CN112666858B - Control device of robot and robot - Google Patents
Control device of robot and robot Download PDFInfo
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- CN112666858B CN112666858B CN202011461045.0A CN202011461045A CN112666858B CN 112666858 B CN112666858 B CN 112666858B CN 202011461045 A CN202011461045 A CN 202011461045A CN 112666858 B CN112666858 B CN 112666858B
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Abstract
The invention provides a control device of a robot and the robot, the device comprises: the external emergency stop switch and the demonstrator emergency stop switch are arranged on the coil sides of the first safety relay and the second safety relay in series through n wiring ports on the controller, wherein n is a positive integer; the control unit is configured to determine whether the robot is in an emergency stop mode or not by controlling the wiring modes among the n wiring ports, and realize switching of different emergency stop modes of the robot under the condition that the robot is in the emergency stop mode; different scram modes, including: a first scram mode of demonstrator scram and external scram, a second scram mode of demonstrator scram only, a third scram mode of external scram only, and a no scram mode. And the control unit is used for switching different emergency stop modes, so that convenience in switching different emergency stop modes of the robot in different working modes is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control device for a safety loop of a SCARA robot and the SCARA robot with the control device.
Background
At present, on the updating of a SCARA robot control system, from a robot motion control card based on pulses, to various bus type servo control systems, to a driving and controlling integrated robot control system which is continuously rising in recent years, the running speed of the robot is greatly improved, and the performance is greatly improved. The driving and controlling integrated technology is to integrate multi-axis servo driving and motion control, and realizes perfect combination of three layers of driving, operation and control and robot application technology. The driving and controlling integrated technology has four main advantages: one integrated design reduces volume; secondly, wiring is reduced, and the failure rate is lower; thirdly, data interaction is performed through the shared memory, so that the control performance is better; fourthly, the IEC open type software platform is built in, and the application is more convenient.
The safety and reliability are important indexes for measuring the performance of the machine. The emergency can be responded in time, the main loop power supply is cut off rapidly, and meanwhile, the robot stops the current movement in the shortest time through various controls, so that the safety is ensured. The common safety loop design adopts a hardware scheme, and the reliability of the design is further improved through various interlocking and positive and negative logic designs. The main sources of the emergency stop signals in the actual application process of the SCARA robot are demonstrator emergency stop, external emergency stop, safety door signals and the like. One or more of the components can be flexibly selected and installed according to the actual field conditions: if each robot is marked with a demonstrator, an external scram switch is not required to be installed; if external control is adopted, a plurality of robots are only provided with a small number of demonstrators, and then an external scram switch is required to be connected; in order to realize safer control in some occasions, the demonstrator scram and the external scram are connected in series to a safety loop, and when an emergency occurs, the scram action of the robot can be triggered no matter which switch is pressed down. In order to be compatible with emergency stop configuration under different application scenes, all safety signal terminals are reserved on a system/safety IO terminal, and the three different emergency stop wiring modes are realized by carrying out access/short circuit on related signals or inserting different short circuit terminals. The robot IO wiring is generally complicated and complicated under the influence of the field use environment, if a user needs to quickly switch the emergency stop configuration mode on the field, the user needs to know all safety signals very well, and a lot of time is spent for manufacturing the shorting wire, so that the time is often wasted, the reliability is high, and the robot is easy to trigger an emergency stop alarm in the subsequent operation process.
In addition, during controller commissioning or single controller testing phases, it is often necessary to mask out relevant scram signals (because in the control logic, once the controller is in an alarm state, the user is not allowed to make parameter modifications to the controller) such as servo parameter settings, controller testing in speed mode, etc. At this time, it is required that the controller can conveniently perform the shielding operation of the scram/safety signal.
Disclosure of Invention
In view of this, the invention provides a control device for a robot, so as to solve the problem that the robot needs to set different emergency stop modes in different working modes, but the setting of different emergency stop modes has great operation difficulty, and achieve the effect of switching different emergency stop modes through a control unit and improving the convenience of switching different emergency stop modes of the robot in different working modes.
According to a first aspect of the present invention, there is provided a control device for a robot, comprising: the controller of the robot includes: a first safety relay and a second safety relay; and a control device of the robot, comprising: an external scram switch, a demonstrator scram switch and a control unit; the external emergency stop switch and the demonstrator emergency stop switch are arranged on the coil sides of the first safety relay and the second safety relay in series through n wiring ports on the controller, wherein n is a positive integer; the control unit is configured to determine whether the robot is in a scram mode or not by controlling the wiring modes among n wiring ports, and realize switching of different scram modes of the robot under the condition that the robot is in the scram mode; the different emergency stop modes include: a first scram mode of demonstrator scram and external scram, a second scram mode of demonstrator scram only, a third scram mode of external scram only, and a no scram mode.
Further, the control unit comprises an external switch and an external terminal; the external terminal is connected to the external scram switch, the demonstrator scram switch and coil sides of the first safety relay and the second safety relay; the external terminal includes: first to nth connection terminals; each wiring in the external terminal is correspondingly connected to a corresponding wiring port on the controller; the external switch is capable of switching the connection relationship between the first connection terminal to the n-th connection terminal.
Further, the external scram switch includes a first switch and a second switch; one end of the first switch is connected to a fourth port on the controller; the other end of the first switch is connected to a sixth port on the controller; one end of the second switch is connected to a fifth port on the controller; the other end of the second switch is connected to a seventh port on the controller.
Further, the teach pendant scram switch includes a third switch and a fourth switch; one end of the third switch is connected to a second port on the controller; the other end of the third switch is connected to a fourth port on the controller; one end of the fourth switch is connected to a third port on the controller; the other end of the fourth switch is connected to a fifth port on the controller.
Further, one end of the coil of the first safety relay is connected to a sixth port on the controller; one end of the second safety relay is connected to a seventh port on the controller.
Further, the controller comprises a first optical coupler and a second optical coupler; the normally closed contact of the first safety relay and the normally closed contact of the second safety relay are arranged in series between the cathode of the diode side of the first optocoupler and the ground; the first normally open contact of the first safety relay and the first normally open contact of the second safety relay are arranged in series between the cathode of the diode side of the second optocoupler and the ground; the second normally open contact of the first safety relay and the second normally open contact of the second safety relay are arranged in series between a thirteenth port of the controller and a twelfth port of the controller.
Further, under the condition that the emergency stop mode of the robot is a first emergency stop mode of the demonstrator emergency stop and the external emergency stop, if the normally closed switch of any one of the external emergency stop switch and the demonstrator emergency stop switch is disconnected, a signal of the disconnected normally closed switch of any one of the external emergency stop switch and the demonstrator emergency stop switch is transmitted to the control cabinet of the controller through the first optocoupler and the second optocoupler, and a power supply loop of the robot is disconnected.
Further, if the sudden stop mode of the robot is a second sudden stop mode of only the demonstrator, if the normally closed switch of the demonstrator sudden stop switch is turned off, transmitting a signal that the normally closed switch of the demonstrator sudden stop switch is turned off to the control cabinet of the controller through the first optocoupler and the second optocoupler, and starting the demonstrator sudden stop protection action of the robot.
Further, if the emergency stop mode of the robot is the third emergency stop mode of only external emergency stop, if the normally closed switch of the external emergency stop switch is disconnected, transmitting a signal that the normally closed switch of the external emergency stop switch is disconnected to the control cabinet of the controller through the first optocoupler and the second optocoupler, and starting the emergency stop protection action of the demonstrator of the robot.
According to a second aspect of the present invention, there is provided a robot (e.g. SCARA robot) based on the control device of the robot described above, comprising: the control device of the robot described above.
According to the scheme, the demonstrator scram switch and the external scram switch are connected in series at the coil sides of the two safety relays, forward and reverse logic scram signal detection is realized by using the normally open and normally closed contacts of the safety relays, and three scram wiring modes are made into the three-section type selection switch, so that a user can select and switch according to actual field conditions, the working efficiency is improved, and meanwhile, the reliability of hardware wiring is greatly improved.
The control scheme of a pure hardware circuit is adopted, and the normal open and normal close contacts of the safety relay are used for realizing the signal detection of positive and negative logic, so that the functions of detecting the whole safety circuit, disconnecting the power supply circuit by hardware and the like are realized; the requirements of the robot on sudden stop in different use occasions are met, and unnecessary alarm under specific situations (such as debugging, experiments and the like) can be avoided. Three-section type switches are adopted, three access modes of scram are directly fused on the I/O external terminal for wiring, and the requirements in different situations can be switched at will only by pushing a button, so that the time for switching the wiring modes on the terminal is saved; and through the three emergency stop modes of the display of the LED lamp, a user can directly and clearly identify the emergency stop mode corresponding to different colors, and the use difficulty is reduced.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a schematic configuration of a control device of a robot according to the present invention.
Fig. 2 shows a schematic diagram of the teaching scram and external scram structure of the present invention.
Fig. 3 shows a schematic diagram of a demonstrator-only scram architecture of the present invention.
Fig. 4 shows a schematic view of the external scram only structure of the present invention.
Fig. 5 shows a schematic view of the structure of the scram-free mode of the present invention.
Fig. 6 shows a schematic diagram of the system with a three-stage switch according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First, the safety circuit of the present invention will be described with reference to the accompanying drawings, in which fig. 1 shows a schematic structural diagram of a control device of a robot of the present invention, and fig. 2 shows a schematic structural diagram of teaching scram and external scram of the present invention. Fig. 3 shows a schematic diagram of a demonstrator-only scram architecture of the present invention. Fig. 4 shows a schematic view of the external scram only structure of the present invention. Fig. 5 shows a schematic view of the structure of the scram-free mode of the present invention. Fig. 6 shows a schematic diagram of the system with a three-stage switch according to the invention.
As shown in fig. 1, 2 and 6, the controller of the robot, that is, the overall controller of the robot includes: a first safety Relay (e.g., safety Relay1 in fig. 2) and a second safety Relay (e.g., safety Relay2 in fig. 2). The control device of the robot further includes: an external scram switch (e.g., external scram switch W1 in fig. 2), a teach pendant scram switch (e.g., teach pendant scram switch T1 in fig. 2), and a control unit (e.g., external switch and external terminal in fig. 6); the external emergency stop switch and the demonstrator emergency stop switch are arranged on the coil sides of the first safety relay and the second safety relay in series through n wiring ports on the controller, wherein n is a positive integer;
the control unit comprises an external switch and an external terminal, and is configured to determine whether the robot is in an emergency stop mode or not by controlling the wiring modes among n wiring ports, and realize switching of different emergency stop modes of the robot under the condition that the robot is in the emergency stop mode; the different emergency stop modes include: a first scram mode of demonstrator scram and external scram, a second scram mode of demonstrator scram only, a third scram mode of external scram only, and a no scram mode. The system has no emergency stop mode, is used in a set special environment, and can avoid unnecessary alarm in a specific situation (such as debugging, experiment and the like).
The external terminal is connected to the external scram switch, the demonstrator scram switch and coil sides of the first safety relay and the second safety relay; the external terminal includes: first to nth connection terminals; the number of the wiring terminals in the external connection terminal is the same as that of the wiring ports on the controller; each wiring in the external terminal is correspondingly connected to a corresponding wiring port on the controller; the external switch is capable of switching the connection relationship between the first connection terminal to the n-th connection terminal.
The external scram switch includes: a first switch and a second switch; one end of the first switch is connected to a fourth port on the controller; the other end of the first switch is connected to a sixth port on the controller; one end of the second switch is connected to a fifth port on the controller; the other end of the second switch is connected to a seventh port on the controller.
The demonstrator scram switch includes: a third switch and a fourth switch; one end of the third switch is connected to a second port on the controller; the other end of the third switch is connected to a fourth port on the controller; one end of the fourth switch is connected to a third port on the controller; the other end of the fourth switch is connected to a fifth port on the controller.
One end of the coil of the first safety relay is connected to a sixth port on the controller; the other end of the coil of the first safety relay is grounded (as the internal power ground GND of the controller in fig. 6); one end of the second safety relay is connected to a seventh port on the controller. The other end of the coil of the first safety relay is grounded (e.g., the controller internal power ground GND in fig. 6).
The controller further comprises: a first optocoupler (e.g., optocoupler Q1 of fig. 6) and a second optocoupler (e.g., optocoupler Q2 of fig. 6); the normally-closed contact (such as contact S1 in FIG. 6) of the first safety relay and the normally-closed contact (such as contact J1 in FIG. 6) of the second safety relay are arranged in series between the cathode of the diode side of the first optocoupler and the ground; the first normally open contact (such as contact S2 in fig. 6) of the first safety relay and the first normally open contact (such as contact J2 in fig. 6) of the second safety relay are arranged in series between the cathode of the diode side of the second optocoupler and the ground; the second normally open contact of the first safety relay (e.g., contact S3 in fig. 6) and the second normally open contact of the second safety relay (e.g., contact J3 in fig. 6) are disposed in series between the thirteenth port of the controller and the twelfth port of the controller.
Specific implementations of the different scram modes are described below with respect to fig. 2-5.
The emergency stop control flow is as follows: when a sudden stop signal is generated, such as sudden stop of a demonstrator and sudden stop of the outside, a safety loop is disconnected, at the moment, a normally closed switch (W1/T1) disconnects the whole power-on loop, namely, the coils of two safety relays are disconnected, at the moment, normally closed contacts (S1/J1) of the safety relays are disconnected, normally open contacts (S2/S3 and J2/J3) are closed, an action signal can conduct two MCU (micro control Unit) through an optical coupler, the two MCU can transmit the signal to a servo, and a servo driver decelerates. The output of the safety relay directly cuts off the main loop power supply of the servo through the relay to achieve the purpose of emergency braking. The control scheme of a pure hardware circuit is adopted, and the normal open and normal close contacts of the safety relay are used for realizing the signal detection of positive and negative logic, so that the functions of detecting the whole safety circuit, disconnecting the power supply circuit by hardware and the like are realized; the requirements of the robot on sudden stop in different use occasions are met, and unnecessary alarm under specific situations (such as debugging, experiments and the like) can be avoided. Meanwhile, three different emergency stop modes are selected for control through wiring of the three-section switch, and the three-section switch is convenient and labor-saving. Meanwhile, the design of the LED lamp is added to the switch display, so that the current scram configuration of the controller can be known in real time;
the circuit principle of the controller scram device on the I/O plate is as follows: during power-up, the power supply on the IO control board is 24V, at this time, 2 switches in two safety relays Relay1/Relay2 are turned on (both of which are that switch 1 (S1 and J1) is opened, switch 2 (S2 and J2) and switch 3 (S3 and J3) are closed), then one (FIG. 5: Q1) optocoupler is not conducted (output "1"), and one (FIG. 5: Q2) optocoupler is conducted (output "0"), so that the back output is a positive and negative logic signal: "1/0", system normal operation, terminal 12/13 open circuit (no output); at this time, the Relay front-stage circuit is connected with a teaching scram device and an external scram device in series, when at least one of the scram starts to beat (namely, a normally closed switch is opened), the Relay1/Relay2 at the later stage is caused to act simultaneously, the first switch (S1/J1) in the two relays is changed from being opened to closed, the remaining two switches (S2/S3 and J2/J3) are both opened, the optocoupler in the inner part (Q1 in the upper part of the figure) is caused to be turned on (output '1'), the optocoupler in the lower part of the figure) is caused to be turned off (output '0'), the output action signal logic is '1/0', and the system scram is triggered contrary to the situation that the scram is not performed before, and the terminal 12/13 is shorted (network GND_IO is connected with ESTOP_OUT0+.
As shown in fig. 2-5, under the corresponding three emergency stop control modes, the corresponding control mechanism is as follows:
under the condition that the sudden stop mode of the robot is a first sudden stop mode of the demonstrator sudden stop and the external sudden stop, if the normally closed switch of any one of the external sudden stop switch and the demonstrator sudden stop switch is disconnected, transmitting a signal of the disconnected normally closed switch of any one of the external sudden stop switch and the demonstrator sudden stop switch to a control cabinet of the controller through the first optocoupler and the second optocoupler, and disconnecting a power supply loop of the robot.
Specifically, the external scram end and the demonstrator end are connected in series with a respective normally closed switch W1 and a normally closed switch T1; when one of the normally closed switches is disconnected, the optical coupler controlled by the later stage transmits signals to the control cabinet for processing, and meanwhile, the main power supply of the servo loop is disconnected, and the robot system stops working and is protected. At this time, the robot control emergency stop control is a combination of an external emergency stop control mode and a demonstrator emergency stop control mode, and the external emergency stop end and the demonstrator (TP) end are connected in series with respective normally closed switches (W1/T1). When one of the normally closed switches (TP end/external end) is disconnected, the optocoupler controlled by the later stage transmits signals to the control cabinet for processing, and meanwhile, the main power supply of the servo loop is disconnected, and the robot system stops working to protect.
In FIG. 2, the external connection is 0 to 2 terminal, TP normally closed switch, terminal 4 to external emergency stop switch, terminal 6 to post control, the external connection is 1 to 3 terminal, TP normally closed switch, terminal 5 to external emergency stop normally closed switch, terminal 7 to post control, internal connectionTerminal (S)>And a terminal.
And under the condition that the sudden stop mode of the robot is a second sudden stop mode of only the demonstrator, if the normally closed switch of the demonstrator sudden stop switch is disconnected, transmitting a signal of the disconnected normally closed switch of the demonstrator sudden stop switch to a control cabinet of the controller through the first optical coupler and the second optical coupler, and starting the demonstrator sudden stop protection action of the robot.
The emergency stop protection actions of the emergency stop of the demonstrator are the same, namely, the controller controls the motor to stop running immediately when the switch is turned off, and the robot stops working. For example: the action signal can be conducted two MCUs through the optocoupler, and the two MCUs can transmit the signal to a servo, so that the servo driver can decelerate. The output of the safety relay directly cuts off the main loop power supply of the servo through the relay to achieve the purpose of emergency braking.
Specifically, the teach-only emergency stop mode specifically includes: the emergency stop line is only connected with the normally closed switch T1 at the demonstrator end to control emergency stop, when the demonstrator emergency stop button is pressed, the normally closed switch T1 is disconnected to trigger the rear-stage optocoupler to transmit signals, and the emergency stop system responds and stops acting. At this time, the external scram is shielded without being connected to the external end switch circuit, the scram circuit is connected to the normally closed switch at the end of the demonstrator (TP) to control the scram, and when the TP scram button is pressed down, the normally closed switch (namely the switch T1) is disconnected to trigger the rear-stage optocoupler to transmit signals, and the scram system responds and stops acting.
In FIG. 3, the external connection is 0 to 2 terminal to TP normally closed switch to terminal 4 to terminal 6 to post control, the external connection is 1 to 3 terminal to TP normally closed switch to terminal 5 to terminal 7 to post control, and the internal connection isTerminal (S)>And a terminal.
And under the condition that the emergency stop mode of the robot is a third emergency stop mode of only external emergency stop, if the normally closed switch of the external emergency stop switch is disconnected, transmitting a signal of the disconnected normally closed switch of the external emergency stop switch to a control cabinet of the controller through the first optical coupler and the second optical coupler, and starting the emergency stop protection action of the demonstrator of the robot.
Specifically, the external emergency stop only mode specifically includes: the emergency stop line is connected with an external normally closed switch W1 to control emergency stop, and when an external emergency stop button is pressed, the normally closed switch is disconnected to trigger a rear-stage optocoupler to transmit signals, and the emergency stop system responds and stops acting. At the moment, a TP end switch circuit is not connected, namely, the teaching scram is shielded, the scram circuit is connected with an external normally closed switch only to control the scram, when an external scram button is pressed down, the normally closed switch (namely, a switch W1) is disconnected, a post-stage optocoupler is triggered to transmit signals, and the scram system responds and stops acting.
In fig. 4, terminalTerminal->External terminal normally closed switch->Terminal 6, internal connection->A terminal(s),And a terminal.
The three-stage switch may also select a scram-free mode. In special cases, a single control cabinet is generally used: for example, when updating a program, debugging a single machine, or performing related environment tests of a controller (without a demonstrator or a robot body), no scram signal is needed at this time, and scram control is not needed (i.e. all scram switch control devices are shielded).
In fig. 5, terminal 0 is directly short-circuited to terminal 6, terminal 1 is directly short-circuited to terminal 7, and internal connectionThe electrical contact of the terminal,and a terminal.
The structure and the use flow of the three-stage switch are described below with reference to fig. 6. As shown in fig. 6, the dual scram lines are connected into the I/O loop together, that is, when the I/O loop has no short circuit, the system start state is teaching scram and external scram can be used simultaneously; the switch is designed as a 'shorting line' type switch, and 0-7 terminals of the previous I/O terminals are separated: the switch has 3x4 = 12 contacts, every four contacts are in a group, and the external terminal lines of the I/O of the access system are respectively: group A (from top to bottom) -6/0/1/7; group B-6/4/5/7; group C, 2/4/5/3, is in one-to-one correspondence with the circuits of the external terminals of the controller, and can select to shield the emergency stop mode according to the poking of the knife switch; the internal terminals 8 are normally connected with the terminals 10 and the terminals 9 and 11; the other terminals are designed by adopting external ports as they are.
The switch design after modification for terminals 0-7 is configured (as in fig. 5): the switch K has 4 contacts, and wherein every two contacts (K1 and K2, K3 and K4) are short-circuited, when the switch is shifted leftwards, two loops of the corresponding contacts are directly short-circuited, and then the emergency stop switch is short-circuited.
When switching different scram modes, the switch toggles to set scram selection as follows:
in the case that the sudden stop mode of the robot is the first sudden stop mode of the teach pendant sudden stop and the external sudden stop: the switch K is located at the first position (e.g., at the right end), and is set to a default state (initial position): the demonstrator emergency stop loop and the external emergency stop loop are used simultaneously and controlled by two normally closed switches (W1/T1), and when at least one of the switches is disconnected, emergency stop is triggered.
In the case where the sudden stop mode of the robot is the third sudden stop mode of only external sudden stop: the switch K is positioned at a second position, namely the end of the switch K is shifted leftwards, and is connected with the contact of the group C, and the short circuit line is as follows: the short-circuit switch K short-circuits the terminal 2 and the terminal 4 (i.e., the shorting lines of K1 and K2, short-circuits them), and the terminal 3 and the terminal 5 (i.e., the shorting lines of K3 and K4, short-circuits them); the C group 4 contact is connected with the LED1 loop. The LED1 is lighted (the set color is green), the right demonstrator (TP) of the representation mode is shielded (namely the corresponding line is short-circuited), and only the external scram (the external switch (W1) is connected to the circuit for control) is available;
in the case where the sudden stop mode of the robot is the second sudden stop mode in which only the demonstrator is suddenly stopped: the switch K is positioned at a third position, namely the switch K end is shifted to the left and is connected with the contact circuit of the group B, and the short circuit line is as follows: the shorting switch K shorts the terminal 6 to the terminal 4 (i.e., shorting the shorting lines of K1 and K2), and the terminal 7 to the terminal 5 (i.e., shorting the shorting lines of K3 and K4); the contact of the group B6 is connected with an LED2 loop, the LED2 lamp is on (set color is yellow), the external scram line representing the mode is shielded (namely short-circuited), and only a demonstrator scram mode (TP switch (T1) is connected with the circuit control) can be used;
scram-free mode (both control switches (W1/T1) are masked): the switch K is positioned at a fourth position, namely the switch K end is shifted three times leftwards, and is connected with the contact circuit of the group A, and the short circuit line is as follows: the short-circuit switch K shorts the terminal 6 to the terminal 0 (i.e., shorts K1 and K2), and the terminal 7 to the terminal 1 (i.e., shorts K3 and K4); the group A6 contacts are connected with an LED1 loop, the LED1 lamp is on (set color is blue), the teaching scram line and the external scram line are short-circuited, a 24V power supply is directly connected to an I/O end, the robot is free from scram control and dangerous, and the robot is only used under special conditions.
According to the scheme, the demonstrator scram switch and the external scram switch are connected in series at the coil sides of the two safety relays, forward and reverse logic scram signal detection is realized by using the normally open and normally closed contacts of the safety relays, and three scram wiring modes are made into the three-section type selection switch, so that a user can select and switch according to actual field conditions, the working efficiency is improved, and meanwhile, the reliability of hardware wiring is greatly improved. By designing three configuration modes of a driving and controlling integrated control cabinet emergency stop loop, the requirements of different use occasions on the robot emergency stop can be met, and the functions of detecting the whole safety loop, disconnecting the main power supply loop by hardware and the like are realized by adopting a plurality of pairs of contacts of the safety relay; the principle is simple, easy to realize and high in reliability. The multi-section switch is adopted for selection, so that the simplicity of operation is greatly improved, repeated wire pulling and wiring operation is not needed when the emergency stop mode is switched, and the operation is convenient to use and time-saving. Meanwhile, the control selection of three emergency stop modes is optimized: three wiring modes (wires are connected in advance) are connected in the switch, and three different emergency stop modes are selected only through toggle of the switch, so that the switch is convenient and labor-saving. Meanwhile, the design of the LED lamp is added on the switch display, so that the current scram configuration of the controller can be known in real time.
The control device of the robot of the present invention is described above. According to the scheme, the demonstrator scram switch and the external scram switch are connected in series at the coil sides of the two safety relays, forward and reverse logic scram signal detection is realized by using the normally open and normally closed contacts of the safety relays, and three scram wiring modes are made into the three-section type selection switch, so that a user can select and switch according to actual field conditions, the working efficiency is improved, and meanwhile, the reliability of hardware wiring is greatly improved.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, but any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. A control device of a robot, characterized by comprising: a first safety relay and a second safety relay; the control device of the robot comprises: an external scram switch, a demonstrator scram switch and a control unit; the external emergency stop switch and the demonstrator emergency stop switch are arranged on the coil sides of the first safety relay and the second safety relay in series through n wiring ports on the controller, wherein n is a positive integer;
wherein,
the control unit is configured to determine whether the robot is in a scram mode or not by controlling the wiring modes among n wiring ports, and realize switching of different scram modes of the robot under the condition that the robot is in the scram mode; the different emergency stop modes include: a first scram mode of demonstrator scram and external scram, a second scram mode of demonstrator scram only, a third scram mode of external scram only, and a no scram mode.
2. The control device of a robot according to claim 1, wherein the control unit includes: an external switch and an external terminal;
the external terminal is connected to the external scram switch, the demonstrator scram switch and coil sides of the first safety relay and the second safety relay; the external terminal includes: first to nth connection terminals; each wiring in the external terminal is correspondingly connected to a corresponding wiring port on the controller;
the external switch is capable of switching the connection relationship between the first connection terminal to the n-th connection terminal.
3. The control device of a robot according to claim 2, wherein the external scram switch includes: a first switch and a second switch;
one end of the first switch is connected to a fourth port on the controller; the other end of the first switch is connected to a sixth port on the controller;
one end of the second switch is connected to a fifth port on the controller; the other end of the second switch is connected to a seventh port on the controller.
4. The control device of the robot according to claim 2, wherein the teach pendant scram switch includes: a third switch and a fourth switch;
one end of the third switch is connected to a second port on the controller; the other end of the third switch is connected to a fourth port on the controller;
one end of the fourth switch is connected to a third port on the controller; the other end of the fourth switch is connected to a fifth port on the controller.
5. The control device of the robot according to claim 2, wherein one end of the coil of the first safety relay is connected to a sixth port on the controller;
one end of the second safety relay is connected to a seventh port on the controller.
6. The control device of a robot according to any one of claims 2 to 5, wherein the controller further comprises: the first optical coupler and the second optical coupler;
the normally closed contact of the first safety relay and the normally closed contact of the second safety relay are arranged in series between the cathode of the diode side of the first optocoupler and the ground;
the first normally open contact of the first safety relay and the first normally open contact of the second safety relay are arranged in series between the cathode of the diode side of the second optocoupler and the ground;
the second normally open contact of the first safety relay and the second normally open contact of the second safety relay are arranged in series between a thirteenth port of the controller and a twelfth port of the controller.
7. The control device of the robot according to claim 6, wherein if the emergency stop mode of the robot is a first emergency stop mode of a teach pendant emergency stop and an external emergency stop, if a normally closed switch of any one of the external emergency stop switch and the teach pendant emergency stop switch is turned off, a signal that the normally closed switch of any one of the external emergency stop switch and the teach pendant emergency stop switch is turned off is transmitted to a control cabinet of the controller via the first optocoupler and the second optocoupler, and a power supply circuit of the robot is disconnected.
8. The control device of the robot according to claim 6, wherein when the sudden stop mode of the robot is a second sudden stop mode in which only the demonstrator is suddenly stopped, if the normally closed switch of the demonstrator sudden stop switch is turned off, a signal that the normally closed switch of the demonstrator sudden stop switch is turned off is transmitted to the control cabinet of the controller via the first optocoupler and the second optocoupler, and a demonstrator sudden stop protection operation of the robot is started.
9. The control device of the robot according to claim 6, wherein if the external scram switch is turned off in a third scram mode of only external scram, a signal that the external scram switch is turned off is transmitted to a control cabinet of the controller via the first optocoupler and the second optocoupler, and a teach pendant scram protection operation of the robot is started.
10. A robot, comprising: a control device for a robot according to any one of claims 1-9.
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