TWI748501B

TWI748501B - Safety system and method for teaching a robot

Info

Publication number: TWI748501B
Application number: TW109118891A
Authority: TW
Inventors: 王培睿; 郭耀庭; 黃識忠
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: 2021-12-01
Also published as: TW202146195A

Abstract

The invention is to disclose a safety system and method for teaching a robot, which configures suitable safety system by presetting corresponding safety module and safety function for each operation mode. When a mode switch device switches among the operation modes of the robot, the safety system starts corresponding safety module and safety function for the chosen operation mode to ensure special safety module and safety function for each operation mode.

Description

教導機器人的安全系統及方法 Teaching robot safety system and method

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自動與手拉或非手拉模式下，對於使用者執行教導機器人，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 a user to perform teaching and protection of the robot when the robot is switched between automatic and hand-pulled or non-pulled 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, factories use robots to assist operators in rapid processing, assembly and manufacturing operations and improve factory production efficiency. However, the normal operation of robots seriously affects the safety of operators. Therefore, various countries have set strict regulations. Safety standards and regulations to maintain the 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 Figure 5. In the prior art, in order to teach the robot 1 to operate, a hand pull button 2 is set at the end of the robot 1. The hand pull button is usually designed as a Hold to Run or a button on the software. Connect to the controller 3 of the robot 1 via a sexual or communication connection. When the teach pendant 4 sets the robot 1 in the teaching mode, when the user presses the hand pull button 2, a signal informs the controller 3 to switch the robot 1 from a stationary state to the hand guidance mode (Hand Guiding). The prior art hand-pulling mode has many ways. For example, the encoders and motor current sensors of the actuators in each toggle 5 of the robot 1 are calculated and compensated to learn the force applied to each joint or the hand-pulling of the end. Apply force to control the robot 1 to move in compliance with the hand. Use the hand-drawn robot 1 to record the position or the hand-drawn path to teach the robot 1 to work. And when the pull button 2 is released, the robot 1 will switch out of the pull mode and return to the static state. Halt 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6通常在示教器4，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，安全系統7啟動中斷教導行為，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7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 comply with the requirements of the safety standard ISO 10218-1, the teach pendant 4 of the aforementioned prior art robot 1 is equipped with an enable device in the teaching mode to protect cooperating users. The enabling device 6 is usually in the teach pendant 4, which is a three-position button (3 Position Enabling Switch). Its structure is designed with three pressing stages, which are fully released, neutral, and pressed, of which only the neutral position can enable the robot 1. When the teaching behavior is fully released or pressed, the electrical or communication is transmitted to the controller 3, and the safety system 7 starts to interrupt the teaching behavior to stop the movement of the robot 1 and monitor it through "Stand Still Monitoring" The robot 1 does not act rashly when the actuator is still powered. If the monitoring finds that the robot is moving, the safety system 7 will cut off the power to the actuator of the robot 1 to protect the safety of the user during the teaching process.

然而，前述先前技術的機器人在教導模式下，需進行手拉，或協同工作，或例如吋動、試跑等非手拉等多種教導作業，而各種教導作業均有不同的安全需求，除此以外更有自動模式下之手拉牽引，以單一功能的安全系統套用至全部教導作業，極易造成使用者的危險。因此，機器人在手拉牽引的安全系統及方法上，仍有問題亟待解決。 However, in the teaching mode of the aforementioned prior art robots, they need to be hand-drawn, or work collaboratively, or a variety of teaching tasks such as inching, trial running and other non-hand-drawn tasks, and various teaching tasks have different safety requirements, except for this. In addition, there is a hand-drawn traction in automatic mode, and a single-function safety system is applied to all teaching operations, which is very easy to cause danger to users. Therefore, there are still problems that need to be solved urgently in the safety system and method of the robot in the hand-drawn traction.

本發明的目的提供一種教導機器人的安全系統，藉由模式切換裝置切換機器人多種運行模式，配合致能裝置，啟用相對應各教導模式預設不同的安全模組及安全功能，以方便切換模式。 The object of the present invention is to provide a safety system for teaching robots. The mode switching device switches multiple operating modes of the robot, and cooperates with the enabling device to enable preset different safety modules and safety functions corresponding to each teaching mode to facilitate switching modes.

本發明的另一目的提供一種教導機器人的安全方法，利用預設各運行模式相對應的安全模組及安全功能切換機器人，建構各運行模式專適合的安全系統，以確保使用者的安全。 Another object of the present invention is to provide a safety method for teaching robots, using preset safety modules and safety functions corresponding to each operation mode to switch the robot to construct a safety system suitable for each operation mode to ensure the safety of users.

本發明的再一目的提供一種教導機器人的安全方法，在各種運行模式切換至手拉模式時，都能維持手拉模式專有的安全模組及安全功能，以提升使用者的安全性。 Another object of the present invention is to provide a safety method for teaching robots, which can maintain the specific safety module and safety functions of the pull mode when various operating modes are switched to the pull mode, so as to enhance the safety of the user.

為了達到前述發明的目的，本發明教導機器人的安全系統，具有多肘節的機器人，一端為活動的末端，各肘節中設置致動器及位置感測器，連接控制器，控制致動器及位置感測器，移動機器人的末端，致能裝置連接至該控制器，安全模組設於該控制器內，與能裝置電性或通訊相連，依據致能裝置開關狀態，發出電性或通訊訊號，使該機器人進入安全狀態或取消安全狀態，安全功能單元，設於該控制器內，與該安全模組電性或通訊相連，監控的該機器人的安全功能超過預設限制時，讓安全模組使機器人進入安全狀態，模式切換裝置與控制器、安全模組及安全功能單元電性或通訊相連，切換機器人的複數運行模式，當模式切換裝置切換機器人至各運行模式，使安全模組及安全功能單元啟用相對應各運行模式預設的安全模組及安全功能。 In order to achieve the purpose of the foregoing invention, the present invention teaches a safety system for a robot. A robot with multiple toggle joints has a movable end at one end. An actuator and a position sensor are set in each toggle joint, and the controller is connected to control the actuator. And the position sensor, the end of the mobile robot, the enabling device is connected to the controller, the safety module is set in the controller, and is electrically or communicatively connected to the enabling device. According to the switch state of the enabling device, it emits electrical or The communication signal enables the robot to enter the safe state or cancel the safe state. The safety function unit is set in the controller and is electrically or communicatively connected to the safety module. When the safety function of the monitored robot exceeds the preset limit, The safety module makes the robot enter a safe state. The mode switching device is electrically or communicatively connected to the controller, the safety module and the safety function unit to switch the plural operation modes of the robot. When the mode switching device switches the robot to each operation mode, the safety mode Groups and safety function units enable the safety modules and safety functions preset for each operation mode.

本發明的安全模組電性或通訊連接機器人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。安全模組至少包含以下一種安全狀態的類型，零類安全狀態為斷電停機功能，進入安全狀態時，直接關斷該致動器電力，一類安全狀態為進階斷電停機功能，進入安全狀態時，對該控制器下達減速命令後，經過固定時間該機器人減速運動達成後，關斷該致動器電源，二類安全狀態為非斷電停機功能，進入安全狀態時，對該控制器下達減速命令後，經過固定時間該機器人減速運動達成後，開啟靜止監控安全功能，持續監控該位置感測器，當監控該機器人產生運動，即關斷該致動器電源。本發明的安全功能單元啟動至少一項以上的下列安全功能：肘節之角度限制、機器人末端的空間位置限制、力量限制或速度限制等。 The safety module of the present invention is electrically or communicatively connected to the position sensors of each toggle of the robot, and receives signals from the position sensors to monitor the robot. The safety module includes at least one of the following types of safety states. The zero safety state is the power-off shutdown function. When entering the safe state, the actuator power is directly shut off. The first safety state is the advanced power-off shutdown function and enters the safe state. When a deceleration command is issued to the controller, the actuator will be turned off after a fixed period of time when the deceleration movement of the robot is achieved. The second type of safety state is the non-power-off stop function. When the controller enters the safe state, the controller will be issued After the deceleration command, after the deceleration movement of the robot is reached for a fixed time, the static monitoring safety function is turned on to continuously monitor the position sensor. When the robot is monitored for movement, That is, the actuator power is turned off. The safety function unit of the present invention activates at least one of the following safety functions: the angle limit of the toggle, the space position limit of the end of the robot, the force limit or the speed limit, etc.

本發明教導機器人的安全系統的模式切換裝置切換的運行模式包含教導模式及自動模式，教導模式又包含手拉模式、手動低速模式及手動高速模式。模式切換裝置設於機器人的示教器，或由控制器外接。模式切換裝置為多位置旋鈕，透過旋鈕位置標示模式，或以燈號顯示模式。模式切換裝置亦可為純軟體按鍵、或硬體按鍵組合、或軟體與硬體組合按鍵。 The operating mode switched by the mode switching device of the safety system of the teaching robot of the present invention includes a teaching mode and an automatic mode, and the teaching mode includes a hand-pulling mode, a manual low-speed mode, and a manual high-speed mode. The mode switching device is installed on the robot's teach pendant, or externally connected by the controller. The mode switching device is a multi-position knob, through which the position of the knob indicates the mode, or the mode is displayed by the light. The mode switching device can also be a pure software button, or a combination of hardware buttons, or a combination of software and hardware buttons.

本發明教導機器人的安全方法，預設各運行模式相對應的安全模組及安全功能，安全模組及安全功能，啟用與否及限制值，依機器人各運行模式的需求預先設定。進行切換模式，檢查切換的模式為教導模式，例如手動低速模式或手動高速模式，進入教導模式，啟用教導模式預設相對應的安全模組及安全功能，停機機器人進入安全狀態，使致能裝置致能，偵測該致能裝置的開狀態，解除機器人的安全狀態，進行教導機器人作業。檢查機器人完成作業，則結束作業，未完成作業則回至切換模式繼續作業。 The present invention teaches the safety method of the robot. The safety module and safety function corresponding to each operation mode are preset. The safety module and safety function, whether to enable or not and the limit value are preset according to the requirements of each operation mode of the robot. Switch the mode, check that the switched mode is the teaching mode, such as manual low-speed mode or manual high-speed mode, enter the teaching mode, enable the corresponding safety module and safety function of the teaching mode preset, stop the robot to enter the safe state, and enable the device Enable, detect the on state of the enabling device, release the safe state of the robot, and teach the robot. When the inspection robot completes the job, it ends the job, and if the job is not completed, it returns to the switching mode to continue the job.

本發明檢查切換的模式為自動模式時，啟動該自動模式預設相對應的安全功能，監控機器人，進行機器人自動作業。檢查切換的模式為手拉模式時，進入手拉模式，至少持續按壓致能裝置，解除安全狀態，並致能手拉功能。本發明自手動慢速模式或手動高速模式或自動模式切換至手拉模式時，該機器人自行記錄運行程序的斷點，並啟動該手拉模式預先設定的安全模組及安全功能，手拉教導該機器人作業後，切回各運行模式後，從中斷點繼續運行程序。 When the switching mode of the present invention is the automatic mode, the preset corresponding safety function of the automatic mode is activated, the robot is monitored, and the robot is automatically operated. Check that when the switched mode is the hand-pulling mode, enter the hand-pulling mode and at least keep pressing the enabling device to release the safe state and enable the hand-pulling function. When the present invention switches from manual slow speed mode or manual high speed mode or automatic mode to hand pull mode, the robot records the breakpoint of the running program by itself, and starts the hand pull mode preset The first set of safety modules and safety functions, after the robot is taught to work by hand, after switching back to each operation mode, the program will continue to run from the interruption point.

10:安全系統 10: Security system

11:機器人 11: Robot

12:控制器 12: Controller

13:示教器 13: Teach Pendant

14:安全模組 14: Security module

15:安全功能單元 15: Safety function unit

16:致能裝置 16: Enabling device

17:模式切換裝置 17: Mode switching device

18:肘節 18: toggle

19:基座 19: Pedestal

20:末端 20: end

21:位置感測器 21: 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。 Figure 2 is a schematic diagram of the control function of the security system of the present invention.

圖3 為本發明利用模式切換裝置切換模式的示意圖。 Fig. 3 is a schematic diagram of switching modes using a mode switching device according to the present invention.

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

圖5 為先前技術手拉教導機器人的示意圖。 Figure 5 is a schematic diagram of the prior art hand-drawn 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。 With regard to the technical means adopted by the present invention in order to achieve the above-mentioned objects and their effects, preferred embodiments are described below in conjunction with the drawings.

機器人為了符合安全標準規範ISO 10218-1之要求，具備以下幾種運行模式(Operation Mode)：自動模式(Auto Mode)、手動(或稱教導)模式(Manual Mode)，教導模式又分為手動低速模式(Manual Reduced Mode)及手動高速模式(Manual High Speed Mode)，其中自動模式定義為機器人自動運行程式，用於生產自動化作業，使用者為產線作業員；手動或教導模式則非用於生產自動化作業，而是用於機器人程式之編寫與測試，使用者為自動化工程師，其中手動低速模式用於點位教導、程式編纂、低速之試跑，而手動高速模式專門只用於程式之試跑，可達程式中全速之試跑，與自動模式功能相近但須額外安全裝置保護-於示教器上須持續按壓致能裝置以保安全。這些傳統之運行模式之切換常用模式切換裝置(Mode Switch)進行切換，如AUT(自動模式)、T1(手動低速模式)、T2(手動高速模式)之三位置旋鈕切換。而手拉牽引功能於ISO 10218-1中僅定義為協作功能，但未明述用於以上哪種用途，蓋因協作機器人技術尚仍處於發展期，安規尚未對新興技術之手拉牽引加以定義。目前手拉牽引已被用於各種運行模式，常見的有用於手動或教導模式中，便利自動化工程師教導點位、拖拉路徑，除此之外，亦常見用於自動模式中，便利產線操作員進行以下任務：手拉移動(例如牽引機器人至下一工作起始點)、手拉示範(例如手拉示範工作路徑)、手拉協作(例如使機器人舉重而由人引導其放置位置)，以上自動模式下之手拉牽引非安全規範中之教導行為，而是自動生產過程中之手拉牽引操作。由此可見，手拉牽引可廣泛使用於自動模式、手動或教導模式。 In order to meet the requirements of the safety standard ISO 10218-1, the robot has the following operating modes: Auto Mode, Manual (or teaching) mode, and the teaching mode is divided into manual low speed Mode (Manual Reduced Mode) and Manual High Speed Mode (Manual High Speed Mode), in which the automatic mode is defined as the robot automatically runs the program, used for production automation operations, the user is the production line operator; manual or teaching mode is not used for production Automated operations are used for writing and testing robot programs. The user is an automation engineer. The manual low-speed mode is used for point teaching, programming, and low-speed test runs, while the manual high-speed mode is only used for program test runs. , Can reach the full speed test run in the program, similar to the automatic mode function but need additional safety device protection-keep pressing the enable device on the teach pendant to ensure safety. These traditional mode switching devices (Mode Switch) to switch, such as AUT (automatic mode), T1 (manual low-speed mode), T2 (manual high-speed mode) three-position knob switch. The hand pull function is only defined as a collaboration function in ISO 10218-1, but it is not clearly stated which purpose it is used for. The Gein collaborative robot technology is still in the development stage, and the safety regulations have not yet defined the emerging technology of hand pull. At present, manual traction has been used in various operating modes. Commonly used in manual or teaching mode, it is convenient for automation engineers to teach points and drag paths. In addition, it is also commonly used in automatic mode to facilitate production line operators. Carry out the following tasks: hand-drawn movement (for example, pulling the robot to the next starting point of work), hand-drawn demonstration (for example, hand-drawn demonstration of the working path), hand-drawn collaboration (for example, the robot lifts weight and the human guides its placement position), above The hand-pulling operation in automatic mode is not the teaching behavior in the safety specification, but the hand-pulling operation in the automatic production process. It can be seen that the hand traction can be widely used in automatic mode, manual or teaching mode.

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為本發明利用模式切換裝置切換模式的示意圖。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、安全功能單元15、致能裝置16及模式切換裝置17等。其中機器人11具有多肘節18，一端為固定的基座19，另一端為活動的末端20。機器人11連接至控制器12，控制器12內含一安全模組14及安全功能單元15。控制器12藉由控制各肘節18中的致動器及位置感測器21，控制移動機器人11的末端20。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。本發明的致能裝置16可設於示教器13或設於機器人11例如末端20，或使用者由控制器12外接獨立的致能裝置16，致能裝置16可設置於以上任一位置或複數位置設置。模式切換裝置17，可為機器人示教器13內建，或使用者由控制器12外接的模式切換裝置17。 Please refer to FIGS. 1 to 2 at the same time. FIG. 1 is a schematic diagram of the safety system of the teaching robot of the present invention, FIG. 2 is a schematic diagram of the control function of the safety system of the present invention, and FIG. 3 is a schematic diagram of switching modes using the mode switching device of the present invention. 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 safety function unit 15, an enabling device 16, a mode switching device 17, and the like. The robot 11 has a multi-toggle 18, one end is a fixed base 19, and the other end is a movable end 20. The robot 11 is connected to the controller 12, and the controller 12 contains a safety module 14 and a safety function unit 15. The controller 12 controls the end 20 of the mobile robot 11 by controlling the actuator and the position sensor 21 in each toggle 18. The controller 12 is connected to the teach pendant 13 for editing programs of the robot 11 or operating and controlling the robot 11. The enabling device 16 of the present invention can be installed on the teach pendant 13 or on the robot 11 such as the terminal 20, or the user can connect an independent enabling device 16 from the controller 12, and the enabling device 16 can be installed in any of the above positions or Plural position settings. Mode switching device 17, It can be a built-in robot teach pendant 13 or a mode switching device 17 external to the controller 12 by the user.

圖2中，安全模組14及安全功能單元15經由控制器12與致能裝置16、模式切換裝置17及位置感測器21電性或通訊相連。致能裝置16具備開狀態(ON)與關狀態(OFF)操作的功能，當致能裝置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電性或通訊連接機器人11各肘節18之位置感測器21，接收位置感測器21的訊號進行監控機器人11的活動狀態。 In FIG. 2, the safety module 14 and the safety function unit 15 are electrically or communicatively connected to the enabling device 16, the mode switching device 17 and the position sensor 21 via the controller 12. The enabling device 16 has the functions of ON and OFF operations. When the enabling device 16 is in the ON state, the safety module 14 cancels the safe state of the robot 11, and when the enabling device When 16 is in the OFF state, the safety module 14 stops the robot 11 into a safe state. The safety module 14 is electrically or communicatively connected to the position sensor 21 of each toggle 18 of the robot 11, and receives signals from the position sensor 21 to monitor the activity state of the robot 11.

安全模組14停機機器人11進入安全狀態有三種類型，零類安全狀態為斷電停機功能：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。一類安全狀態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。二類安全狀態為非斷電停機功能：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21，當監控機器人11產生運動，即關斷致動器電源。 The safety module 14 shuts down the robot 11 into the safe state in three types. The zero safety state is the power-off shutdown function: when the safety module 14 determines that the robot 11 should enter the safe state, it directly shuts off the actuator power. The first type of safety state is the advanced power-off shutdown function: when the safety module 14 determines that the robot 11 should enter the safe state, after a deceleration command is issued to the controller 12, after a fixed period of time or after observing the deceleration movement of the robot 11, the actuation is turned off器 Power Supply. The second type of safety state is the 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 period of time or after observing the deceleration movement of the robot, the stationary monitoring safety function is turned on (Standstill Monitoring), the position sensor 21 is continuously monitored, and when the monitoring robot 11 moves, the actuator power is turned off.

本發明的安全功能單元15可利用控制器12經由安全模組監控機器人11，啟動單一或多項安全功能，例如肘節18之角度限制、機器人11末端20的空間位置限制、力量限制(Power and force limiting)或速度限制等，但包含且不限於本實施例列舉的安全功能。當監控的機器人11的安全功能，超過預設限制而產生異常時，讓安全模組14使機器人11進入安全狀態。本發明的安全模組14的各類安全狀態，及安全功能單元15的多項安全功能，啟用與否，及限制值，係依機器人11不同模式的需求而預先選擇設定。 The safety function unit 15 of the present invention can use the controller 12 to monitor the robot 11 through the safety module to activate single or multiple safety functions, such as the angle limit of the toggle 18, the space position limit of the end 20 of the robot 11, and the power limit (Power and force limit). limiting) or speed limitation, but it includes and is not limited to the safety functions listed in this embodiment. When the safety function of the monitored robot 11 exceeds the preset limit and an abnormality occurs, let the safety module 14 make the robot 11 enter the safety state. The various safety states of the safety module 14 of the present invention, and the multiple safety functions of the safety function unit 15, whether they are enabled or not, and their limit values are pre-selected and set according to the requirements of different modes of the robot 11.

圖3中，本發明的模式切換裝置17為多位置旋鈕，可於示教器13上透過旋鈕位置標示模式，或以燈號顯示模式。模式切換裝置17亦可為純軟體按鍵、硬體按鍵組合、或軟體與硬體組合按鍵，例如硬體按壓或旋轉允許輸入目標模式，接著由軟體選擇目標模式，再由硬體確認切往的模式。模式切換裝置17可切換機器人11的多種運行模式(Operation Mode)，本實施例舉例包含自動模式(A模式)，手拉模式(H模式)及非手拉模式，非手拉模式包含手動低速模式(T1模式)與手動高速模式(T2模式)等，但包含且不限於本實施例列舉的運行模式。 In FIG. 3, the mode switching device 17 of the present invention is a multi-position knob, and the mode can be indicated by the position of the knob on the teach pendant 13, or the mode can be displayed by a light signal. The mode switching device 17 can also be a pure software button, a combination of hardware buttons, or a combination of software and hardware. For example, hardware pressing or rotating allows input of the target mode, and then the software selects the target mode, and then the hardware confirms the switch to model. The mode switching device 17 can switch multiple operation modes (Operation Mode) of the robot 11. The present embodiment includes automatic mode (A mode), hand mode (H mode), and non hand mode. The non hand mode includes manual low speed mode. (T1 mode) and manual high-speed mode (T2 mode), etc., but include but are not limited to the operation modes listed in this embodiment.

當使用者利用模式切換裝置17切入手拉模式(H模式)時，本發明機器人11進入安全狀態，因使用者切換手拉模式是要繼續手拉牽引機器人11，安全模組14將手拉模式預設為非斷電停機功能的二類安全狀態，再由使用者至少持續按壓致能裝置16，解除安全狀態，並致能手拉功能，由使用者手拉牽引機器人11，進行例如手拉牽引機器人至下一工作起始點，或手拉示範工作路徑，或手拉協作機器人舉重引導放置等。由於在手拉模式下，使用者接近機器人11作業，需要嚴格的安全保護，因此預設安全功能單元15的肘節18之角度限制、機器人11末端20的空間位置限制、力量限制及速度限制等多項安全功能，以確保使用者安全。 When the user uses the mode switching device 17 to switch to the hand-pulling mode (H mode), the robot 11 of the present invention enters a safe state. Because the user switches the hand-pulling mode to continue to pull the robot 11 by hand, the safety module 14 sets the hand-pulling mode The second type of safety state is preset as the non-power-off shutdown function, and then the user keeps pressing the enabling device 16 at least to release the safe state and enable the hand-pulling function. The user pulls the robot 11 by hand, for example, pulls the robot 11 by hand. The robot goes to the next starting point of work, or hand-pulled to demonstrate the working path, or hand-pulled collaborative robot to lift and guide the placement. Since the user is close to the robot 11 in the manual mode, strict safety protection is required. Therefore, the angle limit of the toggle 18 of the safety function unit 15, the space position limit of the end 20 of the robot 11, the force limit and the speed limit are preset. Multiple safety functions to ensure user safety.

使用者利用模式切換裝置17切換至非手拉的手動低速模式(T1模式)，安全模組14將手動低速模式可預設例如為一類安全狀態的進階斷電停機功能，切換後安全模組14先進入安全狀態，確保機器人已停機之後，重新啟動對致能裝置16之監控與反應，此時致能裝置16用於致能包含但不限於非手拉教導或教導驗證動作，例如對各肘節18、機器人11、末端20的坐標系各軸方向進行吋動，或機器人11校正動作，或末端20移動到特定點位之動作，或單步執行教導編程之動作等。由於在手動低速模式屬非手拉模式，使用者未接近機器人11作業，不需要嚴格的安全保護，因此僅需預設安全功能單元15的力量限制及速度限制等項安全功能。 The user uses the mode switching device 17 to switch to the manual low-speed mode (T1 mode) that is not hand-drawn, and the safety module 14 presets the manual low-speed mode to, for example, a type of advanced safety state. Power-off shutdown function. After switching, the safety module 14 first enters the safe state to ensure that after the robot has stopped, it restarts the monitoring and response to the enabling device 16. At this time, the enabling device 16 is used for enabling including but not limited to non-hands Pull teaching or teaching verification actions, such as inching movement of each axis of the coordinate system of each toggle 18, robot 11, and end 20, or correcting actions of the robot 11, or moving the end 20 to a specific point, or single-step execution Teaching programming actions, etc. Since the manual low-speed mode is a non-pull mode, the user does not approach the robot 11 to work and does not require strict safety protection. Therefore, only the power limit and speed limit of the safety function unit 15 need to be preset for safety functions.

使用者利用模式切換裝置17切換至手動高速模式(T2模式)，因高速移動對使用者危害較大，安全模組14將手動高速模式可預設例如為零類安全狀態為斷電停機功能，切換後安全模組14先進入安全狀態，確保機器人已停機之後，重新啟動對致能裝置16之監控與反應，需持續按壓致能裝置16始能連續致能，進行例如手動試跑等。由於在手動高速模式屬非手拉模式，使用者未接近機器人11作業，不需要嚴格的安全保護，因此僅需預設安全功能單元15的速度限制等項安全功能。 The user uses the mode switching device 17 to switch to the manual high-speed mode (T2 mode). Because high-speed movement is more harmful to the user, the safety module 14 sets the manual high-speed mode to be preset, for example, to the zero safety state as the power-off shutdown function. After switching, the safety module 14 first enters the safe state to ensure that after the robot has stopped, the monitoring and response to the enabling device 16 are restarted. The enabling device 16 must be continuously pressed to enable continuous enabling, such as a manual trial run. Since the manual high-speed mode is a non-pull mode, the user is not close to the robot 11 to work, and strict safety protection is not required. Therefore, only safety functions such as the speed limit of the safety function unit 15 need to be preset.

使用者利用模式切換裝置17切換至自動模式(A模式)，由使用者藉控制器12控制機器人11進行自動作業。由於自動模式，因自動移動對使用者危害較大，安全模組14將手動高速模式可預設例如為零類安全狀態為斷電停機功能，另需監控機器人11自動作業是否異常，因此當自動運行為協作情境時，需啟用預設安全功能單元15的機器人11末端20的空間位置限制、力量限制及速度限制等多項安全功能，而當自動模式為非協作情境時則可不啟用，以確保作業效率。 The user uses the mode switching device 17 to switch to the automatic mode (A mode), and the user uses the controller 12 to control the robot 11 to perform automatic operations. Due to the automatic mode, because automatic movement is more harmful to the user, the safety module 14 sets the manual high-speed mode to be preset, for example, to the zero safety state as the power-off shutdown function. It is also necessary to monitor whether the automatic operation of the robot 11 is abnormal. When running in a cooperative situation, multiple safety functions such as the space position limit, force limit and speed limit of the robot 11 end 20 of the preset safety function unit 15 need to be activated. When the automatic mode is in a non-cooperative situation, it can be disabled to ensure the operation efficient.

利用模式切換裝置17自手動慢速模式或手動高速模式或自動模式切換至手拉模式時，機器人11自行記錄運行程序的斷點，並啟動手拉模式預先設定的二類安全狀態的安全模組14及多項安全功能，致能手拉功能，在維持手拉模式專用的安全系統下，由使用者手拉教導機器人11修正新作業程序後，切回各運行模式後，從中斷點繼續運行程序。前述本實施利對各運行模式預設的安全模式及安全功能為舉例說明，本發明包含且不限於本實施例的設定項目。 Use the mode switching device 17 from manual slow mode or manual high speed mode or auto When the hand-pulling mode is switched to the hand-pulling mode, the robot 11 records the breakpoints of the running program by itself, and activates the safety module 14 of the second-class safety state preset in the hand-pulling mode and multiple safety functions to enable the hand-pulling function. Under the mode-specific safety system, the user will teach the robot 11 to correct the new operating program by hand, and then switch back to each operation mode, and continue to run the program from the point of interruption. The foregoing embodiment uses the preset safety modes and safety functions of each operation mode as examples, and the present invention includes but is not limited to the setting items of this embodiment.

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，依照機器人各種運行模式的需要，預設各教導模式相對應的安全模組的安全狀態種類；步驟S2，依照機器人各種運行模式的需要，預設各運行模式相對應的安全模組的安全功能；步驟S3，進行切換模式；步驟S4，檢查切換的模式是否為自動模式？假如切換的模式不為自動模式，則至步驟S5，再檢查切換的模式是否為手拉模式？假如切換的模式為手拉模式，則至步驟S6，進入手拉模式；至步驟S7，啟動該模式預設相對應的安全模組，停機機器人進入安全狀態；再至步驟S8，啟動該模式預設相對應的安全功能，監控機器人；接著在步驟S9，使致能裝置致能，在步驟S10，偵測致能裝置的開狀態，解除機器人的安全狀態，進行教導機器人作業，然後至步驟S11，檢查機器人的是否完成作業？假如機器人完成作業，則至步驟S12，結束作業，假如機器人未完成作業，則回至步驟S3，繼續切換模式。 As shown in Fig. 4, it is a flow chart of the safety method for teaching robots in the present invention. The detailed steps of the safety method for teaching a robot of the present invention are described as follows: Step S1, according to the needs of various operating modes of the robot, preset the safety state types of the safety modules corresponding to each teaching mode; Step S2, according to the needs of various operating modes of the robot , Preset the security function of the security module corresponding to each operating mode; step S3, switch mode; step S4, check whether the switched mode is automatic mode? If the switched mode is not the automatic mode, go to step S5, and then check whether the switched mode is the hand-drawn mode? If the switched mode is the hand-pulling mode, go to step S6 to enter the hand-pulling mode; to step S7, start the safety module corresponding to the mode preset, and stop the robot to enter the safe state; go to step S8 to start the mode preset Set the corresponding safety function to monitor the robot; then in step S9, enable the enabling device, in step S10, detect the on state of the enabling device, release the safe state of the robot, and perform the teaching robot operation, and then go to step S11 , Check whether the robot has completed the job? If the robot completes the work, go to step S12 to end the work. If the robot does not complete the work, go back to step S3 and continue to switch modes.

在步驟S4，檢查切換的模式為自動模式時，則至步驟S13，進入自動模式，接著至步驟S14，啟動自動模式預設相對應的安全模組及安全功能，監控機器人，進行機器人自動作業，然後回至步驟S11，繼續作業。 In step S4, check that the switched mode is the automatic mode, go to step S13, enter the automatic mode, and then go to step S14, start the safety module and safety function corresponding to the automatic mode preset, monitor the robot, and perform the robot automatic operation, Then return to step S11 to continue the operation.

在步驟S5，檢查切換的模式不為手拉模式時，則至步驟S15，檢查切換的模式是否為手動高速模式？假如檢查切換的模式為手動高速模式，則至步驟S16，進入手動高速模式，然後回至步驟S7，繼續作業，假如檢查切換的模式不為手動高速模式，則至步驟S17，進入手動低速模式，然後回至步驟S7，繼續作業。 In step S5, check that the switched mode is not the hand-pulled mode, then go to step S15 to check whether the switched mode is manual high-speed mode? If the checked mode is manual high-speed mode, go to step S16 to enter manual high-speed mode, and then return to step S7 to continue the operation. If the checked mode is not manual high-speed mode, go to step S17 and enter manual low-speed mode. Then return to step S7 to continue the operation.

因此，本發明的教導機器人的安全系統及方法，就可藉由模式切換裝置切換機器人的多種運行模式，並配合致能裝置，啟用相對應各教導模式預設不同的安全模組及安全功能，達到方便切換多種運行模式的目的。此外，本發明的教導機器人的安全方法，利用預設各運行模式相對應的安全模組及安全功能切換機器人，建構各運行模式適合的安全系統，同時確保在各種運行模式切換至手拉模式時，都能維持手拉模式專有的安全模組及安全功能，達到提升使用者的安全性的目的。 Therefore, the safety system and method for teaching a robot of the present invention can switch multiple operating modes of the robot through the mode switching device, and cooperate with the enabling device to enable preset different safety modules and safety functions corresponding to each teaching mode. To achieve the purpose of facilitating the switching of multiple operating modes. In addition, the safety method for teaching robots of the present invention utilizes preset safety modules and safety function switching robots corresponding to each operation mode to construct a safety system suitable for each operation mode, and at the same time ensures that when various operation modes are switched to the hand-drawn mode , Can maintain the exclusive safety module and safety function of the pull mode, and achieve the purpose of improving the safety of the user.

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 are only used to facilitate the description of the preferred embodiments of the present invention. The scope of the present invention is not limited to these preferred embodiments. Any changes made according to the present invention will not depart from the spirit of the present invention. , All belong to the scope of the patent application of the present invention.

10:安全系統 10: Security system

11:機器人 11: Robot

12:控制器 12: Controller

13:示教器 13: Teach Pendant

14:安全模組 14: Security module

15:安全功能單元 15: Safety function unit

16:致能裝置 16: Enabling device

17:模式切換裝置 17: Mode switching device

18:肘節 18: toggle

19:基座 19: Pedestal

20:末端 20: end

21:位置感測器 21: position sensor

Claims

一種教導機器人的安全系統，包含：機器人，具有多肘節，一端為活動的末端，該各肘節中設置致動器及位置感測器；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；致能裝置，連接至該控制器；安全模組，設於該控制器內，與該致能裝置電性或通訊相連，依據該致能裝置開關狀態，發出電性或通訊訊號，關狀態使該機器人進入安全狀態，開狀態取消該機器人安全狀態；安全功能單元，設於該控制器內，與該安全模組電性或通訊相連，監控的該機器人的安全功能超過預設限制時，讓安全模組使機器人進入安全狀態；模式切換裝置，與該控制器、該安全模組及該安全功能單元電性或通訊相連，切換該機器人的運行模式；其中，該模式切換裝置在機器人的至少一手拉模式，以及自動模式或手動低速模式或手動高速模式之運行模式間進行切換，該安全模組及該安全功能單元啟用相對應各運行模式預設的安全模組及安全功能。 A safety system for teaching a robot includes: a robot with multiple toggles, one end is a movable end, an actuator and a position sensor are arranged in each toggle; a controller is connected to the robot to control the actuator and The position sensor moves the end of the robot; the enabling device is connected to the controller; the safety module is arranged in the controller and is electrically or communicatively connected to the enabling device, and switches according to the enabling device State, send out electrical or communication signals, the off state makes the robot enter the safe state, and the on state cancels the safe state of the robot; the safety function unit is set in the controller, and is connected to the safety module electrically or by communication. When the safety function of the robot exceeds the preset limit, let the safety module make the robot enter a safe state; the mode switching device is connected to the controller, the safety module and the safety function unit electrically or through communication to switch the operation of the robot Mode; wherein the mode switching device switches between at least one-pull mode of the robot, and the operation mode of automatic mode, manual low-speed mode or manual high-speed mode, and the safety module and the safety function unit enable the corresponding operation mode presets The safety module and safety function of the set.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該手拉模式須按壓該致能裝置以手拉牽引該機器人。 For example, in the safety system for teaching a robot described in the first item of the scope of patent application, the hand-pulling mode requires pressing the enabling device to pull the robot by hand.

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機器人各該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。 For example, the safety system for teaching a robot described in item 1 of the scope of patent application, wherein the safety module is electrically or communicatively connected to the position sensor of each toggle of the robot, and receives information from the position sensor No. to monitor the robot.

如申請專利範圍第3項所述之教導機器人的安全系統，其中該安全模組至少包含以下一種安全狀態類型，零類安全狀態為斷電停機功能，進入安全狀態時，直接關斷該致動器電力，一類安全狀態為進階斷電停機功能，進入安全狀態時，對該控制器下達減速命令後，經過固定時間該機器人減速運動達成後，關斷該致動器電源，二類安全狀態為非斷電停機功能，進入安全狀態時，對該控制器下達減速命令後，經過固定時間該機器人減速運動達成後，開啟靜止監控安全功能，持續監控該位置感測器，當監控該機器人產生運動，即關斷該致動器電源。 For example, the safety system for teaching robots described in item 3 of the scope of patent application, wherein the safety module includes at least one of the following safety state types. The zero safety state is the power-off stop function. When the safety state is entered, the actuation is directly turned off The first type of safe state is the advanced power-off stop function. When entering the safe state, after a deceleration command is issued to the controller, after a fixed period of time the robot deceleration movement is achieved, the actuator power is turned off, the second type of safe state It is a non-power-off shutdown function. When it enters a safe state, after a deceleration command is issued to the controller, after a fixed period of time when the robot decelerates, the static monitoring safety function is turned on, and the position sensor is continuously monitored. Movement, that is, power off the actuator.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該安全功能單元啟動至少一項以上的下列安全功能：肘節之角度限制、機器人末端的空間位置限制、力量限制或速度限制。 For example, the safety system for teaching robots described in item 1 of the scope of patent application, wherein the safety function unit activates at least one of the following safety functions: the angle limit of the toggle, the space position limit of the end of the robot, the force limit or the speed limit.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該模式切換裝置設於該機器人的示教器，或由該控制器外接。 The safety system for teaching a robot as described in the first item of the scope of patent application, wherein the mode switching device is installed in the teaching pendant of the robot, or is externally connected by the controller.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該模式切換裝置為多位置旋鈕，透過旋鈕位置標示模式，或以燈號顯示模式。 For example, the safety system for teaching robots described in item 1 of the scope of patent application, wherein the mode switching device is a multi-position knob, which can be used to indicate the position of the knob or to display the mode with a light signal.

如申請專利範圍第1項所述之教導機器人的安全系統，其中該模式切換裝置為純軟體按鍵、或硬體按鍵組合、或軟體與硬體組合按鍵。 For example, in the safety system for teaching robots described in the first item of the scope of patent application, the mode switching device is a pure software button, or a combination of hardware buttons, or a combination of software and hardware buttons.

一種教導機器人的安全方法，包含：預設各運行模式相對應的安全模組；預設各運行模式相對應的安全功能；進行切換模式；檢查切換的模式為手拉模式；進入該手拉模式；啟用該手拉模式預設相對應的安全模組及安全功能，停機機器人進入安全狀態；使致能裝置致能；偵測該致能裝置的開狀態，解除機器人的安全狀態，進行教導該機器人作業。 A safety method for teaching robots, including: presetting the safety modules corresponding to each operation mode; presetting the safety functions corresponding to each operation mode; switching modes; Check that the switched mode is the hand-pulling mode; enter the hand-pulling mode; enable the preset corresponding safety modules and safety functions of the hand-pulling mode, and stop the robot to enter a safe state; enable the enabling device; detect the enabling When the device is turned on, the safe state of the robot is released, and the robot is taught.

如申請專利範圍第9項所述之教導機器人的安全方法，其中進行作業後，檢查該機器人完成作業，則結束作業，未完成作業則回至切換模式繼續作業。 For example, the safety method for teaching robots as described in item 9 of the scope of patent application, in which after the work is performed, the robot is checked to complete the work, then the work is ended, and the work is not completed, and then it returns to the switching mode to continue the work.

如申請專利範圍第10項所述之教導機器人的安全方法，其中該檢查切換的模式為自動模式時，則進入自動模式，啟動該自動模式預設相對應的安全功能，監控機器人，進行機器人自動作業。 For example, in the safety method of teaching robots described in item 10 of the scope of patent application, when the mode of the check switch is automatic mode, it enters the automatic mode, starts the automatic mode preset corresponding safety function, monitors the robot, and performs the robot automatic Operation.

如申請專利範圍第9項所述之教導機器人的安全方法，其中該檢查切換的模式為手動低速模式或手動高速模式時，啟動該手動低速或手動高速模式預設相對應的安全功能，監控機器人，進行機器人教導或試跑作業。 For example, the safety method of teaching robot described in item 9 of the scope of patent application, wherein when the mode of the check switch is manual low-speed mode or manual high-speed mode, the corresponding safety function of the manual low-speed or manual high-speed mode is activated to monitor the robot , Carry out robot teaching or trial run operations.

如申請專利範圍第12項所述之教導機器人的安全方法，其中自該手動低速模式或該手動高速模式或一自動模式切換至該手拉模式時，該機器人自行記錄運行程序的斷點，並啟動該手拉模式預先設定的的安全模組及安全功能，手拉教導該機器人作業後，切回各運行模式後，從中斷點繼續運行程序。 For example, the safety method of teaching a robot described in item 12 of the scope of patent application, wherein when switching from the manual low-speed mode or the manual high-speed mode or an automatic mode to the hand-pulling mode, the robot records the breakpoint of the running program by itself, and Start the pre-set safety modules and safety functions of the hand-pulling mode, after hand-pulling the robot to teach the operation, switch back to each operation mode, and continue to run the program from the interruption point.

如申請專利範圍第9項所述之教導機器人的安全方法，其中進入該手拉模式，至少持續按壓該致能裝置，解除安全狀態，並致能手拉功能。 The safety method of teaching robots as described in item 9 of the scope of patent application, which enters the hand-drawn model In this way, at least keep pressing the enabling device to release the safe state and enable the pull function.

如申請專利範圍第9項所述之教導機器人的安全方法，其中該安全模組及安全功能，啟用與否及限制值，依該機器人各運行模式的需求預先設定。 For example, the safety method of teaching a robot as described in item 9 of the scope of patent application, in which the safety module and safety function, whether to enable or not and the limit value are preset according to the requirements of each operation mode of the robot.