CN109848960B - A hot-swap circuit for industrial robot teach pendant and its control method - Google Patents
A hot-swap circuit for industrial robot teach pendant and its control method Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及工业机器人技术领域,具体涉及一种用于工业机器人示教器的热插拔电路及其控制方法。The invention relates to the technical field of industrial robots, in particular to a hot-swap circuit for an industrial robot teach pendant and a control method thereof.
背景技术Background technique
近些年来,机器人技术及其产品发展很快,它对于提高生产自动化水平、劳动生产率和经济效益,保证产品质量,改善劳动条件等方面的作用日益显著。目前,机器人工业已成为世界各国备受关注的产业,机器人作为一台具有多个自由度运转的设备,其使用的稳定性和安全性也越来越被人们所重视。In recent years, robotic technology and its products have developed rapidly, and its role in improving the level of production automation, labor productivity and economic benefits, ensuring product quality, and improving labor conditions has become increasingly significant. At present, the robot industry has become an industry that has attracted much attention from all over the world. As a device with multiple degrees of freedom, the stability and safety of its use are increasingly being valued by people.
在工业的现场使用过程中,机器人示教器作为人机交互的平台,实现机器人的示教、报警等功能。一般情况下,一台机器人搭配一台示教器使用,但随着工业机器人的发展,为了节约成本,现在一台示教器可搭配多套机器人使用。当一台示教器接入机器人控制系统,完成示教编程等工作,机器人自动运行后,可取下示教器更换至另一台机器人进行示教编程等工作。由于示教器上有急停开关,取下示教器后会使常闭的急停回路断开,使机器人急停报警,造成异常停机。In the process of industrial field use, the robot teach pendant is used as a platform for human-computer interaction to realize functions such as teaching and alarming of the robot. In general, one robot is used with one teach pendant, but with the development of industrial robots, in order to save costs, one teach pendant can now be used with multiple sets of robots. When a teach pendant is connected to the robot control system to complete teaching and programming, and the robot runs automatically, the teach pendant can be removed and replaced with another robot for teaching and programming. Since there is an emergency stop switch on the teach pendant, the normally closed emergency stop circuit will be disconnected after removing the teach pendant, which will cause the robot to emergency stop and alarm, resulting in abnormal shutdown.
故想实现示教器的热插拔,必须实现在取下示教器时,机器人不出现急停报警,在连接示教器后机器人能够响应示教器急停。Therefore, in order to realize the hot swap of the teach pendant, it must be realized that the robot does not have an emergency stop alarm when the teach pendant is removed, and the robot can respond to the emergency stop of the teach pendant after connecting the teach pendant.
本发明针对工业机器人对示教器热插拔功能的需求,设计了一种操作简单,安全可靠的热插拔电路。Aiming at the requirement of the industrial robot for the hot-plugging function of the teaching pendant, the invention designs a hot-plugging circuit that is simple to operate, safe and reliable.
发明内容SUMMARY OF THE INVENTION
为了解决上述技术问题或者至少部分地解决上述技术问题,本发明实施例提供了一种用于工业机器人示教器的热插拔电路及其控制方法。In order to solve the above technical problems or at least partially solve the above technical problems, embodiments of the present invention provide a hot-swap circuit for an industrial robot teach pendant and a control method thereof.
一种用于工业机器人示教器的热插拔电路,其包括:热插拔按钮支路和指示灯支路;所述热插拔按钮支路包括相互串联的热插拔按钮K2和光耦U1;所述热插拔按钮K2和所述光耦U1间设有输入端INPUT;所述输入端INPUT设置在所述指示灯支路中发光二极管D1的正极端。A hot-plug circuit for an industrial robot teach pendant, comprising: a hot-plug button branch and an indicator light branch; the hot-plug button branch includes a hot-plug button K2 and an optocoupler U1 that are connected in series with each other ; An input terminal INPUT is arranged between the hot-swap button K2 and the optocoupler U1; the input terminal INPUT is arranged at the positive terminal of the light-emitting diode D1 in the indicator light branch.
所述热插拔按钮支路还包括:第一电阻R1和第二电阻R3;所述光耦U1中三极管的发射极与所述第一电阻R1的一端相连并设置插拔信号GPIO;所述第一电阻R1的另一端接地;所述光耦U1中三极管的集电极与电源电压VCC相连;所述光耦U1中发光二极管的负极与所述第二电阻R3的一端相连,所述第二电阻R3的另一端接地;所述光耦U1中发光二极管的正极与所述热插拔按钮K2的一端相连,所述热插拔按钮K2的另一端设置急停信号。The hot-swap button branch further includes: a first resistor R1 and a second resistor R3; the emitter of the transistor in the optocoupler U1 is connected to one end of the first resistor R1 and a plug-in signal GPIO is set; the The other end of the first resistor R1 is grounded; the collector of the transistor in the optocoupler U1 is connected to the power supply voltage VCC; the negative electrode of the light-emitting diode in the optocoupler U1 is connected to one end of the second resistor R3, and the second The other end of the resistor R3 is grounded; the anode of the light-emitting diode in the optocoupler U1 is connected to one end of the hot-swap button K2, and the other end of the hot-swap button K2 is set with an emergency stop signal.
所述指示灯支路还包括:第三电阻R4;所述第三电阻R4的一端与所述指示灯支路中发光二极管的负极相连;所述第三电阻R4的另一端接地。The indicator light branch further includes: a third resistor R4; one end of the third resistor R4 is connected to the negative electrode of the light emitting diode in the indicator light branch; the other end of the third resistor R4 is grounded.
所述热插拔按钮K2为带自锁的按钮或者旋钮开关。The hot-swap button K2 is a self-locking button or a rotary switch.
一种所述的热插拔电路的控制方法,其包括步骤:在工业机器人示教完成后,进入自动运行状态;若需要拔下所述工业机器人示教器,则闭合所述热插拔按钮K2,输入端INPUT变为高电平,所述指示灯支路中发光二极管D1点亮;若需要使用机器人示教器时,则断开所述热插拔按钮K2,输入端INPUT变为低电平,所述指示灯支路中发光二极管D1熄灭。A control method for the hot-swap circuit, comprising the steps of: entering an automatic running state after the teaching of an industrial robot is completed; if the industrial robot teaching pendant needs to be unplugged, closing the hot-swap button K2, the input terminal INPUT becomes a high level, and the LED D1 in the indicator light branch is lit; if the robot teach pendant needs to be used, disconnect the hot-swap button K2, and the input terminal INPUT becomes low level, the light-emitting diode D1 in the indicator light branch goes out.
本发明提供的技术方案与最接近的现有技术相比具有如下优点:Compared with the closest prior art, the technical solution provided by the present invention has the following advantages:
1、本发明通过在机器人上设置单独的按钮和开关急停操作装置,使现场人员可以对任意一机器人进行单独的操作;1. The present invention enables on-site personnel to independently operate any robot by setting a separate button and switch emergency stop operating device on the robot;
2、本发明可以实现对整个网络机器人的控制和监控,提高了用户操作装置的利用率,有助于节省成本,并方便实现对机器人的统一管理;2. The present invention can realize the control and monitoring of the entire network robot, improve the utilization rate of the user operating device, help save costs, and facilitate the unified management of the robot;
3、本发明电路中的按钮和指示灯,进一步方便了用户的操作,以及机器人的状态指示;3. The buttons and indicator lights in the circuit of the present invention further facilitate the operation of the user and the status indication of the robot;
4、本发明的热插拔电路原理简单,元器件少,可靠性高,安装使用方便。4. The hot-swap circuit of the present invention has the advantages of simple principle, few components, high reliability, and convenient installation and use.
附图说明Description of drawings
图1是本发明热插拔电路的安装位置图;Fig. 1 is the installation position diagram of the hot-plug circuit of the present invention;
图2是本发明热插拔电路的结构图。FIG. 2 is a structural diagram of a hot-swap circuit of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
本发明的实施例提供了一种用于工业机器人示教器的热插拔电路及其控制方法。Embodiments of the present invention provide a hot-swap circuit for an industrial robot teach pendant and a control method thereof.
如图1所示,工业机器人正常工作时,机器人示教器通过相应的接口连在机器人控制器上,接口电路包括示教器的电源线、通信线、急停报警信号线。其中,K1为常闭的急停开关,电源线是指机器人控制器给机器人示教器提供的+24V电源,通信线用于机器人控制器与示教器之间的通信,急停报警信号线通过示教器与控制器之间形成的电源回路工作。As shown in Figure 1, when the industrial robot is working normally, the robot teach pendant is connected to the robot controller through the corresponding interface, and the interface circuit includes the power line, communication line, and emergency stop alarm signal line of the teach pendant. Among them, K1 is a normally closed emergency stop switch, the power line refers to the +24V power supply provided by the robot controller to the robot teach pendant, the communication line is used for the communication between the robot controller and the teach pendant, and the emergency stop alarm signal line Works through the power loop formed between the teach pendant and the controller.
紧急情况下,按下示教器上的急停开关,该急停回路断开,示教器和机器人控制器分别触发相应的急停处理机制:机器人控制器响应,切断机器人电机的动力源;机器人示教器面板会弹框显示机器人急停被按下,同时无法手动和自动控制机器人运动,从而让机器人立刻停止运行。In an emergency, press the emergency stop switch on the teach pendant, the emergency stop circuit is disconnected, and the teach pendant and the robot controller respectively trigger the corresponding emergency stop processing mechanism: the robot controller responds and cuts off the power source of the robot motor; The robot teach pendant panel will display a pop-up box indicating that the robot emergency stop is pressed, and the robot cannot be controlled manually or automatically, so that the robot stops running immediately.
如图2所示,机器人示教器的热插拔电路包括:由一个热插拔按钮K2、一个光耦U1和一个LED指示灯D1。K2是带自锁功能的按钮开关;光耦U1的作用是隔离,外部信号输入均需要光耦隔离;指示灯D1是机器人示教器的热插拔指示灯,指示灯D1亮时代表此时可取下机器人示教器,当INPUT端的高低电平控制K2接通时,INPUT变为高电平,D1导通发光。As shown in Figure 2, the hot-plug circuit of the robot teach pendant includes: a hot-plug button K2, an optocoupler U1 and an LED indicator D1. K2 is a push button switch with self-locking function; the function of optocoupler U1 is isolation, and external signal input requires optocoupler isolation; indicator light D1 is the hot-swap indicator light of the robot teach pendant, and the indicator light D1 is on when it is on. The robot teach pendant can be removed. When the high and low levels of the INPUT terminal control K2 to be turned on, INPUT becomes a high level, and D1 turns on and emits light.
在正常工作时,热插拔按钮K2处于断开状态,GPIO信号为低电平,机器人控制器能够在用户按下急停时,触发急停处理机制。当需要机器人在自动运行状态下使用热插拔功能时,按下机器人控制器面上热插拔按钮开关K2(带自锁功能)。During normal operation, the hot-swap button K2 is disconnected, and the GPIO signal is at a low level. The robot controller can trigger the emergency stop processing mechanism when the user presses the emergency stop. When the robot needs to use the hot-swap function in the automatic running state, press the hot-swap button switch K2 (with self-locking function) on the robot controller.
用户在使用热插拔电路的步骤,如下所示:The steps for the user to use the hot-swap circuit are as follows:
在完成示教编程、机器人自动运行后:首先,按下热插拔按钮K2,热插拔指示灯D1亮,同时GPIO由低电平变为高电平,热插拔信号传输至机器人控制器,随后,控制器将不再触发示教器急停,示教器页面上提示可拔下示教器。After the teaching programming is completed and the robot runs automatically: first, press the hot-plug button K2, the hot-plug indicator D1 is on, and the GPIO changes from low level to high level, and the hot-plug signal is transmitted to the robot controller , then the controller will no longer trigger the emergency stop of the teach pendant, and the teach pendant page prompts you to unplug the teach pendant.
其中,热插拔按钮K2的联通和断开由人为控制,热插拔按钮K2为带自锁的按钮或者旋钮开关。当K2联通时,GPIO为高电平,机器人程序控制不响应示教器急停信号;当K2断开时,GPIO为低电平,机器人程序控制响应示教器急停信号。The connection and disconnection of the hot-swap button K2 is controlled by humans, and the hot-swap button K2 is a self-locking button or a rotary switch. When K2 is connected, GPIO is high level, and the robot program control does not respond to the emergency stop signal of the teach pendant; when K2 is disconnected, GPIO is low level, and the robot program control responds to the teach pendant emergency stop signal.
重新插入示教器的步骤类似:1、插入示教器;2、按下示教器热插拔按钮,此时热插拔指示灯D1熄灭。The steps for reinserting the teach pendant are similar: 1. Insert the teach pendant; 2. Press the hot swap button of the teach pendant, at this time the hot swap indicator D1 is off.
需要说明的是,在本文中,诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations.
可以理解的是,本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现,处理单元可以实现在一个或多个专用集成电路(ApplicationSpecific Integrated Circuits,ASIC)、数字信号处理器(Digital Signal Processing,DSP)、数字信号处理设备(DSP Device,DSPD)、可编程逻辑设备(Programmable LogicDevice,PLD)、现场可编程门阵列(Field-Programmable Gate Array,FPGA)、通用处理器、控制器、微控制器、微处理器、用于执行本申请所述功能的其它电子单元或其组合中。It will be appreciated that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more Application Specific Integrated Circuits (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Device (DSP Device, DSPD), programmable logic Devices (Programmable Logic Device, PLD), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application or a combination thereof.
对于软件实现,可通过执行本文所述功能的单元来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。For a software implementation, the techniques described herein may be implemented by means of units that perform the functions described herein. Software codes may be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本发明的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.
在本申请所提供的实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present invention are essentially, or the parts that make contributions to the prior art or the parts of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk and other mediums that can store program codes.
需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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