CN108724223B - Robot control device - Google Patents
Robot control device Download PDFInfo
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- CN108724223B CN108724223B CN201710647033.9A CN201710647033A CN108724223B CN 108724223 B CN108724223 B CN 108724223B CN 201710647033 A CN201710647033 A CN 201710647033A CN 108724223 B CN108724223 B CN 108724223B
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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
- B25J13/06—Control stands, e.g. consoles, switchboards
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a robot control device. A robot control apparatus according to an embodiment of the present invention includes: a robot controller connected to the robot to control an operation of the connected robot; and a teaching unit connected to the robot controller, generating a control signal for controlling an operation of the robot in accordance with an operation of a user, and transmitting the control signal to the robot controller, wherein the robot controller includes: a control unit for processing a 1 st control signal irrelevant to safety input from the demonstrator and outputting a control command; a safety PLC (programmable Logic control) for processing the 2 nd control signal related to safety input from the demonstrator through a soft connection Logic and outputting a safety signal; and a safety unit for processing a safety signal input from the safety PLC or a 3 rd control signal related to safety input from the teach pendant through a hard-wired logic, and outputting an emergency stop command for controlling an emergency stop of the robot.
Description
Technical Field
The present invention relates to a ROBOT control technique, and more particularly, to a ROBOT control APPARATUS (APPARATUS FOR CONTROLLING ROBOT) that uses both hard-wired logic and soft-wired logic.
Background
Generally, a machine driven by a motor, such as an operating machine or an industrial robot, presses an emergency stop button in a control device or issues an alarm in response to an invitation such as a safety measure to emergency-stop the robot.
The conventional control devices use hard wire (hard wire) methods for the common sequence implementation, which cannot be controlled without welding or wiring or piping.
The advantage of the mechanical control by the hard-wired method is that it is an object image device which is very reliable and easy to be visually confirmed, but it has disadvantages that the manufacturing cost is high and it is difficult to change and modify the program when changing the arrangement.
In order to solve the structural problem of the hard-wired system, a PLC of a soft wired (soft wired) system is used, and such a soft wired system is characterized in that logic can be changed by changing a program.
For example, in the robot system proposed in the registered patent publication No. 10-1704094, a safety PLC is installed in a robot controller to perform emergency stop signal processing. In particular, the robot system proposed above processes all signals related to safety in the safety PLC.
The above-described soft-wired method has an advantage that the logic can be easily changed by merely changing the program, but there is a possibility that an erroneous operation may occur due to a program error.
[ Prior Art document ]
[ patent document ]
(patent document 1) registered patent publication No. 10-1704094, publication No. 2017.02.07.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems of the conventional techniques described above, it is an object of the present invention to provide a robot control device in which a safety unit formed of hard-wired logic and a safety PLC formed of soft-wired logic are formed, wherein a 1 st priority control signal is directly input to the safety unit and processed, and a 2 nd priority control signal is input to the safety PLC and processed.
The object of the present invention is not limited to the above object, and various expansions can be made without departing from the spirit and the field of the present invention.
Technical scheme for solving problems
In order to achieve the above object, a robot control device according to an embodiment of the present invention includes: a robot controller connected to the robot to control an operation of the connected robot; and a teaching unit connected to the robot controller, generating a control signal for controlling an operation of the robot in accordance with an operation of a user, and transmitting the control signal to the robot controller, wherein the robot controller includes: a control unit for processing a 1 st control signal irrelevant to safety input from the demonstrator and outputting a control command; a safety PLC (programmable Logic control) for processing the 2 nd control signal related to safety input from the demonstrator through a soft connection Logic and outputting a safety signal; and a safety unit for processing a safety signal input from the safety PLC or a 3 rd control signal related to safety input from the teach pendant through a hard-wired logic, and outputting an emergency stop command for controlling an emergency stop of the robot.
The teaching machine further includes an input unit including a plurality of switches for generating a control signal according to a user operation, and the input unit includes: a 1 st switch generating a 1 st control signal unrelated to the safety; a 2 nd switch generating a 2 nd control signal having a 2 nd priority order with respect to the safety; and a 3 rd switch for generating a 3 rd control signal having a 1 st priority in relation to the safety.
And, the 2 nd switch includes:
a mode change-over switch for generating a 2 nd control signal for changing over the mode between an automatic operation mode and a teaching mode of the robot; and a start switch for generating a 2 nd control signal for urgently stopping the robot according to the operation state of the operator.
And, the 3 rd switch includes an emergency stop button generating a 3 rd control signal for emergency stop of the robot.
The teach pendant outputs the 1 st control signal generated from the 1 st switch to the control unit, outputs the 2 nd control signal generated from the 2 nd switch to the safety PLC, and outputs the 3 rd control signal generated from the 3 rd switch to the safety unit.
The teaching machine further includes an output unit that outputs a result of processing performed in accordance with the user's switch operation.
The robot controller assigns the highest 1 st priority to the 3 rd control signal among the safety-related control signals, and performs the processing with the highest priority.
The robot controller may further include a relay that can be turned on or off to supply or cut off power to a servo motor that drives the robot in accordance with the emergency stop command output from the safety unit.
Also, according to the robot control apparatus of the present invention, the robot further includes at least one safety device generating a 4 th control signal for emergency stop; and, the 4 th control signal generated from the at least one safety device is directly input to the safety unit.
A robot control device according to another embodiment of the present invention includes:
a robot controller connected to the robot and controlling the motion of the connected robot; and
a teaching unit connected to the robot controller, generating a control signal for controlling the operation of the robot according to the operation of a user, and transmitting the control signal to the robot controller;
and, the robot controller includes: a control unit for processing a 1 st control signal irrelevant to safety input from the demonstrator and outputting a control command; a safety unit which processes a 3 rd control signal related to safety input from the demonstrator through a hard-wired logic and outputs a safety signal; and a safety PLC (programmable Logic control) for processing the safety signal input from the safety unit or the 2 nd control signal related to safety input from the teach pendant through a soft wired Logic and outputting the processed signal as an emergency stop command for controlling the emergency stop of the robot.
The teaching machine further includes an input unit including a plurality of switches for generating a control signal according to a user operation, and the input unit includes: a 1 st switch generating a 1 st control signal unrelated to the safety; a 2 nd switch for generating a 2 nd control signal of a 2 nd priority order related to the safety; and a 3 rd switch for generating a 3 rd control signal of a 1 st priority relating to the safety.
And, the 3 rd switch includes an emergency stop button generating a 3 rd control signal for emergency stop of the robot.
And, the 2 nd switch includes: a mode change-over switch for generating a 2 nd control signal for changing over the mode between an automatic operation mode and a teaching mode of the robot; and a start switch for generating a 2 nd control signal for urgently stopping the robot according to the operation state of the operator.
The teach pendant outputs the 1 st control signal generated from the 1 st switch to the control unit, outputs the 2 nd control signal generated from the 2 nd switch to the safety PLC, and outputs the 3 rd control signal generated from the 3 rd switch to the safety unit.
Effects of the invention
As described above, according to the present invention, since the safety unit formed of the hard wired logic and the safety PLC formed of the soft wired logic are formed, the control signal of the 1 st priority is directly inputted to the safety unit to be processed, and the control signal of the 2 nd priority is inputted to the safety PLC to be processed, it is possible to stably perform the control in a dangerous situation.
In addition, the invention can prevent the misoperation of the robot caused by the program error of the safety PLC.
In addition, the present invention can stably control the robot in a dangerous situation, and thus can improve the confidence level of the operator using the robot control system.
Drawings
Fig. 1 is a drawing showing an overall configuration of a robot system according to an embodiment of the present invention;
fig. 2 is a diagram showing a detailed configuration of the teach pendant terminal illustrated in fig. 1;
fig. 3 is a diagram showing a detailed configuration of a robot controller according to an embodiment of the present invention;
fig. 4 is a diagram showing a detailed configuration of a robot controller according to another embodiment of the present invention.
Description of the reference numerals
100 teaching device
110 input part
120 output part
200 safety device
300 robot controller
310 control part
320 safety PLC
330 safety unit
340 relay
400 robot
Detailed Description
The following detailed description of the invention refers to the accompanying drawings that illustrate specific embodiments for practicing the invention. These embodiments are described in sufficient detail to enable those skilled in the art of the present invention to readily practice the invention.
The various embodiments of the invention, although different from each other, are not mutually exclusive. For example, particular shapes, structures and characteristics described herein may be combined in one embodiment without departing from the spirit and scope of the invention. Moreover, the location or arrangement of individual components of each disclosed embodiment may be modified without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled. Like reference symbols in the various drawings indicate the same or similar functionality on each side.
Hereinafter, a robot control device according to an exemplary embodiment of the present invention will be described with reference to the drawings.
The invention provides a new control scheme, wherein a safety unit formed by hard-wired logic and a safety PLC formed by soft-wired logic are formed, a 1 st priority control signal is directly input to the safety unit for processing, and a 2 nd priority control signal is directly input to the safety PLC for processing.
1) Case of hard-wired logic
When the sequence control is performed by a relay (relay), the logic of the equipment is assembled by the wiring operation. The advantage of mechanical control of such devices is that they are very clear and easily visually identifiable physical devices, but on the contrary, they also present uncertainties due to wear, high manufacturing costs, and are not easy to modify and change procedures when changing configurations.
2) Case of soft wired logic
Program software is used to replace the logic constituting the relay circuit and the logic of the waste wiring operation is used for the logic embodiment. Such logic can save the cost of PLC hardware and does not require wiring work, and therefore, can save manufacturing cost, is economically excellent, is easy to design, has a low possibility of human error and failure such as wiring work, and is easy to find out the cause when a problem occurs, but has a possibility of malfunction due to program error.
A Programmable Logic Controller (Programmable Logic Controller) is a device that performs ethical control by changing a program. That is, the present invention is a small computer which performs only on/off control by sequential logic, and performs predetermined on/off control by receiving an on/off signal, so that it can perform signal light control, automatic machine control, and the like, and is a core device which is essentially used in factory automation and Computer Integrated Manufacturing (CIM). The PLC is a device in which functions such as a relay, a timer, and a counter in a control device are replaced with Integrated circuits (Integrated circuits) and transistors (transistors), which are direct elements, and a sequence control (sequence control) is used as a basis, and functions of performing data operation, arithmetic operation, data transmission, and autonomy of a feedback function are performed. That is, a microcomputer is provided in which functions of various relays, timers, counters, and the like used in various conventional control devices are replaced with a semiconductor element IC.
Fig. 1 is a diagram showing an overall configuration of a robot system according to an embodiment of the present invention. Referring to fig. 1, a robot system according to an embodiment of the present invention includes: a teaching device (100), a safety device (200), a robot controller (300), and a robot (400).
The teach pendant (100) generates a control signal for controlling the operation of the robot according to the menu or keyboard operation of the user. The teach pendant (100) is connected to the robot controller (300) and transmits the generated control signal to the robot controller (300).
In this case, the control signal is a control signal for controlling the operation of the robot, and includes a control signal irrelevant to safety and a control signal relevant to safety.
For example, 1) the control signal irrelevant to safety is a 1 st control signal for enabling a drive current of a servo motor to be effective for controlling a general operation of the robot related to a work such as an up, down, left, and right operation or a turning operation.
2) The safety-relevant control signals are divided into 2 nd and 3 rd control signals according to a priority order. The 2 nd control signal is a signal for switching between an automatic operation mode and a teaching mode of the robot, and a signal for stopping the robot in an emergency according to an operation state of an operator. The 3 rd control signal is a signal for emergency stop of the robot.
At this time, the 3 rd control signal receives the 1 st priority order, and the 2 nd control signal receives the 2 nd priority order. The 1 st priority order is higher than the 2 nd priority order, and therefore the 3 rd control signal is processed preferentially over the 2 nd control signal.
Here, the case where priority is given only to the safety-related control signals is described as an example, but the present invention is not limited thereto, and priority may be given to both the safety-related control signals and the safety-related control signals.
For example, the 1 st priority order may be given to the 3 rd control signal, the 2 nd priority order may be given to the 2 nd control signal, and the 3 rd priority order may be given to the 1 st control signal.
The safety device (200) is an instrument installed on a device provided on the periphery of the robot, generates a control signal for emergency stop of the robot according to the operation of a user, and is connected to the robot controller (300) to transmit the generated control signal to the robot controller (300).
The robot controller (300) is connected to the teach pendant (100) and the safety device (200), receives control signals from the teach pendant (100) and the safety device (200), and controls the robot (400) based on the received control signals.
For example, the robot controller (300) receives the 1 st control signal from the teach pendant (100), processes the received 1 st control signal, and outputs a control command.
As another example, the robot controller (300) receives the 2 nd control signal or the 3 rd control signal from the teach pendant (100) and the safety device (200), processes the received 2 nd control signal or the received 3 rd control signal, and outputs an emergency stop instruction.
In this case, the teach pendant (100) and the safety device (200) are preferably connected to the robot controller (300) by wire, and the robot controller (300) is preferably connected to the robot (400) by wire.
The robot (400) is a robot that operates according to the operation of a user, and is an industrial robot used in a factory or the like to improve productivity or save labor, for example.
Fig. 2 is a diagram showing a detailed configuration of the teach pendant shown in fig. 1.
Referring to fig. 2, a teach pendant (100) according to an embodiment of the present invention includes: an input unit (110) and an output unit (120).
The input unit (110) receives input information according to a menu or a keyboard operation of a user. The input unit (110) may include a plurality of switches for controlling the robot.
At this time, the input part (110) may include at least one switch generating a 1 st control signal unrelated to safety, and at least one switch generating a 2 nd control signal and a 3 rd control signal related to safety.
For example, the input unit (110) is provided with a servo start switch for enabling the drive current of the servo motor as a switch for generating a control signal irrelevant to safety.
As another example, the input unit (110) is provided with a mode changeover switch for generating a 2 nd control signal for changing over between an automatic operation mode and a teaching mode for the robot, a start switch for generating a 2 nd control signal for emergency stop of the robot according to an operation state of an operator, and an emergency stop button for generating a 3 rd control signal for emergency stop of the robot as switches for generating a control signal related to safety.
The start switch is referred to as a drive loss detection brake (dead man's switch), and is a device capable of automatically taking safety measures when an operator loses the ability to operate the device.
The above-described activation switch can be applied to various operation modes such as a foot-operated mode, a hand-held mode, a hand-placed mode, and a leaning mode.
An output unit (120) outputs a processing result relating to a job processed in accordance with the switch operation. For example, the output unit (120) outputs a processing result informing that the mode switched according to the operation of the mode switch is the automatic operation mode or the teaching mode, or informing that the emergency stop signal is generated according to the operation of the emergency stop button.
An output unit (120) receives a processing result relating to the work from the robot controller. The output unit (120) may be, for example, a display for displaying the processing result.
According to an embodiment of the present invention, the 1 st priority control signal is directly input to the safety unit for processing, and the 2 nd priority control signal is input to the safety PLC for 1 time of processing and then input to the safety unit for 2 times of processing.
Fig. 3 is a diagram showing a detailed configuration of a robot controller according to an embodiment of the present invention.
Referring to fig. 3, a robot controller (300) according to an embodiment of the present invention includes: a control unit (310), a safety PLC (320), a safety unit (330), and a relay (340).
The control unit (310) receives the 1 st control signal input from the teaching machine, processes the received 1 st control signal, and outputs a control command for controlling the robot to the robot.
The control unit (310) includes a processor, a memory, and the like.
The safety PLC (320) is embodied by a soft-wired logic, receives the 2 nd control signal from the demonstrator, processes the 2 nd control signal received for 1 time, and outputs the safety signal to the safety unit (330). Here, the 2 nd control signal may include a signal for switching between an automatic operation mode and a teaching mode of the robot, and a signal for emergency stop of the robot according to an operation state of a user.
The safety unit (330) is embodied by hard-wired logic, receives the 2 nd control signal from the safety PLC (320), performs 2 times of processing on the 2 nd control signal received therefrom, and outputs a relay on/off signal.
The safety unit (330) receives the 3 rd control signal from the demonstrator or the 4 th control signal from the safety device, inputs the received 3 rd control signal or the 4 th control signal for processing, and outputs a relay on/off signal. Here, the 3 rd control signal and the 4 th control signal may include a signal for emergency stop of the robot.
At this time, the safety unit (330) processes the 3 rd control signal or the 4 th control signal preferentially according to the priority order if the 2 nd control signal is simultaneously inputted and received together with the 3 rd control signal or the 4 th control signal.
The relay (340) blocks or supplies the servo motor power supplied to the robot according to the relay on/off signal. For example, when the relay (340) receives a relay-on signal, it blocks the power supply to the servo motor of the robot.
According to another embodiment of the present invention, the 1 st priority control signal is directly input to the safety unit for 1 time of processing, and then input to the safety PLC for 2 times of processing, and the 2 nd priority control signal is input to the safety PLC for direct processing.
Fig. 4 is a diagram showing a detailed configuration of a robot controller according to another embodiment of the present invention.
Referring to fig. 4, a robot controller (300) according to an embodiment of the present invention includes a control unit (311), a safety PLC (321), a safety unit (331), and a relay (341), and each of the components is the same as that of fig. 3, but the processing procedure is different.
Here, only the processing procedure between the constituent elements will be described briefly.
The safety PLC (321) receives the 2 nd control signal from the demonstrator, processes the 2 nd control signal received by the demonstrator and outputs a relay on/off signal.
The safety unit (331) receives the 3 rd control signal from the teach pendant, processes the received 3 rd control signal 1 time, and outputs the safety signal to the safety PLC (321).
The safety PLC 321 receives the 3 rd control signal from the safety unit 331, processes the received 3 rd control signal for 2 times, and outputs a relay on/off signal.
The features, structures, effects, and the like described in the embodiments above are included in one embodiment of the present invention, and are not limited to one embodiment. Further, a person skilled in the art of the present embodiment can combine or change the features, structures, effects, and the like of the various examples of the present embodiment in other embodiments. Accordingly, the contents relating to such combination and variation should be included in the scope of the present invention.
While the present invention has been described with reference to the embodiments, it is to be understood that the present invention is not limited to the embodiments, and various modifications and applications not illustrated above may be made by those skilled in the art without departing from the essential characteristics of the embodiments. For example, each of the components described in detail in the embodiments may be modified. And differences in such modifications and applications should be included in the scope of the present invention defined by the scope of the claims.
Claims (14)
1. A robot control apparatus, comprising:
a robot controller connected to the robot to control an operation of the connected robot; and
a teaching unit connected to the robot controller, generating a control signal for controlling the operation of the robot in accordance with a user's operation, and transmitting the control signal to the robot controller,
and, the robot controller includes:
a control unit that, when a 1 st control signal unrelated to safety is directly input from the demonstrator, processes the input 1 st control signal and outputs a control command;
a safety PLC (programmable Logic control) for processing the input 2 nd control signal through a soft link Logic and outputting a safety signal when the 2 nd control signal which is related to safety and has the 2 nd priority order is directly input from the demonstrator; and
and a safety unit which processes the input signal through a hard-wired logic and outputs an emergency stop command for controlling an emergency stop of the robot when the safety signal is directly input from the safety PLC or the 3 rd control signal which is related to safety and has the 1 st priority is directly input from the teach pendant.
2. The robot control apparatus according to claim 1,
the teaching machine comprises an input part composed of a plurality of switches for generating control signals according to the operation of a user,
and, the input unit includes:
a 1 st switch generating the 1 st control signal;
a 2 nd switch generating the 2 nd control signal; and
a 3 rd switch to generate the 3 rd control signal.
3. The robot control apparatus according to claim 2,
the 2 nd switch includes:
a mode change-over switch for generating a 2 nd control signal for changing over the mode between an automatic operation mode and a teaching mode of the robot; and
and a start switch for generating a 2 nd control signal for urgently stopping the robot according to the operation state of the user.
4. The robot control apparatus according to claim 2,
the 3 rd switch includes an emergency stop button generating a 3 rd control signal for emergency stop of the robot.
5. The robot control apparatus according to claim 2,
the teach pendant outputs the 1 st control signal generated from the 1 st switch to the control section,
outputting the 2 nd control signal generated from the 2 nd switch to the safety PLC,
outputting the 3 rd control signal generated from the 3 rd switch to the safety unit.
6. The robot control apparatus according to claim 2,
the teaching machine further includes an output unit that outputs a result of processing according to the user's switch operation.
7. The robot control apparatus according to claim 2,
the robot controller gives the highest 1 st priority to the 3 rd control signal among the safety-related control signals, and performs processing with the highest priority.
8. The robot control apparatus according to claim 1,
the robot controller further includes a relay capable of being turned on or off to supply or cut off power to a servo motor that drives the robot according to the emergency stop command output from the safety unit.
9. The robot control apparatus according to claim 1,
the robot control apparatus further comprises at least one safety device generating a 4 th control signal for emergency stop of the robot;
and, the 4 th control signal generated from the at least one safety device is directly input to the safety unit.
10. A robot control apparatus, comprising:
a robot controller connected to the robot and controlling the motion of the connected robot; and
a teaching unit connected to the robot controller, generating a control signal for controlling the operation of the robot according to the operation of a user, and transmitting the control signal to the robot controller;
and, the robot controller includes:
a control unit that processes the 1 st control signal and outputs a control command when the 1 st control signal unrelated to safety is directly input from the demonstrator;
a safety unit which processes the input 3 rd control signal through hard-wired logic and outputs a safety signal when the 3 rd control signal which is related to safety and has the 1 st priority is directly input from the demonstrator; and
and a safety plc (programmable Logic control) which processes the input signal through a soft link Logic and outputs an emergency stop command for controlling an emergency stop of the robot when the safety signal is input from the safety unit or a 2 nd control signal having a 2 nd priority order and being related to safety is input from the teach pendant.
11. The robot control apparatus according to claim 10,
the teaching machine comprises an input part composed of a plurality of switches for generating control signals according to the operation of a user,
and, the input unit includes:
a 1 st switch generating the 1 st control signal;
a 2 nd switch generating the 2 nd control signal; and
a 3 rd switch to generate the 3 rd control signal.
12. The robot control apparatus according to claim 11,
the 3 rd switch includes an emergency stop button generating a 3 rd control signal for emergency stop of the robot.
13. The robot control apparatus according to claim 11,
the 2 nd switch includes:
a mode change-over switch for generating a 2 nd control signal for changing over the mode between an automatic operation mode and a teaching mode of the robot; and
and a start switch for generating a 2 nd control signal for urgently stopping the robot according to the operation state of the user.
14. The robot control apparatus according to claim 11,
the teach pendant outputs the 1 st control signal generated from the 1 st switch to the control section,
outputting the 2 nd control signal generated from the 2 nd switch to the safety PLC,
outputting the 3 rd control signal generated from the 3 rd switch to the safety unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2017-0048398 | 2017-04-14 | ||
| KR1020170048398A KR101799999B1 (en) | 2017-04-14 | 2017-04-14 | Apparatus for controlling robot |
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| Publication Number | Publication Date |
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| CN108724223A CN108724223A (en) | 2018-11-02 |
| CN108724223B true CN108724223B (en) | 2021-09-21 |
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| CN201710647033.9A Active CN108724223B (en) | 2017-04-14 | 2017-08-01 | Robot control device |
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| CN110269561B (en) * | 2018-03-16 | 2022-06-21 | 青岛海尔洗碗机有限公司 | Spraying structure of dish-washing machine |
| CN109318837A (en) * | 2018-12-05 | 2019-02-12 | 苏州博众机器人有限公司 | A kind of patrol vehicle control and cruiser |
| CN109616378B (en) * | 2018-12-06 | 2020-05-05 | 珠海格力电器股份有限公司 | Emergency stop control device, robot and emergency stop control method of robot |
| JP6635238B1 (en) * | 2019-03-11 | 2020-01-22 | 三菱電機株式会社 | Safety control device and safety control system |
| CN111736514B (en) * | 2020-06-10 | 2020-12-04 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN113799176B (en) * | 2020-06-15 | 2023-03-28 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
| CN113799117A (en) * | 2020-06-15 | 2021-12-17 | 达明机器人股份有限公司 | Safety system and method for teaching robot |
| CN115933515A (en) * | 2022-12-21 | 2023-04-07 | 中国铁建重工集团股份有限公司 | Remote control system of heading machine |
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| DE102006057843A1 (en) * | 2006-03-09 | 2007-09-13 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Industrial robot for assembling attachment part e.g. vehicle wheel, to base component e.g. motor vehicle, has manipulator unit e.g. end effector, that is assigned with non-electric emergency shutdown storage energy in working position |
| JP2009095939A (en) * | 2007-10-17 | 2009-05-07 | Yaskawa Electric Corp | Robot and robot system |
| CN104626164A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Motor band-type brake control device of industrial robot |
| CN105313125A (en) * | 2014-07-30 | 2016-02-10 | 发那科株式会社 | Robot controller having detachable teaching pendant |
| CN205043783U (en) * | 2015-10-21 | 2016-02-24 | 国机集团科学技术研究院有限公司 | Industrial robot's safety protection control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5254968B2 (en) * | 2007-06-04 | 2013-08-07 | Ｉｄｅｃ株式会社 | Control device |
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- 2017-04-14 KR KR1020170048398A patent/KR101799999B1/en active IP Right Grant
- 2017-08-01 CN CN201710647033.9A patent/CN108724223B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006057843A1 (en) * | 2006-03-09 | 2007-09-13 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Industrial robot for assembling attachment part e.g. vehicle wheel, to base component e.g. motor vehicle, has manipulator unit e.g. end effector, that is assigned with non-electric emergency shutdown storage energy in working position |
| JP2009095939A (en) * | 2007-10-17 | 2009-05-07 | Yaskawa Electric Corp | Robot and robot system |
| CN104626164A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Motor band-type brake control device of industrial robot |
| CN105313125A (en) * | 2014-07-30 | 2016-02-10 | 发那科株式会社 | Robot controller having detachable teaching pendant |
| CN205043783U (en) * | 2015-10-21 | 2016-02-24 | 国机集团科学技术研究院有限公司 | Industrial robot's safety protection control system |
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| CN108724223A (en) | 2018-11-02 |
| KR101799999B1 (en) | 2017-11-21 |
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