operating the first control switch, which reduces the complexity of the operation, and the power circuit of the teach pendant is disconnected or conducted to prevent heat
  • the teach pendant is plugged in or hot unplugged, the circuit damage caused by the virtual connection of the connection line, the teach pendant is in an uncharged state during the plugging and unplugging process, which has higher safety and can effectively prevent the robot from being in a non-hot plugging state.
  • the problem of the emergency stop of the teach pendant being accidentally short-circuited, thereby solving the technical problem of the complicated operation and low safety of the pull/plug control method of the teach pendant in the technology known by the inventor.
  • the system further includes: a first relay, connected in series to the power circuit, for disconnection based on the power-off signal output by the control device, or close based on the power-on signal output by the control device.
  • the motion controller provides +24V power to the teach pendant through the teach pendant power cord.
  • the above-mentioned first relay can be connected in series to the power circuit in the motion controller, for example, it can be a relay at the connector, where the connection
  • the head can be a multi-pin aviation plug.
  • the control device when the user needs to hot pull the teach pendant, the control device sends out a power-off signal to control the first relay to turn off, so that the power circuit at the terminal is disconnected, and the terminal is powered off, that is, teaching
  • the control device sends a power-on signal to control the first relay to close, so that the power circuit at the terminal is turned on, and the terminal is powered on, that is, the teach pendant is powered on .
  • the control device includes: a control module, connected to the first control switch, configured to stop receiving the heartbeat packet sent by the teach pendant based on the first trigger signal sent by the first control switch, and release and display the heartbeat packet.
  • the network port connected to the teach pendant; the acquisition module, which is connected to the first control switch, and is used to obtain the current state of the robot based on the second trigger signal sent by the first control switch.
  • the current state is used to initialize the teach pendant.
  • the status includes at least one of the following: running status, enabling status, and alarm status.
  • control module may be a control chip or a control circuit in the control circuit
  • acquisition module may be the acquisition port of the control device or the acquisition circuit in the control device.
  • operating state includes start or stop; the enable state includes enable or disable; the alarm state includes alarm or no alarm.
  • first trigger signal may be a hot plug signal sent to the motion controller when the user hot plugs the teach pendant
  • second trigger signal may be a hot plug signal sent to the motion controller when the user hot plugs the teach pendant
  • the teach pendant and the controller generally use TCP/IP communication, and the network abnormality judgment generally uses the heartbeat packet mechanism, that is, the teach pendant sends heartbeat packets to the motion controller regularly, and the motion controller responds immediately after receiving it. If the heartbeat packet is received abnormally , It is considered that the network is abnormal, and an alarm will be sent to cause the robot to stop. On this basis, if the teach pendant is unplugged and left unattended, the heartbeat packet will be abnormal, which will cause an alarm.
  • the hot-plug knob in order to realize the hot-plugging of the teach pendant, the hot-plug knob outputs the state switching signal while outputting the hot-plug signal and the hot-plug signal, so that the motion controller can check the heartbeat packet according to the hot-plug signal. Perform processing, that is, stop the detection of heartbeat packets in advance, and release the network port for the next connection; the motion controller can obtain the current state of the robot in advance according to the hot plug signal, and after the teach pendant and the motion controller establish a network connection Send to the teach pendant to realize the initialization of the teach pendant.
  • the control device includes: a receiving module, which is connected to the teach pendant, and is used to receive the first control signal or the second control signal sent by the teach pendant; and the control module, which is connected to the receiving module, is used to Stop receiving the heartbeat packet sent by the teach pendant based on the first control signal, and release the network port connected to the teach pendant; the acquisition module, connected to the receiving module, is used to obtain the current state of the robot based on the second control signal.
  • the teach pendant and the motion controller communicate through the TCP/IP protocol
  • the above-mentioned first control signal may be a signal obtained by encapsulating the hot plug signal by the teach pendant
  • the second control signal may be the hot plug signal of the teach pendant.
  • the signal is obtained by sub-packing the signal.
  • the above-mentioned receiving module may be an input/output port of the control device, or may be a receiving circuit in the control device.
  • the hot plug signal and hot plug signal can be sent to the teach pendant, and the teach pendant sends the corresponding first control signal or second control signal to the motion controller for hot plug control, so that the motion controller
  • the heartbeat packet can be processed according to the first control signal, that is, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can obtain the current state of the robot in advance according to the second control signal, and display it in advance.
  • the teach pendant will be sent to the teach pendant after establishing a network connection with the motion controller to realize the initialization of the teach pendant.
  • the motion controller in addition to receiving the state switching signal, the motion controller also needs to receive a trigger signal or a control signal, so that the motion controller can be hot-plugged accurately at the software level to ensure the stability and safety of the motion controller.
  • the system further includes: a second control switch, which is arranged on the teach pendant, and is used to generate the first trigger signal or the second trigger signal; and the teach pendant is connected to the second control switch, It is used to send the first control signal based on the first trigger signal, or send the second control signal based on the second trigger signal.
  • a second control switch which is arranged on the teach pendant, and is used to generate the first trigger signal or the second trigger signal; and the teach pendant is connected to the second control switch, It is used to send the first control signal based on the first trigger signal, or send the second control signal based on the second trigger signal.
  • the above-mentioned second control switch may be a key switch, which is arranged on the panel of the teach pendant.
  • the user can press the corresponding button as needed to trigger the hot plug signal or hot plug signal, and further, the hot plug signal or hot plug signal
  • the teach pendant is encapsulated based on the TCP/IP protocol to obtain the first control signal and the second control signal to realize the data transmission between the teach pendant and the motion controller.
  • the second control switch includes: a first button switch, which is connected to the teach pendant, and is used to generate a first trigger signal; a second button switch, which is connected to the teach pendant, and is used to generate a second trigger signal. Trigger signal.
  • two button switches may be provided on the teach pendant panel respectively.
  • the user can only press one button switch at the same time, and different button switches are used to generate different trigger signals.
  • the function of the first control switch is to control the power circuit of the teach pendant to be turned on or off.
  • the prompt information can be set for each button switch to facilitate the user to operate the correct button switch.
  • control device further includes: a sending module, which is connected to the control module, and is used to send the current state to the teach pendant.
  • the aforementioned sending module may be an input/output port of the control device, or a sending circuit in the control device.
  • the current state data of the robot can be collected in advance before the teach pendant is reinserted, and after the teach pendant establishes a network connection with the motion controller, It is sent to the teach pendant through a network connection, and the teach pendant can be initialized according to the received data.
  • the system further includes: a short circuit, which is connected to the emergency stop circuit through a second relay, and the second relay is used to disconnect based on the power-off signal output by the control device, or Closed based on the power-on signal output by the control device.
  • the aforementioned short circuit can be used as a backup circuit for the emergency stop circuit in the teach pendant, and can be implemented in a technology known to the inventor, which is not specifically limited in the present disclosure.
  • the short circuit is connected to the emergency stop circuit through the second relay, and the connection and disconnection of the short circuit and the emergency stop circuit can be controlled by controlling the closing and opening of the second relay.
  • the emergency stop circuit is a complete closed circuit and will not be affected by the hot plugging of the teach pendant. Therefore, the emergency stop alarm of the motion controller will not be triggered.
  • the short circuit is disconnected from the emergency stop circuit, at this time, the emergency stop circuit and the emergency stop circuit of the teach pendant form a completed closed loop, so that the user can trigger the motion controller through the emergency stop button of the teach pendant Emergency stop processing, that is, the user can use the emergency stop switch on the panel of the teach pendant normally.
  • the teach pendant 20 is connected to the robot motion controller 10 through the corresponding interface (ie, the connector 18), and the connection line 30 between the teach pendant and the motion controller includes: Power line, communication line, emergency stop alarm signal line.
  • the power line refers to the +24V power supply provided by the motion controller 10 to the teach pendant 20.
  • the communication line is used for the communication between the teach pendant 20 and the motion controller 10, and the emergency stop alarm signal line is connected to the teach pendant 20 through the teach pendant 20.
  • the power circuit formed between the motion controllers 10 works.
  • the emergency stop circuit remains connected; in an emergency, press the teach pendant emergency stop switch 22 on the panel of the teach pendant 20 or on the panel of the motion controller
  • the emergency stop switch 16 of the motion controller the emergency stop circuit is disconnected, the teach pendant 20 and the motion controller 10 respectively trigger the corresponding emergency stop processing mechanism, so that the robot immediately stops running.
  • a hot-plugging knob 12 is also provided on the panel of the motion controller 10, and the user can switch the hot-plugging state and the hot-plugging state by rotating the hot-plugging knob 12.
  • the hot-swapping operation of the teach pendant 20 is as follows: the user rotates the hot-swappable knob 12 to the hot-swappable position, at this time, the emergency stop circuit of the teach pendant 20 is short-circuited, and the hot-swapping signal is sent to the movement at the same time.
  • the controller 10 (as shown in step S301 in FIG. 3). After the motion controller 10 receives the hot pull signal (as shown in step S302 in FIG. 3), it actively stops receiving the heartbeat packet (as shown in step S303 in FIG. 3) to prevent network abnormal alarms from occurring, and release and teach at the same time
  • the network port to which the device 20 is connected (as shown in step S304 in FIG.
  • step S305 in FIG. 3 the motion controller 10 sends a connector power-off signal (as shown in step S305 in FIG. 3), which is used to control the connector relay (not shown in FIG. 2) to realize the teach pendant 20
  • the power supply circuit of is disconnected (as shown in step S306 in Fig. 3). At this time, the teach pendant 20 is powered off, and the robot will maintain normal operation.
  • the hot plug operation of the teach pendant 20 is as follows: the user reinserts the teach pendant 20 into the motion controller 10 (as shown in step S401 in FIG. 4), and rotates the hot plug knob 12 to the hot plug
  • the gear position, the emergency stop circuit of the teach pendant 20 is short-circuited and disconnected (that is, the emergency stop switch 22 of the teach pendant can be used normally), and the hot plug signal is sent to the motion controller 10 at the same time (steps in Figure 4) S402).
  • the motion controller 10 receives the hot plug signal (as shown in step S403 in FIG. 4), it is ready to re-insert the teach pendant.
  • step S404 it is necessary to prepare the robot running state to be sent to the teach pendant 20 (as shown in FIG. 4).
  • the motion controller 10 sends the connector power-on signal (as shown in step S405 in Figure 4), which is used to control the connector relay to realize the power circuit of the teach pendant 20 (as shown in Figure 4).
  • Step S406 in 4 establish a network connection with the motion controller 10 again, and obtain the running state of the robot at this time, which is used to initialize the teach pendant 20.
  • the present disclosure provides a safe and reliable hot plug solution that combines software and hardware. Due to the use of the power-off mechanism on the connector of the controller and the teach pendant, when the teach pendant is hot plugged, it can effectively avoid the equipment short circuit caused by the wrong plug in the aviation plug. The user can confirm that the aviation plug is correctly plugged in and then power on. Effectively protect the device circuit; it can prevent users from forgetting to turn the hot-swap knob to the hot-swap position when hot-plugging the teach pendant (if the hot-swap knob is not turned to the hot-swap position, the teach pendant will not be Electricity) to ensure safe operation. After reconnecting the teach pendant, you only need to turn the hot-swappable knob to the hot-swap position to ensure the normal use of the emergency stop switch of the teach pendant, and the user's operation is simple and convenient.
  • Fig. 5 is a flowchart of a method for plugging and unplugging a teach pendant according to some embodiments of the present disclosure. As shown in Fig. 5, the method includes the following steps:
  • Step S502 Receive a state switching signal generated after the first control switch is triggered.
  • the above-mentioned first control switch may be set on the panel of the motion controller, and the first control switch may be a rotary switch, including two positions of hot plug and hot pull.
  • the first control switch can also be a key switch, when the key switch is pressed or popped up, the state switching signal is output; the first control switch It can also be two key switches. Only one of the two key switches can be pressed at the same time. When any key switch is pressed, the state switching signal will be output.
  • the first control switch is a single rotary switch as an example for description.
  • Step S504 based on the state switching signal, control the power supply circuit of the teach pendant to be disconnected and the emergency stop circuit short-circuited, or control the power supply circuit to conduct and the emergency stop circuit short-circuit disconnection.
  • the user when the user needs to unplug the teach pendant, the user can turn the hot plug knob to the hot plug state, and after the control device receives the state switching signal that the hot plug state is switched to the hot plug state, it will teach The emergency stop circuit between the controller and the motion controller is short-circuited, and the power circuit between the teach pendant and the motion controller is disconnected. At this time, the teach pendant is powered off and the user can unplug the teach pendant.
  • the user needs to reinsert the teach pendant, the user inserts the teach pendant and rotates the hot-swappable knob to the hot-swappable position. After the control device receives the state switching signal that the hot-swappable state is switched to the hot-swappable state, it will be anxious.
  • the short circuit of the stop circuit is disconnected and the power circuit is turned on at the same time, and the teach pendant is powered on at this time. Throughout the process of hot plugging, the robot can always keep running automatically without triggering the corresponding alarm mechanism.
  • the state switching signal is generated by the first control switch, and the power circuit of the teach pendant is controlled to be disconnected and the emergency stop circuit is short-circuited, or the power circuit is controlled to be turned on and the emergency stop is controlled based on the state switching signal
  • the circuit is short-circuited and disconnected, realizing the demand of industrial robots for hot plugging of the teach pendant.
  • the hot plug of the teach pendant can be realized by operating the first control switch, which reduces the complexity of the operation, and the power circuit of the teach pendant is disconnected or conducted to prevent heat
  • the teach pendant is plugged in or hot unplugged, the circuit damage caused by the virtual connection of the connection line, the teach pendant is in an uncharged state during the plugging and unplugging process, which has higher safety and can effectively prevent the robot from being in a non-hot plugging state.
  • the problem of the emergency stop of the teach pendant being accidentally short-circuited, thereby solving the technical problem of the complicated operation and low safety of the pull/plug control method of the teach pendant in the technology known by the inventor.
  • controlling the power supply circuit to open or conduct includes: controlling the first relay connected in series on the power supply circuit to open or close.
  • the motion controller provides +24V power to the teach pendant through the teach pendant power cord.
  • the above-mentioned first relay can be connected in series to the power circuit in the motion controller, for example, it can be a relay at the connector, where the connection
  • the head can be a multi-pin aviation plug.
  • the control device when the user needs to hot pull the teach pendant, the control device sends out a power-off signal to control the first relay to turn off, so that the power circuit at the terminal is disconnected, and the terminal is powered off, that is, teaching
  • the control device sends a power-on signal to control the first relay to close, so that the power circuit at the terminal is turned on, and the terminal is powered on, that is, the teach pendant is powered on .
  • the method further includes: in the case of receiving the first trigger signal sent by the first control switch, stop receiving the heartbeat packet sent by the teach pendant, and release the network connected to the teach pendant Port; in the case of receiving the second trigger signal sent by the first control switch, obtain the current state of the robot, where the current state is used to initialize the teach pendant, and the current state includes at least one of the following: running state, use Energy status and alarm status.
  • the above-mentioned first trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the teach pendant
  • the second trigger signal may be a hot-plug signal sent to the motion controller when the user hot-plugs the teach pendant .
  • the teach pendant and the controller generally use TCP/IP communication, and the network abnormality judgment generally uses the heartbeat packet mechanism, that is, the teach pendant sends heartbeat packets to the motion controller regularly, and the motion controller responds immediately after receiving it. If the heartbeat packet is received abnormally , It is considered that the network is abnormal, and an alarm will be sent to cause the robot to stop. On this basis, if the teach pendant is unplugged and left unattended, the heartbeat packet will be abnormal, which will cause an alarm.
  • the hot plug knob outputs the state switching signal, the hot plug signal and the hot plug signal are output, so that the motion controller can detect the heartbeat according to the hot plug signal.
  • the packet is processed, that is, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can obtain the current state of the robot in advance according to the hot plug signal, and establish a network connection between the teach pendant and the motion controller Then it is sent to the teach pendant to realize the initialization of the teach pendant.
  • the method further includes: in the case of receiving the first control signal sent by the teach pendant, stop receiving the heartbeat packet sent by the teach pendant, and release the network port connected to the teach pendant ; In the case of receiving the second control signal sent by the teach pendant, obtain the current state of the robot.
  • the teach pendant and the motion controller communicate through the TCP/IP protocol
  • the above-mentioned first control signal may be a signal obtained by encapsulating the hot plug signal by the teach pendant
  • the second control signal may be the hot plug signal of the teach pendant.
  • the signal is obtained by sub-packing the signal.
  • the hot plug signal and hot plug signal can be sent to the teach pendant, and the teach pendant sends the corresponding first control signal or second control signal to the motion controller for hot plug control, so that the motion controller
  • the heartbeat packet can be processed according to the first control signal, that is, the detection of the heartbeat packet is stopped in advance, and the network port is released for the next connection; the motion controller can obtain the current state of the robot in advance according to the second control signal, and display it in advance.
  • the teach pendant will be sent to the teach pendant after establishing a network connection with the motion controller to realize the initialization of the teach pendant.
  • the motion controller in addition to receiving the state switching signal, the motion controller also needs to receive a trigger signal or a control signal, so that the motion controller can be hot-plugged accurately at the software level to ensure the stability and safety of the motion controller.
  • the first control signal is generated by the teach pendant based on the first trigger signal
  • the second control signal is generated by the teach pendant based on the second trigger signal, wherein the first trigger signal or the second trigger signal It is generated after the second control switch set on the teach pendant is triggered.
  • the above-mentioned second control switch may be a key switch, which is arranged on the panel of the teach pendant.
  • the user can press the corresponding button as needed to trigger the hot plug signal or hot plug signal, and further, the hot plug signal or hot plug signal
  • the teach pendant is encapsulated based on the TCP/IP protocol to obtain the first control signal and the second control signal to realize the data transmission between the teach pendant and the motion controller.
  • two button switches may be provided on the teach pendant panel respectively.
  • the user can only press one button switch at the same time, and different button switches are used to generate different trigger signals.
  • the function of the first control switch is to control the power circuit of the teach pendant to be turned on or off.
  • the prompt information can be set for each button switch to facilitate the user to operate the correct button switch.
  • the current state data of the robot can be collected in advance before the teach pendant is reinserted, and after the teach pendant establishes a network connection with the motion controller, It is sent to the teach pendant through a network connection, and the teach pendant can be initialized according to the received data.
  • controlling the short circuit of the emergency stop circuit or disconnecting the short circuit of the emergency stop circuit includes: controlling the opening or closing of a second relay connected in series with the short circuit, wherein the short circuit passes through the second relay Connect with emergency stop circuit.
  • the aforementioned short circuit can be used as a backup circuit for the emergency stop circuit in the teach pendant, and can be implemented in a technology known to the inventor, which is not specifically limited in the present disclosure.
  • the short circuit is connected to the emergency stop circuit through the second relay, and the connection and disconnection of the short circuit and the emergency stop circuit can be controlled by controlling the closing and opening of the second relay.
  • the emergency stop circuit is a complete closed circuit and will not be affected by the hot plugging of the teach pendant. Therefore, the emergency stop alarm of the motion controller will not be triggered.
  • the short circuit is disconnected from the emergency stop circuit, at this time, the emergency stop circuit and the emergency stop circuit of the teach pendant form a completed closed loop, so that the user can trigger the motion controller through the emergency stop button of the teach pendant Emergency stop processing, that is, the user can use the emergency stop switch on the panel of the teach pendant normally.
  • a robot including: the plug-in control system of the teach pendant in some of the above embodiments.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for controlling the plug-in of the teach pendant of the above-mentioned embodiment is implemented. .
  • a plug-in control system of a teach pendant including: a memory; and a processor coupled to the memory, and the processor is configured to be based on instructions stored in the memory device.
  • the processor is used to run a program, where the program executes the plug-in control method of the teach pendant in the above embodiment when the program is running.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present disclosure essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • a computer device which can be a personal computer, a server, or a network device, etc.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes. .

Abstract

提供了一种示教器的拔插控制系统、方法和机器人。其中，系统包括：第一控制开关(12)，用于生成状态切换信号；控制装置(14)，与第一控制开关(12)连接，用于基于状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开。这种示教器的拔插控制系统解决了现有示教器拔插控制方式操作复杂且安全性低的技术问题。

Description

示教器的拔插控制系统和方法、机器人
相关申请的交叉引用
本申请是以CN申请号为201911253556.0，申请日为2019年12月9日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及工业机器人控制领域，具体而言，涉及一种示教器的拔插控制系统和方法、机器人。
背景技术
在工业机器人的现场使用过程中，示教器作为人机交互的平台，实现用户对机器人的各种控制。一般情况下，一台机器人配套使用一台示教器，随着示教器接口越来越向通用型发展，出现了一台示教器可以配多台工业机器人使用的情况：用户将示教器与一台机器人连接后，编程实现其自动化运行，然后通过热插拔技术，将该示教器取下连至另一台工业机器人，继续进行相应的操作。
机器人示教器与运动控制器的接口信号一般包括示教器电源线、示教器与运动控制器的通信线、示教器急停信号三类。其中，急停信号通过示教器与运动控制器之间形成的电源回路进行工作，如果不作相应的处理，直接将示教器从运动控制器端取下，运动控制器会启动急停报警处理，导致机器人停止运行。因此，为了实现示教器热插拔，必须对急停信号以及进行相关处理。即必须解决以下两个问题：示教器取下的过程中保证急停回路的完好(需要提前启动相应的急停备用回路)，避免触发控制器急停报警；示教器连上以后，示教器面板上的急停开关能正常使用(断开相应的急停备用回路)。
为了解决上述问题，发明人已知的技术中提供了两种方案，第一种方案实现方式如下：在运动控制器面板上留有示教器热拔插旋钮开关，旋钮有0/1两个档位，当旋钮置于1档时，表示必须连接示教器才能正常使用，否则控制柜报警；当旋钮置于0档时，表示可将示教器拔下，此时机器人系统仍可继续运行。第二种方案实现方式如下：运动控制器面板上留有热插拔按钮(可以是自弹式常开按钮开关)，同时为用户配备了专用的短接器，拔下示教器的步骤如下：一直按着热插拔按钮，此时相应的指示灯亮；拔下示教器，同时在示教器接口上插入专用的短接器；松开热插拔按钮。重新插入示教器的步骤如下：一直按着热插拔按钮；拔下短接器，紧接着插上示教器；松开热插拔按钮。
但是，对于第一种方案，如果用户将示教器重新插到运动控制器而忘记将旋钮置于1档，则导致示教器上的急停按钮处于失效状态，该功能的正常运行建立在用户绝对正常操作的基础上，存在潜在的安全风险。对于第二种方案，操作较为繁琐而且不可靠，用户需 要一直按着热插拔按钮，一旦在插拔示教器与短接器的过程中热插拔按钮出现松动的情况，该机器人就会出现急停报警的情况，导致自动运行停止。
针对发明人已知的技术中示教器的拔插控制方式操作复杂且安全性低的问题，目前尚未提出有效的解决方案。
发明内容
本公开实施例提供了一种示教器的拔插控制系统和方法、机器人，以至少解决发明人已知的技术中示教器的拔插控制方式操作复杂且安全性低的技术问题。
根据本公开实施例的一个方面，提供了一种示教器的拔插控制系统，包括：第一控制开关，用于生成状态切换信号；控制装置，与第一控制开关连接，用于基于状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开。
在一些实施例中，该系统还包括：第一继电器，串联在电源电路上，用于基于控制装置输出的断电信号断开，或基于控制装置输出的上电信号闭合。
在一些实施例中，控制装置包括：控制模块，与第一控制开关连接，用于基于第一控制开关发送的第一触发信号停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；采集模块，与第一控制开关连接，用于基于第一控制开关发送的第二触发信号获取机器人的当前状态，其中，当前状态用于对示教器进行初始化，当前状态至少包括如下之一：运行状态、使能状态和报警状态。
在一些实施例中，控制装置包括：接收模块，与示教器连接，用于接收示教器发送的第一控制信号或第二控制信号；控制模块，与接收模块连接，用于基于第一控制信号停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；采集模块，与接收模块连接，用于基于第二控制信号获取机器人的当前状态。
在一些实施例中，该系统还包括：第二控制开关，设置在示教器上，用于生成第一触发信号或第二触发信号；示教器，与第二控制开关连接，用于基于第一触发信号发送第一控制信号，或基于第二触发信号发送第二控制信号。
在一些实施例中，第二控制开关包括：第一按钮开关，与示教器连接，用于生成第一触发信号；第二按钮开关，与示教器连接，用于生成第二触发信号。
在一些实施例中，控制装置还包括：发送模块，与控制模块连接，用于发送当前状态至示教器。
在一些实施例中，该系统还包括：短接电路，通过第二继电器与急停回路连接，第二继电器用于基于控制装置输出的断电信号断开，或基于控制装置输出的上电信号闭合。
在一些实施例中，第一控制开关为旋钮开关。
根据本公开实施例的另一方面，还提供了一种示教器的拔插控制方法，包括：接收第一控制开关被触发后生成的状态切换信号；基于状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开。
在一些实施例中，控制电源电路断开或导通包括：控制串联在电源电路上的第一继电器断开或闭合。
在一些实施例中，该方法还包括：在接收到第一控制开关发送的第一触发信号的情况下，停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；在接收到第一控制开关发送的第二触发信号的情况下，获取机器人的当前状态，其中，当前状态用于对示教器进行初始化，当前状态至少包括如下之一：运行状态、使能状态和报警状态。
在一些实施例中，该方法还包括：在接收到示教器发送的第一控制信号的情况下，停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；在接收到示教器发送的第二控制信号的情况下，获取机器人的当前状态。
在一些实施例中，第一控制信号由示教器基于第一触发信号生成，第二控制信号由示教器基于第二触发信号生成，其中，第一触发信号或第二触发信号由设置在示教器上的第二控制开关被触发后生成。
在一些实施例中，在控制电源电路导通之后，发送当前状态至示教器。
在一些实施例中，控制急停回路短接或断开急停回路的短接包括：控制与短接电路串联的第二继电器断开或闭合，其中，短接电路通过第二继电器与急停回路连接。
根据本公开实施例的另一方面，还提供了一种机器人，包括：上述的示教器的拔插控制系统。
根据本公开实施例的另一方面，还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的示教器的拔插控制方法。
根据本公开实施例的另一方面，还提供了一种示教器的拔插控制系统，包括：存储器；和耦接至所述存储器的处理器，所述处理器用于基于存储在所述存储器装置中的指令执行上述的示教器的拔插控制方法。
在本公开实施例中，通过第一控制开关生成状态切换信号，并通过控制装置基于状态切换信号控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开，实现了工业机器人对示教器热拔插的需求。与发明人已知的技术相比，通过操作第一控制开关即可实现示教器的热拔插，降低操作复杂度，并且通过对示教器的电源电路进行断开或导通，防止热插、热拔示教器时，连接线虚接而引起的电路损坏问题，示教器拔插拔过程中均处于不带电状态，安全性更高，同时可以有效防止机器人非热插拔状态下，示教器急停被意外短接的问题，进而解决了发明人已知的技术中示教器的拔插控制方 式操作复杂且安全性低的技术问题。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1是根据本公开一些实施例的示教器的拔插控制系统的示意图；
图2是根据本公开另一些实施例的示教器的拔插控制系统的示意图；
图3是根据本公开一些实施例的示教器热拔操作的示意图；
图4是根据本公开一些实施例的示教器热插操作的示意图；以及
图5是根据本公开一些实施例的示教器的拔插控制方法的流程图。
具体实施方式
为了使本技术领域的人员更好地理解本公开方案，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本公开保护的范围。
需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
根据本公开一些实施例，提供了一种示教器的拔插控制系统。
图1是根据本公开一些实施例的示教器的拔插控制系统的示意图，如图1所示，该系统包括：第一控制开关12和控制装置14。
其中，第一控制开关12用于生成状态切换信号；控制装置14与第一控制开关连接，用于基于状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开。
具体地，上述的第一控制开关可以设置在运动控制器的面板上，第一控制开关可以是旋钮开关，包含有热插和热拔两个档位，当旋钮开关从热插档旋转到热拔档，或从热拔档旋转到热插档时，输出状态切换信号；第一控制开关也可以是按键开关，当按键开关被按 下或弹起时，输出状态切换信号；第一控制开关还可以是两个按键开关，两个按键开关同时只能有一个被按下，任意一个按键开关被按下时，均会输出状态切换信号。考虑到系统成本以及所占空间，在本公开实施例中，以第一控制开关为单一旋钮开关为例进行说明。
上述的控制装置可以是运动控制器中用于示教器的插拔控制的芯片、单片机或FPGA(Field-Programmable Gate Array，现场可编程门阵列)，本公开对此不作具体限定。
在一些实施例中，当用户需要拔下示教器时，用户可以将热拔插旋钮旋转到热拔状态，控制装置接收到热插状态切换为热拔状态的状态切换信号之后，将示教器与运动控制器之间的急停回路短接，同时将示教器与运动控制器之间的电源电路断开，此时示教器断电，用户可以将示教器拔下。当用户需要重新插入示教器时，用户将示教器插入，并将热拔插旋钮旋转到热插档位，控制装置接收到热拔状态切换为热插状态的状态切换信号之后，将急停回路的短接断开，同时将电源电路导通，此时示教器上电。在整个热插拔的过程中，机器人可一直保持自动运行状态，不会触发相应的报警机制。
通过本公开上述实施例，通过第一控制开关生成状态切换信号，并通过控制装置基于状态切换信号控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开，实现了工业机器人对示教器热拔插的需求。与发明人已知的技术相比，通过操作第一控制开关即可实现示教器的热拔插，降低操作复杂度，并且通过对示教器的电源电路进行断开或导通，防止热插、热拔示教器时，连接线虚接而引起的电路损坏问题，示教器拔插拔过程中均处于不带电状态，安全性更高，同时可以有效防止机器人非热插拔状态下，示教器急停被意外短接的问题，进而解决了发明人已知的技术中示教器的拔插控制方式操作复杂且安全性低的技术问题。
在本公开上述一些实施例中，该系统还包括：第一继电器，串联在电源电路上，用于基于控制装置输出的断电信号断开，或基于控制装置输出的上电信号闭合。
具体地，运动控制器通过示教器电源线为示教器提供+24V电源，上述的第一继电器可以串联在运动控制器中的电源电路上，例如可以是连接头处的继电器，其中，连接头可以是多针航空插头。
在一些实施例中，当用户需要热拔示教器时，控制装置发出断电信号，控制第一继电器断开，从而使接线头处的电源电路断开，接线头断电，也即示教器断电；当用户需要热插示教器时，控制装置发出上电信号，控制第一继电器闭合，从而使接线头处的电源电路导通，接线头上电，也即示教器上电。
在本公开上述一些实施例中，控制装置包括：控制模块，与第一控制开关连接，用于基于第一控制开关发送的第一触发信号停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；采集模块，与第一控制开关连接，用于基于第一控制开关发送的第二触发信号获取机器人的当前状态，其中，当前状态用于对示教器进行初始化，当前状态至少包 括如下之一：运行状态、使能状态和报警状态。
具体地，上述的控制模块可以是控制电路中的控制芯片或控制电路，采集模块可以是控制装置的采集端口，也可以是控制装置中的采集电路。上述的运行状态包括启动或停止；使能状态包括上使能或掉使能；报警状态包括有报警或无报警。
另外，上述的第一触发信号可以是用户热拔示教器时发送给运动控制器的热拔信号，第二触发信号可以是用户热插示教器时发送给运动控制器的热插信号。
示教器与控制器一般采用TCP/IP通讯，网络异常判断一般采用心跳包机制，也即示教器定时给运动控制器发送心跳包，运动控制器接收到后立即回复，若心跳包接收异常，则认为网络异常，此时会报警导致机器人停机。在此基础上，若将示教器拔下而不做处理，会导致心跳包异常，从而引起报警。在本公开实施例中，为了实现示教器的热拔插，在热拔插旋钮输出状态切换信号的同时，输出热拔信号和热插信号，从而运动控制器可以根据热拔信号对心跳包进行处理，也即提前停止心跳包的检测，并释放网络端口用于下次连接；运动控制器可以根据热插信号提前获取机器人的当前状态，并在示教器与运动控制器建立网络连接之后发送给示教器，实现示教器初始化。
在本公开上述一些实施例中，控制装置包括：接收模块，与示教器连接，用于接收示教器发送的第一控制信号或第二控制信号；控制模块，与接收模块连接，用于基于第一控制信号停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；采集模块，与接收模块连接，用于基于第二控制信号获取机器人的当前状态。
具体地，示教器和运动控制器通过TCP/IP协议通信，上述的第一控制信号可以是示教器对热插信号进行封装得到的信号，第二控制信号可以是示教器对热拔信号进行分装得到的信号。上述的接收模块可以是控制装置的输入输出端口，也可以是控制装置中的接收电路。
在一些实施例中，热插信号和热拔信号可以发送给示教器，由示教器发送相应的第一控制信号或第二控制信号给运动控制器进行热拔插控制，从而运动控制器可以根据第一控制信号对心跳包进行处理，也即提前停止心跳包的检测，并释放网络端口用于下次连接；运动控制器可以根据第二控制信号提前获取机器人的当前状态，并在示教器与运动控制器建立网络连接之后发送给示教器，实现示教器初始化。
通过上述方案，运动控制器除了接收状态切换信号，还需要接收触发信号或控制信号，从而运动控制器可以在软件层面做好热拔插准确，保证运动控制器的稳定、安全。
在本公开上述一些实施例中，该系统还包括：第二控制开关，设置在示教器上，用于生成第一触发信号或第二触发信号；示教器，与第二控制开关连接，用于基于第一触发信号发送第一控制信号，或基于第二触发信号发送第二控制信号。
具体地，上述的第二控制开关可以是按键开关，设置在示教器面板上，用户可以根据需要按压相应的按钮，从而触发热插信号或热拔信号，进一步，热插信号或热拔信号由示教器基于TCP/IP协议进行封装，得到第一控制信号和第二控制信号，实现示教器和运动控制器的数据传输。
在本公开上述一些实施例中，第二控制开关包括：第一按钮开关，与示教器连接，用于生成第一触发信号；第二按钮开关，与示教器连接，用于生成第二触发信号。
在一些实施例中，为了方便用户操作，可以在示教器面板上分别设置两个按钮开关，同一时间用户只能按下一个按钮开关，不同按钮开关用于生成不同的触发信号。此时，第一控制开关的作用为控制示教器的电源电路导通或断开。
需要说明的是，可以针对每个按钮开关设置提示信息，以方便用户操作正确的按钮开关。
在一些实施例中，在本公开上述实施例中，控制装置还包括：发送模块，与控制模块连接，用于发送当前状态至示教器。
具体地，上述的发送模块可以是控制装置的输入输出端口，也可以是控制装置中的发送电路。
在一些实施例中，为了使示教器开机后展示机器人的最新状态，在示教器重新插入之前，可以提前收集机器人的当前状态数据，并在示教器与运动控制器建立网络连接之后，通过网络连接发送给示教器，示教器可以根据接收到的数据进行初始化。
在一些实施例中，在本公开上述实施例中，该系统还包括：短接电路，通过第二继电器与急停回路连接，第二继电器用于基于控制装置输出的断电信号断开，或基于控制装置输出的上电信号闭合。
具体地，上述的短接电路可以作为示教器中急停回路的备用电路，可以采用发明人已知的技术中的实现方式，本公开对此不作具体限定。
在一些实施例中，短接电路通过第二继电器与急停回路连接，通过控制第二继电器的闭合和断开，可以实现控制短接电路与急停回路的连接与断开。当短接电路与急停回路连接时，此时，急停回路为一个完整的闭合回路，并不会受到示教器热拔插的影响，因此，不会触发运动控制器的急停报警。当短接电路与急停回路断开时，此时，急停回路与示教器的急停回路形成一个完成的闭合回路，从而用户可以通过示教器的急停按钮实现触发运动控制器的急停处理，也即，用户可以正常使用示教器面板上的急停开关。
下面结合图2至图4，以第一控制装置发送第一触发信号或第二触发信号为例对本公开一些实施例进行详细说明。如图2所示，工业机器人正常工作时，示教器20通过相应的接口(即连接头18)连在机器人运动控制器10上，示教器与运动控制器连接线30包括： 示教器电源线、通信线、急停报警信号线。其中，电源线是指运动控制器10给示教器20提供的+24V电源，通信线用于示教器20与运动控制器10之间的通信，急停报警信号线通过示教器20与运动控制器10之间形成的电源回路工作，正常工作时，急停回路保持连通的状态；紧急情况下按下示教器20面板上的示教器急停开关22或运动控制器面板上的运动控制器急停开关16，该急停回路断开，示教器20和运动控制器10分别触发相应的急停处理机制，让机器人立刻停止运行。为了实现示教器20的热拔插，运动控制器10的面板上还设置有热拔插旋钮12，用户可以通过旋转热拔插旋钮12，切换热插状态和热拔状态。
如图3所示，示教器20的热拔操作如下：用户将热拔插旋钮12旋转到热拔档位，此时将示教器20急停回路短接，同时发送热拔信号给运动控制器10(如图3中步骤S301所示)。运动控制器10在接收到热拔信号(如图3中步骤S302所示)之后，主动停止心跳包接收(如图3中步骤S303所示)，以防止出现网络异常报警，同时释放与示教器20连接的网络端口(如图3中步骤S304所示)，用于下次连接。在准备工作做好后，运动控制器10发送连接头断电信号(如图3中步骤S305所示)，该信号用于控制连接头继电器(图2中未示出)，实现示教器20的电源电路断开(如图3中步骤S306所示)，此时示教器20断电，机器人将保持正常运行。
如图4所示，示教器20的热插操作如下：用户将示教器20重新插入运动控制器10(如图4中步骤S401所示)，并将热拔插旋钮12旋转到热插档位，此时将示教器20急停回路短接断开(也即此时示教器急停开关22可以正常使用)，同时发送热插信号给运动控制器10(如图4中步骤S402所示)。运动控制器10在接收到热插信号(如图4中步骤S403所示)之后，准备重新插入示教器，此时需要准备好将要发送给示教器20的机器人运行状态(如图4中步骤S404所示)。在准备工作做好后，运动控制器10发送连接头上电信号(如图4中步骤S405所示)，该信号用于控制连接头继电器，实现示教器20的电源电路导通(如图4中步骤S406所示)，再次与运动控制器10建立网络连接，同时获得机器人此时的运行状态，用于初始化示教器20。
通过上述方案，本公开提供了一种安全可靠，软硬件相结合的热插拔方案。由于采用控制器与示教器连接头上断电机制，示教器热插时，可有效避免航空插头插错导致的设备短路问题，用户可确定航空插头已正确插上后再上电，可有效保护设备电路；可防止用户热插示教器时，忘记将热拔插旋钮打到热插档位(若没有将热拔插旋钮打到热插档位，则示教器将不会上电)，从而确保操作安全。重新连上示教器后，只需要将热拔插旋钮打到热插档位，即可保证示教器急停开关的正常使用，用户操作简单方便。
根据本公开另一些实施例，提供了一种示教器的拔插控制方法，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
在一些实施例中提供的方法可以由上述实施例中提供的系统所执行，本实施例中方案可以参照上述实施例中的相关描述。
图5是根据本公开一些实施例的示教器的拔插控制方法的流程图，如图5所示，该方法包括如下步骤：
步骤S502，接收第一控制开关被触发后生成的状态切换信号。
具体地，上述的第一控制开关可以设置在运动控制器的面板上，第一控制开关可以是旋钮开关，包含有热插和热拔两个档位，当旋钮开关从热插档旋转到热拔档，或从热拔档旋转到热插档时，输出状态切换信号；第一控制开关也可以是按键开关，当按键开关被按下或弹起时，输出状态切换信号；第一控制开关还可以是两个按键开关，两个按键开关同时只能有一个被按下，任意一个按键开关被按下时，均会输出状态切换信号。考虑到系统成本以及所占空间，在本公开实施例中，以第一控制开关为单一旋钮开关为例进行说明。
步骤S504，基于状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开。
在一些实施例中，当用户需要拔下示教器时，用户可以将热拔插旋钮旋转到热拔状态，控制装置接收到热插状态切换为热拔状态的状态切换信号之后，将示教器与运动控制器之间的急停回路短接，同时将示教器与运动控制器之间的电源电路断开，此时示教器断电，用户可以将示教器拔下。当用户需要重新插入示教器时，用户将示教器插入，并将热拔插旋钮旋转到热插档位，控制装置接收到热拔状态切换为热插状态的状态切换信号之后，将急停回路的短接断开，同时将电源电路导通，此时示教器上电。在整个热插拔的过程中，机器人可一直保持自动运行状态，不会触发相应的报警机制。
通过本公开上述实施例，通过第一控制开关生成状态切换信号，并通过控制装置基于状态切换信号控制示教器的电源电路断开及急停回路短接，或控制电源电路导通及急停回路的短接断开，实现了工业机器人对示教器热拔插的需求。与发明人已知的技术相比，通过操作第一控制开关即可实现示教器的热拔插，降低操作复杂度，并且通过对示教器的电源电路进行断开或导通，防止热插、热拔示教器时，连接线虚接而引起的电路损坏问题，示教器拔插拔过程中均处于不带电状态，安全性更高，同时可以有效防止机器人非热插拔状态下，示教器急停被意外短接的问题，进而解决了发明人已知的技术中示教器的拔插控制方式操作复杂且安全性低的技术问题。
在本公开上述一些实施例中，控制电源电路断开或导通包括：控制串联在电源电路上的第一继电器断开或闭合。
具体地，运动控制器通过示教器电源线为示教器提供+24V电源，上述的第一继电器可以串联在运动控制器中的电源电路上，例如可以是连接头处的继电器，其中，连接头可以 是多针航空插头。
在一些实施例中，当用户需要热拔示教器时，控制装置发出断电信号，控制第一继电器断开，从而使接线头处的电源电路断开，接线头断电，也即示教器断电；当用户需要热插示教器时，控制装置发出上电信号，控制第一继电器闭合，从而使接线头处的电源电路导通，接线头上电，也即示教器上电。
在本公开上述一些实施例中，该方法还包括：在接收到第一控制开关发送的第一触发信号的情况下，停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；在接收到第一控制开关发送的第二触发信号的情况下，获取机器人的当前状态，其中，当前状态用于对示教器进行初始化，当前状态至少包括如下之一：运行状态、使能状态和报警状态。
具体地，上述的第一触发信号可以是用户热拔示教器时发送给运动控制器的热拔信号，第二触发信号可以是用户热插示教器时发送给运动控制器的热插信号。
示教器与控制器一般采用TCP/IP通讯，网络异常判断一般采用心跳包机制，也即示教器定时给运动控制器发送心跳包，运动控制器接收到后立即回复，若心跳包接收异常，则认为网络异常，此时会报警导致机器人停机。在此基础上，若将示教器拔下而不做处理，会导致心跳包异常，从而引起报警。在本实用新型实施例中，为了实现示教器的热拔插，在热拔插旋钮输出状态切换信号的同时，输出热拔信号和热插信号，从而运动控制器可以根据热拔信号对心跳包进行处理，也即提前停止心跳包的检测，并释放网络端口用于下次连接；运动控制器可以根据热插信号提前获取机器人的当前状态，并在示教器与运动控制器建立网络连接之后发送给示教器，实现示教器初始化。
在本公开上述一些实施例中，该方法还包括：在接收到示教器发送的第一控制信号的情况下，停止接收示教器发送的心跳包，并释放与示教器连接的网络端口；在接收到示教器发送的第二控制信号的情况下，获取机器人的当前状态。
具体地，示教器和运动控制器通过TCP/IP协议通信，上述的第一控制信号可以是示教器对热插信号进行封装得到的信号，第二控制信号可以是示教器对热拔信号进行分装得到的信号。
在一些实施例中，热插信号和热拔信号可以发送给示教器，由示教器发送相应的第一控制信号或第二控制信号给运动控制器进行热拔插控制，从而运动控制器可以根据第一控制信号对心跳包进行处理，也即提前停止心跳包的检测，并释放网络端口用于下次连接；运动控制器可以根据第二控制信号提前获取机器人的当前状态，并在示教器与运动控制器建立网络连接之后发送给示教器，实现示教器初始化。
通过上述方案，运动控制器除了接收状态切换信号，还需要接收触发信号或控制信号，从而运动控制器可以在软件层面做好热拔插准确，保证运动控制器的稳定、安全。
在本公开上述一些实施例中，第一控制信号由示教器基于第一触发信号生成，第二控制信号由示教器基于第二触发信号生成，其中，第一触发信号或第二触发信号由设置在示教器上的第二控制开关被触发后生成。
具体地，上述的第二控制开关可以是按键开关，设置在示教器面板上，用户可以根据需要按压相应的按钮，从而触发热插信号或热拔信号，进一步，热插信号或热拔信号由示教器基于TCP/IP协议进行封装，得到第一控制信号和第二控制信号，实现示教器和运动控制器的数据传输。
在一些实施例中，为了方便用户操作，可以在示教器面板上分别设置两个按钮开关，同一时间用户只能按下一个按钮开关，不同按钮开关用于生成不同的触发信号。此时，第一控制开关的作用为控制示教器的电源电路导通或断开。
需要说明的是，可以针对每个按钮开关设置提示信息，以方便用户操作正确的按钮开关。
在本公开上述一些实施例中，在控制电源电路导通之后，发送当前状态至示教器。
在一些实施例中，为了使示教器开机后展示机器人的最新状态，在示教器重新插入之前，可以提前收集机器人的当前状态数据，并在示教器与运动控制器建立网络连接之后，通过网络连接发送给示教器，示教器可以根据接收到的数据进行初始化。
在本公开上述一些实施例中，控制急停回路短接或断开急停回路的短接包括：控制与短接电路串联的第二继电器断开或闭合，其中，短接电路通过第二继电器与急停回路连接。
具体地，上述的短接电路可以作为示教器中急停回路的备用电路，可以采用发明人已知的技术中的实现方式，本公开对此不作具体限定。
在一些实施例中，短接电路通过第二继电器与急停回路连接，通过控制第二继电器的闭合和断开，可以实现控制短接电路与急停回路的连接与断开。当短接电路与急停回路连接时，此时，急停回路为一个完整的闭合回路，并不会受到示教器热拔插的影响，因此，不会触发运动控制器的急停报警。当短接电路与急停回路断开时，此时，急停回路与示教器的急停回路形成一个完成的闭合回路，从而用户可以通过示教器的急停按钮实现触发运动控制器的急停处理，也即，用户可以正常使用示教器面板上的急停开关。
根据本公开一些实施例，提供了一种机器人，包括：上述一些实施例中的示教器的拔插控制系统。
根据本公开一些实施例，提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例的示教器的拔插控制方法。。
根据本公开一些实施例，提供了一种示教器的拔插控制系统，包括：存储器；和耦接 至所述存储器的处理器，所述处理器用于基于存储在所述存储器装置中的指令处理器，处理器用于运行程序，其中，程序运行时执行上述实施例的示教器的拔插控制方法。
上述本公开实施例序号仅仅为了描述，不代表实施例的优劣。
在本公开的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (19)

  1. 一种示教器的拔插控制系统，包括：
    第一控制开关，用于生成状态切换信号；
    控制装置，与所述第一控制开关连接，用于基于所述状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制所述电源电路导通及所述急停回路的短接断开。
  2. 根据权利要求1所述的拔插控制系统，还包括：
    第一继电器，串联在所述电源电路上，用于基于所述控制装置输出的断电信号断开，或基于所述控制装置输出的上电信号闭合。
  3. 根据权利要求1所述的拔插控制系统，其中，所述控制装置包括：
    控制模块，与所述第一控制开关连接，用于基于所述第一控制开关发送的第一触发信号停止接收所述示教器发送的心跳包，并释放与所述示教器连接的网络端口；
    采集模块，与所述第一控制开关连接，用于基于所述第一控制开关发送的第二触发信号获取机器人的当前状态，其中，所述当前状态用于对所述示教器进行初始化，所述当前状态至少包括如下之一：运行状态、使能状态和报警状态。
  4. 根据权利要求1所述的拔插控制系统，其中，所述控制装置包括：
    接收模块，与所述示教器连接，用于接收所述示教器发送的第一控制信号或第二控制信号；
    控制模块，与所述接收模块连接，用于基于所述第一控制信号停止接收所述示教器发送的心跳包，并释放与所述示教器连接的网络端口；
    采集模块，与所述接收模块连接，用于基于所述第二控制信号获取机器人的当前状态。
  5. 根据权利要求4所述的拔插控制系统，还包括：
    第二控制开关，设置在所述示教器上，用于生成第一触发信号或第二触发信号，其中，所述示教器与所述第二控制开关连接，用于基于所述第一触发信号发送所述第一控制信号，或基于所述第二触发信号发送所述第二控制信号。
  6. 根据权利要求5所述的拔插控制系统，其中，所述第二控制开关包括：
    第一按钮开关，与所述示教器连接，用于生成所述第一触发信号；
    第二按钮开关，与所述示教器连接，用于生成所述第二触发信号。
  7. 根据权利要求3或4所述的拔插控制系统，其中，所述控制装置还包括：
    发送模块，与所述控制模块连接，用于发送所述当前状态至所述示教器。
  8. 根据权利要求1所述的拔插控制系统，还包括：
    短接电路，通过第二继电器与所述急停回路连接，所述第二继电器用于基于所述控制装置输出的断电信号断开，或基于所述控制装置输出的上电信号闭合。
  9. 根据权利要求1所述的拔插控制系统，其中，所述第一控制开关为旋钮开关。
  10. 一种示教器的拔插控制方法，包括：
    接收第一控制开关被触发后生成的状态切换信号；
    基于所述状态切换信号，控制示教器的电源电路断开及急停回路短接，或控制所述电源电路导通及所述急停回路的短接断开。
  11. 根据权利要求10所述的拔插控制方法，其中，控制所述电源电路断开或导通包括：
    控制串联在所述电源电路上的第一继电器断开或闭合。
  12. 根据权利要求10所述的拔插控制方法，还包括：
    在接收到所述第一控制开关发送的第一触发信号的情况下，停止接收所述示教器发送的心跳包，并释放与所述示教器连接的网络端口；
    在接收到所述第一控制开关发送的第二触发信号的情况下，获取机器人的当前状态，其中，所述当前状态用于对所述示教器进行初始化，所述当前状态至少包括如下之一：运行状态、使能状态和报警状态。
  13. 根据权利要求10所述的拔插控制方法，还包括：
    在接收到所述示教器发送的第一控制信号的情况下，停止接收所述示教器发送的心跳包，并释放与所述示教器连接的网络端口；
    在接收到所述示教器发送的第二控制信号的情况下，获取机器人的当前状态。
  14. 根据权利要求13所述的方法，其中，所述第一控制信号由所述示教器基于第一触发信号生成，所述第二控制信号由所述示教器基于第二触发信号生成，其中，所述第一触发信号或所述第二触发信号由设置在所述示教器上的第二控制开关被触发后生成。
  15. 根据权利要求12或13所述的方法，其中，在控制所述电源电路导通之后，发送所述 当前状态至所述示教器。
  16. 根据权利要求10所述的方法，其中，控制所述急停回路短接或断开所述急停回路的短接包括：
    控制与短接电路串联的第二继电器断开或闭合，其中，所述短接电路通过所述第二继电器与所述急停回路连接。
  17. 一种机器人，包括：权利要求1至9中任意一项所述的示教器的拔插控制系统。
  18. 一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现权利要求10至16中任意一项所述的示教器的拔插控制方法。
  19. 一种示教器的拔插控制系统，包括：
    存储器；和
    耦接至所述存储器的处理器，所述处理器用于基于存储在所述存储器装置中的指令执行权利要求10至16中任意一项所述的示教器的拔插控制方法。
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