WO2022057292A1 - 一种机器人的控制装置、方法和机器人 - Google Patents

一种机器人的控制装置、方法和机器人 Download PDF

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Publication number
WO2022057292A1
WO2022057292A1 PCT/CN2021/094043 CN2021094043W WO2022057292A1 WO 2022057292 A1 WO2022057292 A1 WO 2022057292A1 CN 2021094043 W CN2021094043 W CN 2021094043W WO 2022057292 A1 WO2022057292 A1 WO 2022057292A1
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WO
WIPO (PCT)
Prior art keywords
robot
signal
switch
output
brake
Prior art date
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PCT/CN2021/094043
Other languages
English (en)
French (fr)
Inventor
胡余生
王长恺
胡飞鹏
朱钦炜
余显才
雷蕾
Original Assignee
珠海格力电器股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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
Priority to EP21868130.2A priority Critical patent/EP4151375A4/en
Priority to US18/010,086 priority patent/US20230347523A1/en
Priority to JP2022576375A priority patent/JP2023540159A/ja
Publication of WO2022057292A1 publication Critical patent/WO2022057292A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Definitions

  • the present disclosure belongs to the field of robotics technology, and in particular relates to a control device, method and robot for a robot, and in particular to a control device, method and robot for releasing a motor brake of a SCARA robot.
  • SCARA Selective Compliance Assembly Robot Arm
  • SCARA Selective Compliance Assembly Robot Arm
  • the purpose of the present disclosure is to provide a control device, method and robot for a robot, so as to solve the problem that after the SCARA robot triggers emergency stop protection, it cannot move the robot arm without power-off and restart, which may cause secondary damage to the robot or surrounding equipment. , there is a serious safety hazard, and the release control of the motor brake of the SCARA robot can prevent secondary damage to the robot or surrounding equipment and eliminate safety hazards.
  • the present disclosure provides a control device for a robot, comprising: a signal acquisition unit, a control unit, a logic processing unit, and a signal output unit; wherein the signal acquisition unit is configured to trigger an emergency stop when the robot is manually In the case of releasing the motor brake of the robot, if the body switch of the robot is turned on, obtain a switch on signal that the body switch of the robot is turned on; the control unit is configured to When the robot triggers an emergency stop and can release the motor brake of the robot through the enable, output an enable release control signal; the logic processing unit is configured to, if receiving the switch ON signal, then After the switch-on signal is logically processed, a manual release signal is output; if the enable release control signal is received, the enable release signal is output after logic processing is performed on the enable release control signal; the The signal output unit is configured to control the motor of the robot to release the brake when receiving the manual release signal or the enable release signal.
  • the body switch of the robot includes: a self-resetting switch; a first end of the self-resetting switch is connected to the input end of the signal acquisition unit, and a second end of the self-resetting switch is grounded;
  • the self-reset switch is a normally open switch, and is turned on when pressed;
  • the control device of the robot further includes: the signal acquisition unit, configured to trigger an emergency stop when the robot triggers an emergency stop through the control unit, and In the case of the motor brake of the robot, if the self-resetting switch of the robot has been disconnected from the self-resetting, the switch disconnection signal that the self-resetting switch of the robot is disconnected is obtained;
  • the logic processing unit is It is configured to output a holding brake signal after the switch off signal is logically processed if the switch off signal is received;
  • the signal output unit is configured to receive the hold brake signal when the signal is received. In this case, the motor that controls the robot continues to maintain the brake state.
  • it further includes: a sampling unit; the sampling unit is configured to collect the current signal on the brake signal line of the robot; the control unit is further configured to collect the current of the robot body according to the current The signal and the switch signal of the body switch of the robot monitor the state of the body of the robot; wherein, the switch signal of the body switch of the robot includes: the body switch of the robot is turned on by the switch that is turned on signal, or the switch off signal that the robot's body switch is turned off.
  • the control unit monitors the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch, including: when the robot is running normally If the current signal shows that the robot is running normally, and the switch signal shows that the body switch of the robot is turned on from the off state, the robot is controlled to stop, and the robot is initiated to operate normally.
  • a reminder message for misoperation during operation when the robot is in the braking state, if the current signal indicates that the robot is in the braking state, and the switch signal indicates that the robot's body switch has been turned off from the off state If it is turned on, the robot is controlled to prohibit starting.
  • the number of output terminals of the signal acquisition unit, the number of the logic processing units, and the number of the signal output units are all related to the number of motors in the robot that need to hold or release the brake. Consistent; in the case that the number of motors that need to hold or release the brake in the robot is two, the motors that need the brake or release the brake in the robot include: a first motor and a second motor;
  • the output end of the signal acquisition unit includes: a first output end and a second output end;
  • the logic processing unit includes: a first logic processing unit and a second logic processing unit;
  • the signal output unit includes: a first logic processing unit a signal output unit and a second signal output unit; wherein, the first output end of the signal acquisition unit outputs to the first input end of the first logic processing unit; the output end of the first logic processing unit outputs to the input end of the first signal output unit; the output end of the first signal output unit is output to the control end of the brake or release of the first motor; the second output of the signal
  • the signal acquisition unit includes: a first optocoupler module, a first switch module and a second switch module; wherein the diode side of the first optocoupler module is connected to the robot's body switch; the transistor side in the first optocoupler module can output the switch signal of the robot body switch; wherein the switch signal of the robot body switch is processed by the first switch module, and then output to the first input terminal of the first logic processing unit; the switch signal of the body switch of the robot, after being processed by the second switch module, is output to the first input terminal of the second logic processing unit; the The switch signal of the body switch of the robot is also output to the feedback terminal of the control unit.
  • the first switch module and the second switch module have the same structure; the first switch module includes: a first transistor module; the base of the first transistor module is connected to to the emitter of the transistor side of the first optocoupler module; the collector of the first transistor module, as the output end of the first switch module, is output to the first input of the first logic processing unit end.
  • the first logic processing unit and the second logic processing unit have the same structure;
  • the first logic processing unit includes: a first AND gate module; an input terminal connected to the first output terminal of the signal acquisition unit; the second input terminal of the first AND gate module connected to the first enable control terminal of the control unit; the first AND gate The output end of the module is connected to the input end of the first signal output unit.
  • the first signal output unit and the second signal output unit have the same structure; the first signal output unit includes: a second optocoupler module; a diode in the second optocoupler module The cathode of the side is connected to the output terminal of the first logic processing unit; the emitter of the transistor side of the second optocoupler module is connected to the control terminal of the brake or releasing the brake of the first motor.
  • a robot including: the above-mentioned control device of the robot.
  • a control method for a robot comprising: through a signal acquisition unit, when the robot triggers an emergency stop and the motor brake of the robot can be manually released, If the body switch of the robot is turned on, the switch on signal that the body switch of the robot is turned on is obtained; through the control unit, the robot triggers an emergency stop, and the robot can be released by enabling In the case of the motor holding brake, output the enable release control signal; through the logic processing unit, if the switch on signal is received, the switch on signal is logically processed, and the manual release signal is output; if received For the enable release control signal, the enable release signal is output after logic processing is performed on the enable release control signal; through the signal output unit, when the manual release signal or the enable release signal is received Next, control the motor of the robot to release the brake.
  • the body switch of the robot includes: a self-resetting switch; a first end of the self-resetting switch is connected to the input end of the signal acquisition unit, and a second end of the self-resetting switch is grounded;
  • the self-resetting switch is a normally open switch, and is turned on when pressed;
  • the control method of the robot further includes: using the signal acquisition unit, when the robot triggers an emergency stop through the control unit, and the robot In the case of the motor brake of the robot, if the self-resetting switch of the robot has been disconnected from the self-resetting, the switch disconnection signal that the self-resetting switch of the robot is disconnected is obtained; through the logic processing unit, if receiving To the switch disconnection signal, after the switch disconnection signal is logically processed, the maintenance brake signal is output; through the signal output unit, in the case of receiving the maintenance brake signal, control the The motor of the robot continues to maintain the brake state.
  • the method further includes: collecting the current signal on the brake signal line of the robot through the sampling unit; through the control unit, further according to the current signal of the robot body and the switch of the robot body A switch signal to monitor the state of the robot's body; wherein the switch signal of the robot's body switch includes: a switch-on signal that the robot's body switch is turned on, or the robot's body switch The open switch disconnects the signal.
  • the control unit monitors the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch, including: when the robot is normal In the case of running, if the current signal shows that the robot is running normally, and the switch signal shows that the body switch of the robot is turned on from the off state, the robot is controlled to stop, and the robot is initiated to operate. A reminder message for misoperation during normal operation; when the robot is in the braking state, if the current signal indicates that the robot is in the braking state, and the switch signal indicates that the robot's body switch is in the off state is turned on, the robot is controlled to prohibit starting.
  • FIG. 1 is a schematic structural diagram of an embodiment of a control device of the disclosed robot
  • FIG. 2 is a schematic structural diagram of an embodiment of a SCARA robot
  • FIG. 3 is a schematic structural diagram of an embodiment of a robot and a controller, specifically a schematic diagram of the wiring of the robot body;
  • FIG. 4 is a schematic structural diagram of another embodiment of a robot and a controller
  • FIG. 5 is a schematic structural diagram of one embodiment of a control circuit of the controller in FIG. 4;
  • FIG. 6 is a schematic flowchart of an embodiment of the disclosed robot control method
  • FIG. 7 is a schematic flowchart of an embodiment of maintaining a motor holding brake after the self-resetting switch is reset in the method of the present disclosure
  • FIG. 8 is a schematic flowchart of an embodiment of monitoring the body state of the robot in the disclosed method.
  • a control device of a robot is provided.
  • FIG. 1 a schematic structural diagram of an embodiment of the apparatus of the present disclosure is shown.
  • the control device of the robot can be applied to the motor brake release control of the SCARA robot.
  • the motor brake release control device of the SCARA robot includes a signal acquisition unit, a control unit, a logic processing unit and a signal output unit.
  • Control unit, FPGA can be selected.
  • the signal acquisition unit connected to the body switch of the robot (such as a self-resetting switch), is configured to be able to manually release the motor brake of the robot when the robot triggers an emergency stop , and if the body switch of the robot is turned on, obtain a switch on signal that the body switch of the robot is turned on.
  • control unit is configured to output an enable release control signal when the robot triggers an emergency stop and the motor brake of the robot can be released by enabling.
  • the logic processing unit is configured to, when the robot triggers an emergency stop and the motor brake of the robot can be manually released, if the switch ON signal is received, the After the switch-on signal is logically processed, the manual release signal is output.
  • the robot triggers an emergency stop and can release the motor brake of the robot through the enable, if the enable release control signal is received, after the enable release control signal is logically processed, Output enable release signal.
  • the signal output unit is configured to control the motor of the robot to release the brake when receiving the manual release signal or the enable release signal.
  • the brake signals of more than one motor in the robot are set separately. Since the brake signals are not connected together, but a separate channel is used, only the switch signal of the robot's body switch is used as a signal input, so whether the body switch is pressed or the internal software control is enabled, the brake can be released. In non-emergency state, software can also be used to individually enable and control any axis.
  • both situations of releasing the braking can be realized. Specifically, in the absence of software control, press the switch on the "robot” to release the brake. After the software control sends the enable signal, the motor on the "robot” also needs to be able to release the brake.
  • the optocoupler circuit of the rear stage is turned on, and the signal "BRK1"/"BRK2" output to the motor is grounded, and the output is low. level, the brake is released.
  • a hardware control loop can be formed and compatible with the software control loop, so that the emergency movement of the SCARA robot without a drive loop is possible.
  • the body switch of the robot includes: a self-reset switch.
  • the first terminal of the self-resetting switch is connected to the input terminal (eg, the SW_IN terminal) of the signal acquisition unit, and the second terminal of the self-resetting switch is grounded (eg, the analog ground GND).
  • the self-resetting switch is a normally open switch, which is turned on when pressed.
  • the switch signal of the robot's body switch is only used as a signal input, and is not directly connected to the brake line.
  • the control unit can be used for control. Specifically, the control unit outputs an enabling brake control signal when the robot needs to trigger an emergency stop.
  • the logic processing unit when the robot needs to trigger an emergency stop, if receiving the enabling brake control signal, after performing logic processing on the enabling brake control signal, outputs the enabling brake. Signal.
  • the signal output unit controls the motor brake of the robot under the condition of receiving the enabling brake signal.
  • the control device of the robot further includes: the process of maintaining the motor holding brake after the self-resetting switch is reset, specifically including:
  • the signal acquisition unit is configured to acquire the signal when the robot triggers an emergency stop through the control unit and the motor of the robot is braked, if the self-reset switch of the robot has been disconnected from the reset.
  • the self-resetting switch of the robot is turned off by the switch-off signal.
  • the logic processing unit is configured to, when the robot triggers an emergency stop through the control unit and the motor of the robot holds a brake, if the switch disconnection signal is received, the switch is disconnected. After the open signal is logically processed, the hold brake signal is output.
  • the signal output unit is configured to control the motor of the robot to continue maintaining the state of the brake when receiving the signal for maintaining the brake.
  • the body switch of the robot is a self-reset switch, releasing the button will automatically return to the open (non-closed) state, so the signal at this time is in a sense no different from that before the hardware circuit is added, and the software can be compatible .
  • the main body switch of the robot adopts a self-reset switch, and when the brake is manually released, a self-reset switch is used. If the operator accidentally forgets to reset the button, the robot arm will not fall uncontrollably at this time, so as to avoid other Dangerous, so as to avoid the situation that the motor has been in the state of loose brakes during operation and ensure safety.
  • it further includes: a sampling unit.
  • the process of monitoring the body state of the robot including:
  • the sampling unit is configured to collect the current signal on the brake signal line of the robot, and feed back the collected current signal to the feedback terminal of the control unit.
  • the sampled current signal is the current signal on the BRK1- and BRK2- signal lines connected to the motor.
  • the control unit is further configured to monitor the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch.
  • the switch signal of the body switch of the robot includes: a switch-on signal that the body switch of the robot is turned on, or a switch-off signal that the body switch of the robot is turned off.
  • the switch signal of the body switch of the robot is the switch signal output by the front-stage optocoupler circuit in the information acquisition unit, such as the emitter of the transistor side in the first optocoupler.
  • the switch signal is introduced.
  • the switch signal is divided into two branches.
  • One (SW_SIG) can participate in the signal input of releasing the brake, and the other (SW) is used as the feedback signal to input to the FPGA (Field Programmable Gate Gate). Array, Field Programmable Logic Gate Array).
  • the switching signal input to the FPGA and the current sampling signal also input to the FPGA can form a safety feedback loop to monitor the state of the body brake (or release brake) loop.
  • the safety feedback loop is formed by introducing the switch signal and combining with the current sampling circuit while adding the hardware control loop, so as to further increase its safety.
  • control unit monitors the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch, including:
  • the control unit is further configured to, in the case of the normal operation of the robot, if the current signal indicates that the robot is in normal operation, and the switch signal indicates that the body switch of the robot is connected in an off state. If it is turned on, it is determined that the body switch of the robot is turned on by misoperation, the robot is controlled to stop, and a reminder message that the robot is misoperated during normal operation is initiated.
  • the control unit is further configured to, when the robot is in a braking state, if the current signal indicates that the robot is in a braking state, and the switch signal indicates that the body switch of the robot is in an off state. If it is turned on, it is determined that the robot has been activated by mistake, and the robot is controlled to prohibit activation.
  • the release of the brake can be controlled by both, and the switch signal at this time is divided into two branches , one (SW_SIG) can participate in the signal input for releasing the brake, and the other (SW) is input to the FPGA as a feedback signal.
  • the robot arm maintains the original state by maintaining the current, and should not be subjected to the low level of the SW signal at this time. , so as not to cause safety accidents due to human misoperation.
  • the feedback signal of SW should be involved.
  • the FPGA detects an abnormally low level and stops the robot and alarms. If someone is pressing the switch of the main body for debugging and other work, at this time, if someone wants to start the robot, the FPGA will combine the current sampling signal (the current is converted into a digital signal by the AD chip and input to the FPGA to feedback the main body state) and the SW signal (control the main body switch). signal), and prohibit the start to avoid safety accidents.
  • the number of output terminals of the signal acquisition unit, the number of the logic processing units, and the number of the signal output units are all related to the number of motors in the robot that need to hold or release the brake. Consistent. That is to say, the number of output terminals of the signal acquisition unit, the number of the logic processing units, and the number of the signal output units may all be related to the motors in the robot that need to be controlled to release the brakes, or the motors that need to be released. The number of motors controlled by the brake is the same.
  • the number of the output terminals of the signal acquisition unit, the number of the logic processing units, and the number of the signal output units are all more than one, and each of the signal output units in the more than one signal output unit, Corresponding to a motor in the robot that needs to release the brake, the brake release control can be performed on a motor in the robot that needs to release the brake.
  • more than one signal output unit, specifically two of the signal output units, the two signal output units include a first signal output unit and a second signal output unit, which can output the release of the two motor brakes control signal.
  • the motors required to hold or release the brake in the robot include: a first motor and a second motor.
  • the output end of the signal acquisition unit includes: a first output end and a second output end.
  • the logical processing unit includes: a first logical processing unit and a second logical processing unit.
  • the signal output unit includes: a first signal output unit and a second signal output unit.
  • the first output terminal of the signal acquisition unit is output to the first input terminal of the first logic processing unit.
  • the output end of the first logic processing unit is output to the input end of the first signal output unit.
  • the output end of the first signal output unit is output to the control end of the brake or release of the brake of the first motor.
  • the second output terminal of the signal acquisition unit is output to the first input terminal of the second logic processing unit.
  • the output end of the second logic processing unit is output to the input end of the second signal output unit.
  • the output end of the second signal output unit is output to the control end of the second motor's holding brake or releasing the holding brake.
  • the control terminal of the motor holding brake of the robot or releasing the holding brake may be the motor holding brake of the robot or the brake wire for releasing the holding brake.
  • the first enable control terminal of the control unit is output to the second input terminal of the first logic processing unit.
  • the second enable control terminal of the control unit is output to the second input terminal of the second logic processing unit.
  • the first output terminal of the signal acquisition unit outputs the switch-on signal obtained by the signal acquisition unit that the switch of the robot body is turned on, to the first output terminal of the signal acquisition unit.
  • a first input terminal of a logic processing unit The first enable control terminal of the control unit outputs an enable release control signal to the second input terminal of the first logic processing unit.
  • the first logic processing unit in the case that the robot triggers an emergency stop and the motor brake of the robot can be manually released, if the switch-on signal is received, the switch is turned on. After the logic processing is performed, a manual release signal of the first motor is output.
  • the robot triggers an emergency stop and can release the motor brake of the robot through the enable
  • the enable release control signal is received, after the enable release control signal is logically processed
  • An enable release signal of the first motor is output.
  • the first signal output unit controls the first motor in the robot to release the brake when receiving a manual release signal of the first motor or an enable release signal of the first motor.
  • the second output terminal of the signal acquisition unit outputs the switch-on signal acquired by the signal acquisition unit that the body switch of the robot is turned on to the second input terminal of the second logic processing unit .
  • the second enable control terminal of the control unit outputs an enable release control signal to the second input terminal of the second logic processing unit.
  • the second logic processing unit in the case that the robot triggers an emergency stop and the motor brake of the robot can be manually released, if the switch-on signal is received, the switch is turned on. After the logic processing is performed, the manual release signal of the second motor is output.
  • the robot triggers an emergency stop and can release the motor brake of the robot through the enable
  • the enable release control signal is received, after the enable release control signal is logically processed
  • An enable release signal of the second motor is output.
  • the second signal output unit controls the second motor in the robot to release the brake when receiving a manual release signal of the second motor or an enable release signal of the second motor.
  • the enabling of the control unit is in the process of controlling the brake through the control unit, that is, during emergency stop control, the first enabling control end of the control unit, when the robot needs to trigger an emergency stop Next, output the enabling brake control signal to the second input terminal of the first logic processing unit.
  • the first logic processing unit in the case that the robot needs to trigger an emergency stop, if the enabling brake control signal is received, after performing logic processing on the enabling brake control signal, the output enable The brake signal is sent to the first signal output unit.
  • the first signal output unit controls the first motor holding brake in the robot under the condition of receiving the enabling brake signal.
  • the second enable control terminal of the control unit outputs an enable brake control signal to the second input terminal of the second logic processing unit when the robot needs to trigger an emergency stop.
  • the second logic processing unit in the case that the robot needs to trigger an emergency stop, if the enabling brake control signal is received, after performing logic processing on the enabling brake control signal, the output enable The brake signal is sent to the second signal output unit.
  • the second signal output unit controls the second motor holding brake in the robot under the condition of receiving the enabling brake signal.
  • the first output terminal of the signal acquisition unit outputs the switch-off signal obtained by the signal acquisition unit that the main body switch of the robot is turned off, to the signal acquisition unit.
  • the first input terminal of the first logic processing unit when the robot triggers an emergency stop through the control unit and the motor of the robot is locked, if the switch off signal is received, the switch is turned off.
  • the holding brake signal of the first motor is output.
  • the first signal output unit controls the first motor in the robot to maintain the brake when receiving a signal for maintaining the brake of the first motor.
  • the second output terminal of the signal acquisition unit outputs the switch off signal acquired by the signal acquisition unit that the body switch of the robot is turned off to the second input terminal of the second logic processing unit .
  • the second logic processing unit when the robot triggers an emergency stop through the control unit and the motor of the robot is locked, if the switch off signal is received, the switch is turned off After the signal is logically processed, the holding brake signal of the second motor is output.
  • the second signal output unit controls the second motor in the robot to maintain the brake when receiving the signal for maintaining the brake of the second motor.
  • the signal acquisition unit includes: a first optocoupler module, a first switch module and a second switch module.
  • the diode side of the first optocoupler module is connected to the body switch of the robot.
  • the transistor side in the first optocoupler module can output the switch signal of the body switch of the robot.
  • the switch signal of the body switch of the robot is processed by the first switch module and then output to the first input end of the first logic processing unit.
  • the output end of the first switch module is the first output end of the signal acquisition unit.
  • the switch signal of the body switch of the robot is output to the first input end of the second logic processing unit.
  • the output end of the second switch module is the second output end of the signal acquisition unit.
  • the switch signal of the body switch of the robot is also output to the feedback terminal (such as the SW terminal of the FPGA) of the control unit, such as output to the feedback terminal of the FPGA , to form a safety feedback loop with the current signal sampled by the sampling unit to monitor the state of the brake (or release) loop of the robot body.
  • the first optocoupler module includes a resistor R1 and a front-stage optocoupler circuit such as the first optocoupler OC1.
  • the resistor R1 is connected in parallel between the anode and the cathode of the diode side of the first optocoupler OC1.
  • the first optocoupler module, the first switch module and the second switch module constitute a signal acquisition unit, which can reliably acquire the switch signal of the body switch of the robot, and then control the motor to release the brake and monitor the motor according to the switch signal. Status, etc., to achieve hardware control and software monitoring.
  • the first switch module includes: a first transistor module.
  • the base of the first transistor module is connected to the emitter of the transistor side of the first optocoupler module.
  • the collector of the first transistor module, as the output terminal of the first switch module, is output to the first input terminal of the first logic processing unit.
  • the transistor circuit includes: resistor R2, resistor R3, resistor R4 and resistor R5, capacitor C1, diode D1, and transistor Q1.
  • the switch signal of the robot body switch obtained by the first optocoupler module can be processed and output to the first logic processing unit.
  • the structure is simple, reliable, and reliable. Safety.
  • the first logic processing unit includes: a first AND gate module.
  • the first input terminal of the first AND gate module is connected to the first output terminal of the signal acquisition unit.
  • the second input terminal of the first AND gate module is connected to the first enable control terminal of the control unit.
  • the output end of the first AND gate module is connected to the input end of the first signal output unit.
  • both hardware and software can control the control of the motor to release the brake, which makes the emergency movement of the SCARA robot without a drive loop possible.
  • the first signal output unit includes: a second optocoupler module.
  • the cathode of the diode side in the second optocoupler module is connected to the output end of the first logic processing unit.
  • the emitter of the transistor side in the second optocoupler module is connected to the control terminal of the brake or the release of the brake of the first motor.
  • a second optocoupler OC2 can be used, and a diode is arranged between the emitter of the transistor side and the DC power supply in the second optocoupler OC2.
  • the body switch of the robot is the switch signal of the self-resetting switch, which is input to the input end of the first logic gate circuit after passing through the front-stage optocoupler circuit and the transistor circuit.
  • the control signal of the FPGA is input to the input end of the first logic gate circuit through the driving circuit.
  • Two signals are input to the first logic gate circuit, and output a brake (or brake release) control circuit, which is connected to the input end of the optocoupler circuit of the rear stage.
  • the output signal of the optocoupler circuit of the rear stage is pulled up and connected to the external robot. motor.
  • the output signal of the first logic processing unit is isolated and then output to the control terminal of the first motor's holding brake or releasing the holding brake, which can be based on hardware. Or software control can reliably control the motor to release the brake, which is reliable and safe.
  • a robot corresponding to the control device of the robot.
  • the robot may comprise: the control device of the robot described above.
  • SCARA robot because it has: (1) compact structure, high utilization rate of working space; (2) flexible action, high speed, high repeatability, high work efficiency; (3) easy to operate, with a variety of installation methods; (4) ) has few parts, low manufacturing cost, easy disassembly and maintenance, etc., so it is widely used in some places with small space and high precision requirements.
  • SCARA robots are commonly used in the 3C electronics industry for assembly, disassembly and sorting.
  • FIG. 2 is a schematic structural diagram of an embodiment of a SCARA robot.
  • the SCARA robot uses 4 motors to control the movement of 4 joints (ie joint 1, joint 2, joint 3 and joint 4), namely: 1, 2, 4 axis horizontal rotation joints, 3 axis up and down joints.
  • 4 joints ie joint 1, joint 2, joint 3 and joint 4
  • the 3-axis and 4-axis motors need to use a motor with a brake hold, so as to brake the internal brake of the motor in the event of a power failure to prevent the joint arm from falling; 1.
  • the 2-axis motor can flexibly decide whether to have a holding brake function.
  • the end fixture of the SCARA robot collides with the surrounding objects or equipment.
  • the user presses the emergency stop switch (such as the teach pendant emergency stop or external Emergency stop), 3 and 4 axis motor holding brakes, and the robot controller disconnects the main circuit at the same time.
  • the emergency stop switch such as the teach pendant emergency stop or external Emergency stop
  • 3 and 4 axis motor holding brakes the robot controller disconnects the main circuit at the same time.
  • FIG. 3 is a schematic structural diagram of an embodiment of a robot and a controller, and is specifically a schematic diagram of the wiring of the robot body.
  • the first solution uses a switch (such as an external brake switch, see the joint 3 brake release switch in Figure 2) to connect the two The brake signal lines of each axis (the connection method can be seen in the example shown in Figure 3), when the switch is pressed, the brakes of the two axes are released at the same time, but when the power is on, it is impossible to control one of the axes to release the brake independently.
  • the second scheme only connect the brake signal of one axis, control a certain line separately, but only control the brake of one line. In addition, neither of the two schemes completes the closed-loop control loop, lacks a state monitoring loop, and cannot monitor the release state of the brake.
  • the disclosed solution provides a SCARA robot motor brake release control solution.
  • the solution of the present disclosure is aimed at the problem that the robot cannot move the robot arm without restarting after the emergency stop is triggered.
  • the user needs to be able to quickly release the brakes of the 3 and 4 axes of the SCARA robot in an emergency; by adding The hardware control loop is compatible with the software control loop, which makes the emergency movement of the SCARA robot without a drive loop possible. In this way, when the SCARA robot is in an emergency state or without a drive loop, the operator can manually release the motor brake and move the robotic arm.
  • the hardware control loop is added and compatible with the software control loop, which makes the emergency movement of the SCARA robot without a drive loop possible.
  • the added hardware circuit will not affect the software control.
  • the robotic arm needs to be removed to save people or protect assets or move the robotic arm back to a safe range.
  • Brake release is controlled by hardware. If there is no hardware to release the brakes, it is very difficult to move the manipulator with the brakes. It can only be done by cranes and other special tools, so the hardware control loop is very important.
  • the robot in the form of a logic gate circuit, can brake only when the body switch of the robot is not pressed and the internal software of the controller gives a braking signal; since the self-resetting switch is selected for the body switch of the robot, there is no need to worry that it cannot be timely. brakes and cause safety problems.
  • the brake signals are not connected together, but a separate channel is used, only the switch signal of the robot's body switch is input as a signal, so whether the body switch is pressed or the internal software control is enabled, the brake can be released.
  • software can be used to individually enable and control any axis.
  • the solution of the present disclosure addresses the requirement that users can still use software to perform single-axis brake release control after adding a hardware brake release circuit; by using a self-reset switch when manually releasing the brake, the motor keeps running It is in the state of loose brake to ensure safety. In this way, when the brake is manually released, the self-reset switch is used. If the operator accidentally forgets to reset the button, the mechanical arm will not fall uncontrollably, so as to avoid other dangers, so as to avoid the motor being kept loose during operation. gate status to ensure safety.
  • a self-reset switch is used, so as to prevent the motor from being in a loose brake state during operation and ensure safety. If the switch cannot be reset by itself, but is reset manually, if the operator accidentally forgets to reset the button, the robotic arm may fall uncontrollably, which may cause other dangers.
  • the solution of the present disclosure is aimed at the problem that the hardware release brake cannot be included in the state detection range, and the safety feedback for the hardware release brake circuit is lacking; while adding the hardware control loop, the switch signal is introduced and combined with the current sampling circuit to form a safety feedback loop to further increase its safety. That is to say, for the problem of operation and control safety, a control feedback loop is added, making the whole system a closed-loop control system, which is more stable. In this way, while adding the hardware control loop, the switch signal is introduced.
  • the switch signal is divided into two branches. One (SW_SIG) can participate in the signal input of releasing the brake, and the other (SW) is used as the feedback signal to input to the FPGA (Field Programmable Gate Gate). Array, field programmable logic gate array); the switching signal input to the FPGA and the current sampling signal also input to the FPGA can form a safety feedback loop to monitor the state of the body brake (or release brake) loop.
  • FIG. 4 is a schematic structural diagram of another embodiment of a robot and a controller.
  • Figure 4 not only changes the “controller”, but also changes the wiring of the "robot” body, mainly changing the way the switch control signal obtains the entire control loop, that is: the robot in Figure 3 is changed.
  • the main body switch is directly connected to the brake line on the "robot", and is changed to only be used as a signal input, not directly connected to the brake line.
  • the body switch of the robot indirectly controls the signal of the brake signal line through the internal logic gate of the "controller”.
  • "FPGA_BRK1", “FPGA_BRK0”, and “SW” in the controller are all network names.
  • “3#” and “4#” are 3-axis motor and 4-axis motor respectively.
  • Self-reset switch is a key switch, which is closed when pressed and disconnected when released, so it is marked as “self-reset”.
  • FIG. 5 is a schematic structural diagram of one embodiment of a control circuit of the controller in FIG. 4 .
  • "F_BRK0”, “BRK0-”, “SW”, “SW_0”, “SW”, “SW_SIG”, etc. are all network names.
  • "AD chip” is a current sampling chip
  • the output signal is a feedback signal
  • signal net names eg "BRK0-
  • "AND logic gate” devices there is a one-to-one correspondence between signal net names (eg "BRK0-”) and "AND logic gate” devices.
  • a SCARA robot motor brake release control device may include: a front-stage optocoupler circuit, a transistor circuit, a drive circuit (not shown in the figure), a logic gate circuit, Several parts of the post-stage optocoupler circuit.
  • the number of logic gate circuits is two, and the two logic gate circuits may include a first logic gate circuit and a second logic gate circuit.
  • the front-stage optocoupler circuit includes a first optocoupler OC1
  • the rear-stage optocoupler circuit includes a second optocoupler OC2 and a third optocoupler OC3.
  • a resistor R1 is connected in parallel between the anode and the cathode of the diode side in the first optocoupler OC1.
  • a diode is also arranged between the emitter on the transistor side and the DC power supply.
  • a diode is further arranged between the emitter of the transistor side and the DC power supply.
  • the driver circuit (or driver chip) is set between the FPGA output network "FPGA_BRK0/1” and the logic gate circuit input network "F_BRK0/1", which can enhance the load capacity of the brake signal network output from the FPGA side (ie, the driving capacity).
  • the chip is a driver chip.
  • the resistance on the diode side of the front-stage optocoupler is a bypass resistor, which is used for shunt and bypass, and the purpose is to protect the diode in the front-stage optocoupler.
  • the function of the diode on the transistor side in the post-stage optocoupler is to use its unidirectional conduction characteristic to play the role of freewheeling. Since the optical coupling of the rear stage is an inductive load, the inductive load will generate a high back EMF. At the moment when the brake coil is powered off (when the robot changes from the brake release state to the brake state), the coil and the parallel diode form a loop, which provides a discharge path for the reverse induced electromotive force, which has the effect of freewheeling.
  • the body switch of the robot is the switch signal of the self-resetting switch. After passing through the front-stage optocoupler circuit and the transistor circuit (see the example shown in Figure 5), it is input to the input end of the first logic gate circuit; the control signal of the FPGA passes through The drive circuit (not shown in the figure) is input to the input terminal of the first logic gate circuit; two signals are input to the first logic gate circuit, and a brake (or brake release) control circuit is output, which is connected to the post-stage optocoupler The input end of the circuit, the output signal of the optocoupler circuit of the latter stage is connected to the external robot motor through the pull-up.
  • the transistor circuit includes: resistor R2, resistor R3, resistor R4 and resistor R5, capacitor C1, diode D1, and transistor Q1.
  • a resistor R6 is also connected to the output end of the second logic gate circuit (such as an AND logic gate).
  • the emitter on the transistor side of the first optocoupler OC1 is connected to the anode of the diode D1 after passing through the resistor R2, and is also connected to the emitter of the transistor Q1 through the capacitor C1.
  • the cathode of the diode D1 is connected to the base of the transistor Q1, and the base of the transistor Q1 is also connected to the emitter of the transistor Q1 through the resistor R3.
  • the collector of the transistor Q1 is input to an input terminal of a second logic gate circuit (eg, an AND logic gate) through a resistor R5.
  • the collector of the transistor Q1 is also connected to the resistor R4.
  • the resistor R2 is a current-limiting resistor, which can play the role of buffering and protection, and the resistor R2 and the capacitor C1 constitute an RC filter circuit.
  • Resistor R3 is a pull-down resistor, which provides bias voltage to the transistor, shunts, and protects the transistor;
  • resistor R4 is a pull-up resistor;
  • resistor R5 is a current-limiting resistor or absorbing resistor, which can protect the logic device;
  • resistor R6 is a pull-up resistor, and diode D1 can Utilize the unidirectional conduction characteristic of the diode to protect the front-end optocoupler.
  • the motor When the motor is not under control, it should be in the state of the brake, that is, the "BRK1" and "BRK2" signals should be in the high level state.
  • the motor is not under control, that is, it is not under software control. After adding the hardware loop, it is still necessary to realize the high level state of the "BRK1" and "BRK2" signals.
  • the body switch of the robot is a self-reset switch, releasing the button will automatically return to the open (non-closed) state, so the signal at this time is in a sense no different from that before the hardware circuit is added, and the software can be compatible .
  • the post-stage optocoupler circuit is turned on, and the output to the motor
  • the signal "BRK1"/"BRK2" is grounded, the output is low, and the brake is released.
  • the release of the brake can be controlled by both.
  • the switch signal is divided into two branches, and one (SW_SIG) can participate in the signal input of the release of the brake.
  • the other branch (SW) is input to the FPGA as a feedback signal.
  • the FPGA will combine the current sampling signal (the current is converted into a digital signal by the AD chip and input to the FPGA to feedback the main body state) and the SW signal (control the main body switch). signal), and prohibit the start to avoid safety accidents.
  • the solution of the present disclosure is mainly to solve the problem that after the hardware control circuit is changed, it can be combined with the software to release the brake better or without reducing the original function, which can realize the joint control of the software program and the hardware circuit; and this
  • the hardware circuit control unit used in the disclosed solution is an optocoupler circuit, a transistor circuit, a NAND gate, a NOT gate and other devices instead of a relay and a 38-decoder, and it is not a simple amplifier.
  • the NAND gate and the AND gate are connected in series to realize the function of AND logic.
  • a method for controlling a robot corresponding to a robot is also provided, as shown in FIG. 6 , a schematic flowchart of an embodiment of the method of the present disclosure.
  • the control method of the robot can be applied to the motor brake release control of the SCARA robot.
  • the motor brake release control method of the SCARA robot includes steps S110 to S140.
  • the signal acquisition unit is connected to the signal acquisition unit of the body switch of the robot (such as a self-reset switch), and the robot triggers an emergency stop and can manually release the motor brake of the robot.
  • the body switch of the robot is turned on, a switch-on signal that the body switch of the robot is turned on is acquired.
  • control unit outputs an enable release control signal when the robot triggers an emergency stop and the motor brake of the robot can be released through enable.
  • step S130 through the logic processing unit, when the robot triggers an emergency stop and the motor brake of the robot can be manually released, if the switch ON signal is received, the switch is connected to the switch. After the logic processing of the signal is performed, the manual release signal is output; when the robot triggers an emergency stop and the motor brake of the robot can be released by enabling, if the enabling release control signal is received, the After the enable release control signal is logically processed, the enable release signal is output.
  • the motor of the robot is controlled to release the brake when the manual release signal or the enable release signal is received through the signal output unit.
  • the brake signals of more than one motor in the robot are set independently. Since the brake signals are not connected together, but a separate channel is used, only the switch signal of the robot's body switch is used as a signal input, so whether the body switch is pressed or the internal software control is enabled, the brake can be released. In non-emergency state, software can also be used to individually enable and control any axis.
  • both situations of releasing the brake can be realized. Specifically, in the absence of software control, press the switch on the "robot” to release the brake; after the software control sends an enable signal, the motor on the "robot” also needs to be able to release the brake.
  • the optocoupler circuit of the rear stage is turned on, and the signal "BRK1"/"BRK2" output to the motor is grounded, and the output is low. level, the brake is released.
  • a hardware control loop can be formed and compatible with the software control loop, so that the emergency movement of the SCARA robot without a drive loop is possible.
  • the body switch of the robot includes: a self-reset switch.
  • the first terminal of the self-resetting switch is connected to the input terminal (eg, the SW_IN terminal) of the signal acquisition unit, and the second terminal of the self-resetting switch is grounded (eg, the analog ground GND).
  • the self-resetting switch is a normally open switch, which is turned on when pressed.
  • the switch signal of the robot's body switch is only used as a signal input, and is not directly connected to the brake line.
  • the control unit can be used for control. Specifically, the control unit outputs an enabling brake control signal when the robot needs to trigger an emergency stop.
  • the logic processing unit when the robot needs to trigger an emergency stop, if receiving the enabling brake control signal, after performing logic processing on the enabling brake control signal, outputs the enabling brake. Signal.
  • the signal output unit controls the motor brake of the robot under the condition of receiving the enabling brake signal.
  • control method of the robot further includes: a process of maintaining the motor holding brake after the self-resetting switch is reset.
  • Step S210 through the signal acquisition unit, in the case that the robot triggers an emergency stop through the control unit and the motor of the robot is locked, if the self-resetting switch of the robot has been disconnected from the self-resetting, then Obtain the switch disconnection signal that the self-resetting switch of the robot is disconnected.
  • Step S220 through the logic processing unit, in the case that the robot triggers an emergency stop through the control unit and the motor of the robot holds a brake, if the switch disconnection signal is received, the switch is turned off. After the signal is disconnected for logic processing, the hold brake signal is output.
  • Step S230 through the signal output unit, in the case of receiving the holding brake signal, control the motor of the robot to continue to maintain the holding brake state.
  • BRK1 3-axis motor brake signal
  • BRK2 3-axis motor brake signal
  • 4-axis motor brake signal The 3-axis rear-stage optocoupler outputs the 3-axis motor to receive the brake signal
  • the 4-axis rear-stage optocoupler outputs the 4-axis motor to receive the brake signal.
  • F_BRK0 FPGA outputs the 3-axis brake signal of the logic device after passing through the drive circuit, and the FPGA outputs the 4-axis brake signal of the logic device after passing through the drive circuit.
  • 24V_CTRL The 24V power supply network at the front-end optocoupler inside the controller.
  • 24V_IO The 24V power network at the rear-stage optocoupler inside the controller.
  • SW the switch feedback signal output by the previous stage optocoupler to the FPGA, the switch signal output by the previous stage optocoupler to the transistor circuit, and the switch signal output by the transistor circuit to the logic device.
  • the body switch of the robot is a self-reset switch, releasing the button will automatically return to the open (non-closed) state, so the signal at this time is in a sense no different from that before the hardware circuit is added, and the software can be compatible .
  • the main body switch of the robot adopts a self-reset switch, and when the brake is manually released, a self-reset switch is used. If the operator accidentally forgets to reset the button, the robot arm will not fall uncontrollably at this time, so as to avoid other Dangerous, so as to avoid the situation that the motor has been in the state of loose brakes during operation and ensure safety.
  • it also includes: a process of monitoring the body state of the robot.
  • step S310 The specific process of monitoring the body state of the robot is further described below with reference to the schematic flowchart of an embodiment of monitoring the body state of the robot in the method of the present disclosure shown in FIG. 8 , including step S310 and step S320.
  • step S310 the current signal on the brake signal line of the robot is collected by the sampling unit, and the collected current signal is fed back to the feedback terminal of the control unit.
  • the control unit further monitors the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch.
  • the switch signal of the body switch of the robot includes: a switch-on signal that the body switch of the robot is turned on, or a switch-off signal that the body switch of the robot is turned off.
  • the switch signal of the body switch of the robot is the switch signal output by the front-stage optocoupler circuit in the information acquisition unit, such as the emitter of the transistor side in the first optocoupler.
  • the switch signal is introduced.
  • the switch signal is divided into two branches.
  • One (SW_SIG) can participate in the signal input of releasing the brake, and the other (SW) is used as the feedback signal to input to the FPGA (Field Programmable Gate Gate).
  • Array field programmable logic gate array
  • the switching signal input to the FPGA and the current sampling signal also input to the FPGA can form a safety feedback loop to monitor the state of the body brake (or release brake) loop.
  • the safety feedback loop is formed by introducing the switch signal and combining with the current sampling circuit while adding the hardware control loop, so as to further increase its safety.
  • the specific process of monitoring the state of the robot body according to the current signal of the robot body and the switch signal of the robot body switch by the control unit in step S320 includes: Any of the following monitoring conditions.
  • the first monitoring situation when the robot is running normally, if the current signal shows that the robot is running normally, and the switch signal shows that the body switch of the robot is turned on from the off state, then it is determined that The body switch of the robot is turned on by misoperation, the robot is controlled to stop, and a reminder message that the robot is misoperated during normal operation is initiated.
  • the second monitoring situation when the robot is in the braking state, if the current signal shows that the robot is in the braking state, and the switch signal shows that the body switch of the robot is turned on from the off state, Then, it is determined that the robot has been started by mistake, and the robot is controlled to prohibit starting.
  • the release of the brake can be controlled by both, and the switch signal at this time is divided into two branches , one (SW_SIG) can participate in the signal input for releasing the brake, and the other (SW) is input to the FPGA as a feedback signal.
  • the robot arm maintains the original state by maintaining the current, and should not be subjected to the low level of the SW signal at this time. , so as not to cause safety accidents due to human misoperation.
  • the feedback signal of SW should be involved.
  • the FPGA detects an abnormally low level and stops the robot and alarms. If someone is pressing the switch of the main body for debugging and other work, at this time, if someone wants to start the robot, the FPGA will combine the current sampling signal (the current is converted into a digital signal by the AD chip and input to the FPGA to feedback the main body state) and the SW signal (control the main body switch). signal), and prohibit the start to avoid safety accidents.

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  • Numerical Control (AREA)

Abstract

一种机器人的控制装置，该装置包括：信号获取单元，在机器人触发急停的情况下，若机器人的本体开关被接通，则获取机器人的本体开关被接通的开关接通信号；控制单元，输出使能释放控制信号；逻辑处理单元，若接收到开关接通信号，则对开关接通信号进行逻辑处理后，输出手动释放信号；若接收到使能释放控制信号，则对使能释放控制信号进行逻辑处理后，输出使能释放信号；信号输出单元，若接收到手动释放信号或使能释放信号，则控制机器人的电机释放抱闸。通过对SCARA机器人的电机抱闸进行释放控制，可以防止对机器人或周围设备造成二次损坏以消除安全隐患。还提供一种方法和机器人。

Description

一种机器人的控制装置、方法和机器人
本公开要求于2020年09月16日提交中国专利局、申请号为202010974687.4、发明名称为“一种机器人的控制装置、方法和机器人”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开属于机器人技术领域，具体涉及一种机器人的控制装置、方法和机器人，尤其涉及一种SCARA机器人电机抱闸释放控制装置、方法和机器人。
背景技术
业开始进行工业自动化改革，各种工业机器人就成为了很多企业的优选方案。SCARA(Selective Compliance Assembly Robot Arm，是一种应用于装配作业的机器人手臂)机器人就是其中广为使用的一种。但SCARA机器人触发急停保护后，无法在不断电重启的情况下移动机械臂，可能会对机器人或周围设备造成二次损坏，存在严重安全隐患。
上述内容仅用于辅助理解本公开的技术方案，并不代表承认上述内容是现有技术。
发明内容
本公开的目的在于，提供一种机器人的控制装置、方法和机器人，以解决SCARA机器人触发急停保护后无法在不断电重启的情况下移动机械臂，可能会对机器人或周围设备造成二次损坏，存在严重安全隐患的问题，达到通过对SCARA机器人的电机抱闸进行释放控制，可以防止对机器人或周围设备造成二次损坏以消除安全隐患的效果。
本公开提供一种机器人的控制装置，包括：信号获取单元、控制单元、逻辑处理单元和信号输出单元；其中，所述信号获取单元，被配置为在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号；所述控制单元，被配置为在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号；所述逻辑处理单元，被配置为若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理 后，输出手动释放信号；若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号；所述信号输出单元，被配置为在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。
在一些实施方式中，所述机器人的本体开关，包括：自复位开关；所述自复位开关的第一端连接至所述信号获取单元的输入端，所述自复位开关的第二端接地；所述自复位开关为常开开关，被按下时接通；所述机器人的控制装置，还包括：所述信号获取单元，被配置为在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号；所述逻辑处理单元，被配置为若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号；所述信号输出单元，被配置为在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
在一些实施方式中，还包括：采样单元；所述采样单元，被配置为采集所述机器人的刹车信号线上的电流信号；所述控制单元，还被配置为根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控；其中，所述机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。
在一些实施方式中，所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控，包括：在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息；在所述机器人处于刹车状态的情况下，若所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人禁止启动。
在一些实施方式中，所述信号获取单元的输出端的数量、所述逻辑处理单元的数量、以及所述信号输出单元的数量，均与所述机器人中需要抱闸或释放抱闸的电机的数量一致；在所述机器人中需要抱闸或释放抱闸的电机的数量为 两个的情况下，所述机器人中需要抱闸或释放抱闸的电机，包括：第一电机和第二电机；所述信号获取单元的输出端，包括：第一输出端和第二输出端；所述逻辑处理单元，包括：第一逻辑处理单元和第二逻辑处理单元；所述信号输出单元，包括：第一信号输出单元和第二信号输出单元；其中，所述信号获取单元的第一输出端，输出至所述第一逻辑处理单元的第一输入端；所述第一逻辑处理单元的输出端，输出至所述第一信号输出单元的输入端；所述第一信号输出单元的输出端，输出至所述第一电机的抱闸或释放抱闸的控制端；所述信号获取单元的第二输出端，输出至所述第二逻辑处理单元的第一输入端；所述第二逻辑处理单元的输出端，输出至所述第二信号输出单元的输入端；所述第二信号输出单元的输出端，输出至所述第二电机的抱闸或释放抱闸的控制端；所述控制单元的第一使能控制端，输出至所述第一逻辑处理单元的第二输入端；所述控制单元的第二使能控制端，输出至所述第二逻辑处理单元的第二输入端。
在一些实施方式中，所述信号获取单元，包括：第一光耦模块、第一开关模块和第二开关模块；其中，所述第一光耦模块中的二极管侧，连接至所述机器人的本体开关；所述第一光耦模块中的晶体管侧，能够输出所述机器人的本体开关的开关信号；其中，所述机器人的本体开关的开关信号，经所述第一开关模块处理后，输出至所述第一逻辑处理单元的第一输入端；所述机器人的本体开关的开关信号，经所述第二开关模块处理后，输出至所述第二逻辑处理单元的第一输入端；所述机器人的本体开关的开关信号，还输出至所述控制单元的反馈端。
在一些实施方式中，所述第一开关模块和所述第二开关模块的结构相同；所述第一开关模块，包括：第一晶体三极管模块；所述第一晶体三极管模块的基极，连接至所述第一光耦模块中晶体管侧的发射极；所述第一晶体三极管模块的集电极，作为所述第一开关模块的输出端，输出至所述第一逻辑处理单元的第一输入端。
在一些实施方式中，所述第一逻辑处理单元和所述第二逻辑处理单元的结构相同；所述第一逻辑处理单元，包括：第一与门模块；所述第一与门模块的第一输入端，连接至所述信号获取单元的第一输出端；所述第一与门模块的第二输入端，连接至所述控制单元的第一使能控制端；所述第一与门模块的输出 端，连接至所述第一信号输出单元的输入端。
在一些实施方式中，所述第一信号输出单元和所述第二信号输出单元的结构相同；所述第一信号输出单元，包括：第二光耦模块；所述第二光耦模块中二极管侧的阴极，连接至所述第一逻辑处理单元的输出端；所述第二光耦模块中晶体管侧的发射极，连接至所述第一电机的抱闸或释放抱闸的控制端。
与上述装置相匹配，本公开再一方面提供一种机器人，包括：以上所述的机器人的控制装置。
与上述机器人相匹配，本公开再一方面提供一种机器人的控制方法，包括：通过信号获取单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号；通过控制单元，在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号；通过逻辑处理单元，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出手动释放信号；若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号；通过信号输出单元，在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。
在一些实施方式中，所述机器人的本体开关，包括：自复位开关；所述自复位开关的第一端连接至所述信号获取单元的输入端，所述自复位开关的第二端接地；所述自复位开关为常开开关，被按下时接通；所述机器人的控制方法，还包括：通过所述信号获取单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号；通过所述逻辑处理单元，若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号；通过所述信号输出单元，在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
在一些实施方式中，还包括：通过采样单元，采集所述机器人的刹车信号线上的电流信号；通过所述控制单元，还根据所述机器人的本体的电流信号和 所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控；其中，所述机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。
在一些实施方式中，通过所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控，包括：在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息；在所述机器人处于刹车状态的情况下，若所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人禁止启动。
由此，本公开的方案，通过增加硬件控制回路且能兼容软件控制回路，SCARA机器人在紧急状态或无驱动回路时，操作人员可手动将电机抱闸释放并移动机械臂，使得SCARA机器人无驱动回路时的紧急移动成为可能；从而，通过对SCARA机器人的电机抱闸进行释放控制，可以防止对机器人或周围设备造成二次损坏以消除安全隐患。
本公开的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本公开而了解。
下面通过附图和实施例，对本公开的技术方案做进一步的详细描述。
附图说明
图1为本公开的机器人的控制装置的一实施例的结构示意图；
图2为SCARA机器人的一实施例的结构示意图；
图3为机器人与控制器的一实施例的结构示意图，具体为机器人本体接线示意图；
图4为机器人与控制器的另一实施例的结构示意图；
图5为图4中控制器的一路控制电路的一实施例的结构示意图；
图6为本公开的机器人的控制方法的一实施例的流程示意图；
图7为本公开的方法中在自复位开关复位后维持电机抱闸的一实施例的流 程示意图；
图8为本公开的方法中对机器人的本体状态进行监测的一实施例的流程示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合本公开具体实施例及相应的附图对本公开技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本公开一部分实施例，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，都属于本公开保护的范围。
根据本公开的实施例，提供了一种机器人的控制装置。参见图1所示本公开的装置的一实施例的结构示意图。该机器人的控制装置能够应用在SCARA机器人的电机抱闸释放控制方面，SCARA机器人的电机抱闸释放控制装置，包括：信号获取单元、控制单元、逻辑处理单元和信号输出单元。控制单元，可以选用FPGA。
具体地，所述信号获取单元，连接至所述机器人的本体开关(如自复位开关)，被配置为在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号。
具体地，所述控制单元，被配置为在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号。
具体地，所述逻辑处理单元，被配置为在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出手动释放信号。在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号。
具体地，所述信号输出单元，被配置为在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。其中，在所述机器人中一路以上电机的刹车信号单独设置。由于没有将刹车信号接在一起，而是另起一路，仅将机器人的本体开关的开关信号作为一路信号输入，因此无论是 本体开关按下或是内部软件控制使能，都可以解除制动，在非紧急状态也可用软件对任一轴进行单独使能控制。
例如：在解除制动信号与使能信号的送出的状态下：在增加硬件回路后，两种解刹车的情况均可实现。具体地，在无软件控制的情况下，按下“机器人”上的开关解除制动。软件控制送出使能信号后，“机器人”上电机也需能释放抱闸。
其中，若手动释放抱闸，此时自复位开关被按下，“SW_IN”网络接地，输出低电平(逻辑电平0)，此时前级光耦电路导通，“SW”、“SW_0”网络被上拉，输出高电平，此时晶体三极管电路导通，“SW_SIG”网络接地，输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
若FPGA控制使能，此时由FPGA输入与门(即第二逻辑门电路)的信号网络“F_BRK0”、“F_BRK1”被软件控制输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
由此，通过信号获取单元、控制单元、逻辑处理单元和信号输出单元，可以形成硬件控制回路且能兼容软件控制回路，使得SCARA机器人无驱动回路时的紧急移动成为可能，例如可以针对机器人触发急停后无法在不断电重启的情况下移动机械臂的问题，如用户在紧急状态下需要能够快速解除SCARA机器人3、4轴的抱闸的需求问题，以使SCARA机器人在紧急状态或无驱动回路时，操作人员可手动将电机抱闸释放并移动机械臂，可以提升安全性。
在一些实施方式中，所述机器人的本体开关，包括：自复位开关。所述自复位开关的第一端连接至所述信号获取单元的输入端(如SW_IN端)，所述自复位开关的第二端接地(如接模拟地GND)。所述自复位开关为常开开关，被按下时接通。例如：机器人的本体开关的开关信号仅作为一路信号输入，不直接与刹车线相连。
在急停控制时，可以通过所述控制单元进行控制，具体地：所述控制单元，在所述机器人需要触发急停的情况下，输出使能抱闸控制信号。所述逻辑处理 单元，在所述机器人需要触发急停的情况下，若接收到所述使能抱闸控制信号，则对所述使能抱闸控制信号进行逻辑处理后，输出使能抱闸信号。所述信号输出单元，在接收到所述使能抱闸信号的情况下，控制所述机器人的电机抱闸。
在所述机器人的电机已通过控制单元触发急停的情况下，若自复位开关复位，则不会影响电机抱闸的状态，具体可以参见以下示例性说明。
所述机器人的控制装置，还包括：在自复位开关复位后维持电机抱闸的过程，具体包括：
所述信号获取单元，被配置为在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号。
所述逻辑处理单元，被配置为在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号。
所述信号输出单元，被配置为在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
在抱闸状态下：电机不受控时应处于抱闸状态，即“BRK1”、“BRK2”信号应处于高电平状态。电机不受控即未受软件控制，增加硬件回路后仍需实现“BRK1”、“BRK2”信号的高电平状态。
电机未受软件控制时，由FPGA输入第二逻辑门电路(即与门)的信号网络F_BRK0、F_BRK1由于上拉输出高电平(逻辑电平1)，此时开关处于断开状态，“SW_IN”网络被“24V_CTRL”电源网络上拉，此时前级光耦电路不导通，“SW”、“SW_0”网络接地，此时晶体三极管电路不导通，“SW_SIG”网络被上拉，输出高电平(逻辑电平1)，由Y＝A·B知输出逻辑电平1，即网络“BRK0-”、“BRK1-”输出高电平，此时后级光耦电路也不导通，输出给电机的信号“BRK1”/“BRK2”直接被“24V_IO”上拉，输出高电平，电机变为抱闸状态，与所求相符。
由于机器人的本体开关为自复位开关，松开按钮就会自动回到打开(非闭合)状态，因此此时的信号某种意义上来说，与未增加硬件回路前并无差别，即可兼容软件。
由此，由于机器人的本体开关选用的自复位开关，因此不用担心因为不能 及时刹车而造成安全问题。具体地，使机器人的本体开关采用自复位开关，在手动解除制动时，采用自复位开关，若操作人员不慎忘记将按键复位，此时机械臂也不会不受控垂落，以免造成其他危险，从而避免出现运行时电机一直处于松抱闸状态，保证安全。
在一些实施方式中，还包括：采样单元。对机器人的本体状态进行监测的过程，具体包括：
所述采样单元，被配置为采集所述机器人的刹车信号线上的电流信号，并将采集到的所述电流信号反馈至所述控制单元的反馈端。采样的电流信号为连接到电机上的BRK1-、BRK2-信号线上的电流信号。
所述控制单元，还被配置为根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控。其中，所述机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。具体地，所述机器人的本体开关的开关信号，为所述信息获取单元中前级光耦电路如第一光耦中晶体管侧的发射极输出的开关信号。
例如：在增加硬件控制回路的同时，引入开关信号，开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输入FPGA(Field Programmable Gate Array，现场可编程逻辑门阵列)。输入FPGA的开关信号与同样输入FPGA的电流采样信号，可以构成安全反馈回路，监测本体抱闸(或解抱闸)回路的状态。
由此，通过在增加硬件控制回路的同时，引入开关信号并结合电流采样电路构成安全反馈回路，以进一步增加其安全性。
在一些实施方式中，所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控，包括：
所述控制单元，具体还被配置为在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则确定所述机器人的本体开关被误操作而接通，控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息。
所述控制单元，具体还被配置为在所述机器人处于刹车状态的情况下，若 所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则确定所述机器人的被误启动，控制所述机器人禁止启动。
例如：在硬件控制回路与软件控制回路兼容的状态下：整个系统不处于紧急状态(即急停未按下)时，解除抱闸可兼由二者控制，此时的开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输入FPGA。
其中，当机器人内部程序正常运行时，机械臂通过保持电流维持原状，此时不应受到SW信号低电平，若此时有人按下正在运行过程中的机器人的本体开关(即自复位开关)，以免因人为误操作导致安全事故，此时SW的反馈信号应参与进来，FPGA检测到异常低电平，并停下机器人、报警。若有人正按下本体开关进行调试等工作，此时，如有人欲启动机器人，FPGA会结合电流采样信号(电流经过AD芯片转换为数字信号输入FPGA以反馈本体状态)与SW信号(控制本体开关信号)，而禁止启动，避免造成安全事故。
在一些实施方式中，所述信号获取单元的输出端的数量、所述逻辑处理单元的数量、以及所述信号输出单元的数量，均与所述机器人中需要抱闸或释放抱闸的电机的数量一致。也就是说，所述信号获取单元的输出端的数量、所述逻辑处理单元的数量、以及所述信号输出单元的数量，可以均与所述机器人中需要进行释放抱闸控制的电机、或需要进行抱闸控制的电机的数量一致。即，所述信号获取单元的输出端的数量、所述逻辑处理单元的数量、以及所述信号输出单元的数量均为一个以上，一个以上所述信号输出单元中的每个所述信号输出单元，对应于所述机器人中需要释放抱闸的一个电机，能够对所述机器人中需要释放抱闸的一个电机进行抱闸释放控制。例如：一个以上所述信号输出单元，具体可以是两个所述信号输出单元，两个所述信号输出单元包括第一信号输出单元和第二信号输出单元，可以输出两个电机抱闸的释放控制信号。
在一些实施方式中，在所述机器人中需要抱闸或释放抱闸的电机的数量为两个的情况下，所述机器人中需要抱闸或释放抱闸的电机，包括：第一电机和第二电机，如SCARA机器人3轴电机和4轴电机。所述信号获取单元的输出端，包括：第一输出端和第二输出端。所述逻辑处理单元，包括：第一逻辑处理单元和第二逻辑处理单元。所述信号输出单元，包括：第一信号输出单元和 第二信号输出单元。
其中，所述信号获取单元的第一输出端，输出至所述第一逻辑处理单元的第一输入端。所述第一逻辑处理单元的输出端，输出至所述第一信号输出单元的输入端。所述第一信号输出单元的输出端，输出至所述第一电机的抱闸或释放抱闸的控制端。
所述信号获取单元的第二输出端，输出至所述第二逻辑处理单元的第一输入端。所述第二逻辑处理单元的输出端，输出至所述第二信号输出单元的输入端。所述第二信号输出单元的输出端，输出至所述第二电机的抱闸或释放抱闸的控制端。其中，所述机器人的电机抱闸或释放抱闸的控制端，可以是所述机器人的电机抱闸或释放抱闸的刹车线。
所述控制单元的第一使能控制端，输出至所述第一逻辑处理单元的第二输入端。所述控制单元的第二使能控制端，输出至所述第二逻辑处理单元的第二输入端。
例如：在释放抱闸的控制过程中，所述信号获取单元的第一输出端，将所述信号获取单元获取的所述机器人的本体开关被接通的开关接通信号，输出至所述第一逻辑处理单元的第一输入端。所述控制单元的第一使能控制端，输出使能释放控制信号至所述第一逻辑处理单元的第二输入端。所述第一逻辑处理单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出所述第一电机的手动释放信号。在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出所述第一电机的使能释放信号。所述第一信号输出单元，在接收到所述第一电机的手动释放信号或所述第一电机的使能释放信号的情况下，控制所述机器人中的所述第一电机释放抱闸。
同时，所述信号获取单元的第二输出端，将所述信号获取单元获取的所述机器人的本体开关被接通的开关接通信号，输出至所述第二逻辑处理单元的第二输入端。所述控制单元的第二使能控制端，输出使能释放控制信号至所述第二逻辑处理单元的第二输入端。所述第二逻辑处理单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出所述第二电机的手动 释放信号。在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出所述第二电机的使能释放信号。所述第二信号输出单元，在接收到所述第二电机的手动释放信号或所述第二电机的使能释放信号的情况下，控制所述机器人中的所述第二电机释放抱闸。
又如：所述控制单元的使能在通过控制单元控制抱闸的过程中，即在急停控制时，所述控制单元的第一使能控制端，在所述机器人需要触发急停的情况下，输出使能抱闸控制信号至所述第一逻辑处理单元的第二输入端。所述第一逻辑处理单元，在所述机器人需要触发急停的情况下，若接收到所述使能抱闸控制信号，则对所述使能抱闸控制信号进行逻辑处理后，输出使能抱闸信号至所述第一信号输出单元。所述第一信号输出单元，在接收到所述使能抱闸信号的情况下，控制所述机器人中的第一电机抱闸。
同时，所述控制单元的第二使能控制端，在所述机器人需要触发急停的情况下，输出使能抱闸控制信号至所述第二逻辑处理单元的第二输入端。所述第二逻辑处理单元，在所述机器人需要触发急停的情况下，若接收到所述使能抱闸控制信号，则对所述使能抱闸控制信号进行逻辑处理后，输出使能抱闸信号至所述第二信号输出单元。所述第二信号输出单元，在接收到所述使能抱闸信号的情况下，控制所述机器人中的第二电机抱闸。
再如：在维持抱闸的控制过程中，所述信号获取单元的第一输出端，将所述信号获取单元获取的所述机器人的本体开关被关断的开关关断信号，输出至所述第一逻辑处理单元的第一输入端。所述第一逻辑处理单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若接收到所述开关关断信号，则对所述开关关断信号进行逻辑处理后，输出所述第一电机的维持抱闸信号。所述第一信号输出单元，在接收到所述第一电机的维持抱闸信号的情况下，控制所述机器人中的所述第一电机维持抱闸。
同时，所述信号获取单元的第二输出端，将所述信号获取单元获取的所述机器人的本体开关被关断的开关关断信号，输出至所述第二逻辑处理单元的第二输入端。所述第二逻辑处理单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若接收到所述开关关断信号，则对所述开关关断信号进行逻辑处理后，输出所述第二电机的维持抱闸信号。所述第二信 号输出单元，在接收到所述第二电机的维持抱闸信号的情况下，控制所述机器人中的所述第二电机维持抱闸。
由此，通过增加硬件控制回路且能兼容软件控制回路，使SCARA机器人在紧急状态或无驱动回路时，操作人员可手动将电机抱闸释放并移动机械臂，用户在紧急状态下能够快速解除SCARA机器人3、4轴的抱闸，提升安全性。
在一些实施方式中，所述信号获取单元，包括：第一光耦模块、第一开关模块和第二开关模块。所述第一光耦模块中的二极管侧，连接至所述机器人的本体开关。所述第一光耦模块中的晶体管侧，能够输出所述机器人的本体开关的开关信号。
其中，所述机器人的本体开关的开关信号，经所述第一开关模块处理后，输出至所述第一逻辑处理单元的第一输入端。所述第一开关模块的输出端为所述信号获取单元的第一输出端。
所述机器人的本体开关的开关信号，经所述第二开关模块处理后，输出至所述第二逻辑处理单元的第一输入端。所述第二开关模块的输出端为所述信号获取单元的第二输出端。
在所述机器人的控制装置还包括采样单元的情况下，所述机器人的本体开关的开关信号，还输出至所述控制单元的反馈端(如FPGA的SW端)，如输出至FPGA的反馈端，以与所述采样单元采样得到的电流信号构成安全反馈回路，监测所述机器人本体抱闸(或解抱闸)回路的状态。
例如：所述第一光耦模块，包括：电阻R1，以及前级光耦电路如第一光耦OC1。电阻R1并联在第一光耦OC1中二极管侧的阳极和阴极之间。
由此，通过第一光耦模块、第一开关模块和第二开关模块构成信号获取单元，可以可靠地获取机器人的本体开关的开关信号，进而可以根据该开关信号控制电机释放抱闸、监测电机状态等，实现硬件控制和软件监测。
在一些实施方式中，所述第一开关模块和所述第二开关模块的结构相同。所述第一开关模块，包括：第一晶体三极管模块。所述第一晶体三极管模块的基极，连接至所述第一光耦模块中晶体管侧的发射极。所述第一晶体三极管模块的集电极，作为所述第一开关模块的输出端，输出至所述第一逻辑处理单元的第一输入端。
例如：第一晶体三极管模块，可以采用晶体三极管电路。晶体三极管电路， 包括：电阻R2、电阻R3、电阻R4和电阻R5，电容C1，二极管D1，三极管Q1。
由此，通过主要以第一晶体三极管模块构成第一开关模块，可以对第一光耦模块获取的机器人的本体开关的开关信号进行处理后输出至第一逻辑处理单元，结构简单，且可靠、安全。
在一些实施方式中，所述第一逻辑处理单元和所述第二逻辑处理单元的结构相同。所述第一逻辑处理单元，包括：第一与门模块。
其中，所述第一与门模块的第一输入端，连接至所述信号获取单元的第一输出端。所述第一与门模块的第二输入端，连接至所述控制单元的第一使能控制端。所述第一与门模块的输出端，连接至所述第一信号输出单元的输入端。通过逻辑门电路的形式，只有机器人的本体开关未按下、且控制器内部软件给出刹车信号才能刹车。
由此，通过与门模块作为第一逻辑处理单元，可以实现硬件和软件均可控制电机释放抱闸的控制，使得SCARA机器人无驱动回路时的紧急移动成为可能。
在一些实施方式中，所述第一信号输出单元和所述第二信号输出单元的结构相同。所述第一信号输出单元，包括：第二光耦模块。
其中，所述第二光耦模块中二极管侧的阴极，连接至所述第一逻辑处理单元的输出端。所述第二光耦模块中晶体管侧的发射极，连接至所述第一电机的抱闸或释放抱闸的控制端。其中，第二光耦模块，可以采用第二光耦OC2，在第二光耦OC2中晶体管侧的发射极与直流电源之间设置有二极管。
例如：机器人的本体开关即自复位开关的开关信号，经过前级光耦电路、晶体三极管电路后，输入到第一逻辑门电路的输入端。FPGA的控制信号经过驱动电路输入到第一逻辑门电路的输入端。两路信号输入到第一逻辑门电路，输出一路抱闸(或抱闸释放)控制电路，连接到后级光耦电路的输入端，后级光耦电路的输出信号经过上拉连接到外部机器人电机。
由此，通过主要以第二光耦模块作为第一信号输出单元，对第一逻辑处理单元的输出信号进行隔离处理后输出至第一电机的抱闸或释放抱闸的控制端，可以基于硬件或软件的控制可靠控制电机释放抱闸，可靠且安全。
经大量的试验验证，采用本公开的技术方案，通过增加硬件控制回路且能 兼容软件控制回路，在正常工作时，增加的硬件回路不会影响软件控制，若发生安全意外，及时拍下急停后，需要移开机械臂救人或保护资产或将机械臂移动回安全范围，此时只能通过硬件控制抱闸释放，可以对SCARA机器人的电机抱闸进行释放控制，可以防止对机器人或周围设备造成二次损坏以消除安全隐患。
根据本公开的实施例，还提供了对应于机器人的控制装置的一种机器人。该机器人可以包括：以上所述的机器人的控制装置。
SCARA机器人，由于其拥有：(1)结构紧凑，工作空间利用率大；(2)动作灵活，速度快，重复精度高，工作效率高；(3)操作方便，具有多种安装方式；(4)部件少，制造成本低，易拆装维护等特点，因此大量用于一些空间狭小，对精度要求较高的场所。例如：3C电子行业常用SCARA机器人进行装配、拆卸及分拣。
图2为SCARA机器人的一实施例的结构示意图。如图2所示，SCARA机器人使用4个电机控制4个关节(即第1关节、第2关节、第3关节和第4关节)的运动，分别是：1、2、4轴水平旋转关节，3轴上下关节。一般来说，由于受末端工装夹具重力等惯性影响，3、4轴电机需要选用带有制动保持的电机，以在断电情况下电机内部抱闸制动，防止关节臂掉落；1、2轴电机根据机器人安装方式的不同，灵活决定是否需要有抱闸功能。
与此同时，选用带刹车电机在实际使用过程中会带来一些问题，例如：
一方面，生产过程中，由于机器人程序跑飞偏离原设定路径，导致SCARA机器人末端工装夹具与周围物体或设备发生碰撞，此时，用户按下急停开关(如示教器急停或外部急停)，3、4轴电机抱闸，同时机器人控制器断开主回路。一旦触发紧急安全回路(即急停)，无论机器人在何种运行模式下，都会立即停止，且在报警没有确认(即松开急停，上电按钮上电)的情况下，机器人是无法启动继续运行的，机器人也将不再受软件程序控制，此时操作人员无法通过示教器移动机器人，从而需要另一套回路进行机械臂的移动。在这种情况下，必须给客户提供一种可以快速解除3、4轴刹车的方法，以便用户及时移动碰撞的机械臂，防止对机器人或周围设备造成二次损坏。
另一方面，带刹车电机在正常使用过程中，必须确保刹车能正常打开，否 则，机器人运行过程容易造成机器人过载报警或者损坏电机。
图3为机器人与控制器的一实施例的结构示意图，具体为机器人本体接线示意图。
一些机器人厂商采用的能够快速解除刹车的硬件解除抱闸方案，主要有两种：第一种方案，用开关(如外部刹车开关，可以参见图2中的第3关节制动解除开关)连接两个轴的刹车信号线(连接方式可以参见图3所示的例子)，按下开关时同时解除两个轴的抱闸，但当通电状态时，则无法单独控制其中一轴解刹车。第二种方案：只连一个轴的刹车信号，单独控制某一根线，但仅能控制一根线的刹车。另外，两种方案中都没有完成控制的闭环回路，缺少状态监测回路，无法监测解抱闸状态。
在一些实施方式中，本公开的方案提供一种SCARA机器人电机抱闸释放控制方案。
本公开的方案，针对机器人触发急停后无法在不断电重启的情况下移动机械臂的问题，如用户在紧急状态下需要能够快速解除SCARA机器人3、4轴的抱闸的需求问题；通过增加硬件控制回路且能兼容软件控制回路，使得SCARA机器人无驱动回路时的紧急移动成为可能。这样，SCARA机器人在紧急状态或无驱动回路时，操作人员可手动将电机抱闸释放并移动机械臂。
其中，增加硬件控制回路且能兼容软件控制回路，使得SCARA机器人无驱动回路时的紧急移动成为可能。在正常工作时，增加的硬件回路不会影响软件控制，若发生安全意外，及时拍下急停后，需要移开机械臂救人或保护资产或将机械臂移动回安全范围，此时只能通过硬件控制抱闸释放。如果没有硬件解刹车，想要移动带抱闸的机械臂是一件很困难的事情，只能通过吊车和其他特殊工具才可，因此硬件控制回路是很重要的。本公开的方案，通过逻辑门电路的形式，只有机器人的本体开关未按下、且控制器内部软件给出刹车信号才能刹车；由于机器人的本体开关选用的自复位开关，因此不用担心因为不能及时刹车而造成安全问题。同时，由于没有将刹车信号接在一起，而是另起一路，仅将机器人的本体开关的开关信号作为一路信号输入，因此无论是本体开关按下或是内部软件控制使能，都可以解除制动，在非紧急状态也可用软件对任一轴进行单独使能控制。
本公开的方案，针对用户在增加硬件解抱闸电路后依旧能够利用软件进行 单轴抱闸释放控制的需求问题；通过在手动解除制动时，采用自复位开关，从而避免出现运行时电机一直处于松抱闸状态，保证安全。这样，手动解除制动时，采用自复位开关，若操作人员不慎忘记将按键复位，此时机械臂也不会不受控垂落，以免造成其他危险，从而避免出现运行时电机一直处于松抱闸状态，保证安全。
其中，手动解除制动时，采用自复位开关，从而避免出现运行时电机一直处于松抱闸状态，保证安全。如果开关不能自复位，而是手动复位，若操作人员不慎忘记将按键复位，此时机械臂可能不受控垂落，可能造成其他危险。
本公开的方案，针对没有能够将硬件解抱闸纳入状态检测范围，缺少针对硬件解抱闸电路的安全反馈的问题；通过在增加硬件控制回路的同时，引入开关信号并结合电流采样电路构成安全反馈回路，以进一步增加其安全性。也就是说，针对操作、控制安全的问题，增加了一个控制反馈回路，使得整个系统成为一个闭环控制系统，更加稳定。这样，在增加硬件控制回路的同时，引入开关信号，开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输入FPGA(Field Programmable Gate Array，现场可编程逻辑门阵列)；输入FPGA的开关信号与同样输入FPGA的电流采样信号，可以构成安全反馈回路，监测本体抱闸(或解抱闸)回路的状态。
下面结合图4和图5所示的例子，对本公开的方案的具体实现过程进行示例性说明。
图4为机器人与控制器的另一实施例的结构示意图。相比于图3，图4中，不仅改变了“控制器”，同样也改变了“机器人”本体接线，主要是改变了开关控制信号获取整个控制回路的方式，即：将图3中机器人的本体开关直接在“机器人”上与刹车线相连，改为仅作为一路信号输入，不直接与刹车线相连。此时机器人的本体开关通过“控制器”内部逻辑门间接控制刹车信号线的信号。在图3和图4所示的例子中，控制器中的“FPGA_BRK1”、“FPGA_BRK0”、“SW”等，均为网络名称。“3#”、“4#”分别为3轴电机、4轴电机，“自复位开关”为按键开关，按下时闭合，松手即断开，因此标注其为“自复位”。
图5为图4中控制器的一路控制电路的一实施例的结构示意图。在图4和图5所示的例子中，“F_BRK0”、“BRK0-”、“SW”、“SW_0”、“SW”、“SW_SIG”等，均为网络名称。“AD芯片”为电流采样芯片，输出信号为反 馈信号，“与逻辑门”为逻辑器件，其运算表达式为：Y＝A·B，其中A、B分别为输入逻辑电平，Y为输出逻辑电平。图4中，信号网络名称(例如“BRK0-”)和“与逻辑门”器件是一一对应的。
如图4所示，本公开的方案提供的一种SCARA机器人电机抱闸释放控制装置，可以包括：前级光耦电路、晶体三极管电路、驱动电路(图中未画出)、逻辑门电路、后级光耦电路几个部分。逻辑门电路的数量为两个，两个逻辑门电路可以包括第一逻辑门电路和第二逻辑门电路。前级光耦电路包括第一光耦OC1，后级光耦电路包括第二光耦OC2和第三光耦OC3。在第一光耦OC1中二极管侧的阳极和阴极之间并联有电阻R1。在第二光耦OC2中晶体管侧的发射极与直流电源之间还设置有二极管。在第三光耦OC3中晶体管侧的发射极与直流电源之间还设置有二极管。
其中，驱动电路(或驱动芯片)，设置在FPGA输出网络“FPGA_BRK0/1”与逻辑门电路输入网络“F_BRK0/1”之间，可以增强FPGA侧输出的刹车信号网络带载能力(即驱动能力)，芯片为一种驱动芯片。
前级光耦中二极管侧的电阻就是一个旁路电阻，作用是分流和旁路，目的是保护前级光耦中的二极管。
后级光耦中晶体管侧的二极管作用是利用其单向导通特性，起续流作用。由于后级光耦接的是感性负载，感性负载会产生较高的反电动势。在刹车线圈断电(机器人由抱闸释放状态变为抱闸状态时)的瞬间，线圈与并联的二极管形成回路，给反向感应电动势提供一个泄放通路，即起到续流的效果。
机器人的本体开关即自复位开关的开关信号，经过前级光耦电路、晶体三极管电路(可以参见图5所示的例子)后，输入到第一逻辑门电路的输入端；FPGA的控制信号经过驱动电路(图中未画出)输入到第一逻辑门电路的输入端；两路信号输入到第一逻辑门电路，输出一路抱闸(或抱闸释放)控制电路，连接到后级光耦电路的输入端，后级光耦电路的输出信号经过上拉连接到外部机器人电机。图4中省略了“与逻辑门”和“前级光耦”之间的二极管、电容、电阻、三极管等元器件。另外，图4中有两路控制信号，而图5中因两路信号的电路完全一致，因此仅画出一路。
如图5所示，晶体三极管电路，包括：电阻R2、电阻R3、电阻R4和电阻R5，电容C1，二极管D1，三极管Q1。在第二逻辑门电路(如与逻辑门) 的输出端还连接有电阻R6。第一光耦OC1中晶体管侧的发射极经电阻R2后，连接至二极管D1的阳极，还经电容C1后连接至三极管Q1的发射极。二极管D1的阴极连接至三极管Q1的基极，三极管Q1的基极还经电阻R3后连接至三极管Q1的发射极。三极管Q1的集电极经电阻R5后输入至第二逻辑门电路(如与逻辑门)的一个输入端。三极管Q1的集电极还连接电阻R4。
其中，晶体三极管电路中，电阻R2是限流电阻，能够起到缓冲和保护的作用，电阻R2与电容C1构成RC滤波电路。电阻R3是下拉电阻，给晶体管提供偏置电压，分流，保护晶体管；电阻R4是上拉电阻；电阻R5是限流电阻或吸收电阻，能够保护逻辑器件；电阻R6是上拉电阻，二极管D1能够利用二极管单向导通特性，保护前级光耦。
下面对上述一种SCARA机器人电机抱闸释放控制装置的控制过程，进行 示例性说明。
在抱闸状态下：
电机不受控时应处于抱闸状态，即“BRK1”、“BRK2”信号应处于高电平状态。电机不受控即未受软件控制，增加硬件回路后仍需实现“BRK1”、“BRK2”信号的高电平状态。
在图4和图5所示的例子中，电机未受软件控制时，由FPGA输入第二逻辑门电路(即与门)的信号网络F_BRK0、F_BRK1由于上拉输出高电平(逻辑电平1)，此时开关处于断开状态，“SW_IN”网络被“24V_CTRL”电源网络(见图4)上拉，此时前级光耦电路不导通，“SW”、“SW_0”网络接地，此时晶体三极管电路不导通，“SW_SIG”网络被上拉，输出高电平(逻辑电平1)，由Y＝A·B知输出逻辑电平1，即网络“BRK0-”、“BRK1-”输出高电平，此时后级光耦电路也不导通，输出给电机的信号“BRK1”/“BRK2”直接被“24V_IO”(见图4)上拉，输出高电平，电机变为抱闸状态，与所求相符。
由于机器人的本体开关为自复位开关，松开按钮就会自动回到打开(非闭合)状态，因此此时的信号某种意义上来说，与未增加硬件回路前并无差别，即可兼容软件。
在解除制动信号与使能信号的送出的状态下：
需能在无软件控制的情况下，按下“机器人”上的开关解除制动；软件控 制送出使能信号后，“机器人”上电机也需能释放抱闸。
在图4和图5所示的例子中，若手动释放抱闸，此时自复位开关被按下，“SW_IN”网络接地，输出低电平(逻辑电平0)，此时前级光耦电路导通，“SW”、“SW_0”网络被上拉，输出高电平，此时晶体三极管电路导通，“SW_SIG”网络接地，输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
在图4和图5所示的例子中，若FPGA控制使能，此时由FPGA输入与门(即第二逻辑门电路)的信号网络“F_BRK0”、“F_BRK1”被软件控制输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
可见，在增加硬件回路后，两种解刹车的情况均可实现。
在硬件控制回路与软件控制回路兼容的状态下：
整个系统不处于紧急状态(即急停未按下)时，解除抱闸可兼由二者控制，此时的开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输入FPGA。当机器人内部程序正常运行时，机械臂通过保持电流维持原状，此时不应受到SW信号低电平，若此时有人按下正在运行过程中的机器人的本体开关(即自复位开关)，以免因人为误操作导致安全事故，此时SW的反馈信号应参与进来，FPGA检测到异常低电平，并停下机器人、报警。
若有人正按下本体开关进行调试等工作，此时，如有人欲启动机器人，FPGA会结合电流采样信号(电流经过AD芯片转换为数字信号输入FPGA以反馈本体状态)与SW信号(控制本体开关信号)，而禁止启动，避免造成安全事故。
可见，本公开的方案，主要是为了解决更改硬件控制电路后，与软件结合以更好或是不削减原有功能的情况下进行抱闸释放，可以实现软件程序和硬件电路共同控制；且本公开的方案使用的硬件电路控制单元为光耦电路、晶体三极管电路、与非门、非门等器件而非继电器与38译码器，也并非单纯放大器。其中，与非门和与门串联，可以实现与逻辑的功能。
由于本实施例的机器人所实现的处理及功能基本相应于前述图1所示的装置的实施例、原理和实例，故本实施例的描述中未详尽之处，可以参见前述实施例中的相关说明，在此不做赘述。
经大量的试验验证，采用本公开的技术方案，通过增加硬件控制回路且能兼容软件控制回路，在手动解除制动时，采用自复位开关，从而避免出现运行时电机一直处于松抱闸状态，保证安全。
根据本公开的实施例，还提供了对应于机器人的一种机器人的控制方法，如图6所示本公开的方法的一实施例的流程示意图。该机器人的控制方法能够应用在SCARA机器人的电机抱闸释放控制方面，SCARA机器人的电机抱闸释放控制方法，包括：步骤S110至步骤S140。
在步骤S110处，通过信号获取单元，连接至所述机器人的本体开关(如自复位开关)的信号获取单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号。
在步骤S120处，通过控制单元，在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号。
在步骤S130处，通过逻辑处理单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出手动释放信号；在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号。
在步骤S140处，通过信号输出单元，在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。其中，在所述机器人中一路以上电机的刹车信号单独设置。由于没有将刹车信号接在一起，而是另起一路，仅将机器人的本体开关的开关信号作为一路信号输入，因此无论是本体开关按下或是内部软件控制使能，都可以解除制动，在非紧急状态也可用软件对任一轴进行单独使能控制。
例如：在解除制动信号与使能信号的送出的状态下：在增加硬件回路后， 两种解刹车的情况均可实现。具体地，在无软件控制的情况下，按下“机器人”上的开关解除制动；软件控制送出使能信号后，“机器人”上电机也需能释放抱闸。
其中，若手动释放抱闸，此时自复位开关被按下，“SW_IN”网络接地，输出低电平(逻辑电平0)，此时前级光耦电路导通，“SW”、“SW_0”网络被上拉，输出高电平，此时晶体三极管电路导通，“SW_SIG”网络接地，输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
若FPGA控制使能，此时由FPGA输入与门(即第二逻辑门电路)的信号网络“F_BRK0”、“F_BRK1”被软件控制输出低电平(逻辑电平0)，由Y＝A·B知输出逻辑电平0，即网络“BRK0-”、“BRK1-”输出低电平，此时后级光耦电路导通，输出给电机的信号“BRK1”/“BRK2”接地，输出低电平，抱闸释放。
由此，通过信号获取单元、控制单元、逻辑处理单元和信号输出单元，可以形成硬件控制回路且能兼容软件控制回路，使得SCARA机器人无驱动回路时的紧急移动成为可能，例如可以针对机器人触发急停后无法在不断电重启的情况下移动机械臂的问题，如用户在紧急状态下需要能够快速解除SCARA机器人3、4轴的抱闸的需求问题，以使SCARA机器人在紧急状态或无驱动回路时，操作人员可手动将电机抱闸释放并移动机械臂，可以提升安全性。
在一些实施方式中，所述机器人的本体开关，包括：自复位开关。所述自复位开关的第一端连接至所述信号获取单元的输入端(如SW_IN端)，所述自复位开关的第二端接地(如接模拟地GND)。所述自复位开关为常开开关，被按下时接通。例如：机器人的本体开关的开关信号仅作为一路信号输入，不直接与刹车线相连。
在急停控制时，可以通过所述控制单元进行控制，具体地：所述控制单元，在所述机器人需要触发急停的情况下，输出使能抱闸控制信号。所述逻辑处理单元，在所述机器人需要触发急停的情况下，若接收到所述使能抱闸控制信号，则对所述使能抱闸控制信号进行逻辑处理后，输出使能抱闸信号。所述信号输出单元，在接收到所述使能抱闸信号的情况下，控制所述机器人的电机抱闸。
在所述机器人的电机已通过控制单元触发急停的情况下，若自复位开关复位，则不会影响电机抱闸的状态，具体可以参见以下示例性说明。
在一些实施方式中，所述机器人的控制方法，还包括：在自复位开关复位后维持电机抱闸的过程。
下面结合图7所示本公开的方法中在自复位开关复位后维持电机抱闸的一实施例流程示意图，进一步说明在自复位开关复位后维持电机抱闸的具体过程，包括：步骤S210至步骤S230。
步骤S210，通过所述信号获取单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号。
步骤S220，通过所述逻辑处理单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号。
步骤S230，通过所述信号输出单元，在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
在抱闸状态下：电机不受控时应处于抱闸状态，即“BRK1”、“BRK2”信号应处于高电平状态。电机不受控即未受软件控制，增加硬件回路后仍需实现“BRK1”、“BRK2”信号的高电平状态。
电机未受软件控制时，由FPGA输入第二逻辑门电路(即与门)的信号网络F_BRK0、F_BRK1由于上拉输出高电平(逻辑电平1)，此时开关处于断开状态，“SW_IN”网络被“24V_CTRL”电源网络上拉，此时前级光耦电路不导通，“SW”、“SW_0”网络接地，此时晶体三极管电路不导通，“SW_SIG”网络被上拉，输出高电平(逻辑电平1)，由Y＝A·B知输出逻辑电平1，即网络“BRK0-”、“BRK1-”输出高电平，此时后级光耦电路也不导通，输出给电机的信号“BRK1”、“BRK2”直接被“24V_IO”上拉，输出高电平，电机变为抱闸状态，与所求相符。
其中，“BRK1”、“BRK2”：3轴电机刹车信号、4轴电机刹车信号。3轴后级光耦输出3轴电机接收刹车信号、4轴后级光耦输出4轴电机接收刹车信号。
“F_BRK0”、“F_BRK1”：FPGA输出经过驱动电路后输入逻辑器件的 3轴刹车信号、FPGA输出经过驱动电路后输入逻辑器件的4轴刹车信号。
“BRK0-”、“BRK1-”：3轴经过逻辑器件处理后输入后级光耦的刹车信号、4轴经过逻辑器件处理后输入后级光耦的刹车信号。
“24V_CTRL”：控制器内部前级光耦处的24V电源网络。
“24V_IO”：控制器内部后级光耦处的24V电源网络。
“SW”、“SW_0”、“SW_SIG”：前级光耦输出到FPGA的开关反馈信号、前级光耦输出到晶体管电路的开关信号、晶体管电路输出给逻辑器件的开关信号。
由于机器人的本体开关为自复位开关，松开按钮就会自动回到打开(非闭合)状态，因此此时的信号某种意义上来说，与未增加硬件回路前并无差别，即可兼容软件。
由此，由于机器人的本体开关选用的自复位开关，因此不用担心因为不能及时刹车而造成安全问题。具体地，使机器人的本体开关采用自复位开关，在手动解除制动时，采用自复位开关，若操作人员不慎忘记将按键复位，此时机械臂也不会不受控垂落，以免造成其他危险，从而避免出现运行时电机一直处于松抱闸状态，保证安全。
在一些实施方式中，还包括：对机器人的本体状态进行监测的过程。
下面结合图8所示本公开的方法中对机器人的本体状态进行监测的一实施例流程示意图，进一步说明对机器人的本体状态进行监测的具体过程，包括：步骤S310和步骤S320。
步骤S310，通过采样单元，采集所述机器人的刹车信号线上的电流信号，并将采集到的所述电流信号反馈至所述控制单元的反馈端。
步骤S320，通过所述控制单元，还根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控。其中，所述机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。具体地，所述机器人的本体开关的开关信号，为所述信息获取单元中前级光耦电路如第一光耦中晶体管侧的发射极输出的开关信号。
例如：在增加硬件控制回路的同时，引入开关信号，开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输 入FPGA(Field Programmable Gate Array，现场可编程逻辑门阵列)；输入FPGA的开关信号与同样输入FPGA的电流采样信号，可以构成安全反馈回路，监测本体抱闸(或解抱闸)回路的状态。
由此，通过在增加硬件控制回路的同时，引入开关信号并结合电流采样电路构成安全反馈回路，以进一步增加其安全性。
在一些实施方式中，步骤S320中通过所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控的具体过程，包括以下任一种监控情况。
第一种监控情况：在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则确定所述机器人的本体开关被误操作而接通，控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息。
第二种监控情况：在所述机器人处于刹车状态的情况下，若所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则确定所述机器人的被误启动，控制所述机器人禁止启动。
例如：在硬件控制回路与软件控制回路兼容的状态下：整个系统不处于紧急状态(即急停未按下)时，解除抱闸可兼由二者控制，此时的开关信号分为两支，一支(SW_SIG)可参与解除抱闸的信号输入，另一支(SW)作为反馈信号输入FPGA。
其中，当机器人内部程序正常运行时，机械臂通过保持电流维持原状，此时不应受到SW信号低电平，若此时有人按下正在运行过程中的机器人的本体开关(即自复位开关)，以免因人为误操作导致安全事故，此时SW的反馈信号应参与进来，FPGA检测到异常低电平，并停下机器人、报警。若有人正按下本体开关进行调试等工作，此时，如有人欲启动机器人，FPGA会结合电流采样信号(电流经过AD芯片转换为数字信号输入FPGA以反馈本体状态)与SW信号(控制本体开关信号)，而禁止启动，避免造成安全事故。
由于本实施例的方法所实现的处理及功能基本相应于前述机器人的实施例、原理和实例，故本实施例的描述中未详尽之处，可以参见前述实施例中的相关说明，在此不做赘述。
经大量的试验验证，采用本实施例的技术方案，通过增加硬件控制回路且 能兼容软件控制回路，在增加硬件控制回路的同时，引入开关信号并结合电流采样电路构成安全反馈回路，以进一步增加其安全性。
综上，本领域技术人员容易理解的是，在不冲突的前提下，上述各有利方式可以自由地组合、叠加。
以上所述仅为本公开的实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的权利要求范围之内。

Claims (14)

  1. 一种机器人的控制装置，包括：信号获取单元、控制单元、逻辑处理单元和信号输出单元；其中，
    所述信号获取单元，被配置为在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号；
    所述控制单元，被配置为在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号；
    所述逻辑处理单元，被配置为若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出手动释放信号；若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号；
    所述信号输出单元，被配置为在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。
  2. 根据权利要求1所述的机器人的控制装置，其中，所述机器人的本体开关，包括：自复位开关；所述自复位开关的第一端连接至所述信号获取单元的输入端，所述自复位开关的第二端接地；所述自复位开关为常开开关，被按下时接通；
    所述机器人的控制装置，还包括：
    所述信号获取单元，被配置为在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号；
    所述逻辑处理单元，被配置为若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号；
    所述信号输出单元，被配置为在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
  3. 根据权利要求1所述的机器人的控制装置，其中，还包括：采样单元；
    所述采样单元，被配置为采集所述机器人的刹车信号线上的电流信号；
    所述控制单元，还被配置为根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控；其中，所述 机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。
  4. 根据权利要求3所述的机器人的控制装置，其中，所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控，包括：
    在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息；
    在所述机器人处于刹车状态的情况下，若所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人禁止启动。
  5. 根据权利要求1至4中任一项所述的机器人的控制装置，其中，所述信号获取单元的输出端的数量、所述逻辑处理单元的数量、以及所述信号输出单元的数量，均与所述机器人中需要抱闸或释放抱闸的电机的数量一致；
    在所述机器人中需要抱闸或释放抱闸的电机的数量为两个的情况下，所述机器人中需要抱闸或释放抱闸的电机，包括：第一电机和第二电机；所述信号获取单元的输出端，包括：第一输出端和第二输出端；所述逻辑处理单元，包括：第一逻辑处理单元和第二逻辑处理单元；所述信号输出单元，包括：第一信号输出单元和第二信号输出单元；
    其中，所述信号获取单元的第一输出端，输出至所述第一逻辑处理单元的第一输入端；所述第一逻辑处理单元的输出端，输出至所述第一信号输出单元的输入端；所述第一信号输出单元的输出端，输出至所述第一电机的抱闸或释放抱闸的控制端；
    所述信号获取单元的第二输出端，输出至所述第二逻辑处理单元的第一输入端；所述第二逻辑处理单元的输出端，输出至所述第二信号输出单元的输入端；所述第二信号输出单元的输出端，输出至所述第二电机的抱闸或释放抱闸的控制端；
    所述控制单元的第一使能控制端，输出至所述第一逻辑处理单元的第二输入端；所述控制单元的第二使能控制端，输出至所述第二逻辑处理单元的第二输入端。
  6. 根据权利要求5所述的机器人的控制装置，其中，所述信号获取单元，包括：第一光耦模块、第一开关模块和第二开关模块；其中，
    所述第一光耦模块中的二极管侧，连接至所述机器人的本体开关；所述第一光耦模块中的晶体管侧，能够输出所述机器人的本体开关的开关信号；其中，
    所述机器人的本体开关的开关信号，经所述第一开关模块处理后，输出至所述第一逻辑处理单元的第一输入端；
    所述机器人的本体开关的开关信号，经所述第二开关模块处理后，输出至所述第二逻辑处理单元的第一输入端；
    所述机器人的本体开关的开关信号，还输出至所述控制单元的反馈端。
  7. 根据权利要求6所述的机器人的控制装置，其中，所述第一开关模块和所述第二开关模块的结构相同；所述第一开关模块，包括：第一晶体三极管模块；
    所述第一晶体三极管模块的基极，连接至所述第一光耦模块中晶体管侧的发射极；所述第一晶体三极管模块的集电极，作为所述第一开关模块的输出端，输出至所述第一逻辑处理单元的第一输入端。
  8. 根据权利要求5所述的机器人的控制装置，其中，所述第一逻辑处理单元和所述第二逻辑处理单元的结构相同；所述第一逻辑处理单元，包括：第一与门模块；
    所述第一与门模块的第一输入端，连接至所述信号获取单元的第一输出端；所述第一与门模块的第二输入端，连接至所述控制单元的第一使能控制端；所述第一与门模块的输出端，连接至所述第一信号输出单元的输入端。
  9. 根据权利要求5所述的机器人的控制装置，其中，所述第一信号输出单元和所述第二信号输出单元的结构相同；所述第一信号输出单元，包括：第二光耦模块；
    所述第二光耦模块中二极管侧的阴极，连接至所述第一逻辑处理单元的输出端；所述第二光耦模块中晶体管侧的发射极，连接至所述第一电机的抱闸或释放抱闸的控制端。
  10. 一种机器人，包括：如权利要求1至9中任一项所述的机器人的控制装置。
  11. 一种机器人的控制方法，包括：
    通过信号获取单元，在所述机器人触发急停、且能够通过手动释放所述机器人的电机抱闸的情况下，若所述机器人的本体开关被接通，则获取所述机器人的本体开关被接通的开关接通信号；
    通过控制单元，在所述机器人触发急停、且能够通过使能释放所述机器人的电机抱闸的情况下，输出使能释放控制信号；
    通过逻辑处理单元，若接收到所述开关接通信号，则对所述开关接通信号进行逻辑处理后，输出手动释放信号；若接收到所述使能释放控制信号，则对所述使能释放控制信号进行逻辑处理后，输出使能释放信号；
    通过信号输出单元，在接收到所述手动释放信号或所述使能释放信号的情况下，控制所述机器人的电机释放抱闸。
  12. 根据权利要求11所述的机器人的控制方法，其中，所述机器人的本体开关，包括：自复位开关；所述自复位开关的第一端连接至所述信号获取单元的输入端，所述自复位开关的第二端接地；所述自复位开关为常开开关，被按下时接通；
    所述机器人的控制方法，还包括：
    通过所述信号获取单元，在所述机器人通过所述控制单元触发急停、且所述机器人的电机抱闸的情况下，若所述机器人的自复位开关已自复位断开，则获取所述机器人的自复位开关被断开的开关断开信号；
    通过所述逻辑处理单元，若接收到所述开关断开信号，则对所述开关断开信号进行逻辑处理后，输出维持抱闸信号；
    通过所述信号输出单元，在接收到所述维持抱闸信号的情况下，控制所述机器人的电机继续维持抱闸状态。
  13. 根据权利要求11或12所述的机器人的控制方法，其中，还包括：
    通过采样单元，采集所述机器人的刹车信号线上的电流信号；
    通过所述控制单元，还根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号，对所述机器人的本体的状态进行监控；其中，所述机器人的本体开关的开关信号，包括：所述机器人的本体开关被接通的开关接通信号，或所述机器人的本体开关被断开的开关断开信号。
  14. 根据权利要求13所述的机器人的控制方法，其中，通过所述控制单元，根据所述机器人的本体的电流信号和所述机器人的本体开关的开关信号， 对所述机器人的本体的状态进行监控，包括：
    在所述机器人正常运行的情况下，若所述电流信号显示所述机器人正常运行，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人停机，并发起所述机器人在正常运行中被误操作的提醒消息；
    在所述机器人处于刹车状态的情况下，若所述电流信号显示所述机器人处于刹车状态，而所述开关信号显示所述机器人的本体开关由断开状态被接通，则控制所述机器人禁止启动。
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