CN111331619B - Safety control device for robot, control method for robot, and robot - Google Patents
Safety control device for robot, control method for robot, and robot Download PDFInfo
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- CN111331619B CN111331619B CN202010340781.4A CN202010340781A CN111331619B CN 111331619 B CN111331619 B CN 111331619B CN 202010340781 A CN202010340781 A CN 202010340781A CN 111331619 B CN111331619 B CN 111331619B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses safety control equipment of a robot, a control method of the robot and the robot. Wherein, this safety control device includes: the system comprises a first controller, a second controller, a first safety loop and a second safety loop, wherein any one of the first controller and the second controller is connected with the first safety loop and the second safety loop and is used for judging the type of an alarm signal from the outside of the robot and controlling the first safety loop and the second safety loop to execute a control instruction corresponding to the type of the alarm signal, and the logic of the first safety loop is opposite to that of the second safety loop. The application solves the technical problems that the protective stop circuit of the robot has serious circuit homogeneity and potential safety hazard.
Description
Technical Field
The present application relates to the field of robot control, and in particular, to a safety control device for a robot, a control method for a robot, and a robot.
Background
Industrial machine safety requires that the robot should have one or more protective stopping circuits that should control its risk of safety by stopping all movements of the robot, removing power from the robot drive, stopping any other hazards that may be controlled by the robot system, etc. The stop function may be initiated by manual or control logic.
In the prior art, the common practice is to copy one safety module with the same function, the two modules are mutually backed up, when a safety alarm signal appears, the two safety modules respond simultaneously, the power source of the robot is cut off, and when one path of failure appears, the other path of failure can respond to the alarm signal. However, the protective stop circuit has the problems of serious circuit homogeneity and potential safety hazard.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides safety control equipment of a robot, a control method of the robot and the robot, which at least solve the technical problems that a protective stopping circuit of the robot has serious circuit homogeneity and potential safety hazard.
According to an aspect of an embodiment of the present application, there is provided a safety control device of a robot, including: the system comprises a first controller, a second controller, a first safety loop and a second safety loop, wherein any one of the first controller and the second controller is connected with the first safety loop and the second safety loop and is used for judging the type of an alarm signal from the outside of the robot and controlling the first safety loop and the second safety loop to execute a control instruction corresponding to the type of the alarm signal, and the logic of the first safety loop is opposite to that of the second safety loop.
Optionally, a first communication link is included between the first controller and the second controller, the first controller and the second controller check whether the data returned by the first safety loop and the second safety loop have timing errors through the first communication link, and if the data returned by the first safety loop and the second safety loop have timing errors, the first safety loop and the second safety loop are controlled to be disconnected and the first alarm information is sent.
Optionally, the first communication link is a communication link between serial peripheral interfaces of the first controller and the second controller.
Optionally, a second communication link is further included between the first controller and the second controller, the first controller and the second controller send data of preset bytes to each other through the second communication link, and if any one of the first controller and the second controller does not receive the data of preset bytes sent by each other, the first safety loop and the second safety loop are controlled to be disconnected, and second alarm information is sent.
Optionally, the second communication link is a communication link between input/output interfaces of the first controller and the second controller.
Optionally, the first controller and the second controller are further configured to perform the following control operations: if the type of the alarm signal is the first type, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and the power supply of the robot is cut off; if the type of the alarm signal is the second type, sending the alarm signal to a controller of the robot; after a controller of the robot controls the robot to run at a reduced speed until the robot stops running, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and a power supply of the robot is cut off; and if the type of the alarm signal is the third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
Optionally, any one of the first safety loop and the second safety loop comprises a safety relay and two field effect transistors, wherein normally open contacts of the two safety relays are connected with a first controller and a second controller, and the first controller and the second controller monitor the running states of the two safety relays through the normally open contacts; the two field effect transistors of the first safety loop are PMOS field effect transistors, and the two field effect transistors of the second safety loop are NMOS field effect transistors.
Optionally, the first controller and the second controller are different in model.
According to another aspect of the embodiment of the present application, there is also provided a robot including: a controller; and the above safety control device.
According to another aspect of the embodiment of the present application, there is also provided a control method of a robot, including: the first controller and the second controller acquire alarm signals from the outside of the robot and judge the type of the alarm signals; the first controller and the second controller control the first safety loop and the second safety loop to execute control instructions corresponding to the types of alarm signals, any one of the first controller and the second controller is connected with the first safety loop and the second safety loop, and the logic of the first safety loop is opposite to that of the second safety loop.
Optionally, the first controller and the second controller control the first safety loop and the second safety loop to execute a control instruction corresponding to the type of the alarm signal, including: if the type of the alarm signal is the first type, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and the power supply of the robot is cut off; if the type of the alarm signal is the second type, sending the alarm signal to a controller of the robot; after a controller of the robot controls the robot to run in a decelerating way until the robot stops running, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and a power supply of the robot is cut off; and if the type of the alarm signal is the third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
According to still another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, wherein the control method of the robot is performed by controlling a device in which the storage medium is located when the program runs.
According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program stored in a memory, wherein the program executes the above control method of the robot when running.
In an embodiment of the present application, there is provided a safety control device of a robot, including: the safety control device provided by the application adopts a double-safety-loop design with double CPU control positive and negative logics, so that the problem of homogenization failure of a safety circuit and a backup safety circuit of the robot is solved, the technical effects of improving the operation stability and safety of the robot are realized, and the technical problems of serious circuit homogenization and potential safety hazard of a protective stopping circuit of the robot are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a structural view of a safety control device of a robot according to an embodiment of the present application;
fig. 2 is a structural view of a safety control device of another robot according to an embodiment of the present application;
fig. 3 is a structural view of a safety control device of another robot according to an embodiment of the present application;
FIG. 4 is a circuit diagram of a safety loop according to an embodiment of the application;
fig. 5 is a structural view of a robot according to an embodiment of the present application;
fig. 6 is a flowchart of a control method of a robot according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided an embodiment of a safety control device for a robot, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a structural view of a safety control device of a robot according to an embodiment of the present application, and as shown in fig. 1, the safety control device includes:
the first controller 10, the second controller 12, the first safety circuit 14 and the second safety circuit 16, wherein any one of the first controller 10 and the second controller 12 is connected with the first safety circuit 14 and the second safety circuit 16, and is used for judging the type of the alarm signal from the outside of the robot, and controlling the first safety circuit 14 and the second safety circuit 16 to execute a control instruction corresponding to the type of the alarm signal, and the logic of the first safety circuit 14 is opposite to that of the second safety circuit 16.
According to an alternative embodiment of the present application, the first controller 10 and the second controller 12 are of different models.
In the implementation, the first controller 10 and the second controller 12 adopt CPUs with different models of different manufacturers, so that the problem of circuit homogenization failure can be avoided.
As shown in fig. 1, the first controller 10 and the second controller 12 are both connected to the first safety loop 14 and the second safety loop 16, and are used for judging the state of each safety input signal, monitoring the state of the safety loop, and when detecting that the robot is in an abnormal state, controlling the MOS tube in the safety loop, disconnecting the safety loop, and cutting off the power supply of the robot.
Through the safety control equipment, the double-safety loop design of double-CPU control positive and negative logic is adopted, so that the problem that a safety circuit and a backup safety circuit of the robot are in homogenization failure is solved, and the technical effects of improving the running stability and safety of the robot are achieved.
Fig. 2 is a block diagram of a safety control device of another robot according to an embodiment of the present application, as shown in fig. 2, including a first communication link 18 between the first controller 10 and the second controller 12, the first controller 10 and the second controller 12 checking whether there is a timing error in data returned from the first safety loop 14 and the second safety loop 16 through the first communication link 18, and if there is a timing error in data returned from the first safety loop 14 and the second safety loop 16, controlling to disconnect the first safety loop 14 and the second safety loop 16 and transmitting a first alarm message.
According to an alternative embodiment of the present application, the first communication link 18 is a communication link between the serial peripheral interfaces of the first controller 10 and the second controller 12.
In order to avoid time sequence errors on the two safety loops, the two controllers are mutually checked through SPI, and whether the time sequence errors exist in data sent to the two controllers by the two safety loops is checked. And if the time sequence error exists, controlling the first safety loop and the second safety loop to be disconnected, and sending alarm information. The voice alarm information can be sent through voice broadcasting, or the alarm information can be sent to terminal equipment in communication connection with the controller through RS 485. By the time sequence checking process, the time sequence errors of the two safety loops can be avoided.
Fig. 3 is a block diagram of another safety control device for a robot according to an embodiment of the present application, and as shown in fig. 3, a second communication link 110 is further included between the first controller 10 and the second controller 12, the first controller 10 and the second controller 12 respectively transmit data of a preset byte to each other through the second communication link 110, and if any one of the first controller 10 and the second controller 12 does not receive the data of the preset byte transmitted by each other, the first safety loop 14 and the second safety loop 16 are controlled to be disconnected, and a second alarm message is transmitted.
According to an alternative embodiment of the present application, the second communication link 110 is a communication link between input/output interfaces of the first controller 10 and the second controller 12.
The two controllers are provided with a communication link directly connected through an IO interface, the two controllers send fixed byte data at fixed time through the communication link, and if one of the two controllers can not receive the number sent by the other controller, the two controllers enter a protection state. Specifically, the two safety loops are controlled to be disconnected, and alarm information is sent. The voice alarm information can be sent by voice broadcasting or the alarm information can be sent to a user terminal in communication connection with the controller.
The safety control equipment provided by the application can work normally only under the condition that the two CPUs work normally, so that the running state of the two CPUs is detected by the method, and the running stability of the safety control equipment can be improved.
In some alternative embodiments of the present application, the first controller 10 and the second controller 12 are further configured to perform the following control operations: if the type of the alarm signal is the first type, the first safety loop 14 and the second safety loop 16 are controlled to be disconnected simultaneously, and the power supply of the robot is cut off; if the type of the alarm signal is the second type, sending the alarm signal to a controller of the robot; after the controller of the robot controls the robot to run at a reduced speed until the robot stops running, the first safety circuit 14 and the second safety circuit 16 are controlled to be disconnected simultaneously, and the power supply of the robot is cut off; and if the type of the alarm signal is the third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
According to national standard requirements and in combination with the specific design of the robot safety module, the following three stopping modes are classified according to whether the robot can controllably stop:
class 0: the external sudden power-off or sudden stop signal is effective, the power source of the robot is cut off or the free stop or the band-type brake stop is triggered, and the robot belongs to uncontrollable stop;
class 1: the robot is quickly stopped, the current planning path is kept, and after the robot is stopped, the power source of the robot is cut off, so that the robot belongs to controllable stopping;
class 2: the robot is enabled to stop rapidly, the current planning path is kept, and after the robot stops, the driver is controlled, the power source of the robot is not cut off, and the robot belongs to controllable stop.
The safety control equipment of the industrial robot can be directly applied to the industrial robot, and classifies externally input safety signals, and when 0 type of alarm signals (the first type of alarm signals) occur, the safety module can directly cut off a power source of the robot through hardware under the condition that software is not controlled, so that safety loop faults caused by software processing errors are avoided; when the type 1 alarm signal (the second type alarm signal) appears, the safety loop can be disconnected through software, and the power source of the robot is disconnected; when the type 2 alarm signal (the third type alarm signal) occurs, the safety control device uploads the alarm information to the controller of the robot, and the robot controller controls the robot to stop decelerating.
According to an alternative embodiment of the application, either one of the first safety circuit 14 and the second safety circuit 16 comprises a safety relay and two field effect transistors, wherein normally open contacts of the two safety relays are connected with a first controller and a second controller, and the first controller and the second controller monitor the operation states of the two safety relays through the normally open contacts; the two field effect transistors of the first safety loop are PMOS field effect transistors, and the two field effect transistors of the second safety loop are NMOS field effect transistors.
Fig. 4 is a circuit diagram of a safety circuit according to an embodiment of the present application, where K11 and K12 are safety relays with forced guiding contacts, and in order to ensure the state of the safety circuit, a set of normally open contacts of the safety relay are connected back to the first controller 10 and the second controller 12, so as to monitor the state of the safety relay and avoid contact adhesion of the safety relay. The signal on the auxiliary contact of the safety relay is fed back to the controller, so that the safety relay is monitored, and the safety loop can be ensured to run safely and reliably.
The safety signals of the safety interface of the robot are shown in the following table, and the safety interface comprises a power supply, a safety input signal and a safety output signal.
Wherein the secure input signal comprises: safety door, demonstrator scram 1, demonstrator scram 2, outside scram 1, outside scram 2, limit switch.
The emergency stop treatment flow comprises the following steps: when the emergency stop signal is generated, if the demonstrator is in emergency stop and external emergency stop, the safety loop is disconnected, the coils of the two safety relays are disconnected, at the moment, the normally closed contacts of the safety relays are disconnected, the normally open contacts are closed, the action signal can be transmitted to the two controllers through the optocouplers, the two controllers can transmit the signal to the servo driver, and the servo driver decelerates. The output of the safety relay directly cuts off the main loop power supply of the servo driver through the relay so as to achieve the purpose of emergency braking.
SAFE_OUT1+ and SAFE_OUT1-, SAFE_OUT2+ and SAFE_OUT2-belong to the SAFE output signals, Q15, Q16 are PMOS, Q14, Q18 are NMOS tubes, avoid the homogeneity of the circuit, improve the reliability, the SAFE output signals are connected according to the following way: generally, one type of MOS transistor design scheme is adopted in conventional designs, and two types of device and logic design schemes are not found, because when a device fails or the like, the failure risk caused by the failure of one type of device (MOS transistor) is avoided and reduced. The MOS tube scheme adopted by the application uses two different types of switching devices, one is an NMOS tube (high level effective) and the other is a PMOS tube (low level effective), which are two different logic control schemes, and plays roles of mutual detection and protection on software logic, and avoids the high risk of error caused by using one control logic, thereby playing a better safety control. The safety output signal is used for directly controlling an alternating current contactor on the servo driver, and the alternating current contactor disconnects a driving source of the servo driver when a class 0 alarm (not external power failure condition) occurs. The safety output can only work normally if both loops are normal.
Other signal processing flows:
the safety door comprises: the safety door signal belongs to a class 1 stop signal, when the safety control equipment receives the safety door signal, a safety alarm signal is sent to the robot controller, the controller informs the servo module to run in a decelerating mode, then the signal is returned to the safety control equipment, the safety control equipment cuts off a safety loop, and a servo driving power source is cut off.
Limit signal: the limit signal belongs to a class 2 stop signal, when the safety module receives a safety door signal, a safety alarm signal is sent to the robot controller, the controller informs the servo module to run at a reduced speed, then the signal is returned to the safety module, the safety output does not disconnect the power source of the servo driver, and the alarm signal can be cleared after the robot is manually moved back into the safety area.
Other alarm signals belong to the class 2 stop signals, when the safety controller receives the signals, the servo driver is decelerated and stopped, the enabling signals are not disconnected, and the current track can be kept for movement after the alarm is eliminated.
The safety control equipment provided by the embodiment of the application does not need to add an extra PLC control module, occupies small space, is convenient for wiring and installation, and can meet the installation requirement of a compact control cabinet; the scheme of combining software and hardware is adopted, both the software and the hardware can control the disconnection of the safety loop, software participation is not needed in an emergency, the hardware can be used for disconnecting the main power supply of the servo driver, and the safe and reliable operation of the industrial robot can be ensured; in addition, the alarm signals input to the robot can be classified.
Fig. 5 is a structural view of a robot according to an embodiment of the present application, and as shown in fig. 5, the robot includes: a controller 50; and the above safety control device 52.
To avoid failure of the safety circuit of the safety control device 52 due to a power failure of the robot controller 50, the 24V power used by the safety circuit in the safety control device 52 must be different from the 24V power used by the robot controller 50.
It should be noted that, the preferred implementation manner of the embodiment shown in fig. 5 may refer to the related description of the embodiment shown in fig. 1, which is not repeated herein.
Fig. 6 is a flowchart of a control method of a robot according to an embodiment of the present application, as shown in fig. 6, the method including the steps of:
in step S602, the first controller and the second controller acquire an alarm signal from outside the robot, and determine the type of the alarm signal.
In step S604, the first controller and the second controller control the first safety loop and the second safety loop to execute the control instruction corresponding to the type of the alarm signal, and any one of the first controller and the second controller is connected to the first safety loop and the second safety loop, and the logic of the first safety loop is opposite to that of the second safety loop.
According to an alternative embodiment of the present application, step S604 may be implemented by: if the type of the alarm signal is the first type, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and the power supply of the robot is cut off; if the type of the alarm signal is the second type, sending the alarm signal to a controller of the robot; after a controller of the robot controls the robot to run in a decelerating way until the robot stops running, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and a power supply of the robot is cut off; and if the type of the alarm signal is the third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
It should be noted that, the preferred implementation manner of the embodiment shown in fig. 6 may refer to the related description of the embodiment shown in fig. 1, which is not repeated herein.
The embodiment of the application also provides a storage medium, which comprises a stored program, wherein the control method of the robot is performed by the equipment where the storage medium is controlled when the program runs.
The storage medium is used for storing a program that performs the following functions: the first controller and the second controller acquire alarm signals from the outside of the robot and judge the type of the alarm signals; the first controller and the second controller control the first safety loop and the second safety loop to execute control instructions corresponding to the types of alarm signals, any one of the first controller and the second controller is connected with the first safety loop and the second safety loop, and the logic of the first safety loop is opposite to that of the second safety loop.
The embodiment of the application also provides a processor, which is used for running the program stored in the memory, wherein the control method of the robot is executed when the program runs.
The processor is configured to execute a program that performs the following functions: the first controller and the second controller acquire alarm signals from the outside of the robot and judge the type of the alarm signals; the first controller and the second controller control the first safety loop and the second safety loop to execute control instructions corresponding to the types of alarm signals, any one of the first controller and the second controller is connected with the first safety loop and the second safety loop, and the logic of the first safety loop is opposite to that of the second safety loop.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a read-Only Memory (ROM), a random access Memory (RGREEM, RGREEndom), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (11)
1. A safety control apparatus of a robot, comprising: a first controller, a second controller, a first safety loop and a second safety loop, wherein,
any one of the first controller and the second controller is connected with the first safety loop and the second safety loop, and is used for judging the type of an alarm signal from the outside of the robot and controlling the first safety loop and the second safety loop to execute a control instruction corresponding to the type of the alarm signal, and the logic of the first safety loop is opposite to that of the second safety loop;
any one of the first safety loop and the second safety loop comprises a safety relay and two field effect transistors, wherein normally open contacts of the two safety relays are connected with the first controller and the second controller, and the first controller and the second controller monitor the running states of the two safety relays through the normally open contacts; the two field effect transistors of the first safety loop are PMOS field effect transistors, and the two field effect transistors of the second safety loop are NMOS field effect transistors;
and a first communication link is arranged between the first controller and the second controller, the first controller and the second controller check whether the data returned by the first safety loop and the second safety loop have time sequence errors through the first communication link, and if the data returned by the first safety loop and the second safety loop have time sequence errors, the first safety loop and the second safety loop are controlled to be disconnected, and first alarm information is sent.
2. The apparatus of claim 1, wherein the first communication link is a communication link between serial peripheral interfaces of the first controller and the second controller.
3. The apparatus of claim 1, further comprising a second communication link between the first controller and the second controller, wherein the first controller and the second controller respectively transmit data of a preset byte to each other through the second communication link, and if any one of the first controller and the second controller does not receive the data of the preset byte transmitted by each other, the first safety loop and the second safety loop are controlled to be disconnected, and a second alarm message is transmitted.
4. The apparatus of claim 3, wherein the second communication link is a communication link between input/output interfaces of the first controller and the second controller.
5. The apparatus of claim 1, wherein the first controller and the second controller are further configured to perform control operations of:
if the type of the alarm signal is a first type, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and the power supply of the robot is cut off;
if the type of the alarm signal is the second type, the alarm signal is sent to a controller of the robot; after a controller of the robot controls the robot to run at a reduced speed until the robot stops running, controlling the first safety loop and the second safety loop to be disconnected simultaneously, and cutting off a power supply of the robot;
and if the type of the alarm signal is a third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
6. The apparatus of claim 1, wherein the first controller and the second controller are of different models.
7. A robot, the robot comprising:
a controller; and
the safety control device of any one of claims 1 to 6.
8. A control method of a robot, comprising:
the method comprises the steps that a first controller and a second controller acquire alarm signals from the outside of the robot, and judge the types of the alarm signals;
the first controller and the second controller control a first safety loop and a second safety loop to execute control instructions corresponding to the type of the alarm signal, any one of the first controller and the second controller is connected with the first safety loop and the second safety loop, and the logic of the first safety loop is opposite to that of the second safety loop;
any one of the first safety loop and the second safety loop comprises a safety relay and two field effect transistors, wherein normally open contacts of the two safety relays are connected with the first controller and the second controller, and the first controller and the second controller monitor the running states of the two safety relays through the normally open contacts; the two field effect transistors of the first safety loop are PMOS field effect transistors, and the two field effect transistors of the second safety loop are NMOS field effect transistors;
and a first communication link is arranged between the first controller and the second controller, the first controller and the second controller check whether the data returned by the first safety loop and the second safety loop have time sequence errors through the first communication link, and if the data returned by the first safety loop and the second safety loop have time sequence errors, the first safety loop and the second safety loop are controlled to be disconnected, and first alarm information is sent.
9. The method of claim 8, wherein the first and second controllers control first and second safety circuits to execute control instructions corresponding to the type of alarm signal, comprising:
if the type of the alarm signal is a first type, the first safety loop and the second safety loop are controlled to be disconnected simultaneously, and the power supply of the robot is cut off;
if the type of the alarm signal is the second type, the alarm signal is sent to a controller of the robot; after a controller of the robot controls the robot to run in a decelerating way until the robot stops running, controlling the first safety loop and the second safety loop to be disconnected simultaneously, and cutting off a power supply of the robot;
and if the type of the alarm signal is a third type, sending the alarm signal to a controller of the robot, and controlling the robot to run at a reduced speed until the robot stops running by the controller of the robot.
10. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of controlling a robot according to any one of claims 8 or 9.
11. A processor for running a program stored in a memory, wherein the program when run performs the method of controlling a robot according to any one of claims 8 or 9.
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| CN202010340781.4A CN111331619B (en) | 2020-04-26 | 2020-04-26 | Safety control device for robot, control method for robot, and robot |
| JP2022553158A JP7556041B2 (en) | 2020-04-26 | 2020-12-25 | Robot control device and robot control method, robot |
| PCT/CN2020/139452 WO2021218204A1 (en) | 2020-04-26 | 2020-12-25 | Robot control device and robot control method, and robot |
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| CN202010340781.4A CN111331619B (en) | 2020-04-26 | 2020-04-26 | Safety control device for robot, control method for robot, and robot |
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| CN111331619B (en) * | 2020-04-26 | 2023-08-25 | 珠海格力电器股份有限公司 | Safety control device for robot, control method for robot, and robot |
| WO2022037414A1 (en) * | 2020-08-21 | 2022-02-24 | 苏州艾利特机器人有限公司 | Safety control method and apparatus, industrial robot, and computer storage medium |
| CN114076852B (en) * | 2020-08-21 | 2024-01-26 | 苏州艾利特机器人有限公司 | Safety control system and safety control method for industrial robot |
| CN113618744A (en) * | 2021-08-27 | 2021-11-09 | 库卡机器人(广东)有限公司 | Robot safety control method and device, electronic equipment and readable storage medium |
| CN114347025B (en) * | 2022-01-04 | 2024-02-20 | 深圳市大族机器人有限公司 | Collaborative robot functional safety control circuit, control method and collaborative robot |
| CN115657575B (en) * | 2022-12-28 | 2023-04-18 | 广东美的制冷设备有限公司 | Safety control method, safety control circuit and safety control system of robot |
| CN115657450B (en) * | 2022-12-28 | 2023-03-31 | 广东美的制冷设备有限公司 | Safety control system, circuit and method for industrial robot |
| CN117666452B (en) * | 2024-02-01 | 2024-05-28 | 季华实验室 | Multiple safety control method and device for robot, electronic equipment and storage medium |
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| JP7556041B2 (en) | 2024-09-25 |
| CN111331619A (en) | 2020-06-26 |
| JP2023519155A (en) | 2023-05-10 |
| WO2021218204A1 (en) | 2021-11-04 |
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