CN113759807B - Scram control circuit and method and industrial robot - Google Patents
Scram control circuit and method and industrial robot Download PDFInfo
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- CN113759807B CN113759807B CN202111146125.1A CN202111146125A CN113759807B CN 113759807 B CN113759807 B CN 113759807B CN 202111146125 A CN202111146125 A CN 202111146125A CN 113759807 B CN113759807 B CN 113759807B
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- 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
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21119—Circuit for signal adaption, voltage level shift, filter noise
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Abstract
The application relates to an emergency stop control circuit, an emergency stop control method and an industrial robot, and belongs to the technical field of industrial robots. The emergency stop control circuit is applied to a controller and comprises an emergency stop standby unit and a control module; the first end and the second end of the emergency stop standby unit are respectively connected with the first contact and the second contact of the controller and are used for being connected with the emergency stop unit of the demonstrator in parallel when the demonstrator and the controller are in a connection state; the first output end of the control module is connected with the third end of the emergency stop standby unit to control whether the emergency stop standby unit is conducted or not; the first input end of the control module is connected with a third contact of the controller; the third contact is used for acquiring a pulse signal when the demonstrator and the controller are reconnected, and the control module stops outputting the control signal under the action of the pulse signal. When the control signal is output, the demonstrator can be pulled out and can be inserted at any time. The technical problem that the demonstrator needs to be rewiring in the hot plug process is solved, and potential safety hazards are reduced.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to an emergency stop control circuit and method and an industrial robot.
Background
With the continuous progress of technology, industrial robots are used more and more widely in industrial production, and have very important positions, and the most important in industrial production is the safety problem, especially the safety of people.
At present, the scram circuits and wiring modes of a plurality of industrial robot manufacturers are almost the same, and under the condition of using the hot plug function of the demonstrator adopting PC end demonstration, the scram wiring needs to be changed, namely, the scram buttons on the demonstrator are short-circuited. However, there are cases where the demonstrator is connected back to the controller again to teach, but the change of the back scram wiring is forgotten, the demonstrator scram is shorted, and the demonstrator is in an invalid state (the case is default that the demonstrator does not alarm), and the operator does not know, and thus, the case has a large potential safety hazard.
Disclosure of Invention
In order to solve the technical problem that the demonstrator needs to be rewiring in the hot plug process, the application provides an emergency stop control circuit, an emergency stop control method and an industrial robot.
In a first aspect, the present application provides an emergency stop control circuit, applied to a controller, including an emergency stop standby unit and a control module;
the first end of the emergency stop standby unit is connected with the first contact of the controller, and the second end of the emergency stop standby unit is connected with the second contact of the controller; the first contact is used for connecting a first end of a sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state, and the second contact is used for connecting a second end of the sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state;
the first output end of the control module is connected with the third end of the emergency stop standby unit; the first output end of the control module is used for outputting a control signal, and the first end of the emergency stop standby unit and the second end of the emergency stop standby unit are conducted under the action of the control signal;
the first input end of the control module is connected with the third contact of the controller; the third contact is used for acquiring a pulse signal when the demonstrator is reconnected with the controller, and the control module stops outputting the control signal under the action of the pulse signal;
further, the emergency stop standby unit includes: the switching tube, the first resistor and the second resistor;
the first end of the switching tube is used as the first end of the emergency stop standby unit and is connected with a first power supply and the first contact;
the second end of the switching tube is connected with the first end of the first resistor, the first end of the second resistor and the second input end of the control module; the second end of the first resistor is used as the second end of the emergency stop standby unit and is connected with the second contact and the first end of the emergency stop unit of the controller; the second end of the emergency stop unit of the controller is connected with the third input end of the control module; the second end of the second resistor is grounded;
the third end of the switching tube is used as the third end of the emergency stop standby unit and is connected with the first output end of the control module;
further, the switching tube includes: an insulated gate field effect transistor;
the drain electrode of the insulated gate field effect transistor is used as a first end of the emergency stop standby unit to be connected with the first power supply and the first contact;
the source electrode of the insulated gate field effect transistor is connected with the first end of the first resistor, the first end of the second resistor and the second input end of the control module;
the grid electrode of the insulated gate field effect transistor is used as a third end of the emergency stop standby unit and is connected with the first output end of the control module;
further, the emergency stop unit of the teach pendant includes: a first switch and a third resistor; the emergency stop unit of the controller includes: a second switch and a fourth resistor;
the first end of the first switch is used as the first end of the sudden stop unit of the demonstrator, the second end of the first switch is connected with the first end of the third resistor, and the second end of the third resistor is used as the second end of the sudden stop unit of the demonstrator;
the first end of the second switch is used as the first end of the emergency stop unit of the controller and is connected with the second contact and the second end of the first resistor; the second end of the second switch is used as the second end of the emergency stop unit of the controller and is connected with the first end of the fourth resistor and the third input end of the control module; the second end of the fourth resistor is grounded;
further, the scram control circuit further comprises a scram state display unit;
the emergency stop state display unit is connected with the output end of the control module and is used for displaying the state of the emergency stop standby unit;
further, the scram state display unit includes: the display device comprises a first display module, a second display module, a third display module and a fourth display module;
the first display module includes: a first light emitting diode and a fifth resistor; the anode of the first light-emitting diode is connected with the second output end of the control module, the cathode of the first light-emitting diode is connected with the first end of the fifth resistor, and the second end of the fifth resistor is grounded;
the second display module includes: a second light emitting diode and a sixth resistor; the anode of the second light-emitting diode is connected with the third output end of the control module, the cathode of the second light-emitting diode is connected with the first end of the sixth resistor, and the second end of the sixth resistor is grounded;
the third display module includes: a third light emitting diode and a seventh resistor; the anode of the third light-emitting diode is connected with the fourth output end of the control module, the cathode of the third light-emitting diode is connected with the first end of the seventh resistor, and the second end of the seventh resistor is grounded;
the fourth display module includes: a fourth light emitting diode and an eighth resistor; the anode of the fourth light-emitting diode is connected with the fifth output end of the control module, the cathode of the fourth light-emitting diode is connected with the first end of the eighth resistor, and the second end of the eighth resistor is grounded;
further, the device comprises a hot-pull signal input unit and a hot-plug signal input unit;
the hot extraction signal input unit is connected with the control module and used for acquiring an input signal; the control module outputs the control signal at a first output end of the control module under the action of the input signal;
the first end of the hot plug signal input unit is connected with a second power supply, and the second end of the hot plug signal input unit is connected with the first input end of the control module and a third contact of the controller; the third contact is used for grounding when the demonstrator is reconnected with the controller, and the pulse signal is obtained;
further, the hot plug signal input unit includes a ninth resistor;
the first end of the ninth resistor is connected with the second power supply, and the second end of the ninth resistor is connected with the first input end of the control module and the third contact of the controller;
the hot pull-out signal input unit comprises a first input unit and/or a second input unit;
the first input unit includes: a third switch and a tenth resistor;
the first end of the third switch is connected with the second power supply; the second end of the third switch is connected with the first end of the tenth resistor and the fourth input end of the control module, and the second end of the tenth resistor is grounded;
the second input unit includes: a communication signal line;
and a first end of the communication signal line is connected with a fifth input end of the control module, and a second end of the communication signal line is connected with an output end of the demonstrator when the demonstrator and the controller are in a connection state.
In a second aspect, the present application provides a scram control method, applied to the scram control circuit in any one of the first aspects, including:
acquiring an input signal; the input signal is used for requesting the hot-pull demonstrator;
based on the input signal, generating a control signal and outputting the control signal by a first output end of a control module; the control signal is used for controlling the emergency stop standby unit to work; after the emergency stop standby unit works, the emergency stop unit of the demonstrator fails, and the demonstrator can be pulled out by heat;
and when the demonstrator and the controller are reconnected, a pulse signal is acquired, the first output end of the control module stops outputting the control signal under the action of the pulse signal, the emergency stop standby unit stops working, and the emergency stop unit of the demonstrator takes effect.
In a third aspect, an industrial robot is provided comprising the scram control circuit of any one of the first aspects.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the circuit provided by the embodiment of the application comprises an emergency stop standby unit and a control module; the first end of the emergency stop standby unit is connected with the first contact of the controller, and the second end of the emergency stop standby unit is connected with the second contact of the controller; the first contact is used for connecting a first end of a sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state, and the second contact is used for connecting a second end of the sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state; the first output end of the control module is connected with the third end of the emergency stop standby unit; the first output end of the control module is used for outputting a control signal, and the first end of the emergency stop standby unit and the second end of the emergency stop standby unit are conducted under the action of the control signal; the first input end of the control module is connected with the third contact of the controller; the third contact is used for acquiring a pulse signal when the demonstrator is reconnected with the controller, and the control module stops outputting the control signal under the action of the pulse signal. By using the emergency stop control circuit, when the control module outputs a control signal, the emergency stop unit of the demonstrator is failed after being short-circuited, the demonstrator can be hot-pulled out, the emergency stop can not be triggered during the hot-pulling, the demonstrator can be hot-plugged at any time, the control module stops outputting the control signal after acquiring a pulse signal during the hot-plugging of the demonstrator, and the emergency stop unit of the demonstrator is recovered to be effective. The technical problem that the demonstrator needs to be rewiring in the hot plug process is solved, and potential safety hazards caused by failure of the emergency stop unit due to the fact that frequent manual wiring is possibly miswired in the hot plug process of the demonstrator are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an emergency stop control circuit according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of another scram control circuit according to an embodiment of the present disclosure;
fig. 8 is a flow chart of an emergency stop control method according to an embodiment of the present application.
The reference numerals are as follows:
101-emergency stop standby unit; 102-a control module; a1-a first contact; a2-a second contact; a3—a third contact; 111-an emergency stop unit of the demonstrator; 112-emergency stop unit of the controller; 201-a switching tube; r1-a first resistor; r2-a second resistor; q1-an insulated gate field effect transistor; s1-a first switch; r3-a third resistor; s2-a second switch; r4-fourth resistor; 501-an emergency stop state display unit; d1—a first light emitting diode; d2—a second light emitting diode; d3—a third light emitting diode; d4—fourth light emitting diode; r5-fifth resistor; r6-sixth resistance; r7-seventh resistor; r8-eighth resistor; r9-ninth resistance; r10-tenth resistor; s3-a third switch; 701-communication signal line.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
A first embodiment of the present application provides a scram control circuit, as shown in fig. 1, including a scram standby unit 101 and a control module 102.
A first end of the emergency stop standby unit 101 is connected with a first contact A1 of the controller, and a second end of the emergency stop standby unit 101 is connected with a second contact A2 of the controller; the first contact A1 is used for connecting the first end of the emergency stop unit 111 of the demonstrator when the demonstrator and the controller are in a connection state, and the second contact A2 is used for connecting the second end of the emergency stop unit 111 of the demonstrator when the demonstrator and the controller are in a connection state;
a first output terminal (hereinafter also referred to as stop_standby, or O1) of the control module 102 is connected to a third terminal of the emergency STOP standby unit 101; the first output end of the control module 102 is used for outputting a control signal, and the first end of the emergency stop standby unit 101 and the second end of the emergency stop standby unit 101 are conducted under the action of the control signal;
a first input (hereinafter also referred to as det_sjq, or I1) of the control module 102 is connected to a third contact A3 of the controller; the third contact A3 is used for acquiring a pulse signal when the demonstrator and the controller are reconnected, and the control module 102 stops outputting the control signal under the action of the pulse signal.
When the control module outputs a control signal, the emergency stop unit of the demonstrator is failed after being short-circuited, the demonstrator can be pulled out by heat, the emergency stop can not be triggered during the hot pulling, the demonstrator can be inserted by heat at any time, the control module acquires a pulse signal during the hot inserting of the demonstrator, then the control module stops outputting the control signal, and the emergency stop unit of the demonstrator is recovered to be effective. The technical problem that the demonstrator needs to be rewiring in the hot plug process is solved, and potential safety hazards caused by failure of the emergency stop unit due to the fact that frequent manual wiring is possibly miswired in the hot plug process of the demonstrator are avoided.
The control module may determine the output control signal according to the input signal after acquiring the input signal, where the input signal may be sent by the controller or may be sent from the demonstrator.
In one embodiment, the emergency stop standby unit 101, as in fig. 2, includes: a switching tube 201, a first resistor R1 and a second resistor R2.
The connection relationship is as follows: a first end of the switching tube 201 is connected to the first power supply and the first contact A1 as a first end of the emergency stop standby unit 101; a second terminal of the switching tube 201 is connected to a first terminal of the first resistor R1, a first terminal of the second resistor R2, and a second input terminal of the control module 102 (hereinafter may be referred to as det_standby, or I2); the second end of the first resistor R1 is used as the second end of the emergency stop standby unit 101, and is connected with the second contact A2 and the first end of the emergency stop unit 112 of the controller; a second terminal of the scram unit 112 of the controller is connected to a third input terminal (hereinafter may be referred to as stop_sta, or I3) of the control module 102; the second end of the second resistor R2 is grounded; the third terminal of the switching tube 201 is used as the third terminal of the emergency stop standby unit 101 and is connected with the first output terminal of the control module 102.
In this embodiment, the emergency stop standby unit 101 implements, through a switching tube, whether to shield the emergency stop unit 111 of the demonstrator, and inputs a control signal to the third terminal of the switching tube 201 to control whether the first terminal and the second terminal of the switching tube 201 are turned on. When the first end and the second end of the switching tube 201 are turned on, the switching tube 201 is connected in parallel with the first resistor R1 and both ends of the emergency stop unit 111 of the demonstrator, at this time, whether the emergency stop unit 111 of the demonstrator is pressed down will not affect the emergency stop circuit, i.e., the emergency stop unit 111 of the demonstrator is shielded and fails, in which case, hot extraction of the demonstrator can be achieved.
The switching transistor may be a semiconductor device having a switching function, such as a transistor or an insulated gate field effect transistor.
In one embodiment, as shown in fig. 3, the switching tube 201 includes: insulated gate field effect transistor Q1.
In the case of an insulated gate field effect transistor, the connection relationship is as follows: the drain electrode of the insulated gate field effect transistor Q1 is used as a first end of the emergency stop standby unit 101 to be connected with a first power supply and a first contact A1; the source electrode of the insulated gate field effect transistor Q1 is connected with the first end of the first resistor R1, the first end of the second resistor R2 and the second input end of the control module 102; the gate of the insulated gate field effect transistor Q1 is connected to the first output end of the control module 102 as the third end of the emergency stop standby unit 101.
The insulated gate field effect transistor Q1 may be an enhanced MOS transistor, when the voltage of the control signal output by the first output end of the control module 102 is greater than the turn-on voltage of the MOS transistor, the source and the drain of the MOS transistor are turned on, the first end and the second end of the emergency stop standby unit 101 are turned on, at this time, the second input end of the control module 102 inputs a signal indicating that the MOS transistor is turned on, two ends of the emergency stop unit 111 of the demonstrator are connected in parallel by the insulated gate field effect transistor Q1 and the first resistor R1 to fail, the demonstrator can be pulled out by heat, and the wiring in the circuit is not required to be changed, so that the technical problem that the demonstrator needs to be rewiring in the hot pulling process is solved, and the potential safety hazard is eliminated.
When the transistor is adopted, the base electrode of the transistor is connected with the first output end of the control module 102, the collector electrode of the transistor is connected with the first voltage and the first contact A1, and the emitter electrode of the transistor is connected with the first end of the first resistor R1, the first end of the second resistor R2 and the second input end of the control module 102. The working principle is similar to that of an insulated gate field effect transistor, and the description is omitted.
In industrial production, the emergency stop unit of the general controller is connected with the emergency stop unit of the demonstrator in series, so that when any emergency stop is activated, the main loop of the industrial robot can be powered off, and the safety of personnel is ensured. Even in the external circuit, the emergency stop units of the controller are not connected in series with the emergency stop units of the demonstrator, and input signals of the two emergency stop units are connected in series with a circuit for controlling the power-off of the main circuit in the control module, so that the power-off of the main circuit can be ensured when any one of the emergency stops is activated. The above embodiments apply if the emergency stop unit of the teach pendant and the emergency stop unit of the controller are connected in series.
In one embodiment, as shown in fig. 4, the emergency stop unit of the teach pendant includes: a first switch S1 and a third resistor R3; the scram unit of the controller includes: a second switch S2 and a fourth resistor R4.
The connection relationship is as follows: the first end of the first switch S1 is used as the first end of the sudden stop unit of the demonstrator, the second end of the first switch S1 is connected with the first end of the third resistor R3, and the second end of the third resistor R3 is used as the second end of the sudden stop unit of the demonstrator. The first end of the second switch S2 is used as the first end of the scram unit of the controller, and is connected with the second contact A2 and the second end of the first resistor R1. The second end of the second switch S2 is used as the second end of the emergency stop unit of the controller, and is connected with the first end of the fourth resistor R4 and the third input end of the control module; the second terminal of the fourth resistor R4 is grounded.
The first switch S1 and the second switch S2 are scram switches. The emergency stop switch can adopt normally closed switch, knob reset switch and mushroom head switch.
In this embodiment, when the demonstrator is connected to the controller, the emergency stop unit of the demonstrator and the emergency stop unit of the controller are connected in series in the same circuit, and when any one of the first switch S1 and the second switch S2 is activated, the emergency stop effect can be achieved, so that the main circuit is powered off.
In one embodiment, as shown in fig. 5, the scram control circuit further includes a scram status display unit 501. The emergency stop state display unit 501 is connected to the output end of the control module, and is used for displaying the state of the emergency stop standby unit.
The emergency stop state display unit is added in the emergency stop control circuit, so that the working state of the circuit, such as whether the emergency stop standby unit is activated, whether the demonstrator can be pulled out by heating, and the like, can be visually seen, and the guiding debugging and maintenance are facilitated. Different output signals of the output end of the control module can be utilized to intuitively display each working state of the control module and the emergency stop standby unit according to the requirements.
In one embodiment, as shown in fig. 6, the scram state display unit 501 includes: the display device comprises a first display module, a second display module, a third display module and a fourth display module.
The first display module includes: a first light emitting diode D1 and a fifth resistor R5. The second display module includes: a second light emitting diode D2 and a sixth resistor R6. The third display module includes: a third light emitting diode D3 and a seventh resistor R7. The fourth display module includes: a fourth light emitting diode D4 and an eighth resistor R8.
The connection relationship is as follows: the anode of the first light emitting diode D1 is connected with the second output end of the control module, the cathode of the first light emitting diode D1 is connected with the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is grounded. The anode of the second light emitting diode D2 is connected to the third output end of the control module, and the cathode of the second light emitting diode D2 is connected to the first end of the sixth resistor R6, and the second end of the sixth resistor R6 is grounded. The anode of the third light emitting diode D3 is connected with the fourth output end of the control module, the cathode of the third light emitting diode D3 is connected with the first end of the seventh resistor R7, and the second end of the seventh resistor R7 is grounded. The anode of the fourth light emitting diode D4 is connected to the fifth output end of the control module, and the cathode of the fourth light emitting diode D4 is connected to the first end of the eighth resistor R8, and the second end of the eighth resistor R8 is grounded.
The second output end of the control module can output a high level when the first output end outputs a control signal, and at this time, the first light emitting diode D1 emits light, which represents that the control module outputs the control signal.
The third output end of the control module can output high level when the second input end of the control module has input signals, at the moment, the second light emitting diode D2 emits light to represent that the emergency stop standby circuit is effective, the emergency stop unit of the demonstrator is invalid, and the demonstrator can be pulled out by heat.
The fourth output end of the control module can output a high level when a normal input signal is provided at the third input end of the control module, at this time, the third light emitting diode D3 emits light, which represents that the emergency stop switches in the emergency stop loop are all in a closed state, and the main loop works normally.
The fifth output end of the control module can output a high level when no signal is input to the third input end of the control module, and at the moment, the fourth light emitting diode D4 emits light, which means that at least one emergency stop switch in the emergency stop loop is pressed, the emergency stop switch is in an off state, the main loop is powered off, and the equipment is in an emergency stop state.
In one embodiment, a hot plug signal input unit and a hot plug signal input unit are included.
The connection relationship is as follows: the hot extraction signal input unit is connected with the control module and is used for acquiring an input signal; the control module outputs a control signal at a first output end of the control module under the action of an input signal;
the first end of the hot plug signal input unit is connected with a second power supply, and the second end of the hot plug signal input unit is connected with the first input end of the control module and a third contact A3 of the controller; the third contact A3 is used for grounding when the demonstrator and the controller are reconnected, and pulse signals are acquired.
In one embodiment, as shown in fig. 7, the hot plug signal input unit includes a ninth resistor R9;
the first end of the ninth resistor R9 is connected with the second power supply, and the second end of the ninth resistor R9 is connected with the first input end of the control module and the third contact A3 of the controller;
the hot-pull-out signal input unit comprises a first input unit and/or a second input unit;
the first input unit includes: a third switch S3 and a tenth resistor R10;
the first end of the third switch S3 is connected with a second power supply; the second end of the third switch S3 is connected to the first end of the tenth resistor R10 and the fourth input end of the control module (hereinafter may be referred to as sjq_ready, or I4), and the second end of the tenth resistor R10 is grounded;
the second input unit includes: a communication signal line 701;
the first end of the communication signal line 701 is connected to the fifth input end of the control module, and the second end of the communication signal line 701 is connected to the output end of the teach pendant when the teach pendant and the controller are in a connected state. The communication signal line 701 may be composed of a part of the lines of the teach pendant and the controller connection line.
Under normal conditions, the scram circuit comprises a demonstrator scram normally closed switch S1 and a controller scram normally closed switch S2, wherein the two switches adopt normally closed switches, knob reset and mushroom head red switches. The stop_sta scram detection signal monitors the scram loop state through level transition, the scram circuit is turned on, the stop_sta outputs a high level, and when the switch S1 or S2 is pressed, the stop_sta outputs a low level, and the control module alarms.
In practical use, there are cases where a plurality of controllers are equipped with one demonstrator, and there are cases where the demonstrator and the PC switch the demonstrator, due to various aspects such as cost.
The demonstrator power supply is provided by the controller, the demonstrator is in bidirectional communication with the controller, the demonstrator and the switch S3 can send a demonstrator READY signal SJQ_READY to the controller, the controller sends a STOP_SPARE signal to the MOS tube grid electrode Q1 at the moment, the MOS tube is conducted at the moment, the standby detection signal DET_SPARE is effective, feedback is given to the control module, the emergency STOP standby loop is indicated to be conducted at the moment, a loop formed by the MOS tube and the resistor R1 is connected in parallel with a loop formed by the first switch S1 and the third resistor R3, the demonstrator can be pulled out without the demonstrator by adopting PC end demonstration, and the controller cannot give an alarm.
When the demonstrator is reinserted, the first input end DET_SJQ is grounded and pulled down, the control module recognizes the pulse signal, STOPs sending the STOP_SPARE signal, automatically disconnects the emergency STOP standby unit, and at the moment, the demonstrator emergency STOP is recovered to be effective, thereby avoiding the situation that the demonstrator emergency STOP is invalid due to the change of the emergency STOP wiring, and the safety accident is caused by the fact that the demonstrator is reinserted and the emergency STOP wiring is forgotten to be changed.
In order to more intuitively observe the circuit mode and more clearly check when errors occur, the scram circuit is also provided with a scram state display circuit, and when the light emitting diode D1 is lightened, a signal is sent by the control module to open the scram standby unit; when the light emitting diode D2 is lightened, the control module is indicated to receive a standby detection signal, and the MOS tube is conducted; the light emitting diodes D3 and D4 are used for displaying whether the scram loop is normally conducted or not. If the scram circuit is on, the stop_STA scram detection signal is input with a high level, the light emitting diode D3 is on, and the light emitting diode D4 is off; if the scram circuit is not conducted, the stop_STA scram detection signal is input with a low level, the system alarms, the light emitting diode D4 is turned on, and the light emitting diode D3 is turned off;
in the process that the demonstrator starts hot plug or adopts PC end demonstration, the scram loop is always in an effective state, the external control switch S2 is always in an effective state, and the switch S2 can be pressed down in an emergency situation to realize the emergency stop of the robot, thereby ensuring the safety performance of the robot.
The control module described above is a module having a control function in the controller, and may be, for example, a CPU.
A second embodiment of the present application provides an scram control method, as shown in fig. 8, applied to the scram control circuit of any one of the first embodiments, including:
By using the emergency stop control method, the control signal for realizing the hot-pull of the demonstrator can be generated by acquiring the input signal, the output control signal can be stopped by acquiring the pulse signal, the hot-plug of the demonstrator is realized, the problem of the hot-plug of the demonstrator is solved, rewiring is not needed in the hot-plug process, the potential safety hazard caused by the failure of the emergency stop unit due to the fact that frequent manual wiring is possibly connected with a wrong line in the hot-plug process of the demonstrator is avoided, and the safety performance is improved.
A third embodiment of the present application provides an industrial robot comprising the scram control circuit of any one of the first embodiments.
The industrial robot with the scram control circuit is used, the demonstrator can be hot-plugged in and out in the use process, manual wiring is not needed in the hot-plug process of the demonstrator, potential safety hazards are avoided, and the safety performance is greatly improved.
It should be noted that the industrial robot of the present embodiment includes a robot applied to industrial production (a robot facing the industrial field), such as a robot for realizing various industrial processing and manufacturing functions, and also includes any robot that can be used in batch or maintained in batch, which is considered as a category of industrial robots.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The emergency stop control circuit is characterized by being applied to a controller and comprising an emergency stop standby unit and a control module;
the first end of the emergency stop standby unit is connected with the first contact of the controller, and the second end of the emergency stop standby unit is connected with the second contact of the controller; the first contact is used for connecting a first end of a sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state, and the second contact is used for connecting a second end of the sudden stop unit of the demonstrator when the demonstrator and the controller are in a connection state;
the first output end of the control module is connected with the third end of the emergency stop standby unit; the first output end of the control module is used for outputting a control signal, and the first end of the emergency stop standby unit and the second end of the emergency stop standby unit are conducted under the action of the control signal;
the first input end of the control module is connected with the third contact of the controller; the third contact is used for acquiring a pulse signal when the demonstrator is reconnected with the controller, and the control module stops outputting the control signal under the action of the pulse signal.
2. The emergency stop control circuit of claim 1, wherein the emergency stop standby unit comprises: the switching tube, the first resistor and the second resistor;
the first end of the switching tube is used as the first end of the emergency stop standby unit and is connected with a first power supply and the first contact;
the second end of the switching tube is connected with the first end of the first resistor, the first end of the second resistor and the second input end of the control module; the second end of the first resistor is used as the second end of the emergency stop standby unit and is connected with the second contact and the first end of the emergency stop unit of the controller; the second end of the emergency stop unit of the controller is connected with the third input end of the control module; the second end of the second resistor is grounded;
and the third end of the switching tube is used as the third end of the emergency stop standby unit and is connected with the first output end of the control module.
3. The scram control circuit as set forth in claim 2, wherein the switching tube comprises: an insulated gate field effect transistor;
the drain electrode of the insulated gate field effect transistor is used as a first end of the emergency stop standby unit to be connected with the first power supply and the first contact;
the source electrode of the insulated gate field effect transistor is connected with the first end of the first resistor, the first end of the second resistor and the second input end of the control module;
and the grid electrode of the insulated gate field effect transistor is used as a third end of the emergency stop standby unit and is connected with the first output end of the control module.
4. The scram control circuit as set forth in claim 3, wherein the scram unit of the teach pendant comprises: a first switch and a third resistor; the emergency stop unit of the controller includes: a second switch and a fourth resistor;
the first end of the first switch is used as the first end of the sudden stop unit of the demonstrator, the second end of the first switch is connected with the first end of the third resistor, and the second end of the third resistor is used as the second end of the sudden stop unit of the demonstrator;
the first end of the second switch is used as the first end of the emergency stop unit of the controller and is connected with the second contact and the second end of the first resistor; the second end of the second switch is used as the second end of the emergency stop unit of the controller and is connected with the first end of the fourth resistor and the third input end of the control module; the second end of the fourth resistor is grounded.
5. The scram control circuit as set forth in claim 1, wherein the scram control circuit further comprises a scram status display unit;
the emergency stop state display unit is connected with the output end of the control module and is used for displaying the state of the emergency stop standby unit.
6. The scram control circuit as set forth in claim 5, wherein the scram status display unit includes: the display device comprises a first display module, a second display module, a third display module and a fourth display module;
the first display module includes: a first light emitting diode and a fifth resistor; the anode of the first light-emitting diode is connected with the second output end of the control module, the cathode of the first light-emitting diode is connected with the first end of the fifth resistor, and the second end of the fifth resistor is grounded;
the second display module includes: a second light emitting diode and a sixth resistor; the anode of the second light-emitting diode is connected with the third output end of the control module, the cathode of the second light-emitting diode is connected with the first end of the sixth resistor, and the second end of the sixth resistor is grounded;
the third display module includes: a third light emitting diode and a seventh resistor; the anode of the third light-emitting diode is connected with the fourth output end of the control module, the cathode of the third light-emitting diode is connected with the first end of the seventh resistor, and the second end of the seventh resistor is grounded;
the fourth display module includes: a fourth light emitting diode and an eighth resistor; the anode of the fourth light-emitting diode is connected with the fifth output end of the control module, the cathode of the fourth light-emitting diode is connected with the first end of the eighth resistor, and the second end of the eighth resistor is grounded.
7. The scram control circuit as set forth in any one of claims 1 to 6, comprising a hot-pull signal input unit and a hot-plug signal input unit;
the hot extraction signal input unit is connected with the control module and used for acquiring an input signal; the control module outputs the control signal at a first output end of the control module under the action of the input signal;
the first end of the hot plug signal input unit is connected with a second power supply, and the second end of the hot plug signal input unit is connected with the first input end of the control module and a third contact of the controller; and the third contact is used for grounding when the demonstrator is reconnected with the controller, and the pulse signal is acquired.
8. The scram control circuit as set forth in claim 7, wherein said hot plug signal input unit includes a ninth resistor;
the first end of the ninth resistor is connected with the second power supply, and the second end of the ninth resistor is connected with the first input end of the control module and the third contact of the controller;
the hot pull-out signal input unit comprises a first input unit and/or a second input unit;
the first input unit includes: a third switch and a tenth resistor;
the first end of the third switch is connected with the second power supply; the second end of the third switch is connected with the first end of the tenth resistor and the fourth input end of the control module, and the second end of the tenth resistor is grounded;
the second input unit includes: a communication signal line;
and a first end of the communication signal line is connected with a fifth input end of the control module, and a second end of the communication signal line is connected with an output end of the demonstrator when the demonstrator and the controller are in a connection state.
9. A scram control method, characterized by being applied to the scram control circuit as claimed in any one of claims 1 to 8, comprising:
acquiring an input signal; the input signal is used for requesting the hot-pull demonstrator;
based on the input signal, generating a control signal and outputting the control signal by a first output end of a control module; the control signal is used for controlling the emergency stop standby unit to work; after the emergency stop standby unit works, the emergency stop unit of the demonstrator fails, and the demonstrator can be pulled out by heat;
and when the demonstrator and the controller are reconnected, a pulse signal is acquired, the first output end of the control module stops outputting the control signal under the action of the pulse signal, the emergency stop standby unit stops working, and the emergency stop unit of the demonstrator takes effect.
10. An industrial robot comprising the scram control circuit of any one of claims 1-8.
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| 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 |
| CN114260904A (en) * | 2022-01-26 | 2022-04-01 | 深圳市恒文利科技有限公司 | Self-locking type emergency stop control circuit of robot and implementation method thereof |
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| CN107065821B (en) * | 2017-01-16 | 2019-03-01 | 中国核动力研究设计院 | Npp safety grade DCS plateform system test device |
| CN108500984B (en) * | 2018-05-07 | 2023-10-03 | 南宁汇专科技有限公司 | Automatic short-circuit type demonstrator connection box |
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| CN111045356B (en) * | 2019-11-07 | 2020-12-18 | 珠海格力电器股份有限公司 | Method and circuit for realizing hot plug of industrial robot demonstrator |
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| CN212146458U (en) * | 2019-12-09 | 2020-12-15 | 珠海格力电器股份有限公司 | Control system and robot are inserted to pulling out of demonstrator |
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