A robot safety control system

Abstract

The application belongs to the technical field of robot control, and discloses a robot safety control system, which comprises an emergency stop signal input end, a controller and an emergency stop control signal output end, the controller outputs a first emergency stop control signal to make the robot stop when receiving the emergency stop signal, further comprises an emergency stop signal detection module, a signal response delay module and an emergency stop output control module which are electrically connected in sequence, the emergency stop signal detection module is used for shaping and filtering the emergency stop signal to form a detection trigger signal to drive the signal response delay module to delay output a first trigger signal, the emergency stop output control module is connected with the emergency stop control signal output end and outputs a second emergency stop control signal to the emergency stop control signal output end when receiving the first trigger signal to make the robot stop, the signal output first in the first emergency stop control signal and the second emergency stop control signal is an effective signal, so that the emergency stop signal of the robot can be responded in time and effectively, and the safety of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and more specifically, to a robot safety control system. Background Technology

[0002] Robots are generally designed with basic safety functions in accordance with safety standards such as IEC 61800-5-1 "Variable speed electric drive systems - Part 5-1: Safety requirements - Electricity, heat and energy" and ISO 13849 "Safety design principles for mechanical safety control systems". These functions are designed to generate emergency stop signals (such as emergency stop switch trigger signals, safety door trigger signals, abnormal power failure signals from the input power supply, and emergency stop commands from the controller) when necessary to prompt the robot to stop urgently. Typically, the emergency stop signal is directly input to the controller (such as an MCU), which then controls the robot to stop based on the emergency stop signal. However, if the controller itself malfunctions (such as crashing or becoming unresponsive), it may fail to respond to the emergency stop signal in a timely manner, preventing the robot from stopping in time and causing a safety accident. Summary of the Invention

[0003] The purpose of this application is to provide a robot safety control system that can respond to robot emergency stop signals in a timely and effective manner, thereby improving robot safety.

[0004] In a first aspect, this application provides a robot safety control system, including an emergency stop signal input terminal, a controller, and an emergency stop control signal output terminal connected in sequence. The controller is used to output a first emergency stop control signal to the emergency stop control signal output terminal when receiving an emergency stop signal, so as to control the robot to stop; it also includes an emergency stop signal detection module, a signal response delay module, and an emergency stop output control module connected in sequence. The emergency stop signal detection module is connected to the emergency stop signal input terminal and is used to shape and filter the emergency stop signal to form a detection trigger signal, which drives the signal response delay module to output the first trigger signal after a delay. The emergency stop output control module is electrically connected to the emergency stop control signal output terminal and is used to output a second emergency stop control signal to the emergency stop control signal output terminal when the first trigger signal is received, so as to control the robot to stop; the signal output first of the first emergency stop control signal and the second emergency stop control signal is the valid signal.

[0005] Under normal conditions, upon receiving an emergency stop signal, the controller immediately outputs a first emergency stop control signal. The emergency stop signal detection module shapes and filters the signal, and the signal response delay module then delays the signal so that the emergency stop output control module outputs a delayed second emergency stop control signal. The robot stops immediately upon receiving the first emergency stop control signal. In the event of a controller malfunction, the controller may not be able to output the first emergency stop control signal. However, the second emergency stop control signal can still be output through the emergency stop signal detection module, the signal response delay module, and the emergency stop output control module, thus ensuring the robot stops in a timely manner. This allows for a timely and effective response to the robot's emergency stop signal, improving robot safety.

[0006] Preferably, the robot safety control system further includes a self-diagnostic module, which is connected between the emergency stop signal detection module and the signal response delay module, and both the self-diagnostic module and the emergency stop signal detection module are electrically connected to the controller. The emergency stop signal detection module is also used to shape and filter the emergency stop signal to form a detection signal, and send the detection signal to the controller; the emergency stop signal detection module is also used to input the detection trigger signal into the self-diagnosis module; The self-diagnostic module is used to generate a control signal based on the detection trigger signal, and send the control signal to the signal response delay module and the controller; The signal response delay module outputs a first trigger signal after a delay upon receiving the control signal; The controller is also used to determine whether the emergency stop signal detection module and the self-diagnosis module are faulty based on the control signal and the detection signal.

[0007] During normal operation (i.e., non-emergency stop), the controller performs real-time diagnosis of the fault status of the emergency stop signal detection module and the self-diagnosis module to maintain their normal operation. This ensures that the emergency stop signal detection module and the self-diagnosis module can work reliably when the controller suddenly fails.

[0008] Preferably, the emergency stop output control module is also electrically connected to the controller, and the controller is further configured to output a second trigger signal to the emergency stop output control module when receiving an emergency stop signal, and the emergency stop output control module is further configured to output a second emergency stop control signal to the emergency stop control signal output terminal when receiving the second trigger signal, so as to control the robot to stop.

[0009] While directly outputting the first emergency stop control signal, the controller also outputs a second trigger signal to the emergency stop output control module, so that the emergency stop output control module outputs a second emergency stop control signal. As long as one of the two emergency stop control signals can be received by the robot, the robot can be stopped. This redundancy design can further improve the safety of the robot.

[0010] Preferably, the emergency stop signal detection module includes at least one emergency stop signal detection circuit, and the emergency stop signal detection circuit includes a filter isolation module, a first shaping branch, and a second shaping branch; The input terminal of the filtering and isolation module is connected to the input terminal of the emergency stop signal, and the filtering and isolation module is used to filter and isolate the emergency stop signal; The input terminal of the first shaping branch is connected to the output of the filtering and isolation module, and is used to shape the output signal of the filtering and isolation module to form the detection trigger signal; The input terminal of the second shaping branch is connected to the output of the filter isolation module and is used to shape the output signal of the filter isolation module to form the detection signal.

[0011] Preferably, the self-diagnostic module includes at least one self-diagnostic circuit, which includes a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a second transistor Q2, a second Zener diode d2, a MOSFET M1 with a parasitic diode, a fifth diode D5, a sixth diode D6, a seventh diode D7, an eighth diode D8, a fifth capacitor C5, and a sixth capacitor C6. The first end of the thirteenth resistor R13 is connected to the input terminal of the self-diagnostic circuit. The second end of the thirteenth resistor R13 and the first end of the fourteenth resistor R14 are both connected to the gate of the second transistor Q2. The anode of the fifth diode D5 is connected to the emitter of the second transistor Q2, and the cathode of the fifth diode D5 is grounded. The first end of the fifteenth resistor R15 is connected to the collector of the second transistor Q2. The first end of the sixteenth resistor R16, the anode of the second Zener diode d2, and the gate of the MOSFET M1 are all connected to the second end of the fifteenth resistor R15. The second ends of the fourteenth resistor R14, the sixteenth resistor R16, the cathode of the second Zener diode d2, the drain of the MOSFET M1, and the first end of the fifth capacitor C5 are connected in parallel to a 24V power supply. The second end of the fifth capacitor C5 is grounded. The first terminal of the seventeenth resistor R17 and the first terminal of the eighteenth resistor R18 are both connected to the source of the MOSFET M1. The second terminal of the seventeenth resistor R17 is connected to the negative terminal of the sixth diode D6, and the positive terminal of the sixth diode D6 is grounded. The first terminal of the nineteenth resistor R19, the first terminal of the sixth capacitor C6, the negative terminal of the seventh diode D7, the positive terminal of the eighth diode D8, and the signal output terminal of the self-diagnostic circuit are all connected to the second terminal of the eighteenth resistor R18. The second terminal of the nineteenth resistor R19, the second terminal of the sixth capacitor C6, and the positive terminal of the seventh diode D7 are all grounded. The negative terminal of the eighth diode D8 is connected to a 3V power supply.

[0012] Preferably, the signal response delay module includes at least one input circuit, a twentieth resistor R20, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a third transistor Q3, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, and a 555 timer U3; One end of the input circuit is a control signal input terminal, and the other end is connected to the first end of the twentieth resistor R20; the second end of the twentieth resistor R20 and the first end of the twentieth resistor R21 are both connected to the gate of the third transistor Q3, and the collector of the third transistor Q3 is connected to a 5V power supply; the second end of the twentieth resistor R21, the emitter of the third transistor Q3, the first end of the seventh capacitor C7, and the first end of the twentieth resistor R22 are connected in parallel to the power supply; the second end of the seventh capacitor C7, the second end of the twentieth resistor R22, and the first end of the twentieth resistor R23 are all connected to the THRES pin of the 555 timer U3, and the second end of the twentieth resistor R23 is grounded; The VCC pin of the 555 timer U3 and the first end of the eighth capacitor C8 are both connected to the power supply. The first end of the ninth capacitor C9 is connected to the CONT pin of the 555 timer U3. The second ends of the eighth capacitor C8 and the second ends of the ninth capacitor C9 are both grounded. The OUT pin of the 555 timer U3 is connected to the signal output terminal of the signal response delay module.

[0013] Preferably, the delay time of the signal response delay module is: T1 = 1.1 * r23 * c7; Wherein, T1 is the delay time, r23 is the resistance value of the 23rd resistor R23, and c7 is the capacitance value of the 7th capacitor C7.

[0014] Preferably, the emergency stop signal detection module includes two emergency stop signal detection circuits, the self-diagnosis module includes two self-diagnosis circuits, and the signal response delay module includes two input circuits; the signal output terminals of the first shaping branches of the two emergency stop signal detection circuits are respectively connected to the input terminals of the two self-diagnosis circuits; the signal output terminals of the two self-diagnosis circuits are respectively connected to the control signal input terminals of the two input circuits of the signal response delay module.

[0015] Preferably, the emergency stop output control module includes a first control circuit, an eleventh diode D11, a twelfth diode D12, a thirteenth diode D13, a signal relay K1, a thirty-second resistor R32, a thirty-third resistor R33, a tenth capacitor C10, and an eleventh capacitor C11; the emergency stop output control module includes two signal output terminals; The first control circuit includes a 28th resistor R28, a 30th resistor R30, and a 4th transistor Q4. The first end of the 28th resistor R28 is used to input the first trigger signal. The second end of the 28th resistor R28 and the first end of the 30th resistor R30 are both connected to the gate of the 4th transistor Q4. The second end of the 30th resistor R30 and the emitter of the 4th transistor Q4 are both grounded. The collector of the fourth transistor Q4 and the anode of the eleventh diode D11 are both connected to pin 8 of the signal relay K1. The cathode of the eleventh diode D11 and pin 1 of the signal relay K1 are connected in parallel to a 5V power supply. The first end of the thirty-second resistor R32 is connected to pin 2 of the signal relay K1. The second end of the thirty-second resistor R32, the cathode of the twelfth diode D12, and the first end of the tenth capacitor C10 are connected in parallel. The anode of the twelfth diode D12 is connected to a 24V power supply. The second end of the tenth capacitor C10 is grounded. Pin 4 of the signal relay K1 is grounded. Pin 3 of the signal relay K1 is connected to one of the signal output terminals of the emergency stop output control module. The first end of the thirty-third resistor R33 is connected to pin 7 of the signal relay K1. The second end of the thirty-third resistor R33, the cathode of the thirteenth diode D13, and the first end of the eleventh capacitor C11 are connected in parallel. The anode of the thirteenth diode D13 is connected to a 24V power supply. The second end of the eleventh capacitor C11 is grounded. Pin 5 of the signal relay K1 is grounded. Pin 6 of the signal relay K1 is connected to another signal output terminal of the emergency stop output control module.

[0016] Preferably, the emergency stop output control module includes a second control circuit; the second control circuit includes a twenty-ninth resistor R29, a thirty-first resistor R31, and a fifth transistor Q5. The first terminal of the twenty-ninth resistor R29 is used to input the second trigger signal. The second terminal of the twenty-ninth resistor R29 and the first terminal of the thirty-first resistor R31 are both connected to the gate of the fifth transistor Q5. The second terminal of the thirty-first resistor R31 and the emitter of the fifth transistor Q5 are both grounded. The collector of the fifth transistor Q5 is connected to the collector of the fourth transistor Q4.

[0017] Beneficial effects: The robot safety control system provided in this application, under normal conditions, upon receiving an emergency stop signal, the controller immediately outputs a first emergency stop control signal. The emergency stop signal detection module shapes and filters the emergency stop signal, and after the signal response delay module delays the signal, the emergency stop output control module outputs a delayed second emergency stop control signal. The robot stops immediately upon receiving the first emergency stop control signal. In the event of a controller malfunction, when an emergency stop signal is received, the controller cannot output the first emergency stop control signal normally. In this case, the second emergency stop control signal can still be output through the emergency stop signal detection module, the signal response delay module, and the emergency stop output control module, thereby enabling the robot to stop in a timely manner. Thus, it can respond to the robot's emergency stop signal in a timely and effective manner, improving robot safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the robot safety control system provided in an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of an emergency stop signal detection circuit.

[0020] Figure 3 This is a schematic diagram of the self-diagnostic circuit.

[0021] Figure 4 This is a schematic diagram of the signal response delay module.

[0022] Figure 5 This is a schematic diagram of the emergency stop output control module.

[0023] Labeling Explanation: 1. Emergency Stop Signal Input Terminal; 2. Controller; 3. Emergency Stop Control Signal Output Terminal; 4. Emergency Stop Signal Detection Module; 401. Filtering and Isolation Module; 402. First Shaping Branch; 403. Second Shaping Branch; 5. Signal Response Delay Module; 6. Emergency Stop Output Control Module; 601. First Control Circuit; 602. Second Control Circuit; 7. Self-Diagnosis Module. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Please refer to Figure 1 , Figure 1 This application discloses a robot safety control system in some embodiments, comprising an emergency stop signal input terminal 1, a controller 2, and an emergency stop control signal output terminal 3, which are electrically connected in sequence. The controller 2 is used to respond to an emergency stop signal (i.e., upon receiving an emergency stop signal)... Figure 1 When the ES_IN signal is received, the first emergency stop control signal (i.e., the ES_OUT1 signal in the figure) is output to the emergency stop control signal output terminal 3 to control the robot to stop (the emergency stop control signal output terminal 3 is connected to the robot, so that the emergency stop control signal is sent to the robot through the emergency stop control signal output terminal 3); it also includes: an emergency stop signal detection module 4, a signal response delay module 5 and an emergency stop output control module 6 connected in sequence; The emergency stop signal detection module 4 is connected to the emergency stop signal input terminal 1 and is used to shape and filter the emergency stop signal to form a detection trigger signal (i.e., Figure 1 The G_ES1 and G_ES2 signals are used to drive the signal response delay module 5 to output the first trigger signal (i.e., Figure 1 (OUT_D signal in the middle). The emergency stop output control module 6 is electrically connected to the emergency stop control signal output terminal 3, and is used to output a second emergency stop control signal to the emergency stop control signal output terminal 3 when the first trigger signal is received (i.e., Figure 1 The ES_OUT2 and ES_OUT3 signals in the first emergency stop control signal and the second emergency stop control signal are used to control the robot to stop; the signal output first in the first emergency stop control signal and the second emergency stop control signal is the valid signal (that is, the robot takes the signal received first in the first emergency stop control signal and the second emergency stop control signal as the valid signal and performs the stop operation according to the valid signal).

[0027] Under normal conditions, upon receiving an emergency stop signal, controller 2 immediately outputs a first emergency stop control signal. The emergency stop signal detection module 4 shapes and filters the signal, and the signal response delay module 5 delays the signal, causing the emergency stop output control module 6 to output a delayed second emergency stop control signal. The robot stops immediately upon receiving the first emergency stop control signal. In the event of a controller 2 malfunction, it cannot output the first emergency stop control signal upon receiving an emergency stop signal. However, the second emergency stop control signal can still be output through the emergency stop signal detection module 4, the signal response delay module 5, and the emergency stop output control module 6 (by appropriately setting the delay time, the timeliness of the second emergency stop control signal output can be guaranteed), thus stopping the robot promptly. Therefore, even if controller 2 malfunctions, it can still respond to the robot's emergency stop signal in a timely and effective manner, improving robot safety.

[0028] The controller 2 may be, but is not limited to, an MCU module, a DSP module, an FPGA module, etc.

[0029] Emergency stop signals include, but are not limited to, emergency stop switch trigger signals, safety door trigger signals, abnormal power failure signals from the input power supply, or emergency stop commands from the controller, which require the robot to stop immediately.

[0030] Among them, the signal response delay module 5 outputs the first trigger signal after a delay when there is a control signal input.

[0031] In some implementations, the output of the emergency stop signal detection module 4 is directly connected to the input of the signal response delay module 5, thereby using the detection trigger signal output by the emergency stop signal detection module 4 (i.e., Figure 1 The G_ES1 and G_ES2 signals in the input signal response delay module 5 are used as the control signals.

[0032] In other embodiments, see Figure 1 The robot safety control system also includes a self-diagnosis module 7, which is connected between the emergency stop signal detection module 4 and the signal response delay module 5. Both the self-diagnosis module 7 and the emergency stop signal detection module 4 are also electrically connected to the controller 2. Emergency stop signal detection module 4 is also used to shape and filter the emergency stop signal to form a detection signal (such as...). Figure 1 The emergency stop signal detection module 4 is also used to input the detection trigger signal into the self-diagnostic module 7; The self-diagnostic module 7 is used to generate a control signal based on the detection trigger signal (i.e., Figure 1The CH1_IN and CH2_IN signals are sent to the signal response delay module 5 and the controller 2, and the control signal is sent to the signal response delay module 5 and the controller 2. The signal response delay module 5 outputs the first trigger signal after a delay when it receives the control signal; Controller 2 is also used to determine whether the emergency stop signal detection module 4 and the self-diagnosis module 7 are faulty based on control signals and detection signals.

[0033] Under normal circumstances, the control signal and the detection signal have a corresponding relationship. Once it is detected that the control signal and the detection signal do not meet this correspondence, it indicates that at least one of the emergency stop signal detection module 4 and the self-diagnosis module 7 has malfunctioned, and therefore maintenance is required.

[0034] During normal operation (i.e., non-emergency stop), the controller 2 performs real-time diagnosis of the fault status of the emergency stop signal detection module 4 and the self-diagnosis module 7 in order to maintain the normal operation of the emergency stop signal detection module 4 and the self-diagnosis module 7. Thus, when the controller 2 suddenly fails, the emergency stop signal detection module 4 and the self-diagnosis module 7 can work reliably.

[0035] In some preferred embodiments, see Figure 1 The emergency stop output control module 6 is also electrically connected to the controller 2, and the controller 2 is also used to output a second trigger signal to the emergency stop output control module 6 when it receives an emergency stop signal (i.e., Figure 1 The emergency stop output control module 6 is also used to output a second emergency stop control signal to the emergency stop control signal output terminal 3 when the second trigger signal is received, so as to control the robot to stop.

[0036] Therefore, while directly outputting the first emergency stop control signal, the controller 2 also outputs a second trigger signal to the emergency stop output control module 6, so that the emergency stop output control module 6 outputs a second emergency stop control signal. As long as one of the two emergency stop control signals can be received by the robot, the robot can be stopped. This redundant design can further improve the safety of the robot.

[0037] Among them, the emergency stop output control module 6 can output only one second emergency stop control signal or output two or more second emergency stop control signals when outputting the second emergency stop control signal; by outputting multiple second emergency stop control signals, the robot can stop in time as long as it can receive one of them, thereby further improving safety performance.

[0038] Specifically, see Figure 2 The emergency stop signal detection module 4 includes at least one emergency stop signal detection circuit, which includes a filter isolation module 401, a first shaping branch 402, and a second shaping branch 403. The input terminal of the filter isolation module 401 is connected to the emergency stop signal input terminal 1. The filter isolation module 401 is used to filter and isolate the emergency stop signal. The input terminal of the first shaping branch 402 is connected to the output of the filter isolation module 401, and is used to shape the output signal of the filter isolation module 401 to form a detection trigger signal; The input of the second shaping branch 403 is connected to the output of the filter isolation module 401, and is used to shape the output signal of the filter isolation module 401 to form a detection signal.

[0039] The filter isolation module 401 includes a first capacitor C1, a first resistor R1, a second resistor R2, a third resistor R3, a first Zener diode D1, a first diode D1, an optocoupler U1, and a fourth resistor R4. The first capacitor C1 and the first resistor R1 are connected in parallel to the emergency stop signal input terminal 1 (via...). Figure 2 The first end of the second resistor R2 is connected to the emergency stop signal input terminal 1, and the second end of the second resistor R2 is connected to the negative terminal of the first Zener diode d1. The first end of the third resistor R3 is connected to the ground terminal. The negative terminal of the first diode D1 and the positive input terminal of the optocoupler U1 are both connected to the positive terminal of the first Zener diode d1. The positive terminal of the first diode D1 and the negative input terminal of the optocoupler U1 are both connected to the second end of the third resistor R3. The collector terminal of the optocoupler U1 is connected to the 24V power supply. The fourth resistor R4 is connected between the transmitter terminal of the optocoupler U1 and the ground.

[0040] The first shaping branch 402 includes a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a second capacitor C2, a third capacitor C3, a second diode D2, and a comparator U2. The first terminal of the fifth resistor R5 is connected to the emitter of the optocoupler U1. The first terminal of the sixth resistor R6, the anode of the second diode D2, and the first terminal of the second capacitor C2 are all connected to the second terminal of the fifth resistor R5. The second terminal of the second capacitor C2 is grounded. The cathode of the second diode D2 and the third... The first terminal of capacitor C3, the first terminal of the seventh resistor R7, and the first terminal of the eighth resistor R8 are all connected to the second terminal of the sixth resistor R6. The second terminal of the third capacitor C3 and the second terminal of the seventh resistor R7 are grounded. The second terminal of the eighth resistor R8 and the first terminal of the ninth resistor R9 are all connected to the positive input terminal of comparator U2. The positive and negative input terminals of comparator U2 are interconnected and both connected to a 12V power supply. The second terminal of the ninth resistor R9, the first terminal of the tenth resistor R10, and the signal output terminal of the first shaping branch 402 (i.e., Figure 2The output terminal out1 of the circuit (which outputs the detection trigger signal) is connected to the output terminal of comparator U2, and the second terminal of the tenth resistor R10 is connected to the 24V power supply.

[0041] The second shaping branch 403 includes a first transistor Q1, an eleventh resistor R11, a twelfth resistor R12, a fourth capacitor C4, a third diode D3, and a fourth diode D4. The gate of the first transistor Q1 is connected to the emitter of the optocoupler U1, and the emitter of the first transistor Q1 is grounded. The first terminals of the eleventh resistor R11, the twelfth resistor R12, and the fourth capacitor C4, the cathode of the third diode D3, the anode of the fourth diode D4, and the signal output terminal of the second shaping branch 403 (i.e.,...) Figure 2 The output terminal out2 (which outputs the detection signal) is connected to the collector of the first transistor Q1. The second terminal of the eleventh resistor R11 is connected to the 24V power supply. The second terminal of the twelfth resistor R12, the second terminal of the fourth capacitor C4, and the positive terminal of the third diode D3 are all grounded. The negative terminal of the fourth diode D4 is connected to the 3V power supply.

[0042] When no emergency stop signal is received, the first shaping branch 402 outputs a high-level signal and the second shaping branch 403 outputs a low-level signal; when an emergency stop signal is received, the first shaping branch 402 outputs a low-level signal or a falling edge signal and the second shaping branch 403 outputs a high-level signal.

[0043] Specifically, when a high-level signal is input to input terminal In1 (i.e., when an emergency stop signal is received), the first transistor Q1 is turned on, and the level of output terminal out2 changes from high to low. When a low-level signal is input to input terminal In1 (i.e., when no emergency stop signal is received), the first transistor Q1 is turned off, and the level of output terminal out2 changes from low to high after being divided by the eleventh resistor R11 and the twelfth resistor R12. Controller 2 can promptly determine whether an emergency stop signal has been input based on the level change of output terminal out2, and thus respond promptly when an emergency stop signal is input. Therefore, when the emergency stop signal sent directly from emergency stop signal input terminal 1 to controller 2 fails to be sent or recognized, controller 2 can also detect the presence of an emergency stop signal through emergency stop signal detection module 4, further improving safety.

[0044] Specifically, see Figure 3The self-diagnostic module 7 includes at least one self-diagnostic circuit, which includes a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a second transistor Q2, a second Zener diode d2, a MOSFET M1 with a parasitic diode, a fifth diode D5, a sixth diode D6, a seventh diode D7, an eighth diode D8, a fifth capacitor C5, and a sixth capacitor C6. The first terminal of the thirteenth resistor R13 is connected to the input terminal of the self-diagnostic circuit (i.e., Figure 3 The input terminal In2 is connected to the signal output terminal of the first shaping branch 402. The second end of the thirteenth resistor R13 and the first end of the fourteenth resistor R14 are both connected to the gate of the second transistor Q2. The anode of the fifth diode D5 is connected to the emitter of the second transistor Q2, and the cathode of the fifth diode D5 is grounded. The first end of the fifteenth resistor R15 is connected to the collector of the second transistor Q2. The first end of the sixteenth resistor R16, the anode of the second Zener diode d2, and the gate of the MOSFET M1 are all connected to the second end of the fifteenth resistor R15. The second end of the fourteenth resistor R14, the second end of the sixteenth resistor R16, the cathode of the second Zener diode d2, the drain of the MOSFET M1, and the first end of the fifth capacitor C5 are connected in parallel to the 24V power supply. The second end of the fifth capacitor C5 is grounded. The first terminals of the seventeenth resistor R17 and the eighteenth resistor R18 are both connected to the source of MOSFET M1. The second terminal of the seventeenth resistor R17 is connected to the cathode of the sixth diode D6, and the anode of the sixth diode D6 is grounded. The first terminal of the nineteenth resistor R19, the first terminal of the sixth capacitor C6, the cathode of the seventh diode D7, the anode of the eighth diode D8, and the signal output terminal of the self-diagnostic circuit (i.e., Figure 3 The output terminal out3 (which is connected to the controller 2 and the signal response delay module 5) is connected to the second terminal of the eighteenth resistor R18. The second terminal of the nineteenth resistor R19, the second terminal of the sixth capacitor C6, and the positive terminal of the seventh diode D7 are all grounded. The negative terminal of the eighth diode D8 is connected to the 3V power supply.

[0045] Specifically, see Figure 4 The signal response delay module 5 includes at least one input circuit, a twentieth resistor R20, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a third transistor Q3, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, and a 555 timer U3. One end of the input circuit is the control signal input terminal (i.e. Figure 4The input terminals In3 and In4 are connected to the first terminal of the twentieth resistor R20; the second terminal of the twentieth resistor R20 and the first terminal of the twenty-first resistor R21 are both connected to the gate of the third transistor Q3, and the collector of the third transistor Q3 is connected to the 5V power supply; the second terminal of the twenty-first resistor R21, the emitter of the third transistor Q3, the first terminal of the seventh capacitor C7, and the first terminal of the twenty-second resistor R22 are connected in parallel to the power supply (i.e., Figure 4 VCC1) is connected; the second end of the seventh capacitor C7, the second end of the twenty-second resistor R22, and the first end of the twenty-third resistor R23 are all connected to the THRES pin of the 555 timer U3, and the second end of the twenty-third resistor R23 is grounded; The VCC pin of the 555 timer U3 and the first terminal of the eighth capacitor C8 are both connected to the power supply. The first terminal of the ninth capacitor C9 is connected to the CONT pin of the 555 timer U3. The second terminals of both the eighth capacitor C8 and the ninth capacitor C9 are grounded. The OUT pin of the 555 timer U3 is connected to the signal output terminal of the signal response delay module 5 (i.e., Figure 4 The output terminal out4 in the middle.

[0046] The signal response delay module 5 can adjust the delay time by adjusting the resistance value of the 23rd resistor R23 and the capacitance value of the 7th capacitor C7. Adjusting the delay time according to actual needs can balance the delay and timeliness of the second emergency stop control signal. Thus, when the controller 2 can issue the first emergency stop control signal, it will not conflict with the first emergency stop control signal. And when the controller 2 fails to issue the first emergency stop control signal, the second emergency stop control signal will not affect the timeliness of the robot's stop due to excessive delay.

[0047] Preferably, the delay time of the signal response delay module 5 is: T1 = 1.1 * r23 * c7; Where T1 is the delay time, r23 is the resistance value of the twenty-third resistor R23, and c7 is the capacitance value of the seventh capacitor C7.

[0048] Furthermore, see Figure 4 The signal response delay module 5 also includes a twenty-fourth resistor R24, a twenty-fifth resistor R25, a twenty-sixth resistor R26, and a twenty-seventh resistor R27. The twenty-sixth resistor R26 is connected to the OUT pin of the 555 timer U3 and the signal output terminal of the signal response delay module 5 (i.e., Figure 4The output terminals of the 555 timer U3 and 555 timer U3 are connected to each other (the 26th resistor R26 is set to increase the output load of the 555 timer and prevent damage to the 555 timer output due to a short circuit in the emergency stop output module 6). The first terminals of the 24th resistor R24 ​​and the 25th resistor R25 are both connected to the OUT pin of the 555 timer U3. The second terminal of the 24th resistor R24 ​​is grounded, and the second terminal of the 25th resistor R25 is connected to the power supply (the power supply provides a high-level signal to the back end of the 555 timer U3, because the OUT output terminal of the 555 timer is an open-collector (OC) gate, and the output requires an external power supply; the 25th resistor R25 and the 24th resistor R24 ​​together divide the voltage of the OUT terminal to obtain the voltage requirement of the back end signal input). The 27th resistor R27 is connected between the RESET pin of the 555 timer U3 and the power supply (the 27th resistor R27 is set to limit the current of the RESET pin and protect the RESET from damage due to voltage fluctuations in the power supply exceeding the voltage tolerance value of the RESET pin). The GND pin of the 555 timer U3 is grounded.

[0049] Each input circuit of the signal response delay module 5 includes a control signal input terminal (i.e., Figure 4 The input terminals In3 and In4) and the input diode (such as Figure 4 The ninth diode D9 and the tenth diode D10 in the circuit are connected. The positive terminal of the input diode is connected to the corresponding control signal input terminal, and the negative terminal of the input diode is connected to the first terminal of the twentieth resistor R20.

[0050] In this module, each emergency stop signal detection circuit in the emergency stop signal detection module 4 outputs one detection signal and one detection trigger signal. Each self-diagnostic circuit in the self-diagnostic module 7 simultaneously outputs one control signal to the controller 2 and the signal response delay module 5. The number of detection signals, detection trigger signals and control signals can be adjusted by adjusting the number of emergency stop signal detection circuits and the number of self-diagnostic circuits. When the number of detection signals, detection trigger signals and control signals is more than one, a redundant design is formed, which can further improve the reliability of triggering the second emergency stop control signal and further improve safety.

[0051] For example, in one possible implementation, see Figure 1 , Figure 4The emergency stop signal detection module 4 includes two emergency stop signal detection circuits, the self-diagnosis module 7 includes two self-diagnosis circuits, and the signal response delay module 5 includes two input circuits (one input circuit includes input terminal In3 and the ninth diode D9, and the other input circuit includes input terminal In4 and the tenth diode D10). The signal output terminals of the first shaping branches 402 of the two emergency stop signal detection circuits are respectively connected to the input terminals of the two self-diagnosis circuits (i.e., output terminal out1 is connected to input terminal In2). The signal output terminals of the two self-diagnosis circuits are respectively connected to the control signal input terminals of the two input circuits of the signal response delay module 5 (i.e., the output terminal out3 of the two self-diagnosis circuits is connected to input terminal In3 and input terminal In4 respectively).

[0052] Specifically, see Figure 5 The emergency stop output control module 6 includes a first control circuit 601, an eleventh diode D11, a twelfth diode D12, a thirteenth diode D13, a signal relay K1, a thirty-second resistor R32, a thirty-third resistor R33, a tenth capacitor C10, and an eleventh capacitor C11; the emergency stop output control module 6 includes two signal output terminals (i.e. Figure 5 The output terminals out5 and out6 are both connected to the emergency stop control signal output terminal 3. The first control circuit 601 includes a twenty-eighth resistor R28, a thirtieth resistor R30, and a fourth transistor Q4. The first end of the twenty-eighth resistor R28 is used to input a first trigger signal (the first trigger signal is input through the input terminal In5, which is connected to the output terminal out4). The second end of the twenty-eighth resistor R28 and the first end of the thirtieth resistor R30 are both connected to the gate of the fourth transistor Q4. The second end of the thirtieth resistor R30 and the emitter of the fourth transistor Q4 are both grounded. The collector of the fourth transistor Q4 and the positive terminal of the eleventh diode D11 are both connected to pin 8 of the signal relay K1. The negative terminal of the eleventh diode D11 and pin 1 of the signal relay K1 are connected in parallel to a 5V power supply. The first end of the 32nd resistor R32 is connected to pin 2 of the signal relay K1. The second end of the 32nd resistor R32, the cathode of the 12th diode D12, and the first end of the 10th capacitor C10 are connected in parallel. The anode of the 12th diode D12 is connected to the 24V power supply. The second end of the 10th capacitor C10 is grounded. Pin 4 of the signal relay K1 is grounded. Pin 3 of the signal relay K1 is connected to one of the signal output terminals of the emergency stop output control module 6. The first end of the 33rd resistor R33 is connected to pin 7 of the signal relay K1. The second end of the 33rd resistor R33, the cathode of the 13th diode D13, and the first end of the 11th capacitor C11 are connected in parallel. The anode of the 13th diode D13 is connected to the 24V power supply. The second end of the 11th capacitor C11 is grounded. Pin 5 of the signal relay K1 is grounded. Pin 6 of the signal relay K1 is connected to another signal output terminal of the emergency stop output control module 6.

[0053] When the input terminal In5 of the first control circuit 601 receives a high-level first trigger signal, the signal relay K1 closes, and the output terminals out5 and out6 simultaneously output high-level signals, which are the second emergency stop control signals.

[0054] Furthermore, see Figure 5 The emergency stop output control module 6 includes a second control circuit 602; the second control circuit 602 includes a twenty-ninth resistor R29, a thirty-first resistor R31, and a fifth transistor Q5. The first end of the twenty-ninth resistor R29 is used to input a second trigger signal (the second trigger signal is input through the input terminal In6, which is connected to the controller 2). The second end of the twenty-ninth resistor R29 and the first end of the thirty-first resistor R31 are both connected to the gate of the fifth transistor Q5. The second end of the thirty-first resistor R31 and the emitter of the fifth transistor Q5 are both grounded. The collector of the fifth transistor Q5 is connected to the collector of the fourth transistor Q4.

[0055] When the input terminal In6 of the second control circuit 602 receives a high-level second trigger signal, the signal relay K1 closes, and the output terminals out5 and out6 simultaneously output high-level signals, which are the second emergency stop control signals.

[0056] A second emergency stop control signal can be generated as long as either the first control circuit 601 or the second control circuit 602 has a trigger signal input.

[0057] In summary, this robot safety control system has the following advantages: 1. In the event of a malfunction in controller 2, it can respond promptly and effectively to the robot's emergency signals, stopping the robot and further enhancing the robot's safety; 2. The detection and delay control circuit is simple and reliable. The delay time can be customized according to requirements to adapt to the time required by various safety function priorities, ensuring that this solution can serve as a backup solution for all safety functions. 3. This solution will not change the original conditions for the occurrence and control results of the robot's own safety functions, and it is universal for different types of robot application scenarios.

[0058] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0059] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robot safety control system, comprising an emergency stop signal input terminal (1), a controller (2), and an emergency stop control signal output terminal (3) electrically connected in sequence, wherein the controller (2) is used to output a first emergency stop control signal to the emergency stop control signal output terminal (3) upon receiving an emergency stop signal, so as to control the robot to stop; characterized in that, Also includes: The emergency stop signal detection module (4), the signal response delay module (5), and the emergency stop output control module (6) are connected in sequence. The emergency stop signal detection module (4) is connected to the emergency stop signal input terminal (1) and is used to shape and filter the emergency stop signal to form a detection trigger signal, which drives the signal response delay module (5) to output the first trigger signal after a delay. The emergency stop output control module (6) is electrically connected to the emergency stop control signal output terminal (3) and is used to output a second emergency stop control signal to the emergency stop control signal output terminal (3) when the first trigger signal is received, so as to control the robot to stop; the signal output first of the first emergency stop control signal and the second emergency stop control signal is the valid signal; It also includes a self-diagnostic module (7), which is connected between the emergency stop signal detection module (4) and the signal response delay module (5), and both the self-diagnostic module (7) and the emergency stop signal detection module (4) are electrically connected to the controller (2); The emergency stop signal detection module (4) is also used to shape and filter the emergency stop signal to form a detection signal, and send the detection signal to the controller (2); the emergency stop signal detection module (4) is also used to input the detection trigger signal into the self-diagnosis module (7). The self-diagnosis module (7) is used to generate a control signal based on the detection trigger signal and send the control signal to the signal response delay module (5) and the controller (2). The signal response delay module (5) outputs a first trigger signal after a delay when it receives the control signal; The controller (2) is also used to determine whether the emergency stop signal detection module (4) and the self-diagnosis module (7) are faulty based on the control signal and the detection signal.

2. The robot safety control system according to claim 1, characterized in that, The emergency stop output control module (6) is also electrically connected to the controller (2). The controller (2) is also used to output a second trigger signal to the emergency stop output control module (6) when it receives an emergency stop signal. The emergency stop output control module (6) is also used to output a second emergency stop control signal to the emergency stop control signal output terminal (3) when it receives the second trigger signal, so as to control the robot to stop.

3. The robotic safety control system of claim 1, wherein, The emergency stop signal detection module (4) includes at least one emergency stop signal detection circuit, which includes a filter isolation module (401), a first shaping branch (402), and a second shaping branch (403). The input terminal of the filtering and isolation module (401) is connected to the emergency stop signal input terminal (1), and the filtering and isolation module (401) is used to filter and isolate the emergency stop signal; The input terminal of the first shaping branch (402) is connected to the output of the filter isolation module (401) and is used to shape the output signal of the filter isolation module (401) to form the detection trigger signal; The input terminal of the second shaping branch (403) is connected to the output of the filter isolation module (401) and is used to shape the output signal of the filter isolation module (401) to form the detection signal.

4. The robotic safety control system of claim 3, wherein, The self-diagnostic module (7) includes at least one self-diagnostic circuit, which includes a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a second transistor Q2, a second Zener diode d2, a MOSFET M1 with a parasitic diode, a fifth diode D5, a sixth diode D6, a seventh diode D7, an eighth diode D8, a fifth capacitor C5, and a sixth capacitor C6. The first end of the thirteenth resistor R13 is connected to the input terminal of the self-diagnostic circuit. The second end of the thirteenth resistor R13 and the first end of the fourteenth resistor R14 are both connected to the gate of the second transistor Q2. The anode of the fifth diode D5 is connected to the emitter of the second transistor Q2, and the cathode of the fifth diode D5 is grounded. The first end of the fifteenth resistor R15 is connected to the collector of the second transistor Q2. The first end of the sixteenth resistor R16, the anode of the second Zener diode d2, and the gate of the MOSFET M1 are all connected to the second end of the fifteenth resistor R15. The second ends of the fourteenth resistor R14, the sixteenth resistor R16, the cathode of the second Zener diode d2, the drain of the MOSFET M1, and the first end of the fifth capacitor C5 are connected in parallel to a 24V power supply. The second end of the fifth capacitor C5 is grounded. The first terminal of the seventeenth resistor R17 and the first terminal of the eighteenth resistor R18 are both connected to the source of the MOSFET M1. The second terminal of the seventeenth resistor R17 is connected to the negative terminal of the sixth diode D6, and the positive terminal of the sixth diode D6 is grounded. The first terminal of the nineteenth resistor R19, the first terminal of the sixth capacitor C6, the negative terminal of the seventh diode D7, the positive terminal of the eighth diode D8, and the signal output terminal of the self-diagnostic circuit are all connected to the second terminal of the eighteenth resistor R18. The second terminal of the nineteenth resistor R19, the second terminal of the sixth capacitor C6, and the positive terminal of the seventh diode D7 are all grounded. The negative terminal of the eighth diode D8 is connected to a 3V power supply.

5. The robotic safety control system of claim 4, wherein, The signal response delay module (5) includes at least one input circuit, a twentieth resistor R20, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a third transistor Q3, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, and a 555 timer U3. One end of the input circuit is a control signal input terminal, and the other end is connected to the first end of the twentieth resistor R20; The second end of the twentieth resistor R20 and the first end of the twentieth resistor R21 are both connected to the gate of the third transistor Q3, and the collector of the third transistor Q3 is connected to a 5V power supply; the second end of the twentieth resistor R21, the emitter of the third transistor Q3, the first end of the seventh capacitor C7, and the first end of the twentieth resistor R22 are connected in parallel to the power supply; the second end of the seventh capacitor C7, the second end of the twentieth resistor R22, and the first end of the twentieth resistor R23 are all connected to the THRES pin of the 555 timer U3, and the second end of the twentieth resistor R23 is grounded; The VCC pin of the 555 timer U3 and the first end of the eighth capacitor C8 are both connected to the power supply. The first end of the ninth capacitor C9 is connected to the CONT pin of the 555 timer U3. The second ends of the eighth capacitor C8 and the second ends of the ninth capacitor C9 are both grounded. The OUT pin of the 555 timer U3 is connected to the signal output terminal of the signal response delay module (5).

6. The robotic safety control system of claim 5, wherein, The delay time of the signal response delay module (5) is: T1 = 1.1 * r23 * c7; Wherein, T1 is the delay time, r23 is the resistance value of the 23rd resistor R23, and c7 is the capacitance value of the 7th capacitor C7.

7. The robotic safety control system of claim 5, wherein, The emergency stop signal detection module (4) includes two emergency stop signal detection circuits, the self-diagnosis module (7) includes two self-diagnosis circuits, and the signal response delay module (5) includes two input circuits; the signal output terminals of the first shaping branches (402) of the two emergency stop signal detection circuits are respectively connected to the input terminals of the two self-diagnosis circuits; the signal output terminals of the two self-diagnosis circuits are respectively connected to the control signal input terminals of the two input circuits of the signal response delay module (5).

8. The robotic safety control system of claim 2, wherein, The emergency stop output control module (6) includes a first control circuit (601), an eleventh diode D11, a twelfth diode D12, a thirteenth diode D13, a signal relay K1, a thirty-second resistor R32, a thirty-third resistor R33, a tenth capacitor C10, and an eleventh capacitor C11; the emergency stop output control module (6) includes two signal output terminals; The first control circuit (601) includes a twenty-eighth resistor R28, a thirtieth resistor R30, and a fourth transistor Q4. The first end of the twenty-eighth resistor R28 is used to input the first trigger signal. The second end of the twenty-eighth resistor R28 and the first end of the thirtieth resistor R30 are both connected to the gate of the fourth transistor Q4. The second end of the thirtieth resistor R30 and the emitter of the fourth transistor Q4 are both grounded. The collector of the fourth transistor Q4 and the anode of the eleventh diode D11 are both connected to pin 8 of the signal relay K1. The cathode of the eleventh diode D11 and pin 1 of the signal relay K1 are connected in parallel to a 5V power supply. The first end of the thirty-second resistor R32 is connected to pin 2 of the signal relay K1. The second end of the thirty-second resistor R32, the negative terminal of the twelfth diode D12, and the first end of the tenth capacitor C10 are connected in parallel. The positive terminal of the twelfth diode D12 is connected to a 24V power supply. The second end of the tenth capacitor C10 is grounded. Pin 4 of the signal relay K1 is grounded. Pin 3 of the signal relay K1 is connected to one of the signal output terminals of the emergency stop output control module (6). The first end of the thirty-third resistor R33 is connected to pin 7 of the signal relay K1. The second end of the thirty-third resistor R33, the negative terminal of the thirteenth diode D13, and the first end of the eleventh capacitor C11 are connected in parallel. The positive terminal of the thirteenth diode D13 is connected to a 24V power supply. The second end of the eleventh capacitor C11 is grounded. Pin 5 of the signal relay K1 is grounded. Pin 6 of the signal relay K1 is connected to another signal output terminal of the emergency stop output control module (6).

9. The robot safety control system according to claim 8, characterized in that, The emergency stop output control module (6) includes a second control circuit (602); the second control circuit (602) includes a twenty-ninth resistor R29, a thirty-first resistor R31 and a fifth transistor Q5. The first end of the twenty-ninth resistor R29 is used to input the second trigger signal. The second end of the twenty-ninth resistor R29 and the first end of the thirty-first resistor R31 are both connected to the gate of the fifth transistor Q5. The second end of the thirty-first resistor R31 and the emitter of the fifth transistor Q5 are both grounded. The collector of the fifth transistor Q5 is connected to the collector of the fourth transistor Q4.

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