3D galvanometer welding safety logic control system and method based on cooperation of hardware safety and software safety

Abstract

The invention provides a 3D galvanometer welding safety logic control system and method based on cooperation of hardware safety and software safety, and the system comprises a 3D galvanometer device, and also comprises two safety relays, two scram buttons, a board card and a PLC which are arranged in the 3D galvanometer device.

Description

Technical Field

[0001] This invention relates to the field of 3D galvanometer technology, and in particular to a 3D galvanometer welding safety logic control system and method based on the collaboration of hardware security and software security. Background Technology

[0002] Existing control cabinets for 3D galvanometer welding systems have shortcomings in terms of safety: 1) Some control cabinets lack a comprehensive safety input classification mechanism, failing to effectively distinguish between different types of safety signals such as emergency stops and safety doors; 2) Safety logic judgments rely solely on single hardware or software components, lacking dual safeguards and redundancy protection mechanisms; 3) Inadequate software safety measures make them susceptible to equipment damage or personnel injury, or even production accidents, due to misoperation or abnormal conditions. Therefore, a control system with both hardware and software safety mechanisms is urgently needed to improve the safety and reliability of equipment operation. This invention proposes an innovative safety logic control system. Summary of the Invention

[0003] This invention aims to at least solve the technical problems existing in the prior art, and in particular, it innovatively proposes a 3D galvanometer welding safety logic control system and method based on the synergy of hardware security and software security.

[0004] To achieve the above-mentioned objectives of the present invention, the present invention provides a 3D galvanometer welding safety logic control system based on the collaboration of hardware security and software security, including a 3D galvanometer device, and also including two safety relays and two emergency stop buttons;

[0005] The two safety relays are designated as Safety Relay One and Safety Relay Two.

[0006] The two emergency stop buttons are Emergency Stop Button 1 and Emergency Stop Button 2;

[0007] The emergency stop button includes a first emergency stop button circuit and a second emergency stop button circuit, which together form an external emergency stop dual circuit.

[0008] The positive power input terminal A1 of safety relay one is connected to the first terminal 23 of the second output circuit of safety relay one, the first terminal 41 of the auxiliary circuit of safety relay one, and the 24V power supply.

[0009] The negative power input terminal A2 of safety relay one is connected to the 24V power ground;

[0010] The second terminal 24 of the second output circuit of safety relay one is connected to the emergency stop signal terminal of the board;

[0011] The second terminal 42 of the auxiliary circuit of safety relay one is connected to the alarm signal terminal of the PLC;

[0012] The power output terminal S11 of the safety relay is connected to the first terminal S52 of the second channel of the safety relay and the first terminal of the first circuit of the emergency stop button.

[0013] The second terminal S21 of the first channel of the safety relay is connected to the first terminal of the second circuit of the emergency stop button;

[0014] The positive power input terminal A1 of the second safety relay is connected to the first terminal 13 of the first output circuit of the second safety relay and the 24V power supply, respectively.

[0015] The negative power input terminal A2 of safety relay 2 is connected to the 24V power ground;

[0016] The second terminal 14 of the first output circuit of safety relay 2 is connected to the safety door signal terminal of the board.

[0017] The second terminal S21 of the second channel of the second safety relay is connected to the second terminal S22 of the first channel of the second safety relay.

[0018] The first terminal S12 of the second channel of safety relay one and the reset terminal S34 of safety relay one are connected to the second contact terminal of the emergency stop dual circuit of PLC.

[0019] The second terminal of the first circuit of the emergency stop button is connected to the first contact terminal of the emergency stop dual circuit of the PLC;

[0020] The second terminal of the second circuit of the emergency stop button is connected to the third contact terminal of the emergency stop dual circuit of the PLC;

[0021] The second terminal S22 of the first channel of safety relay one is connected to the fourth contact terminal of the emergency stop dual circuit of the PLC;

[0022] The power output terminal S11 of safety relay 2 is connected to the fifth contact terminal of the emergency stop dual circuit of the PLC.

[0023] The first terminal S12 of the second channel of safety relay two, the reset terminal S34 of safety relay two, and the first terminal S52 of the first channel of safety relay two are respectively connected to the sixth contact terminal of the emergency stop dual circuit of PLC.

[0024] In a preferred embodiment of the present invention, the first terminal 13 of the first output circuit of the safety relay is connected to the 24V modulation signal of the board; the second terminal 14 of the first output circuit of the safety relay outputs a signal to the laser.

[0025] The first contact end and the second contact end constitute the first contact;

[0026] The third contact end and the fourth contact end constitute the second contact;

[0027] The fifth and sixth contact terminals constitute the third contact.

[0028] In a preferred embodiment of the present invention, the first contact, the second contact, and the third contact are all normally open contacts;

[0029] The safety relay model is PNOZ X2 8P.

[0030] This invention also discloses a 3D galvanometer welding safety logic control method based on the collaboration of hardware security and software security, comprising the following steps:

[0031] S1, determine whether to disconnect the external emergency stop dual-circuit closed contact:

[0032] If the external emergency stop dual-circuit closed contact is disconnected, it means that emergency stop button one has been pressed. Proceed to the next step.

[0033] If the external emergency stop dual-circuit closed contact is not disconnected, it means that the emergency stop button 1 has not been pressed, and step S1 will be executed.

[0034] S2 sends a notification to the PLC through the safety module, which indicates that the external emergency stop dual-circuit closed contact is open.

[0035] S3, based on the signal status in step S2, the PLC determines whether the current system meets the conditions for normal light output, i.e., an emergency stop is triggered to immediately cut off the light output, and the PLC logic prevents abnormal light output.

[0036] In a preferred embodiment of the present invention, step S2 further includes: the PLC determining whether the sensing signal from inside the galvanometer is normal, wherein the sensing signal includes one or any combination of information such as temperature, humidity and lens contamination inside the galvanometer.

[0037] If the temperature inside the galvanometer is not within the preset temperature range, it is considered that the temperature is abnormal;

[0038] If the sensor signal indicates lens contamination, the lens is considered contaminated and needs to be treated.

[0039] The PLC collects alarm signals Gout9 and heartbeat signals Gout6 from the board; and takes corresponding alarm measures based on alarm signal Gout9.

[0040] In a preferred embodiment of the present invention, step S3 further includes: notifying the board via a PLCInterlock signal to provide a dual-loop closed contact to the outside world.

[0041] In a preferred embodiment of the present invention, the following steps are also included:

[0042] S4, determine whether to disconnect the external emergency stop dual-circuit closed contact:

[0043] If the external emergency stop dual-circuit closed contact is disconnected, proceed to the next step;

[0044] If the external emergency stop dual-circuit closed contact is not disconnected, proceed to step S1;

[0045] S5 sends a disconnect modulation signal PRR to the laser and an emergency stop signal Gin6 to the board.

[0046] S6, the board determines whether the single-circuit contact of the safety door is closed:

[0047] If a single-circuit contact of the safety door is closed, a signal is sent to the board indicating that the current state of the safety door is closed.

[0048] If a single-circuit contact of the safety door is disconnected, a signal is sent to the board indicating that the current safety door status is open. When the safety door is open, only laser output is prohibited, without interrupting program operation or emergency stop circuits of other equipment, thus avoiding production interruption. The safety door ensures the safety of operators, and the opening of the safety door will not trigger the disconnection of other equipment, including lasers and robots.

[0049] S7. Based on the signals from steps S5 and S6, determine whether the above signals meet the light emission conditions.

[0050] In a preferred embodiment of the present invention, it further includes S8, which makes a judgment based on the status of the PLCInterlock signal, the alarm signal received by the board, the status of the interface Interlock, the heartbeat signal, emergency stop, robot stop moving, and speed change.

[0051] It also includes foolproof measures: 1) Single-point light emission time foolproofing: setting a safety redundancy time to prevent light emission due to timeout; 2) Real-time monitoring of galvanometer status, locking the light in case of abnormality; 3) Verification of drawing and light emission sequence to ensure that the drawing is adjusted before light emission; 4) Directly cutting off the laser control signal when the board is abnormal and alarming the PLC through the Gout9 signal; 5) User permission management to restrict high-risk functions such as cyclic welding; 6) Foolproof logic such as offset threshold detection, light emission count limit, and interrupt restart control.

[0052] It also includes the use of safety input hierarchy to avoid global shutdown, balancing safety and production efficiency; real-time monitoring of abnormal states and multi-dimensional protection against misoperation significantly improve the safety of the 3D galvanometer welding system, reduce production risks, and is compatible with the safety requirements of different application scenarios, thus having broad practical value.

[0053] The present invention also discloses a computer system, comprising:

[0054] processor;

[0055] Memory used to store processor-executable instructions;

[0056] The processor is configured to implement the 3D galvanometer welding safety logic control method based on hardware security and software security collaboration when executing the executable instructions.

[0057] The present invention also discloses a computer-readable storage medium, comprising:

[0058] A memory on which computer programs are stored;

[0059] A processor is used to execute the program in the memory to implement the 3D galvanometer welding safety logic control method based on hardware security and software security collaboration.

[0060] In summary, by adopting the above technical solutions, this invention achieves a balance between safety and production efficiency through hierarchical safety input management, PLC and board interaction locking, and software error prevention functions.

[0061] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0062] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0063] Figure 1 This is a schematic diagram of the connection of the safety relay of the present invention.

[0064] Figure 2 This is a schematic diagram of the connection of the safety relay of the present invention.

[0065] Figure 3 This is a connection diagram of the present invention.

[0066] Figure 4 This is a schematic block diagram illustrating the connection of the present invention. Detailed Implementation

[0067] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0068] This invention provides a 3D galvanometer welding safety logic control system based on the collaboration of hardware and software security, such as... Figures 1-4As shown, it includes a 3D galvanometer device, as well as two safety relays and two emergency stop buttons;

[0069] The two safety relays are designated as Safety Relay One and Safety Relay Two.

[0070] The two emergency stop buttons are Emergency Stop Button 1 and Emergency Stop Button 2;

[0071] The emergency stop button includes a first emergency stop button circuit and a second emergency stop button circuit, which together form an external emergency stop dual circuit.

[0072] The positive power input terminal A1 of safety relay one is connected to the first terminal 23 of the second output circuit of safety relay one, the first terminal 41 of the auxiliary circuit of safety relay one, and the 24V power supply.

[0073] The negative power input terminal A2 of safety relay one is connected to the 24V power ground;

[0074] The second terminal 24 of the second output circuit of safety relay one is connected to the emergency stop signal terminal of the board;

[0075] The second terminal 42 of the auxiliary circuit of safety relay one is connected to the alarm signal terminal of the PLC;

[0076] The power output terminal S11 of the safety relay is connected to the first terminal S52 of the second channel of the safety relay and the first terminal of the first circuit of the emergency stop button.

[0077] The second terminal S21 of the first channel of the safety relay is connected to the first terminal of the second circuit of the emergency stop button;

[0078] The positive power input terminal A1 of the second safety relay is connected to the first terminal 13 of the first output circuit of the second safety relay and the 24V power supply, respectively.

[0079] The negative power input terminal A2 of safety relay 2 is connected to the 24V power ground;

[0080] The second terminal 14 of the first output circuit of safety relay 2 is connected to the safety door signal terminal of the board.

[0081] The second terminal S21 of the second channel of the second safety relay is connected to the second terminal S22 of the first channel of the second safety relay.

[0082] The first terminal S12 of the second channel of safety relay one and the reset terminal S34 of safety relay one are connected to the second contact terminal of the emergency stop dual circuit of PLC.

[0083] The second terminal of the first circuit of the emergency stop button is connected to the first contact terminal of the emergency stop dual circuit of the PLC;

[0084] The second terminal of the second circuit of the emergency stop button is connected to the third contact terminal of the emergency stop dual circuit of the PLC;

[0085] The second terminal S22 of the first channel of safety relay one is connected to the fourth contact terminal of the emergency stop dual circuit of the PLC;

[0086] The power output terminal S11 of safety relay 2 is connected to the fifth contact terminal of the emergency stop dual circuit of the PLC.

[0087] The first terminal S12 of the second channel of safety relay two, the reset terminal S34 of safety relay two, and the first terminal S52 of the first channel of safety relay two are respectively connected to the sixth contact terminal of the emergency stop dual circuit of PLC.

[0088] In a preferred embodiment of the present invention, the first terminal 13 of the first output circuit of the safety relay is connected to the 24V modulation signal of the board; the second terminal 14 of the first output circuit of the safety relay outputs a signal to the laser.

[0089] In a preferred embodiment of the present invention, the first contact end and the second contact end constitute the first contact;

[0090] The third contact end and the fourth contact end constitute the second contact;

[0091] The fifth and sixth contact terminals constitute the third contact.

[0092] In a preferred embodiment of the present invention, the first contact, the second contact, and the third contact are all normally open contacts.

[0093] In a preferred embodiment of the present invention, the safety relay is model PNOZ X2 8P.

[0094] This invention also discloses a 3D galvanometer welding safety logic control method based on the collaboration of hardware security and software security, comprising the following steps:

[0095] S1, determine whether to disconnect the external emergency stop dual-circuit closed contact:

[0096] If the external emergency stop dual-circuit closed contact is disconnected, proceed to the next step;

[0097] If the external emergency stop dual-circuit closed contact is not disconnected, proceed to step S1;

[0098] S2 sends a notification to the PLC through the safety module, which indicates that the external emergency stop dual-circuit closed contact is open.

[0099] At the same time, the PLC determines whether the sensor signal from inside the galvanometer is normal. The sensor signal includes one or any combination of information such as the temperature, humidity and lens contamination inside the galvanometer.

[0100] The PLC collects alarm signals Gout9 and heartbeat signals Gout6 from the board.

[0101] S3, based on all the signal states in step S2, the PLC determines whether the current system meets the conditions for normal light output, and at the same time notifies the board through a PLCInterlock signal, providing a dual-loop closed contact to the outside world.

[0102] In a preferred embodiment of the present invention, the following steps are also included:

[0103] S4, determine whether to disconnect the external emergency stop dual-circuit closed contact:

[0104] If the external emergency stop dual-circuit closed contact is disconnected, proceed to the next step;

[0105] If the external emergency stop dual-circuit closed contact is not disconnected, proceed to step S1;

[0106] S5 sends a disconnect modulation signal PRR to the laser and an emergency stop signal Gin6 to the board.

[0107] S6, the board determines whether the single-circuit contact of the safety door is closed:

[0108] If a single-circuit contact of the safety door is closed, a signal is sent to the board indicating that the current state of the safety door is closed.

[0109] If a single-circuit contact of the safety door is disconnected, a signal is sent to the board indicating that the current safety door status is open.

[0110] S7. Based on the signals from steps S5 and S6, determine whether the above signals meet the light emission conditions.

[0111] In a preferred embodiment of the present invention, the method further includes S8, which makes a judgment based on the status of the PLCInterlock signal, the alarm signal received by the board, the status of the interface Interlock, the heartbeat signal, the emergency stop, the robot stopping, and the speed change.

[0112] The present invention also discloses a computer system, comprising:

[0113] processor;

[0114] Memory used to store processor-executable instructions;

[0115] The processor is configured to implement the 3D galvanometer welding safety logic control method based on hardware security and software security collaboration when executing the executable instructions.

[0116] The present invention also discloses a computer-readable storage medium, comprising:

[0117] A memory on which computer programs are stored;

[0118] A processor is used to execute the program in the memory to implement the 3D galvanometer welding safety logic control method based on hardware security and software security collaboration.

[0119] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A 3D galvanometer welding safety logic control system based on the cooperation of hardware security and software security, comprising a 3D galvanometer device, two safety relays and two emergency stop buttons; the two safety relays are safety relay one and safety relay two respectively; the two emergency stop buttons are emergency stop button one and emergency stop button two respectively; the emergency stop button one comprises an emergency stop button first circuit and an emergency stop button second circuit, and the emergency stop button first circuit and the emergency stop button second circuit constitute an external emergency stop double circuit; characterized in that: the positive terminal A1 of the power input of the safety relay one is connected with the first terminal 23 of the second output circuit of the safety relay one, the first terminal 41 of the auxiliary circuit of the safety relay one and the 24V power supply respectively; the negative terminal A2 of the power input of the safety relay one is connected with the 24V power supply ground; the second terminal 24 of the second output circuit of the safety relay one is connected with the emergency stop signal terminal of the board card; the second terminal 42 of the auxiliary circuit of the safety relay one is connected with the alarm signal terminal of the PLC; the power output terminal S11 of the safety relay one is connected with the first terminal S52 of the second channel of the safety relay one and the first terminal of the emergency stop button first circuit; the second terminal S21 of the first channel of the safety relay one is connected with the first terminal of the emergency stop button second circuit; the positive terminal A1 of the power input of the safety relay two is connected with the first terminal 13 of the first output circuit of the safety relay two and the 24V power supply respectively; the negative terminal A2 of the power input of the safety relay two is connected with the 24V power supply ground; the second terminal 14 of the first output circuit of the safety relay two is connected with the safety door signal terminal of the board card; the second terminal S21 of the second channel of the safety relay two is connected with the second terminal S22 of the first channel of the safety relay two; the first terminal S12 of the second channel of the safety relay one and the reset terminal S34 of the safety relay one are connected with the second contact terminal of the emergency stop double circuit of the PLC; the second terminal of the emergency stop button first circuit is connected with the first contact terminal of the emergency stop double circuit of the PLC; the second terminal of the emergency stop button second circuit is connected with the third contact terminal of the emergency stop double circuit of the PLC; the second terminal S22 of the first channel of the safety relay one is connected with the fourth contact terminal of the emergency stop double circuit of the PLC; the power output terminal S11 of the safety relay two is connected with the fifth contact terminal of the emergency stop double circuit of the PLC; the first terminal S12 of the second channel of the safety relay two, the reset terminal S34 of the safety relay two and the first terminal S52 of the first channel of the safety relay two are connected with the sixth contact terminal of the emergency stop double circuit of the PLC.

2. The 3D galvanometer welding safety logic control system based on hardware security and software security cooperation according to claim 1, characterized in that, the first terminal 13 of the first output circuit of the safety relay one is connected with the 24V modulation signal of the board card, and the second terminal 14 of the first output circuit of the safety relay one outputs a signal to the laser; the first contact terminal and the second contact terminal constitute a first contact; the third contact terminal and the fourth contact terminal constitute a second contact; the fifth contact terminal and the sixth contact terminal constitute a third contact.

3. The 3D galvanometer welding safety logic control system based on hardware security and software security cooperation according to claim 1, characterized in that, The first contact, the second contact and the third contact are all normally open contacts; the model of the safety relay is PNOZ X2 8P.

4. A 3D galvanometer welding safety logic control method based on hardware security and software security cooperation, characterized in that, comprising the following steps: S1, judging whether to open the closed contact of the external emergency stop double circuit: If the external emergency stop double-circuit closing contact is disconnected, it means that the emergency stop button one is pressed, and the next step is executed. If the external emergency stop double-circuit closing contact is not disconnected, it means that the emergency stop button one is not pressed, and step S1 is executed. S2, a notification is sent to the PLC through the safety module, and the notification is that the external emergency stop double-circuit closing contact is disconnected. S3, the PLC finally determines whether the current system meets the normal light output condition according to the signal state in step S2, that is, the emergency stop triggers the light to be immediately disconnected, and the PLC logic prevents abnormal light output.

5. The 3D galvanometer welding safety logic control method based on hardware security and software security cooperation according to claim 4, characterized in that, In step S2, the PLC also judges whether the sensor signal from the inside of the galvanometer is normal, and the sensor signal contains one or any combination of information such as temperature, humidity and mirror contamination inside the galvanometer. If the temperature inside the galvanometer is not within the preset temperature range, it is considered that the temperature is abnormal. If the sensor signal is mirror contamination, it is considered that the mirror is contaminated and needs to be treated. The PLC collects the alarm signal Gout9 and the heartbeat signal Gout6 from the board card; and makes corresponding alarm measures according to the alarm signal Gout9.

6. The 3D galvanometer welding safety logic control method based on hardware security and software security cooperation according to claim 4, characterized in that, In step S3, a PLCInterlock signal is sent to the board card to provide a double-circuit closing contact to the outside.

7. The 3D galvanometer welding safety logic control method based on hardware security and software security cooperation according to claim 4, characterized in that, The following steps are also included: S4, determine whether the external emergency stop double-circuit closing contact is disconnected: If the external emergency stop double-circuit closing contact is disconnected, the next step is executed. If the external emergency stop double-circuit closing contact is not disconnected, step S1 is executed. S5, send a disconnecting modulation signal PRR to the laser, and send an emergency stop signal Gin6 to the board card; S6, the board card judges whether the safety door single-circuit contact is closed: If the safety door single-circuit contact is closed, a signal is sent to the board card, and the signal is that the current safety door state is closed; If the safety door single-circuit contact is disconnected, a signal is sent to the board card, and the signal is that the current safety door state is open; when the safety door is open, only the laser output is prohibited, and the program running and other device emergency stop circuit are not interrupted, to avoid production interruption; the establishment of the safety door ensures the safety of the operator, and the opening of the safety door will not trigger the disconnection of other devices, including the laser, the robot; S7, determine whether the above signals meet the light output condition according to the signals in steps S5 and S6.

8. The 3D galvanometer welding safety logic control method based on hardware security and software security cooperation according to claim 4, characterized in that, S8, determine according to the state of the PLCInterlock signal, the alarm signal received by the board card, the state of the interface Interlock, the heartbeat signal, the emergency stop, the robot stopping moving, and the speed change; The following foolproof measures are also included: 1) single-point light output time foolproof: set a safety redundant time to prevent over-time light output; 2) real-time monitoring of the state of the galvanometer, and locking the light when abnormal; 3) verification of the drawing and light output sequence to ensure that the drawing is adjusted before the light is output; 4) directly cutting off the laser control signal when the board card is abnormal, and alarming the PLC through the Gout9 signal; 5) user permission management to limit high-risk functions such as cycle welding; 6) offset threshold detection, light output frequency limitation, interruption restart control and other foolproof logics. Also include the use of security input classification to avoid global downtime, taking into account the safety and production efficiency; abnormal state real-time monitoring, anti-misoperation multidimensional protection, significantly improve the safety of 3D galvanometer welding system, reduce the production risk, while compatible with different application scenarios of safety needs, has wide practical value.

9. A computer system, characterized by It comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the 3D galvanometer welding safety logic control method based on hardware security and software security cooperation as claimed in any one of claims 6-8 when executing the executable instructions.

10. A computer-readable storage medium, characterized in that, It comprises: a memory having a computer program stored thereon; a processor for executing the program in the memory to implement the 3D galvanometer welding safety logic control method based on hardware security and software security cooperation as claimed in any one of claims 6-8.

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