WO2023077459A1 - Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel - Google Patents

Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel Download PDF

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Publication number
WO2023077459A1
WO2023077459A1 PCT/CN2021/129101 CN2021129101W WO2023077459A1 WO 2023077459 A1 WO2023077459 A1 WO 2023077459A1 CN 2021129101 W CN2021129101 W CN 2021129101W WO 2023077459 A1 WO2023077459 A1 WO 2023077459A1
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WIPO (PCT)
Prior art keywords
safety
circuit
controller
input
signal
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PCT/CN2021/129101
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English (en)
Chinese (zh)
Inventor
丁程润
林康华
李乐荣
张国柱
邹磊
陈文杰
Original Assignee
美的集团股份有限公司
库卡机器人(广东)有限公司
广东美的制冷设备有限公司
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Application filed by 美的集团股份有限公司, 库卡机器人(广东)有限公司, 广东美的制冷设备有限公司 filed Critical 美的集团股份有限公司
Priority to PCT/CN2021/129101 priority Critical patent/WO2023077459A1/fr
Publication of WO2023077459A1 publication Critical patent/WO2023077459A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the present application relates to the field of safety control of industrial robots, in particular to a safety control system and safety controller of industrial robots.
  • the present application at least provides a safety control system and a safety controller of an industrial robot.
  • the first aspect of the present application provides a safety controller, the safety controller is used to be integrated in the control cabinet of the industrial robot, the safety controller includes:
  • the signal generating circuit is used to connect with the safety input device of the industrial robot, and is used to generate a test signal to test the safety input device of the industrial robot;
  • the input circuit is used to connect with the safety input device, and obtain the output signal of the safety input device based on the test signal;
  • the fault detection circuit is used to connect with the input circuit and determine the status information of the safety input device based on the output signal.
  • the second aspect of the present application provides a safety control system for an industrial robot, the safety control system comprising:
  • Safety input device for collecting hazard trigger signals
  • Servo controller set in the control cabinet, used to control industrial robots
  • the main controller is set in the control cabinet and is used to control the servo controller
  • the safety controller is set in the control cabinet
  • the safety controller is the above-mentioned safety controller.
  • the safety controller of the present application is provided with a signal generation circuit, an input circuit, and a fault detection circuit, and the test signal is generated by the signal generation circuit to test the safety input device of the industrial robot, and the state of the safety input device is confirmed by the fault detection circuit Information, and then realize the fault detection of the safety input device, and improve the safety and reliability of the safety controller.
  • Fig. 1 is a schematic structural diagram of the first embodiment of the safety controller of the present application
  • Fig. 2 is a schematic structural diagram of the second embodiment of the safety controller of the present application.
  • FIG. 3 is a schematic structural diagram of a third embodiment of the safety controller of the present application.
  • Fig. 4 is a schematic diagram of the first pulse signal and the second pulse signal of the present application.
  • Fig. 5 is a schematic structural diagram of a fourth embodiment of a safety controller of the present application.
  • Fig. 6 is a schematic structural diagram of a fifth embodiment of the safety controller of the present application.
  • Fig. 7 is a schematic structural diagram of the sixth embodiment of the safety controller of the present application.
  • Fig. 8 is a schematic diagram of the first flow of the safety controller outputting the first safety instruction in the present application
  • Fig. 9 is a second schematic flow diagram of the safety controller outputting the first safety instruction in the present application.
  • FIG. 10 is a schematic structural diagram of a seventh embodiment of a safety controller of the present application.
  • FIG. 11 is a schematic flow diagram of a reset operation performed by the security controller of the present application.
  • Fig. 12 is a schematic flow diagram of the application safety controller outputting a shutdown control command
  • Fig. 13 is a schematic diagram of the first flow chart of the safety logic control performed by the safety controller of the present application.
  • Fig. 14 is a second schematic flow diagram of the safety logic control performed by the safety controller of the present application.
  • Fig. 15 is a schematic structural diagram of an embodiment of the security control system of the present application.
  • first or second used in this specification to refer to numbers or ordinal numbers are used for descriptive purposes only, and should not be interpreted as express or implied relative importance or implied indications The number of technical characteristics. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of such features. In the description of this specification, “plurality” means at least two, such as two, three or more, etc., unless otherwise specifically defined.
  • the safety controller of the present application is provided with a signal generating circuit, an input circuit and a fault detection circuit, and a test signal is generated through the signal generating circuit to test the safety input device of the industrial robot, and the state of the safety input device is confirmed through the fault detection circuit Information, and then realize the fault detection of the safety input device, and improve the safety and reliability of the safety controller.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a security controller of the present application.
  • the safety controller 10 is integrated in the control cabinet 20 of the industrial robot, the control cabinet 20 of the industrial robot is further integrated with a servo controller 30 and a main controller 40, and the safety input device 50 of the industrial robot is arranged in the control cabinet 20, specifically, it can be arranged on the outer wall of the control cabinet 20.
  • the safety controller 10 is respectively connected to the servo controller 30 , the main controller 40 and the safety input device 50 , and the servo controller 30 is further connected to the main controller 40 .
  • the safety controller 10 obtains the status information of the safety input device 50 , and further outputs a safety command to the servo controller 30 according to the status information, so as to control the industrial robot to stop working through the servo controller 30 .
  • the safety controller 10 also reports the safety instruction to the main controller 40 , and the main controller 40 disables the servo controller 30 based on the safety instruction, that is, stops the enable output to the servo controller 30 .
  • the safety controller 10 outputs safety instructions to the servo controller 30 based on the state information of the safety input device 50.
  • the state information of the safety input device 50 is dangerous trigger state information, that is, when the industrial robot needs to stop working due to an operation failure.
  • the safety input device 50 performs corresponding operations, so that the safety controller 10 learns that the industrial robot has failed through the dangerous trigger state information, and then outputs a safety instruction to the servo controller 30, and the servo controller 30 stops the industrial robot according to the safety instruction operate.
  • the safety controller 10 also reports the safety instruction to the main controller 40, and the main controller 40 learns that the servo controller 30 is shutting down the industrial robot based on the safety instruction, and further outputs a disabling instruction to the servo controller 30, so as to The servo controller 30 is disabled, and the enable output to the servo controller 30 is stopped.
  • the main controller 40 may output the disabling command after the servo controller 30 finishes shutting down the industrial robot.
  • the safety input device 50 may include an emergency stop switch, a safety door, an enabling switch, a reset button, and the like.
  • the safety input device 50 may include multiple types of safety input devices 50 or multiple safety input devices 50 of the same type.
  • other input devices for monitoring the safety performance of the industrial robot may also be included.
  • the safety controller 10 of this embodiment includes an input circuit 11 , a signal generation circuit 101 and a fault detection circuit 102 .
  • the signal generating circuit 101 is used to connect with the safety input device 50 of the industrial robot, and is used to generate a test signal to test the safety input device 50 of the industrial robot.
  • the input circuit 11 is used to connect with the safety input device 50 of the industrial robot, and obtain the output signal of the safety input device 50 based on the test signal.
  • the fault detection circuit 102 is used to connect with the input circuit 11 and determine the state information of the safety input device 50 based on the output signal. Meanwhile, the fault detection circuit 102 is also used to feed back the state information of the safety input device 50 to the input circuit 11 . Wherein, the fault detection circuit 102 is used for detecting the output signal and the test signal, including comparing the period, duty cycle and phase of the output signal and the test signal.
  • the safety input device 50 is triggered normally to control the shutdown of the industrial robot.
  • the status information of the safety input device 50 is a fault state, which may specifically include situations such as adhesion or poor contact of the safety input device 50 .
  • the state information of the safety input device 50 is a misconnection state, such as the problem that the two ends of the safety input device 50 connected to the safety controller 10 are reversed, that is The positive and negative input terminals of the safety input device 50 are reversely connected.
  • FIG. 2 is a schematic structural diagram of a second embodiment of the safety controller of the present application.
  • the safety controller 10 also includes a logic circuit 12 and an output circuit 13, the input circuit 11 is connected to the logic circuit 12, and the logic circuit 12 is further connected to the output circuit 13 and the main body of the industrial robot. controller 40 .
  • the logic circuit 12 is used to generate a first safety instruction in response to the state information of the safety input device 50 being a dangerous trigger state, a fault state or a misconnection state, and transmit the first safety instruction to the output circuit 13 and the main controller 40 .
  • the output circuit 13 is used to connect with the servo controller 30 of the industrial robot, and is used to transmit the first safety instruction to the servo controller 30, so that the servo controller 30 executes the first safety instruction, and further controls the shutdown of the industrial robot.
  • the logic circuit 12 is further used to upload the state information to the main controller 40 of the industrial robot.
  • the main controller 40 In response to the state information being a fault state or a misconnection state, the main controller 40 generates an alarm message so that the user can view the safety input device 50 based on the alarm information. , and correspondingly solve the failure problem of the safety input device 50 .
  • the safety controller 10 is provided with an input circuit 11, a logic circuit 12, and an output circuit 13, and realizes safety logic control through hardware logic circuits, meeting the safety standard requirements of Category 3 and Performance Level d.
  • FIG. 3 is a schematic structural diagram of a third embodiment of the safety controller of the present application.
  • the number of input circuits 11 is two, and the safety input device 50 is provided with two signal transmission channels, both of which are connected with the signal generating circuit 101, one input circuit 11 and One signal transmission channel is connected, and the other input circuit 11 is connected with another signal transmission channel.
  • the logic circuit 12 is further used for cross-validating the output signals of the two input circuits 11 to determine whether the input circuit 11 is faulty, and for reporting the fault information of the input circuit 11 to the main controller 40 of the industrial robot, so that the main control
  • the controller 40 disables the servo controller 30 when the input circuit 11 fails.
  • the number of fault detection circuits 102 is two, one fault detection circuit 102 is connected to one input circuit 11 , and the other fault detection circuit 102 is connected to another input circuit 11 .
  • the two fault detection circuits respectively determine the state information of the safety input device 50 based on the output signal of the input circuit 11 connected to itself, so as to prevent that when any one of the two input circuits 11 is wrong or damaged, the safety input cannot be activated. The status information of the device 50 is confirmed.
  • test signal includes a first pulse signal and a second pulse signal
  • signal generating circuit 101 includes a first pulse signal generating circuit 1011 and a second pulse signal generating circuit 1012 .
  • the first pulse signal generating circuit 1011 is used to connect with a signal transmission channel, and is used to generate the first pulse signal to test the corresponding signal transmission channel.
  • the second pulse signal generating circuit 1012 is used to connect with another signal transmission channel, and is used to generate a second pulse signal to test the corresponding signal transmission channel.
  • FIG. 4 is a schematic diagram of the first pulse signal and the second pulse signal of the present application. As shown in FIG. 4, the phases of the first pulse signal and the second pulse signal are different.
  • the first pulse signal generated by the first pulse signal generating circuit 1011 is output to the safety input device 50 and tested, and the safety input device 50 generates an output signal based on the first pulse signal, which is transmitted to the safety through an input circuit 11.
  • the controller 10; the second pulse signal generated by the second pulse signal generating circuit 1012 is output to the safety input device 50 and tested, the safety input device 50 generates another output signal based on the second pulse signal, and passes through another input circuit 11 transmitted to the safety controller 10.
  • This embodiment is based on the detection method of the out-of-phase pulse, which can not only detect the working state of the two-way input circuit 11 , but also detect the faulty operation state of the safety input device 50 .
  • this embodiment uses two input circuits 11 and two fault detection circuits 102, and adopts a dual-circuit redundancy design scheme, which can prevent the problem that the industrial robot cannot be normally controlled to shut down when a problem occurs in any one of the circuits, and satisfies Category 3 and Safety standard requirements of Performance Level d.
  • FIG. 5 is a schematic structural diagram of a fourth embodiment of the safety controller of the present application.
  • the logic circuit 12 of this embodiment includes a primary circuit 121 and a secondary circuit 122 .
  • the primary circuit 121 is connected with the input circuit 11 , and is used for integrating the status information of multiple safety input devices 50 , and transmitting the integrated status information to the secondary circuit 122 .
  • the primary circuit 121 can perform parallel-to-serial conversion on state information of a plurality of safety input devices 50 .
  • the state information of each safety input device 50 can be a pulse signal, and the waveforms of the multiple pulse signals are different, and the primary circuit 121 integrates the multiple pulse signals to output a signal containing the information of the multiple pulse signals.
  • the secondary circuit 122 is respectively connected with the primary circuit 121 and the output circuit 13, and is used to generate a first safety instruction based on the integrated and processed state information, and transmit the first safety instruction to the output circuit 13, and then transmit the first safety instruction through the output circuit 13.
  • the safety command is transmitted to the servo controller 30 .
  • the secondary circuit 122 receives the signal output by the primary circuit 121, by judging whether the signal is the same as the multiple pulse signal integration signals in the normal state, if not, it proves that the state information of at least one safety input device 50 has changed , and at the same time generate a first safety instruction based on the judgment. Moreover, the secondary circuit 122 can further determine which specific safety input device 50 has its state information changed.
  • the safety controller 10 also includes an interactive circuit 14, the interactive circuit 14 is used to connect with the secondary circuit 122 and the main controller 40 of the industrial robot, and is used to obtain the information of the industrial robot from the main controller 40. the working mode, so that the secondary circuit 122 generates the first security instruction based on the integrated state information in the corresponding working mode.
  • the secondary circuit 122 can also report any one or a combination of the integrated status information, the first safety instruction, the fault information of the secondary circuit 122 and the fault information of the primary circuit 121 to the main controller 40 through the interactive circuit 14 .
  • the interactive circuit 14 includes a first end connected to the secondary circuit 122 and a second end connected to the main controller 40, the interface of the second end is matched with the interface of the main controller 40, and no additional transfer ports are required. The applicability of the safety controller 10 is improved.
  • the safety controller 10 acquires the working mode of the industrial robot issued by the main controller 40 by setting the interactive circuit 14, and reports the fault information to the main controller 40 at the same time, meeting the safety standard requirements of Category 3 and Performance Level d.
  • the working mode of the industrial robot includes an automatic mode and a manual mode.
  • the flow diagram of the secondary circuit 122 generating the first safety instruction based on the integrated state information is shown in FIG. 8
  • the flowchart of the secondary circuit 122 generating the first safety command based on the integrated state information is shown in FIG. 9 .
  • FIG. 8 is a schematic diagram of a first flow chart of the safety controller outputting the first safety instruction in the present application.
  • the safety controller 10 outputting the first safety instruction may include the following steps:
  • Step S11 Determine whether the industrial robot is in automatic mode.
  • the secondary circuit 122 is connected with the main controller 40 through the interactive circuit 14 , so as to obtain the working mode of the industrial robot through the main controller 40 .
  • step S12 is executed.
  • Step S12 Process according to relevant input information.
  • the safety input device 50 is specifically an emergency stop switch and a safety door
  • the secondary circuit 122 is also used to receive feedback information from the output circuit 13 and the feedback information from the servo controller 30, and the relevant input information may include emergency The state information of the stop switch, the state information of the safety door, the feedback information of the output circuit 13 and the feedback information of the servo controller 30.
  • the secondary circuit 122 acquires relevant input information, and further executes step S13 , step 14 and step 15 .
  • step S13, step 14, and step 15 may be performed simultaneously or sequentially, and the order of step S13, step 14, and step 15 may be adjusted according to actual needs, which is not limited in this embodiment.
  • Step S13 Determine whether the emergency stop switch is faulty.
  • the emergency stop switch includes an off state and an on state, which can specifically be an off setting and a pressing setting.
  • the emergency stop switch When the emergency stop switch is in the normal state, the emergency stop switch is disconnected, and the state information of the emergency stop switch is normal state information; when the emergency stop switch fails, the emergency stop switch is set to be pressed, and the emergency stop switch is The state information of the stop switch is the danger trigger state information.
  • step S12 if the secondary circuit 122 judges that the emergency stop switch is in a normal state according to the status information of the emergency stop switch, then return to step S12.
  • Step S14 Determine whether the safety door is faulty.
  • the safety door specifically includes an open state and a closed state.
  • the safety door When the safety door is in a normal state, the safety door is closed, and the state information of the safety door is normal state information; when the safety door fails, the safety door is in an open state, and the state information of the safety door is dangerous trigger state information.
  • the secondary circuit 122 judges that the safety door is in a normal state according to the state information of the safety door, it returns to step S12.
  • Step S15 judging whether the feedback information of the output circuit is inconsistent with the feedback information of the servo controller.
  • the feedback information of the output circuit 13 may be the instruction information output by the output circuit 13 received from the secondary circuit 122 , which specifically may include receiving the first safety instruction and not receiving the first safety instruction.
  • the feedback information of the servo controller 30 may be status information of the servo controller 30 , specifically, may include a normal working state and an STO shutdown state. Among them, different from receiving the disabling command, the servo controller 30 in the STO shutdown state still receives the enable output of the main controller 40. When the industrial robot completes a safe shutdown and solves the fault, the servo controller 30 can directly control the industrial robot to start. , at this moment, the servo controller 30 can work normally without power failure.
  • the secondary circuit 122 when the secondary circuit 122 receives the feedback information from the output circuit 13 that it has not received the first safety instruction, and receives the feedback information from the servo controller 30 that it is in a normal working state; or the secondary circuit 122 receives the output circuit 13
  • the feedback information is that the first safety instruction is received, and the feedback information received from the servo controller 30 is the STO stop state, the secondary circuit 122 judges that the feedback information of the output circuit 13 is consistent with the feedback information of the servo controller 30, and Return to step S12.
  • the secondary circuit 122 When the secondary circuit 122 receives the feedback information from the output circuit 13 as receiving the first safety instruction, and receives the feedback information from the servo controller 30 as a normal working state, then the secondary circuit 122 judges that the feedback information of the output circuit 13 is consistent with the servo The feedback information from the controller 30 is inconsistent.
  • step S16 is executed.
  • Step S16 Generate a first security instruction.
  • the first safety command is specifically an STO shutdown command
  • the servo controller 30 controls the torque off of the industrial robot based on the first safety command, and then controls the industrial robot to stop working.
  • the secondary circuit 122 outputs the first safety instruction based on the automatic mode of the industrial robot, and further implements the torque off of the industrial robot through the first safety instruction, which can meet the safety standard requirements of Category 3 and Performance Level d.
  • FIG. 9 is a schematic diagram of a second flowchart for outputting the first safety command by the safety controller of the present application.
  • the safety controller 10 outputting the first safety instruction may include the following steps:
  • Step S21 Determine whether the industrial robot is in manual mode.
  • the secondary circuit 122 is connected with the main controller 40 through the interactive circuit 14 , so as to obtain the working mode of the industrial robot through the main controller 40 .
  • step S22 is executed.
  • Step S22 Process according to relevant input information.
  • the safety input device 50 is specifically an emergency stop switch and an enable switch
  • the secondary circuit 122 is also used to receive feedback information from the output circuit 13 and the feedback information from the servo controller 30, and the relevant input information can be It includes the state information of the emergency stop switch, the state information of the enabling switch, the feedback information of the output circuit 13 and the feedback information of the servo controller 30 .
  • the secondary circuit 122 obtains relevant input information, and further executes step S23 , step 24 and step 25 .
  • step S23, step 24, and step 25 may be performed simultaneously or sequentially, and the order of step S23, step 24, and step 25 may be adjusted according to actual needs, which is not limited in this embodiment.
  • Step S23 Determine whether the emergency stop switch is faulty.
  • the emergency stop switch includes an off state and an on state, which can specifically be an off setting and a pressing setting.
  • the emergency stop switch When the emergency stop switch is in the normal state, the emergency stop switch is disconnected, and the state information of the emergency stop switch is normal state information; when the emergency stop switch fails, the emergency stop switch is set to be pressed, and the emergency stop switch is The state information of the stop switch is the danger trigger state information.
  • step S22 if the secondary circuit 122 judges that the emergency stop switch is in a normal state according to the state information of the emergency stop switch, then return to step S22.
  • Step S24 Judging whether the enabling switch fails.
  • the enabling switch specifically includes an off state and an on state, which can specifically be a release setting and a pressing setting.
  • the enabling switch When the enabling switch is in the normal state, the enabling switch is set to be pressed, and the state information of the enabling switch is normal state information at this time; when the enabling switch fails, the enabling switch is set to be released, and the enabling The state information of the switch is the state information of danger triggering.
  • step S22 if the secondary circuit 122 judges that the enabling switch is in a normal state according to the status information of the enabling switch, then return to step S22.
  • Step S25 judging whether the feedback information of the output circuit is inconsistent with the feedback information of the servo controller.
  • the feedback information of the output circuit 13 may be the instruction information output by the output circuit 13 received from the secondary circuit 122 , which specifically may include receiving the first safety instruction and not receiving the first safety instruction.
  • the feedback information of the servo controller 30 may be status information of the servo controller 30 , specifically, may include a normal working state and an STO shutdown state.
  • the secondary circuit 122 when the secondary circuit 122 receives the feedback information from the output circuit 13 that it has not received the first safety instruction, and receives the feedback information from the servo controller 30 that it is in a normal working state; or the secondary circuit 122 receives the output circuit 13
  • the feedback information is that the first safety instruction is received, and the feedback information received from the servo controller 30 is the STO stop state, the secondary circuit 122 judges that the feedback information of the output circuit 13 is consistent with the feedback information of the servo controller 30, and Return to step S22.
  • the secondary circuit 122 When the secondary circuit 122 receives the feedback information from the output circuit 13 as receiving the first safety instruction, and receives the feedback information from the servo controller 30 as a normal working state, then the secondary circuit 122 judges that the feedback information of the output circuit 13 is consistent with the servo The feedback information from the controller 30 is inconsistent.
  • step S26 is executed.
  • Step S26 Generate a first security instruction.
  • the first safety command is specifically an STO shutdown command
  • the servo controller 30 controls the torque off of the industrial robot based on the first safety command, and then controls the industrial robot to stop working.
  • FIG. 5 is a schematic structural diagram of a fifth embodiment of the safety controller of the present application.
  • the number of secondary circuits 122 in this embodiment is two, and each secondary circuit 122 is connected to the primary circuit 121 and the output circuit 13 respectively.
  • the secondary circuit 122 outputs the first safety instruction based on the manual mode of the industrial robot, and further realizes torque off of the industrial robot through the first safety instruction, which can meet the safety standard requirements of Category 3 and Performance Level d.
  • the safety controller 10 also includes a cross-validation circuit 15 , which is respectively connected to the two secondary circuits 122 and used for cross-validating the output signals of the two secondary circuits 122 to determine whether the secondary circuit 122 is faulty.
  • the output signal of the secondary circuit 122 at least includes the integrated status information and the first safety instruction.
  • the cross-validation circuit 15 obtains the output signals of the two secondary circuits 122, and compares the integrated state information contained in the two output signals and the first security instruction, and specifically performs a comparison between the two integrated state information. comparison between and between two first safety instructions.
  • the cross-validation circuit 15 performs cross-validation on the output signals of the two secondary circuits 122 to further improve the safety and reliability of the safety controller 10 and meet the safety standards of Category 3 and Performance Level d.
  • FIG. 7 is a schematic structural diagram of a sixth embodiment of the safety controller of the present application.
  • the number of primary circuits 121 in this embodiment is two, one primary circuit 121 is connected to the input circuit 11 and one secondary circuit 122 respectively, and the other primary circuit 121 is connected to the input circuit 121 respectively.
  • the circuit 11 and another secondary circuit 122 are connected.
  • the cross-validation circuit 15 is connected to the two primary circuits 121 respectively, and is used for cross-validating the output signals of the two primary circuits 121 to determine whether the primary circuit 121 is faulty.
  • the output signal of the primary circuit 121 includes the integrated state information.
  • the cross-validation circuit 15 performs cross-validation on the output signals of the two primary circuits 121 to further improve the safety and reliability of the safety controller 10 .
  • FIG. 10 is a schematic structural diagram of a seventh embodiment of a safety controller of the present application.
  • the safety controller 10 of this embodiment further includes a reset input acquisition circuit 16 and a power supply protection circuit 17, the industrial robot is reset through the reset input acquisition circuit 16 and the power supply to the safety controller 10 is provided through the power supply protection circuit 17.
  • the safety monitoring of the power supply further improves the safety and reliability of the safety controller 10 and meets the safety standard requirements of Category 3 and Performance Level d.
  • the reset input acquisition circuit 16 is connected with the secondary circuit 122 for inputting a reset signal, and after receiving the reset signal, the secondary circuit 122 clears the first security instruction based on the integrated state information as normal and not triggered.
  • the reset input acquisition circuit 16 is respectively connected to the two secondary circuits 122, and respectively inputs reset signals to the two secondary circuits 122, so that the safety controller 10 performs a reset operation, and the two secondary circuits 122
  • the state information is that the first safety instruction is cleared because it is not triggered normally.
  • clearing the first safety command by the secondary circuit 122 may specifically stop outputting the first safety command, or output a normal working command to replace the first safety command.
  • the reset input acquisition circuit 16 is directly connected to an external reset button, and a reset signal is obtained by operating the reset button.
  • the reset input collection circuit 16 can also be connected to the input circuit 11 , and the input circuit 11 is further connected to a reset button, and the reset signal can be obtained through the input circuit 11 .
  • FIG. 11 is a schematic flowchart of a reset operation performed by the safety controller of the present application. Specifically, the reset operation of the safety controller 10 in this embodiment may include the following steps:
  • Step S31 Obtain the working status of the industrial robot.
  • the secondary circuit 122 is connected with the main controller 40 through the interactive circuit 14 , so as to obtain the working mode of the industrial robot through the main controller 40 .
  • step S32 when the secondary circuit 122 judges that the industrial robot is in the automatic mode, step S32 is executed; when the secondary circuit 122 judges that the industrial robot is in the manual mode, step S37 is executed.
  • Step S32 Process according to relevant input information.
  • the relevant input information may include whether the working mode of the robot is automatic mode, the state information of the emergency stop switch, the state information of the safety door, and the reset signal.
  • Step S33 Determine whether a reset signal is received.
  • step S34 is performed; when the secondary circuit 122 judges that the reset signal is not received, the process returns to step S32.
  • Step S34 Judging whether the emergency stop switch is in a normal working state.
  • the normal working state of the emergency stop switch is the released state, which can be specifically set to be disconnected, and the state information at this time is the normal state information.
  • the state information at this time is the danger trigger state information.
  • step S35 is executed, otherwise, step S32 is returned.
  • Step S35 Judging whether the safety door is in a normal working state.
  • the normal working state of the safety door is the closed state, which can be specifically set to be closed, and the state information at this time is the normal state information.
  • the state information at this time is the danger trigger state information.
  • step S36 is executed, otherwise, step S32 is returned.
  • Step S36 Empty the first security instruction.
  • Step S37 Process according to relevant input information.
  • the relevant input information may include whether the working mode of the robot is the manual mode, status information of the emergency stop switch, and whether a reset signal is received.
  • Step S38 Judging whether a reset signal is received.
  • step S39 is performed; when the secondary circuit 122 judges that the reset signal is not received, the process returns to step S37.
  • Step S39 Judging whether the emergency stop switch is in a normal working state.
  • the secondary circuit 122 obtains the state information of the emergency stop switch, and if it is judged from the state information that the emergency stop switch is in a normal working state and no fault occurs, then step S36 is executed, otherwise, step S32 is returned.
  • the reset signal is input through the reset input acquisition circuit 16, and after the fault of the industrial robot is judged and resolved, the working state of the industrial robot is reset, meeting the safety standard requirements of Category 3 and Performance Level d.
  • the power protection circuit 17 is connected with the output circuit 13 and the power supply 18 respectively, the power protection circuit 17 generates a second safety instruction based on the failure of the power supply 18, and the output circuit 13 transmits the second safety instruction to the servo controller 30, so that the servo controller 30 executes the second safety instruction.
  • the second safety command may specifically be an STO stop command, and the servo controller 30 controls the torque off of the industrial robot based on the second safety command, and then controls the industrial robot to stop working.
  • the power supply 18 is used to provide an operating voltage for the safety controller 10
  • the power protection circuit 17 is used to detect overcurrent, short circuit, overvoltage and undervoltage faults on the power supply 18 .
  • the power supply 18 may be an internal power supply integrated in the control cabinet 20 or an external power supply.
  • FIG. 12 is a schematic flowchart of a safety controller outputting a shutdown control command in the present application.
  • the safety controller 10 outputting the shutdown control instruction may include the following steps:
  • Step S41 Determine whether the industrial robot is in a running state.
  • the safety controller 10 judges the working state of the industrial robot, and only when it is judged that the industrial robot is in the running state, it needs to perform safety logic control on the industrial robot, and step S42 is further executed.
  • Step S42 Process according to relevant input information.
  • the relevant input information in this embodiment includes whether the first safety instruction and the second safety instruction are received.
  • step S43 and step 44 may be performed simultaneously or sequentially, and the sequence between step S43 and step 44 may be adjusted according to actual needs, which is not limited in this embodiment.
  • Step S43 Determine whether the first security instruction is received.
  • step S45 when the output circuit 13 judges that the first safety instruction is received, step S45 is executed; when the output circuit 13 judges that the first safety instruction is not received, the step S42 is returned.
  • Step S44 Determine whether the second security instruction is received.
  • step S45 when the output circuit 13 judges that the second safety instruction is received, step S45 is executed; when the output circuit 13 judges that the second safety instruction is not received, the step S42 is returned.
  • Step S45 Outputting a shutdown control command to the servo controller.
  • the output circuit 13 can output a shutdown control instruction to the servo controller 30 according to any one of them, and can also output a shutdown control instruction to the servo controller 30 according to both. instruction.
  • the first safety instruction and the second safety instruction are used to output the shutdown control instruction to the servo controller 30 separately or simultaneously, so as to further improve the safety and reliability of the safety controller 10 and meet the safety standards of Category 3 and Performance Level d.
  • safe shutdown includes shutdown category 0 and shutdown category 1.
  • This embodiment provides two specific safety logic control modes, so that the safety controller 10 can respectively realize the safe shutdown of shutdown category 0 and shutdown category 1.
  • the logic circuit 12 is configured with a first working mode and a second working mode.
  • the logic circuit 12 transmits the first safety instruction to the servo controller 30 and the main controller 40 through the output circuit 13, so that the servo controller 30 executes the first safety instruction, and the main controller If the controller 40 disables the servo controller 30, the safety controller 10 realizes a safety shutdown of the shutdown category 0.
  • FIG. 13 is a schematic diagram of a first flowchart of safety logic control performed by the safety controller of the present application.
  • the safety logic control performed by the safety controller 10 in this embodiment may include the following steps:
  • Step S51 triggering a first category safety shutdown.
  • the first category of safety shutdown is the safety shutdown of shutdown category 0.
  • the safety controller 10 further executes steps S52 and S54.
  • step S52 and step S54 may be performed simultaneously or sequentially, and the sequence between step S52 and step S54 may be adjusted according to actual needs, which is not limited in this embodiment.
  • Step S52 Outputting the first safety command to the servo controller.
  • the safety controller 10 triggers the first type of safety shutdown, the logic circuit 12 works in the first working mode, and outputs the first safety instruction to the servo controller 30 through the output circuit 13, and the servo controller 30 further executes step S53.
  • Step S53 Execute the first security instruction.
  • the servo controller 30 receives the first safety instruction, executes the first safety instruction, and realizes the torque off of the industrial robot, so that the industrial robot stops working.
  • Step S54 Feedback the first shutdown trigger state to the main controller.
  • the safety controller 10 feeds back the state information of the servo controller 30 to the main controller 40, and the state information of the servo controller 30 is the first shutdown trigger state, and the main controller 40 further executes Step S55.
  • Step S55 Disable the servo controller.
  • the main controller 40 disables the servo controller 30 according to the first shutdown trigger state fed back by the safety controller 10 , that is, stops the enable output to the servo controller 30 so that the servo controller 30 stops receiving the enable input.
  • the logic circuit 12 starts timing, and transmits the first safety instruction to the servo controller 30 and the main controller 40 through the output circuit 13, so that the main controller 40 controls the servo controller 30 Shutdown, and after the timing result reaches the threshold value, the servo controller 30 is made to execute the first safety instruction, and the safety controller 10 implements a safety shutdown of shutdown category 1.
  • FIG. 14 is a second schematic flowchart of the safety logic control performed by the safety controller of the present application.
  • the safety logic control performed by the safety controller 10 in this embodiment may include the following steps:
  • Step S61 triggering the second type of safety shutdown.
  • the safety shutdown of the second category is the safety shutdown of shutdown category 1 .
  • the safety controller 10 After judging that the safety shutdown of the second category is triggered, the safety controller 10 further executes step S62.
  • Step S62 Start the timing and feed back the trigger state of the second shutdown to the main controller.
  • the safety controller 10 triggers the second type of safety shutdown, and the logic circuit 12 works in the second working mode. At this time, the safety controller 10 starts timing, and the safety controller 10 further executes step S63.
  • the safety controller 10 feeds back the state information of the servo controller 30 to the main controller 40.
  • the state information of the servo controller 30 is the second shutdown trigger state, and the main controller 40 further executes step S65.
  • step S63 and step S65 may be performed simultaneously or sequentially, and the sequence between step S63 and step S65 may be adjusted according to actual needs, which is not limited in this embodiment.
  • Step S63 Determine whether the timing reaches the threshold.
  • the safety controller 10 judges whether the timing reaches a threshold value, specifically, the threshold value may be the total duration for which the main controller 40 controls the servo controller 30 to realize disabling.
  • the timing can also be judged by the servo controller 30 .
  • step S64 is further executed, otherwise, step S63 is returned.
  • Step S64 Outputting the first safety instruction to the servo controller.
  • the safety controller 10 outputs the first safety instruction to the servo controller 30 through the output circuit 13, and the servo controller 30 further executes step S69.
  • Step S65 Planning the servo controller to stop.
  • the main controller 40 plans the shutdown of the servo controller 30 based on the second shutdown trigger state, outputs a shutdown command to the servo controller 30, and further executes step S66.
  • Step S66 Judging whether the servo controller is stopped.
  • the servo controller 30 receives the shutdown instruction output by the main controller 40, and executes the shutdown instruction.
  • the main controller 40 judges whether the servo controller 30 is shut down, and when it is judged that the servo controller 30 is shut down, executes step S67, otherwise returns to step S66.
  • Step S67 Outputting a disable command to the servo controller.
  • the main controller 40 further outputs a disabling instruction to the servo controller 30 for controlling the disabling of the servo controller 30 .
  • Step S68 Execute the disabling command.
  • the servo controller 30 receives the disabling instruction and executes the disabling instruction, so that the servo controller 30 stops receiving the enabling output of the main controller 40 .
  • Step S69 Execute the first security instruction.
  • the servo controller 30 receives the first safety instruction, executes the first safety instruction, and realizes the torque off of the industrial robot, so that the industrial robot stops working.
  • the safety controller 10 of the present application can also include a teaching pendant, and the safety input device 50 is integrated on the teaching pendant, and the corresponding safety control operation can be performed through the teaching pendant, and at the same time, the industrial The movement of the robot, the completion of the teaching programming and the realization of the setting of the system can meet the safety standard requirements of Category 3 and Performance Level d.
  • the safety controller 10 is integrated in the control cabinet 20 of the industrial robot, and the small-sized safety controller 10 is used to realize the safety logic control of the industrial robot, while improving the integration degree of the system and reducing the cost.
  • the safety controller 10 of the present application is composed of hardware logic circuits such as an input circuit 11, a logic circuit 12, and an output circuit 13, which is different from the case of using a microprocessor for logic control, and does not require the support of software or firmware, and can maximize Reduce the failure rate, and the response speed of the hardware logic circuit is fast, the cost is low, the cycle of development and verification is short, and the process of safety certification is fast.
  • a safety control system 100 for an industrial robot includes a safety input device 110 , a control cabinet 120 , a servo controller 130 , a main controller 140 and a safety controller 150 .
  • the safety input device 110, the control cabinet 120, the servo controller 130, the main controller 140, and the safety controller 150 are the safety input device 50, the control cabinet 20, the servo controller 30, and the main controller disclosed in the above-mentioned embodiments. 40 and the safety controller 10, which will not be repeated here.
  • the safety input device 110 is used to collect hazard trigger signals.
  • the hazard trigger signal may include an emergency stop signal, a safety door closing signal, an enabling stop signal, and the like.
  • the servo controller 130 , the main controller 140 and the safety controller 150 are arranged in the control cabinet 120 , the servo controller 130 is used to control the industrial robot, and the main controller 140 is used to control the servo controller 130 .
  • the safety input device 110 is connected with the servo controller 130 and the main controller 140, and is used to generate a safe torque off instruction based on a dangerous trigger signal under the control of the main controller 140, and the servo controller 130 executes the safe torque off command. Instructions to control the shutdown of industrial robots.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de commande de sécurité et un dispositif de commande de sécurité (10) pour un robot industriel, le dispositif de commande de sécurité (10) étant destiné à être intégré dans un coffret de commande (20) d'un robot industriel, et comprenant : un circuit de génération de signal (101) destiné à être connecté à un dispositif d'entrée de sécurité (50) du robot industriel, et servant à générer un signal de test pour tester le dispositif d'entrée de sécurité (50) du robot industriel ; un circuit d'entrée (11) destiné à être relié au dispositif d'entrée de sécurité (50) pour acquérir un signal de sortie du dispositif d'entrée de sécurité (50) sur la base du signal de test ; et un circuit de détection de défaillance (102) destiné à être connecté au circuit d'entrée (11) pour déterminer des informations d'état du dispositif d'entrée de sécurité (50) sur la base du signal de sortie. L'invention permet ainsi d'obtenir une détection de défaillance du dispositif d'entrée de sécurité (50), et d'améliorer la sécurité et la fiabilité du dispositif de commande de sécurité (10).
PCT/CN2021/129101 2021-11-05 2021-11-05 Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel WO2023077459A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205263537U (zh) * 2015-12-03 2016-05-25 上海新时达电气股份有限公司 一种安全逻辑i/o板
CN105765470A (zh) * 2013-11-13 2016-07-13 皮尔茨公司 具有可配置输入的安全控制系统
CN109483601A (zh) * 2018-12-24 2019-03-19 合肥欣奕华智能机器有限公司 一种工业机器人功能测试系统及测试方法
EP3709106A1 (fr) * 2019-03-11 2020-09-16 Sick Ag Mise en sécurité d'une machine
CN111781891A (zh) * 2020-06-10 2020-10-16 杭州凯尔达机器人科技股份有限公司 机器人安全逻辑控制系统
CN112014714A (zh) * 2020-06-29 2020-12-01 埃夫特智能装备股份有限公司 一种工业机器人安全板电路测试平台

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105765470A (zh) * 2013-11-13 2016-07-13 皮尔茨公司 具有可配置输入的安全控制系统
CN205263537U (zh) * 2015-12-03 2016-05-25 上海新时达电气股份有限公司 一种安全逻辑i/o板
CN109483601A (zh) * 2018-12-24 2019-03-19 合肥欣奕华智能机器有限公司 一种工业机器人功能测试系统及测试方法
EP3709106A1 (fr) * 2019-03-11 2020-09-16 Sick Ag Mise en sécurité d'une machine
CN111781891A (zh) * 2020-06-10 2020-10-16 杭州凯尔达机器人科技股份有限公司 机器人安全逻辑控制系统
CN112014714A (zh) * 2020-06-29 2020-12-01 埃夫特智能装备股份有限公司 一种工业机器人安全板电路测试平台

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