TW202146191A

TW202146191A - Safety system and method for teaching a robot

Info

Publication number: TW202146191A
Application number: TW109118887A
Authority: TW
Inventors: 王培睿
Original assignee: 達明機器人股份有限公司
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2021-12-16

Abstract

The invention is to disclose a safety system and method for teaching a robot. A first enable device is installed on the end-effector of the robot, and a second enable device is installed on a pendant. Under teaching mode, the start order of the two enable devices is detected. The enable device, which first starts open state, is enabled, and the other enable device isn’t enabled. The robot is controlled by the enabled enable device to ensure safety in teaching mode.

Description

教導機器人的安全系統及方法 Safety system and method for teaching robots

本發明有關一種機器人的安全系統及方法，尤其關於機器人在切換至教導模式下，對於使用者執行手拉或非手拉教導機器人，進行保護的安全系統及方法。 The present invention relates to a safety system and method for a robot, in particular, to a safety system and method for protecting the robot from hand-pulling or non-hand-pull teaching the robot when the robot is switched to the teaching mode.

隨著機器人的技術蓬勃發展，工廠利用機器人，雖可協助作業人員快速進行加工組裝製造作業，提高工廠生產效率，但是機器人能否正常的運作，嚴重影響到作業人員的安全，因此各國訂定嚴格的安全標準規範，以維護機器人的作業安全。 With the vigorous development of robot technology, the use of robots in factories can help operators to quickly carry out processing, assembly and manufacturing operations and improve factory production efficiency, but the normal operation of robots will seriously affect the safety of operators. safety standards and specifications to maintain the operational safety of robots.

請參圖5，先前技術為了教導機器人1作業，在機器人1的末端設置手拉按鈕2，手拉按鈕通常設計為按壓運行(Hold to Run)，或為軟體上的按鍵，手拉按鈕2電性或通訊連接至機器人1控制器3。在示教器4設定機器人1處於教導模式時，當使用者按壓手拉按鈕2，訊號通知控制器3，將機器人1從靜止狀態切入手拉模式(Hand Guiding)。先前技術的手拉模式有多種方式，例如透過機器人1各肘節5中致動器之編碼器、馬達電流感測器經計算與補償，得知對各關節之施力或對末端之手拉施力，控制機器人1順從手拉移動。利用手拉機器人1至點位記錄位置、或手拉紀錄路徑，教導機器人1作業。並於放開手拉按鈕2時，使機器人1切出手拉模式回到靜止狀態。 Please refer to FIG. 5 , in order to teach the robot 1 to work in the prior art, a hand-pull button 2 is set at the end of the robot 1. The hand-pull button is usually designed to be pressed to run (Hold to Run). Connectivity or communication to Robot 1 Controller 3. When the teaching pendant 4 sets the robot 1 to be in the teaching mode, when the user presses the hand pulling button 2 , a signal is notified to the controller 3 to switch the robot 1 from the stationary state to the hand guiding mode (Hand Guiding). There are various methods for the hand-pull mode in the prior art. For example, through the calculation and compensation of the encoders of the actuators and the motor current sensors in each of the toggles 5 of the robot 1, the force applied to each joint or the hand-pull of the end can be obtained. Apply force to control the robot 1 to move in compliance with the hand pull. Teach the robot 1 to work by pulling the robot 1 to the point recording position, or pulling the recording path by hand. And when the hand pull button 2 is released, the robot 1 switches out of the hand pull mode and returns to the static state. stop state.

前述先前技術機器人1的示教器4，為了符合安全標準規範ISO 10218-1的要求，在例如手拉、吋動、試跑調速等教導模式下，裝設致能裝置(Enable Device)，以保護協作的使用者。致能裝置通常為三段式按鈕(3 Position Enabling Switch)，其結構設計有三個按壓階段，完全放開、中位、壓緊，其中僅中位可致能機器人1進行教導行為，完全放開或壓緊時，都將電性或通訊傳達至控制器3，啟動安全系統中斷教導行為，讓機器人1停止運動，並透過「監控靜止」(Stand Still Monitoring)監控機器人1在致動器仍有電時不輕舉妄動，如監控發現機器人發生運動，安全系統將切斷機器人1致動器之電力，以保護使用者在教導過程中的安全。 In order to meet the requirements of the safety standard specification ISO 10218-1, the teaching pendant 4 of the aforementioned prior art robot 1 is equipped with an enabling device (Enable Device) under teaching modes such as hand-pulling, jogging, and trial-run speed regulation, etc. to protect collaborating users. The enabling device is usually a 3 Position Enabling Switch. Its structure is designed with three pressing stages, fully releasing, neutral, and pressing. Only the neutral position can enable the robot 1 to perform teaching behavior, and it is fully released. When pressing or pressing, the electrical or communication is transmitted to the controller 3, the safety system is activated to interrupt the teaching behavior, the robot 1 stops moving, and the robot 1 is monitored through the "Stand Still Monitoring" (Stand Still Monitoring). Do not act rashly when the power is turned on. If the monitoring finds that the robot is moving, the safety system will cut off the power of the actuator of the robot 1 to protect the safety of the user during the teaching process.

然而，前述先前技術依安全標準規範在示教器設置致能裝置，處於教導模式時，限制在致能裝置致能狀態下慢速移動，近距離手拉機器人的使用者，以獲得安全保護。此外設在示教器的致能裝置，與設在機器人末端的手拉按鈕分開設置，必須同時按壓，才能手拉教導機器人，極為不便，而分開操作時，示教器易被其他使用者切換為其他模式時，造成手拉協作中使用者的危險。因此，機器人在教導模式的安全系統及方法上，仍有問題亟待解決。 However, in the prior art, an enabling device is installed on the teach pendant according to safety standards. When in the teaching mode, the user is restricted to move slowly when the enabling device is enabled, and the user of the robot is pulled close by hand for safety protection. In addition, the enabling device on the teach pendant is set separately from the hand-pull button on the end of the robot. It must be pressed at the same time to teach the robot by hand, which is extremely inconvenient. When operated separately, the teach pendant is easily switched by other users. When it is in other modes, it will cause danger to the user in the hand-pull collaboration. Therefore, there are still problems to be solved urgently in the safety system and method of the robot in the teaching mode.

本發明的目的提供一種教導機器人的安全系統，藉由在機器人末端設置第一致能裝置，及於示教器設置第二致能裝置，在教導模式下，由控制器偵測兩致能裝置的啟動次序，選擇致能的致能裝置，以確保教導機器人的安全性。 The object of the present invention is to provide a safety system for teaching a robot. By arranging a first enabling device at the end of the robot and a second enabling device on the teach pendant, in the teaching mode, the controller detects the two enabling devices. In order to ensure the safety of the teaching robot, select the enabling device to be enabled.

本發明的另一目的提供一種教導機器人的安全方法，利用偵測首先啟動開狀態的致能裝置，致能首先啟動開狀態的致能裝置，不致能其餘的致能裝置，避免誤操作，以提高使用者的安全。 Another object of the present invention is to provide a safety method for teaching a robot. By detecting the enabling device in the ON state first, the enabling device in the ON state is enabled first, and the other enabling devices are disabled, so as to avoid misoperation and improve the user safety.

為了達到前述發明的目的，本發明教導機器人的安全系統，機器人具有多肘節，一端為固定基座，另一端為活動的末端，設置第一致能裝置，各肘節中設置致動器及位置感測器。控制器連接至機器人，控制致動器及位置感測器，移動機器人的末端，第二致能裝置連接控制器。控制器內設安全模組，電性或通訊相連第一致能裝置及第二致能裝置，依據致能的第一致能裝置或第二致能裝置關狀態，發出電性訊號，使機器人進入安全狀態。控制器利用偵測第一致能裝置或第二致能裝置，致能首先啟動開狀態的致能裝置，不致能另一致能裝置。 In order to achieve the purpose of the foregoing invention, the present invention teaches the safety system of the robot. The robot has multiple toggle joints, one end is a fixed base, the other end is a movable end, a first enabling device is provided, and an actuator and an actuator are arranged in each toggle joint. position sensor. The controller is connected to the robot, controls the actuator and the position sensor, moves the end of the robot, and the second enabling device is connected to the controller. The controller is equipped with a safety module, which is electrically or communicatively connected to the first enabling device and the second enabling device. According to the off state of the enabled first enabling device or the second enabling device, an electrical signal is sent to enable the robot to Enter a safe state. The controller detects the first enabling device or the second enabling device to enable the enabling device in the on-state first, but disable the other enabling device.

本發明教導機器人的安全系統，安全模組電性或通訊連接各肘節之位置感測器，接收位置感測器的訊號進行監控機器人的活動狀態，當監控機器人產生運動，關斷致動器電源，或監控機器人超過速度限制時，使機器人進入安全狀態。第一致能裝置或第二致能裝置處於關狀態時，安全模組使機器人進入安全狀態，而第一致能裝置或第二致能裝置處於開狀態時，安全模組取消機器人的安全狀態。安全模組利用切斷致動器的電力，或經過固定時間或觀察機器人減速運動達成後，關斷致動器電源，或開啟靜止監控安全功能，使機器人進入安全狀態。第一致能裝置或第二致能裝置以燈光或音響區別顯示致能或未致能的狀態。第一致能裝置設為具有手拉按鈕的功能。 The present invention teaches the safety system of the robot. The safety module is electrically or communicatively connected to the position sensor of each toggle, and receives the signal of the position sensor to monitor the activity state of the robot. When the monitoring robot generates motion, the actuator is turned off. power, or monitor the robot to enter a safe state when it exceeds the speed limit. When the first enabling device or the second enabling device is off, the safety module makes the robot enter a safe state, and when the first enabling device or the second enabling device is on, the safety module cancels the safe state of the robot . The safety module cuts off the power of the actuator, or after a fixed time or after observing the deceleration of the robot, the power of the actuator is turned off, or the static monitoring safety function is turned on, so that the robot enters a safe state. The first enabling device or the second enabling device displays the enabled or disabled state by light or sound. The first enabling device is set to have the function of a hand-pulled button.

本發明教導機器人的安全方法，將機器人切換至教導模式，使第一致能裝置或第二致能裝置均未致能，機器人進入安全狀態；偵測第一致能裝置及第二致能裝置皆為關狀態，進入偵測狀態，開始偵測第一致能裝置或第二致能裝置何者首先啟動開狀態；當第一致能裝置首先啟動開狀態時，致能第一致能裝置，且未致能第二致能裝置，解除該機器人的安全狀態，進入第一狀態。第一狀態可設為手拉教導狀態，則致能手拉該機器人的控制。接著偵測第一致能裝置切換至關狀態時，回到偵測狀態。 The invention teaches the safety method of the robot, switches the robot to the teaching mode, Disable the first enabling device or the second enabling device, and the robot enters a safe state; detect that both the first enabling device and the second enabling device are off, enter the detecting state, and start to detect the first enabling device Which one of the enabling device or the second enabling device is first activated to the ON state; when the first enabling device is first activated to the ON state, the first enabling device is enabled, and the second enabling device is not enabled, releasing the safety of the robot state, enter the first state. The first state can be set as the hand-pull teaching state, which enables hand-pull control of the robot. Then it is detected that when the first enabling device is switched to the off state, it returns to the detection state.

本發明教導機器人的安全方法，偵測第一致能裝置非首先啟動開狀態，再檢查第二致能裝置非首先啟動開狀態，則回至偵測狀態繼續偵測何者首先啟動開狀態。檢查第二致能裝置為首先啟動開狀態，致能第二致能裝置，未致能第一致能裝置，解除機器人的安全狀態，進入第二狀態。第二狀態可設為非手拉教導狀態，則致能非手拉該機器人的控制。接著偵測第二致能裝置切換至關狀態時，回到偵測狀態。 The present invention teaches the safety method of the robot to detect the first enabling device is not first turned on, then check the second enabling device is not first turned on, then return to the detection state and continue to detect which one is first turned on. Check that the second enabling device is in the ON state first, enable the second enabling device, and fail to enable the first enabling device, release the safe state of the robot, and enter the second state. The second state can be set as a non-hand-pull teaching state, which enables non-hand-pull control of the robot. Then, when the second enabling device is detected to be switched to the off state, it returns to the detection state.

10:安全系統 10: Security System

11:機器人 11: Robots

12:控制器 12: Controller

13:示教器 13: Teach Pendant

14:安全模組 14: Security Module

15:第一致能裝置 15: The first enabling device

16:第二致能裝置 16: Second enabling device

17:肘節 17: Toggle

18:基座 18: Pedestal

19:末端 19: End

20:位置感測器 20: Position Sensor

圖1 為本發明教導機器人的安全系統的示意圖。 FIG. 1 is a schematic diagram of the safety system of the teaching robot of the present invention.

圖2 為本發明安全系統的控制功能的示意圖。 FIG. 2 is a schematic diagram of the control function of the safety system of the present invention.

圖3 為本發明安全系統的致能裝置開關狀態切換的示意圖。 FIG. 3 is a schematic diagram of the switch state of the enabling device of the safety system of the present invention.

圖4 為本發明教導機器人的安全方法的流程圖。 FIG. 4 is a flow chart of the safety method of teaching a robot according to the present invention.

圖5 為先前技術手拉教導機器人的示意圖。 FIG. 5 is a schematic diagram of a prior art hand-pulled teaching robot.

有關本發明為達成上述目的，所採用之技術手段及其功效，茲舉較佳實施例，並配合圖式加以說明如下。 Regarding the technical means adopted by the present invention to achieve the above-mentioned objects and their effects, preferred embodiments are given and described below with the accompanying drawings.

請同時參閱圖1至圖2，圖1為本發明教導機器人的安全系統的示意圖，圖2為本發明安全系統的控制功能的示意圖，圖3為本發明安全系統的致能裝置開關狀態切換的示意圖。圖1中，本發明的安全系統10包含機器人11、控制器12、示教器13、安全模組14、第一致能裝置15及第二致能裝置16。其中機器人11具有多肘節17，一端為固定基座18，另一端為活動的末端19，末端19設置第一致能裝置15。機器人11連接至控制器12，控制器12內含一安全模組14，安全模組14具備直接發出電性訊號或通訊訊號切斷致動器的電力停機機器人11的功能。控制器12藉由控制各肘節17中的致動器及位置感測器20，控制移動機器人11的末端19。控制器12連接示教器13，用以編輯機器人11程式或操作控制機器人11，示教器13設置第二致能裝置16。本實施例雖以第二智能裝置16設在示教器13舉例說明，但包含且不限於本實施例，第二致能裝置16可不位於示教器13上，或可為獨立一個手持致能裝置連接至安全模組14，或於控制器12具備讓使用者自行連接自購之第二致能裝置16之致能模組埠。 Please refer to FIG. 1 to FIG. 2 at the same time, FIG. 1 is a schematic diagram of a safety system of the teaching robot of the present invention, FIG. 2 is a schematic diagram of a control function of the safety system of the present invention, and FIG. 3 is a switch state of an enabling device of the safety system of the present invention. Schematic. In FIG. 1 , the safety system 10 of the present invention includes a robot 11 , a controller 12 , a teach pendant 13 , a safety module 14 , a first enabling device 15 and a second enabling device 16 . The robot 11 has multiple toggle joints 17 , one end is a fixed base 18 , the other end is a movable end 19 , and the end 19 is provided with a first enabling device 15 . The robot 11 is connected to the controller 12 , and the controller 12 includes a safety module 14 . The safety module 14 has the function of directly sending an electrical signal or a communication signal to cut off the power of the actuator to stop the robot 11 . The controller 12 controls the end 19 of the mobile robot 11 by controlling the actuators and position sensors 20 in each toggle 17 . The controller 12 is connected to the teaching pendant 13 for editing the program of the robot 11 or operating and controlling the robot 11 . The teaching pendant 13 is provided with a second enabling device 16 . Although this embodiment is exemplified by the second smart device 16 being disposed on the teaching pendant 13, it includes but is not limited to this embodiment, and the second enabling device 16 may not be located on the teaching pendant 13, or may be a separate handheld enabling device The device is connected to the security module 14, or the controller 12 is provided with an enabling module port for the user to connect the second enabling device 16 purchased by himself.

圖2中，安全模組14經由控制器12與第一致能裝置15及第二致能裝置16電性或通訊相連，第一致能裝置15及第二致能裝置16具備開狀態(ON)與關狀態(OFF)操作的功能，當第一致能裝置15或第二致能裝置16處於開狀態(ON)狀態時，安全模組14取消機器人11之安全狀態，而當第一致能裝置15或第二致能裝置16處於關狀態(OFF)狀態時，安全模組14使機器人11停機進入安全狀態。安全模組14另電性或通訊連接機器人11各肘節17之位置感測器20，接收位置感測器20的訊號進行監控機器人11的活動狀態，當監控機器人11產生運動，即關斷致動器電源，或由安全模組14監控機器人11的速度，超過預設速度限制時，使機器人11進入安全狀態。 In FIG. 2 , the security module 14 is electrically or communicatively connected to the first enabling device 15 and the second enabling device 16 via the controller 12 , and the first enabling device 15 and the second enabling device 16 are in an ON state (ON ) and the function of the OFF state (OFF) operation, when the first enabling device 15 or the second enabling device 16 is in the ON state (ON) state, the safety module 14 cancels the safety state of the robot 11, and when the first enabling device 15 or the second enabling device 16 is in the ON state (ON) state When the enabling device 15 or the second enabling device 16 is in an OFF state, the safety module 14 stops the robot 11 to enter a safe state. The safety module 14 is also electrically or communicatively connected to the position sensors 20 of the respective toggles 17 of the robot 11 , and receives signals from the position sensors 20 to monitor the activity state of the robot 11 . power to the actuator, or the machine is monitored by the security module 14 When the speed of the human 11 exceeds the preset speed limit, the robot 11 enters a safe state.

安全模組14停機機器人11進入安全狀態有三種類型，零類停機為斷電停機功能：當安全模組14判定機器人11應進入安全狀態時，直接關斷致動器電力。一類停機為進階斷電停機功能：當安全模組14判定機器人11應進入安全狀態時，對控制器12下達減速命令後，經過固定時間或觀察機器人11減速運動達成後，關斷致動器電源。二類停機為非斷電停機功能：當安全模組14判定機器人11應進入安全狀態時，對控制器12中下達減速命令後，經過固定時間或觀察機器人減速運動達成後，開啟靜止監控安全功能(Standstill Monitoring)，持續監控位置感測器20，當監控機器人11產生運動，即關斷致動器電源。 The safety module 14 stops the robot 11 from entering a safe state. There are three types. The zero type of stop is a power-off stop function: when the safety module 14 determines that the robot 11 should enter a safe state, the power to the actuator is directly turned off. The first type of shutdown is the advanced power-off shutdown function: when the safety module 14 determines that the robot 11 should enter a safe state, after a deceleration command is issued to the controller 12, the actuator is turned off after a fixed time or after the deceleration movement of the robot 11 is observed. power supply. The second type of shutdown is a non-power-off shutdown function: when the safety module 14 determines that the robot 11 should enter a safe state, after a deceleration command is issued to the controller 12, after a fixed time or after observing the completion of the robot's deceleration movement, the static monitoring safety function is turned on. (Standstill Monitoring), the position sensor 20 is continuously monitored, and when the monitoring robot 11 produces motion, the power supply of the actuator is turned off.

圖3中，當機器人11從其他模式切換至教導模式(Teaching Mode)時，不論第一致能裝置15或第二致能裝置16是否位於開狀態，都無法進行手拉或非手拉(例如吋動或試跑調速等)教導機器人11，且安全模組14皆使機器人11進入例如關斷致動器電源或靜止監控等停機的安全狀態。接著，偵測第一致能裝置15或第二致能裝置16皆為關狀態，安全系統10進入偵測狀態，安全系統10利用控制器12開始檢查偵測第一致能裝置15或第二致能裝置16啟動開狀態，致能首先啟動開狀態的致能裝置，不致能另一致能裝置。 In FIG. 3 , when the robot 11 switches from other modes to the Teaching Mode, no matter whether the first enabling device 15 or the second enabling device 16 is in the ON state, it cannot be pulled by hand or not by hand (for example, The robot 11 is taught by the safety module 14 such as jogging or trial running speed regulation, etc., and the safety module 14 makes the robot 11 enter a safe state such as shutting down the actuator power or static monitoring. Next, it is detected that the first enabling device 15 or the second enabling device 16 is in the off state, the security system 10 enters the detecting state, and the security system 10 uses the controller 12 to start checking and detecting the first enabling device 15 or the second enabling device 15 The enabling device 16 activates the ON state, enabling the first enabling device in the ON state, but not enabling the other enabling device.

當第一致能裝置15首先啟動開狀態，即位於機器人末端19的第一致能裝置15先被使用者啟動，使用者位於機器人11，安全系統10致能第一致能裝置15，且未致能第二致能裝置16，安全系統10可以燈光或音響區別致能或未致能的狀態，同時安全模組14解除機器人11的停機安全狀態(即致動器復電或停止靜止監控)，由偵測狀態進入手拉教導狀態，並對控制器12中表示致能手拉機器人11的控制，為了操作方便，第一致能裝置15亦可設為具有手拉按鈕的功能。此時僅由使用者選擇的第一致能裝置15進行手拉控制，不管第二致能裝置16是否為開狀態，安全系統10皆禁止第二致能裝置16教導機器人11的控制，亦即，第二致能裝置16按壓與否不造成手拉教導狀態改變，以保護進行手拉的使用者。當安全系統10偵測第一致能裝置15切換至關狀態時，安全模組14使機器人11進入停機的安全狀態，回到偵測狀態。 When the first enabling device 15 is first activated to the ON state, that is, the first enabling device 15 located at the end 19 of the robot is first activated by the user, and the user is at the robot 11 , the safety system 10 enables the first enabling device 15 , and the first enabling device 15 is not activated. When the second enabling device 16 is enabled, the safety system 10 can distinguish the enabled or disabled state by light or sound, and the safety module 14 releases the shutdown safety state of the robot 11 at the same time. state (that is, the actuator is powered on or stopped for static monitoring), from the detection state to the hand-pull teaching state, and the controller 12 indicates that the control of the hand-pull robot 11 is enabled. For the convenience of operation, the first enabling device 15 is also Can be set to have the function of a pull button. At this time, only the first enabling device 15 selected by the user performs the hand-pull control. Regardless of whether the second enabling device 16 is on or not, the security system 10 prohibits the second enabling device 16 from teaching the control of the robot 11 , that is, , whether the second enabling device 16 is pressed or not will not cause the hand-pull teaching state to change, so as to protect the user performing the hand-pull. When the safety system 10 detects that the first enabling device 15 is switched to the off state, the safety module 14 makes the robot 11 enter the safe state of stopping, and returns to the detection state.

於偵測狀態中，當第二致能裝置16早於第一致能裝置15首先啟動開狀態，即位於示教器13的第二致能裝置16先被使用者啟動，安全系統10致能第二致能裝置16，且未致能第一致能裝置15，安全系統10可以燈光或音響區別顯示致能裝置的致能或未致能的狀態，同時安全模組14解除機器人11的停機安全狀態，由偵測狀態進至非手拉教導狀態，並對控制器12中表示致能非手拉機器人11的控制。此時僅由使用者選擇的第二致能裝置16進行控制，不管第一致能裝置15是否為開狀態，安全系統10皆禁止手拉機器人11，亦即，第一致能裝置15按壓與否不造成非手拉教導狀態改變。當安全模組14偵測第二致能裝置16切換至關狀態時，安全模組14使機器人11進入停機的安全狀態，回到偵測狀態。 In the detection state, when the second enabling device 16 is activated earlier than the first enabling device 15, that is, the second enabling device 16 located on the teach pendant 13 is first activated by the user, and the safety system 10 is enabled. The second enabling device 16 does not enable the first enabling device 15 , the safety system 10 can distinguish the enabled or disabled state of the enabling device by light or sound, while the safety module 14 cancels the shutdown of the robot 11 In the safe state, from the detection state to the non-hand-pull teaching state, the controller 12 indicates that the control of the non-hand-pull robot 11 is enabled. At this time, it is only controlled by the second enabling device 16 selected by the user. Regardless of whether the first enabling device 15 is on or not, the safety system 10 prohibits the robot 11 from being pulled by hand. That is, the first enabling device 15 presses and No does not cause the non-hand-pulled teaching state to change. When the safety module 14 detects that the second enabling device 16 is switched to the OFF state, the safety module 14 makes the robot 11 enter the safety state of stopping, and returns to the detection state.

如圖4所示，為本發明教導機器人的安全方法的流程圖。本發明教導機器人的安全方法的詳細步驟說明如下：步驟S1，機器人切換至教導模式；步驟S2，第一致能裝置及第二致能裝置均未致能，無法進行手拉或非手拉教導機器人，機器人進入安全狀態；接著進入步驟S3，當偵測第一致能裝置及第二致能裝置皆為關狀態時，進入偵測狀態；步驟S4，開始偵測第一致能裝置或第二致能裝置何者首先啟動開狀態；步驟S5，檢查第一致能裝置是否首先啟動開狀態？假如第一致能裝置為首先啟動開狀態，則至步驟S6，致能第一致能裝置，且未致能第二致能裝置，接著至步驟S7解除機器人的停機安全狀態；再至步驟S8，進入第一狀態，第一狀態相對應第一致能裝置設定作業狀態，例如第一致能裝置設在機器人末端，第一狀態可設為手拉教導狀態，則致能手拉機器人的控制。然後至步驟S9，偵測第一致能裝置切換至關狀態時，回到步驟S3的偵測狀態。 As shown in FIG. 4 , it is a flow chart of the safety method for teaching a robot according to the present invention. The detailed steps of the safety method for teaching the robot of the present invention are described as follows: step S1, the robot switches to the teaching mode; step S2, the first enabling device and the second enabling device are not enabled, and cannot be taught by hand or not by hand robot, the robot enters a safe state; then enter step S3, when the detection of the first When both the first enabling device and the second enabling device are off, enter the detecting state; step S4, start to detect which of the first enabling device or the second enabling device is turned on first; step S5, check the first enabling device Does the device start the ON state first? If the first enabling device is in the ON state first, then go to step S6 to enable the first enabling device, but not enable the second enabling device, then go to step S7 to release the robot from the shutdown safe state; then go to step S8 , enter the first state. The first state corresponds to the first enabling device to set the working state. For example, the first enabling device is located at the end of the robot. Then go to step S9, when it is detected that the first enabling device is switched to the off state, it returns to the detection state of step S3.

在步驟S5假如第一致能裝置非首先啟動開狀態，則至步驟S10，檢查第二致能裝置是否首先啟動開狀態？假如第二致能裝置非首先啟動開狀態，則回至步驟S4，繼續偵測何者致能裝置首先啟動開狀態，假如第二致能裝置首先啟動開狀態，致能第二致能裝置，且未致能第一致能裝置，接著至步驟S11解除機器人的停機安全狀態；再至步驟S12，進入第二狀態，第二狀態相對應第二致能裝置設定作業狀態，例如第二致能裝置設在示教器，第二狀態可設為非手拉教導狀態，則致能非手拉機器人的控制。然後至步驟S9偵測第二致能裝置切換至關狀態時，回到步驟S3的偵測狀態。 In step S5, if the first enabling device is not in the on state first, then go to step S10 to check whether the second enabling device is in the on state first? If the second enabling device is not the first to enable the on state, then go back to step S4 to continue to detect which enabling device first enables the on state, if the second enabling device first enables the on state, the second enabling device is enabled, and If the first enabling device is not enabled, then go to step S11 to release the shutdown safety state of the robot; then go to step S12, enter the second state, the second state corresponds to the setting operation state of the second enabling device, such as the second enabling device Set on the teach pendant, the second state can be set as the non-hand-pull teaching state, which enables the control of the non-hand-pull robot. Then, when it is detected in step S9 that the second enabling device is switched to the off state, it returns to the detection state in step S3.

因此，本發明教導機器人的安全系統及方法，就可藉由在機器人末端設置第一致能裝置，在示教器或其他位置設置的第二致能裝置，在教導模式下，由控制器偵測兩致能裝置的啟動次序，致能首先啟動開狀態的致能裝置，不致能其餘的致能裝置，選擇單一致能的致能裝置操作，避免其他使用者誤操作，達到確保使用者教導機器人的安全性的目的。 Therefore, the safety system and method of the teaching robot of the present invention can be detected by the controller by setting the first enabling device at the end of the robot and the second enabling device at the teaching pendant or other positions in the teaching mode. Measure the activation sequence of the two enabling devices, enable the enabling device in the open state first, and disable the rest of the enabling devices, select a single enabling device for operation, avoid misoperation by other users, and ensure that the user can teach the robot. for security purposes.

以上所述者，僅為用以方便說明本發明之較佳實施例，本發明之範圍不限於該等較佳實施例，凡依本發明所做的任何變更，於不脫離本發明之精神下，皆屬本發明申請專利之範圍。 The above descriptions are only for the convenience of describing the preferred embodiments of the present invention. The scope of the invention is not limited to these preferred embodiments, and any changes made according to the present invention, without departing from the spirit of the present invention, all belong to the scope of the patent application of the present invention.

Claims

一種教導機器人的安全系統，包含： A safety system for teaching robots, including:

機器人，具有多肘節，一端為固定基座，另一端為活動的末端，該末端設置第一致能裝置，該各肘節中設置致動器及位置感測器； The robot has multiple toggles, one end is a fixed base, the other end is a movable end, the end is provided with a first enabling device, and each toggle is provided with an actuator and a position sensor;

控制器，連接該機器人，控制該致動器及該位置感測器，移動該機器人的末端； a controller, connected to the robot, controls the actuator and the position sensor, and moves the end of the robot;

第二致能裝置，連接至該控制器； a second enabling device, connected to the controller;

安全模組，設於該控制器內，與該第一致能裝置及該第二致能裝置電性或通訊相連，依據致能的該第一致能裝置或該第二致能裝置關狀態，發出電性或通訊訊號，使機器人進入安全狀態； A security module, disposed in the controller, is electrically or communicatively connected with the first enabling device and the second enabling device, and is in an off state according to the enabled first enabling device or the second enabling device , send out electrical or communication signals to make the robot enter a safe state;

其中，該控制器偵測該第一致能裝置或該第二致能裝置，致能首先啟動開狀態的致能裝置，不致能另一致能裝置。 Wherein, the controller detects the first enabling device or the second enabling device, and enables the enabling device in the ON state first, but cannot enable the other enabling device.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該安全模組電性或通訊連接該各肘節之該位置感測器，接收該位置感測器的訊號進行監控該機器人的活動狀態，當監控該機器人產生運動，即關斷該致動器電源，使該機器人進入安全狀態。 The safety system for teaching a robot as described in item 1 of the claimed scope, wherein the safety module is electrically or communicatively connected to the position sensor of each toggle, and receives the signal of the position sensor to monitor the safety of the robot. In the active state, when the robot is monitored to generate movement, the power supply of the actuator is turned off, so that the robot enters a safe state.

如申請專利範圍第2項所述之教導機器人的安全系統，其中該安全模組監控該機器人的速度，超過預設速度限制時，使該機器人進入安全狀態。 The safety system for teaching a robot as described in item 2 of the scope of the patent application, wherein the safety module monitors the speed of the robot, and when a preset speed limit is exceeded, the robot enters a safe state.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該第一致能裝置或該第二致能裝置處於關狀態時，該安全模組使該機器人進入安全狀態，而該第一致能裝置或該第二致能裝置處於開狀態時，該安全模組取消該機器人的安全狀態。 The safety system for teaching a robot as described in item 1 of the claimed scope, wherein when the first enabling device or the second enabling device is in an off state, the safety module enables the robot to enter a safe state, and the first enabling device or the second enabling device is in an off state. When the enabling device or the second enabling device is in an on state, the safety module cancels the safety state of the robot.

如申請專利範圍第4項所述之教導機器人的安全系統，其中該安全模組切斷該致動器的電力，或經過固定時間或觀察該機器人減速運動達成後，關斷該致動器電源，或開啟靜止監控安全功能，使該機器人進入安全狀態。 The safety system for teaching a robot as described in claim 4, wherein the safety module cuts off the power to the actuator, or turns off the power to the actuator after a fixed period of time or after observing that the robot decelerates. , or turn on the static monitoring safety function to make the robot enter a safe state.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該第一致能裝置或該第二致能裝置以燈光或音響區別顯示致能或未致能的狀態。 The safety system for teaching a robot as described in item 1 of the claimed scope, wherein the first enabling device or the second enabling device displays the enabled or disabled states by means of lights or sounds.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該第一致能裝置設為具有手拉按鈕的功能。 The safety system for teaching a robot as described in claim 1, wherein the first enabling device is configured to have the function of pulling a button.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該第二致能裝置設置在連接至該控制器的示教器上，或為獨立的一個手持致能裝置。 The safety system for teaching a robot as described in claim 1, wherein the second enabling device is disposed on a teaching pendant connected to the controller, or is an independent hand-held enabling device.

一種教導機器人的安全方法，包含： A safe method for teaching robots, including:

切換至教導模式，第一致能裝置或第二致能裝置均未致能，機器人進入安全狀態； Switch to the teaching mode, the first enabling device or the second enabling device are not enabled, and the robot enters a safe state;

偵測該第一致能裝置及該第二致能裝置皆為關狀態； detecting that both the first enabling device and the second enabling device are off;

進入偵測狀態，開始偵測該第一致能裝置或該第二致能裝置何者首先啟動開狀態； Enter the detection state, and start to detect which of the first enabling device or the second enabling device is turned on first;

當該第一致能裝置首先啟動開狀態時，致能該第一致能裝置，且未致能該第二致能裝置； When the first enabling device first starts the on state, enabling the first enabling device and not enabling the second enabling device;

解除該機器人的安全狀態； Release the safe state of the robot;

進入第一狀態。 enter the first state.

如申請專利範圍第9項所述之教導機器人的安全方法，其中該第一致能裝置非首先啟動開狀態，再檢查該第二致能裝置非首先啟動開狀態，則回至該偵測狀態繼續偵測何者首先啟動開狀態。 The safety method for teaching a robot as described in item 9 of the scope of the application, wherein the first enabling device is not turned on first, and then checks that the second enabling device is not turned on first, and then returns to the detection state Continue to detect which one activates the on state first.

如申請專利範圍第10項所述之教導機器人的安全方法，其中檢查該第二致能裝置為首先啟動開狀態，致能該第二致能裝置，未致能該第一致能裝置，解除該機器人的安全狀態，進入第二狀態。 The safety method for teaching a robot as described in claim 10 of the scope of the application, wherein checking that the second enabling device is in the first ON state, enabling the second enabling device, failing to enable the first enabling device, disabling The safe state of the robot enters the second state.

如申請專利範圍第11項所述之教導機器人的安全方法，其中該第二狀態設為非手拉教導狀態，致能非手拉該機器人的控制，該第一狀態設為手拉教導狀態，致能手拉該機器人的控制。 The safety method for teaching a robot as described in item 11 of the scope of the patent application, wherein the second state is set to a non-hand-pull teaching state, enabling control of the robot without hand-pulling, and the first state is set to a hand-pull teaching state, Enables hand-pull control of the robot.

如申請專利範圍第11項所述之教導機器人的安全方法，其中進入該第一狀態或進入該第二狀態，偵測該第一致能裝置或該第二致能裝置切換至關狀態時，回到偵測狀態。 The safety method for teaching a robot as described in item 11 of the claimed scope, wherein when entering the first state or entering the second state, and detecting that the first enabling device or the second enabling device is switched to the off state, Return to detection state.