Motor control system of robot workstation

Abstract

The embodiment of the invention provides a motor control system of a robot workstation, and relates to the technical field of intelligent warehouse logistics. The motor control system comprises a main controller, a safety relay, a servo driver and a motor, wherein the servo driver is used for driving the motor; the main controller is used for issuing a disconnection instruction to the safety relay and issuing a stop signal to the servo driver when receiving the safety loop trigger signal; wherein the safety circuit trigger signal is used for indicating sudden stop of the motor; the safety relay is used for cutting off a main power supply of the servo driver and cutting off power supply of the safety relay to a brake assembly of the motor when receiving the cut-off instruction; the servo driver is used for cutting off the power supply of the servo driver to the brake assembly when the stop signal is received; and when the power supply of the safety relay and the servo driver is cut off, the motor stops running. By applying the scheme provided by the embodiment of the invention, the stability of sudden stop of the motor of the robot workstation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent warehousing and logistics, and in particular to a motor control system of a robot workstation. Background Art

[0002] In the intelligent warehousing and logistics system, a robot workstation refers to a group of equipment that mainly consists of one or more robots, equipped with corresponding peripheral equipment, such as positioners, conveyors, tooling fixtures, etc., or with the help of manual auxiliary operations to complete a relatively independent operation or process.

[0003] Taking the combing machine workstation as an example, usually, the combing machine workstation includes a fixed base, a retractable and non-retractable roller device, and a combing machine for lifting and lowering goods. The CTU (Container Transfering Unit, material box robot) working with the combing machine workstation includes a mobile chassis, a shelf and a handling device for handling goods. The shelf is installed on the mobile chassis, and the handling device is arranged on the shelf. The handling device can be raised and lowered along the shelf to handle goods at different heights. Among them, the above-mentioned CTU enters the combing machine workstation and transfers the loaded goods to the shelf of the combing workstation. Then, driven by the servo driver, the lifting motor of the combing workstation can first control the handling device to descend to transfer the goods to the conveyor belt, and after all the goods are transferred, the handling device is controlled to rise to load the next batch of goods.

[0004] Usually, during the operation of the combing machine workstation, due to unbalanced loading of goods, the proximity of unrelated personnel, etc., the lifting motor needs to be controlled to stop urgently to stop the movement of the handling device. However, when the lifting motor stops urgently, the rotor of the lifting motor often continues to rotate due to inertia, gravity, etc., thereby driving the motor to continue running and causing the handling device to shake, which in turn causes the goods to fall, resulting in safety hazards such as damage to the goods and injury to personnel.

[0005] Based on this, how to improve the stability of the motor emergency stop of the robot workstation to improve the safety of the motor emergency stop is a technical problem that needs to be solved urgently. Summary of the invention

[0006] The purpose of the embodiment of the present application is to provide a motor control system of a robot workstation to improve the stability of the motor emergency stop of the robot workstation. The specific technical solution is as follows:

[0007] The embodiment of the present application provides a motor control system of a robot workstation, the system comprising: a main controller, a safety relay, a servo driver and a motor, the servo driver being used to drive the motor;

[0008] The main controller is used to send a disconnection instruction to the safety relay and a stop signal to the servo driver when receiving a safety circuit trigger signal; wherein the safety circuit trigger signal is used to instruct the motor to stop urgently;

[0009] The safety relay is used to cut off the main power supply of the servo drive and cut off the power supply of the safety relay to the brake assembly of the motor when receiving the disconnection instruction;

[0010] The servo driver is used to cut off the power supply of the servo driver to the brake assembly when receiving the stop signal.

[0011] Optionally, in a specific implementation, the safety relay cuts off the main power supply of the servo driver, including:

[0012] The first output port of the safety relay stops outputting the first IO signal, so that the coil of the first AC contactor loses power and the contacts of the first AC contactor are disconnected;

[0013] The second output port of the safety relay stops outputting the second IO signal, so that the coil of the second AC contactor loses power and the contacts of the second AC contactor are disconnected.

[0014] Optionally, in a specific implementation, the safety relay cuts off the power supply of the safety relay to the brake assembly of the motor, including:

[0015] The third output port of the safety relay stops supplying power of a preset voltage value to the brake assembly of the motor.

[0016] Optionally, in a specific implementation, the preset voltage value is 24V.

[0017] Optionally, in a specific implementation, the servo driver cuts off the power supply of the servo driver to the brake assembly, including:

[0018] The brake control output port of the servo driver stops outputting the brake signal to de-energize the intermediate relay coil and disconnect the intermediate relay contacts; wherein, when the intermediate relay contacts are closed, the servo driver supplies 0V voltage to the brake assembly of the motor.

[0019] Optionally, in a specific implementation, the system further includes: a secure IO component;

[0020] The safety IO component is used to generate the safety circuit trigger signal and report the safety circuit trigger signal to the main controller when it detects that the emergency stop button of the motor is triggered or the photoelectric signal transmission of the safety light curtain of the robot workstation is interrupted.

[0021] Optionally, in a specific implementation, the safety light curtain includes a light curtain transmitter and a light curtain receiver, and the light curtain transmitter and the light curtain receiver are respectively installed on both sides of the entrance and exit channel of the robot workstation and installed opposite to each other, and the light curtain transmitter transmits a photoelectric signal to the light curtain receiver.

[0022] Optionally, in a specific implementation, the system further includes: a light curtain shielding sensor and a common IO component;

[0023] The light curtain shielding sensor is used to send a shielding signal to the common IO component when detecting that the mobile robot working in cooperation with the robot workstation moves in the entry and exit channel, so that the common IO component sends the shielding signal to the main controller;

[0024] The main controller is further configured to, upon receiving the shielding signal, send a shielding instruction to the safety IO component to enable the safety IO component to ignore the detection result of the interruption of the photoelectric signal transmission of the safety light curtain;

[0025] The light curtain shielding sensor is further used to send a shielding release signal to the common IO component when detecting that the mobile robot leaves the entry and exit channel, so that the common IO component sends the shielding release signal to the main controller;

[0026] The main controller is further configured to send a shielding release instruction to the safety IO component when receiving the shielding signal, so that the safety IO component reports the generated safety loop trigger signal to the main controller when detecting that the photoelectric signal transmission of the safety light curtain is interrupted.

[0027] Optionally, in a specific implementation, the system further includes: a safety PLC;

[0028] The main controller is further used to send the disconnection instruction and the stop signal to the safety PCL;

[0029] The safety PLC is used to use the dual MCUs to verify the disconnection instruction and the stop signal respectively, and output an alarm signal when the disconnection instruction and / or the stop signal verification fails.

[0030] Optionally, in a specific implementation,

[0031] The main controller is specifically used to verify the safety circuit trigger signal using the dual MCU when receiving the safety circuit trigger signal, and when the verification is successful, send a disconnection instruction to the safety relay and send a stop signal to the servo driver; and / or,

[0032] The safety relay is specifically used to verify the disconnection instruction using the provided dual MCU when receiving the disconnection instruction, and when the verification is successful, cut off the main power supply of the servo drive and cut off the power supply of the safety relay to the motor.

[0033] Beneficial effects of the embodiments of the present application:

[0034] As can be seen from the above, by applying the solution provided by the embodiment of the present application, since the motor is driven by the servo driver, when the safety relay cuts off the main power supply of the servo driver, the servo driver will not be able to continue to drive the motor due to power failure, and the motor stops running due to lack of drive. In this way, by cutting off the main power supply of the servo driver by the safety relay, the control of stopping the operation of the motor is completed, forming a safety control loop for emergency stop of the motor.

[0035] In addition, during the operation of the motor, the safety relay and the servo driver supply power to the brake assembly of the motor with different voltage values ​​to form a brake circuit, so that the brake function of the motor is in a normally open state, and the brake device of the motor is released. When the safety relay and the servo driver both cut off the power supply to the brake assembly of the motor, the brake circuit is disconnected, the brake function of the motor is switched from the normally open state to the closed state, and the brake device of the motor is tightened to achieve the motor brake, so that the rotor of the motor can stably stop at the current position and does not continue to rotate due to inertia, gravity, etc., so that the motor can stably stop at the current position and does not continue to run. In this way, the power supply to the brake assembly of the motor is cut off by the safety relay and the servo driver, the motor brake is completed, and another safety control circuit for the emergency stop of the motor is formed.

[0036] Based on this, the solution provided in the embodiment of the present application is applied. When the motor of the robot workstation is controlled to stop suddenly, two control methods are used: a safety relay is used to cut off the main power supply of the servo driver, and a safety relay and a servo driver are used to cut off the power supply of the brake assembly of the motor. The above two control methods form safety control loops respectively. Therefore, in the embodiment of the present application, when the motor of the robot workstation is controlled to stop suddenly, a dual safety control loop control is adopted. When the motor is controlled to stop running, the motor is controlled to stop stably at the current position when it stops running, and does not continue to run due to inertia, gravity, etc. In this way, when the motor of the robot workstation stops suddenly, the stability of the motor of the robot workstation can be improved to improve the safety of the motor emergency stop.

[0037] In addition, by using the solution provided in the embodiment of the present application, since dual safety control loops are used, when a certain safety control loop fails, the motor of the robot workstation can still be controlled to stop running with the help of another safety control loop, thereby providing dual control guarantees for the motor to stop running, so as to ensure the stable triggering of the overall operation signal of the robot workstation.

[0038] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0040] Figure 1 A schematic diagram of the structure of a motor control system of a robot workstation provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a dual safety control circuit of a combing machine workstation provided in an embodiment of the present application;

[0042] Figure 3 This is the logic diagram of the internal brake control of the servo drive;

[0043] Figure 4 A schematic diagram of the structure of a motor control system of another robot workstation provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of a robot workstation provided in an embodiment of the present application;

[0045] Figure 6 A schematic diagram of the structure of a motor control system of another robot workstation provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the structure of a motor control system of another robot workstation provided in an embodiment of the present application;

[0047] Figure 8 The embodiments of this application provide Figure 2 The dual safety control loop shown is the control logic timing diagram of the control process of the motor emergency stop of the combing machine workstation. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0049] Currently, in intelligent warehousing and logistics systems, how to improve the stability of the motor emergency stop of the robot workstation to improve the safety of the motor emergency stop and reduce safety hazards such as cargo damage and personal injury is a technical problem that needs to be solved urgently.

[0050] In order to solve the above technical problems, an embodiment of the present application provides a motor control system of a robot workstation.

[0051] in, Figure 1 This is a schematic diagram of the structure of a motor control system of a robot workstation provided in an embodiment of the present application. Figure 1 As shown, the motor control system includes: a main controller 101 , a safety relay 102 , a servo driver 103 and a motor 104 , wherein the servo driver 103 is used to drive the motor 104 .

[0052] The main controller 101 is used to send a disconnection instruction to the safety relay 102 and a stop signal to the servo driver 103 when receiving a safety circuit trigger signal; wherein the safety circuit trigger signal is used to instruct the motor to stop urgently;

[0053] The safety relay 102 is used to cut off the main power supply of the servo driver 103 and cut off the power supply of the brake assembly of the motor 104 from the safety relay 102 when receiving the disconnection command;

[0054] The servo driver 103 is used to cut off the power supply of the servo driver 103 to the brake assembly when receiving the stop signal;

[0055] When the power supply of the safety relay 102 and the servo driver 103 is cut off, the motor 104 stops running.

[0056] In the embodiment of the present application, when it is necessary to control the motor of the robot workstation to stop suddenly, the main controller 101 in the motor control system first receives the safety circuit trigger signal, and the safety circuit trigger signal is used to instruct the motor of the robot workstation to stop suddenly. That is, when the main controller 101 receives the safety circuit trigger signal, it confirms that it is necessary to control the motor of the robot workstation to stop suddenly.

[0057] Among them, for the sake of clarity, the specific implementation method of the above-mentioned safety circuit trigger signal will be explained later.

[0058] According to the design concept of dual safety control loop control provided in the embodiment of the present application, when the main controller 101 receives the above-mentioned safety loop trigger signal, it sends a disconnection command to the safety relay 102 to control the safety relay 102 to cut off the main power supply of the servo driver 103 and cut off its own power supply to the brake component of the motor 104. At the same time, the main controller 101 sends a stop signal to the servo driver 103 to control the servo driver 103 to cut off its own power supply to the brake component of the motor 104.

[0059] Among them, the brake assembly of the above-mentioned motor is a device of the motor, which can also be called a brake device, a brake holding device, etc. Its essence is a coil device. When the coil is energized, the brake holding device will release the motor shaft, and the motor shaft can rotate. When the coil loses power, the brake holding device will hold the motor shaft, and the motor shaft cannot rotate.

[0060] Optionally, when receiving the safety loop trigger signal, the main controller 101 may send a disconnection instruction to the safety relay 102 and a stop signal to the servo driver 103 through different CAN (Controller Area Network) buses. The CAN bus is a serial communication protocol bus for real-time applications.

[0061] Optionally, when receiving the safety loop trigger signal, the main controller 101 uses the dual MCU (MicroControl Unit) to verify the safety loop trigger signal, and when the verification is successful, sends a disconnect command to the safety relay 102 and sends a stop signal to the servo driver 103.

[0062] Among them, in order to ensure the accuracy of signal processing during the motor emergency stop control process, the main controller 101 can first use the dual MCUs set to verify the received safety circuit trigger signal, that is, first use the two MCUs set to verify the received safety circuit trigger signal. Specifically, the access pins of the two MCUs of the main controller 101 receive the above-mentioned safety circuit trigger signal respectively, so that the two MCUs perform logical operations on the above-mentioned safety circuit trigger signal respectively, and output the logical operation results through the output pins. If the logical operation results obtained by the two MCUs are the same, it means that the safety circuit trigger signal verification is successful, otherwise, it means that the safety circuit trigger signal verification fails. When the above-mentioned safety circuit trigger signal verification fails, the above-mentioned main controller 101 can output an alarm signal.

[0063] When the safety circuit trigger signal verification fails, the main controller 101 may trigger the alarm logic, and while outputting the alarm signal, send a stop command to the servo driver 103, and control the safety relay 102 to disconnect the output. In this way, the servo driver 103 executes the stop command, cuts off the power supply to the brake assembly of the motor 104, and the safety relay 102 cuts off the main power supply of the servo driver 103 and cuts off the power supply to the brake assembly of the motor 104.

[0064] Thus, when the safety relay 102 receives the disconnection instruction, it can cut off the main power supply of the servo driver 103, so that the servo driver 103 is powered off, and the power supply to the brake assembly of the motor 104 is cut off. When the servo driver 103 receives the stop signal, it cuts off the power supply to the brake assembly of the motor 104.

[0065] Optionally, when receiving the disconnection instruction, the safety relay 102 uses the dual MCU to verify the disconnection instruction, and when the verification is successful, cuts off the main power supply of the servo driver 103 and cuts off the power supply of the safety relay 102 to the motor 104.

[0066] Among them, in order to ensure the accuracy of signal processing during the motor emergency stop control process, the safety relay 102 can first use the dual MCUs set to verify the received disconnection instruction, that is, first use the two MCUs set to verify the received disconnection instruction. Specifically, the access pins of the two MCUs of the safety relay 102 receive the above disconnection instruction respectively, so that the two MCUs perform logical operations on the above disconnection instructions respectively, and output the logical operation results through the output pins. If the logical operation results obtained by the two MCUs are the same, it means that the disconnection instruction verification is successful, otherwise, it means that the disconnection instruction verification fails. When the above disconnection instruction verification fails, the above safety relay 102 can output an alarm signal.

[0067] When the safety circuit trigger signal verification fails, the safety relay 102 can report the verification result to the main controller 101, so that the main controller 101 can be informed that the safety circuit trigger signal verification fails. Then, the main controller 101 can trigger the alarm logic, and while outputting the alarm signal, send a stop command to the servo driver 103, and control the safety relay 102 to disconnect the output. In this way, the servo driver 103 executes the stop command, cuts off the power supply to the brake assembly of the motor 104, and the safety relay 102 cuts off the main power supply of the servo driver 103 and cuts off the power supply to the brake assembly of the motor 104.

[0068] For the servo driver 103, its main power supply is an AC power supply, for example, a standard voltage of 220V (Volt). In order to realize the power supply of the servo driver 103 by the above-mentioned main power supply, the servo driver 103 is provided with wiring ports connected to the live wire (Live wire, L) and the neutral wire (Neutral wire, N) of the main power supply respectively, wherein the wiring port connected to the live wire can be marked as POWER_L, and the wiring port connected to the neutral wire can be marked as POWER_N.

[0069] In order to control the power supply and power off of the main power supply to the servo driver 103, an AC contactor is provided to control whether the above-mentioned POWER_L is connected to the live wire of the main power supply, and the above-mentioned POWER_N is connected to the neutral wire of the main power supply. When the coil of the AC contactor loses power and the contacts of the AC contactor are disconnected, the above-mentioned POWER_L is disconnected from the live wire of the main power supply, and the above-mentioned POWER_N is disconnected from the neutral wire of the main power supply, thereby cutting off the main power supply of the servo driver 103, that is, cutting off the power supply of the main power supply to the servo driver 103, and when the coil of the AC contactor is energized and the contacts of the AC contactor are in contact, the above-mentioned POWER_L is connected to the live wire of the main power supply, and the above-mentioned POWER_N is connected to the neutral wire of the main power supply, thereby the main power supply supplies power to the servo driver 103.

[0070] The power on and off of the AC contactor is controlled by whether the signal output port of the safety relay outputs an IO signal. When the signal output port of the safety relay outputs an IO signal, the coil of the AC contactor is powered, the contacts of the AC contactor are in contact, and the main power supply supplies power to the servo driver 103; and when the signal output port of the safety relay stops outputting an IO signal, the coil of the AC contactor is powered off, the contacts of the AC contactor are disconnected, and the main power supply to the servo driver 103 is cut off. In the embodiment of the present application, the IO signal is a signal specifically used to control the power on of the AC contactor coil, and the IO signal can also be an IO digital signal.

[0071] Based on this, optionally, in a specific implementation, the safety relay 102 cuts off the main power supply of the servo driver 103, including:

[0072] The first output port of the safety relay 102 stops outputting the first IO signal, so that the coil of the first AC contactor loses power and the contacts of the first AC contactor are disconnected;

[0073] The second output port of the safety relay 102 stops outputting the second IO signal, so that the coil of the second AC contactor loses power and the contacts of the second AC contactor are disconnected.

[0074] For example, Figure 2As shown, the safety relay 102 is provided with a first output port (for outputting OUT1) and a second output port (for outputting OUT2), wherein the first output port is used to output a first IO signal to control the coil of the first AC contactor (KM1) to be energized, and when the safety relay 102 receives a disconnection instruction, the first output port stops outputting the first IO signal, the coil of KM1 is de-energized, and the contacts of KM1 are disconnected; similarly, the second output port is used to output a second IO signal to control the coil of the second AC contactor (KM2) to be energized, and when the safety relay 102 receives a disconnection instruction, the second output port stops outputting the second IO signal, the coil of KM2 is de-energized, and the contacts of KM2 are disconnected. Furthermore, when the coils of KM1 and KM2 lose power, and the contacts of KM1 and KM2 are disconnected, the live wire (L) of the main power supply is disconnected from the live wire connection port (POWER_L) of the servo driver 103, and the neutral wire (N) of the main power supply is disconnected from the neutral wire connection (POWER_N) of the servo driver 103. At this time, the main power supply to the servo driver 103 is cut off. In this way, the servo driver 103 stops running due to power failure, and thus, it is unable to drive the motor 104. At this point, the main power supply of the servo driver 103 is cut off by the safety relay 102, thereby completing the control of stopping the motor 104, and forming a safety control loop for emergency stop of the motor. Among them, usually, the safety io signal output by the safety relay 102 can be called OUT output, such as Figure 2 As shown, the OUT output of the safety relay includes OUT1, OUT2, OUT3 and OUT4, and KM is the electrical symbol name of AC contactor, and AC is the abbreviation of Alternating Current.

[0075] In addition, the voltage value of the power supply of the brake assembly of the motor 104 by the safety relay 102 is different from the voltage value of the power supply of the brake assembly of the motor 104 by the servo driver 103. Therefore, when the safety relay 102 and the servo driver 103 simultaneously supply power to the brake assembly of the motor 104, due to the voltage difference between the two power supplies, a power supply circuit for the brake assembly of the motor 104 can be formed, and the power supply circuit can also be called a brake circuit, so that the brake function of the motor 104 is in a normally open state, then the brake device of the motor 104 is released, and the rotor of the motor 104 rotates normally, so that the motor 104 operates normally. When the power supply of the brake assembly of the motor 104 by the above-mentioned safety relay 102 and the servo driver 103 is cut off, the above-mentioned brake circuit is disconnected, and the brake function of the motor 104 is switched from the normally open state to the closed state, and the brake device of the motor 104 is tightened. At this time, the motor 104 is in a motor brake state, and the rotor of the motor 104 is stably stopped at the current position, and the motor 104 is also stably stopped at the current position without continuing to move. In this way, the power supply to the brake assembly of the motor 104 is cut off through the safety relay 102 and the servo driver 130, the motor brake is completed, and a safety control loop for emergency stop of the motor 104 is formed. The above control process can be called internal brake control of the servo driver.

[0076] For example, Figure 3 The figure below is a logic diagram of the internal brake control of the servo drive. The control logic is as follows:

[0077] 1. The safety output port of the safety relay outputs a 24V (Volt) voltage to the brake assembly of the motor, that is, the safety relay supplies power to the brake assembly of the motor, and the voltage value of the power supply is 24V.

[0078] 2. The brake control output port of the servo driver outputs a brake signal to the DC (Direct Current) power supply, so that the DC power supply supplies power to the intermediate relay (KA1). KA is the electrical symbol name of the intermediate relay, and, Figure 3 As shown in the figure, -x1, -x2 and com shown in the servo drive are the signal connection pins of the servo drive.

[0079] 3. The coil of the intermediate relay KA1 is energized, and its contacts 7 and 4 are switched from the normally open state to the normally closed state. The DC power supply supplies power to the brake assembly of the motor, and the voltage value of the power supply is 0V, that is, the 0V power supply of the brake assembly of the motor is connected. In this way, the servo drive is energized by means of the DC power supply and the coil of the intermediate relay KA1, and the power supply of the brake assembly of the motor is realized, and the voltage value of the power supply is 0V.

[0080] 4. The motor's brake function is turned on, the motor's brake device is released, and the motor's rotor rotates normally.

[0081] Based on the above control logic, the essence of the internal brake control of the above servo drive is: the safety output port of the safety relay is turned off, that is, the safety relay cuts off its own power supply to the brake component of the motor, and the brake control output port of the servo drive has no output, that is, the servo drive cuts off its own power supply to the brake component of the motor.

[0082] Based on this, optionally, in a specific implementation, the safety relay 102 cuts off the power supply of the safety relay 102 to the brake assembly of the motor 104, including:

[0083] The third output port of the safety relay 102 stops supplying power of a preset voltage value to the brake assembly of the motor 104 .

[0084] For example, Figure 2 As shown, the safety relay 102 is also provided with a third output port (OUT3), wherein OUT3 is used to power the brake assembly of the motor 104, and the voltage value of the power supply is a preset voltage value. Optionally, the above-mentioned preset voltage value can be 24V. Of course, the above-mentioned preset voltage value can also be set to other voltage values ​​according to the specific circumstances of the actual application, which is reasonable. In this way, when the third output port of the safety relay 102 stops supplying power to the brake assembly of the motor 104, the safety relay 102 cuts off its own power supply to the brake assembly of the motor 104.

[0085] Optionally, in a specific implementation, the servo driver 103 cuts off the power supply of the servo driver 103 to the brake assembly of the motor 104, including:

[0086] The brake control output port of the servo driver 103 stops outputting the brake signal, so that the intermediate relay coil loses power and the intermediate relay contacts are disconnected; wherein, when the intermediate relay contacts are closed, the servo driver 103 supplies 0V voltage to the brake assembly of the motor 104 .

[0087] At this point, when the main power supply of the servo driver 103 is cut off, and the power supply of the brake assembly of the motor 104 by the safety relay 102 and the servo driver 103 is cut off, the motor 104 stops running and stops stably at the current position through the motor brake.

[0088] As can be seen from the above, by applying the solution provided by the embodiment of the present application, since the motor is driven by the servo driver, when the safety relay cuts off the main power supply of the servo driver, the servo driver will not be able to continue to drive the motor due to power failure, and the motor stops running due to lack of drive. In this way, by cutting off the main power supply of the servo driver by the safety relay, the control of stopping the operation of the motor is completed, forming a safety control loop for emergency stop of the motor.

[0089] In addition, during the operation of the motor, the safety relay and the servo driver supply power to the brake assembly of the motor with different voltage values ​​to form a brake circuit, so that the brake function of the motor is in a normally open state, and the brake device of the motor is released. When the safety relay and the servo driver both cut off the power supply to the brake assembly of the motor, the brake circuit is disconnected, the brake function of the motor is switched from the normally open state to the closed state, and the brake device of the motor is tightened to achieve the motor brake, so that the rotor of the motor can stably stop at the current position and does not continue to rotate due to inertia, gravity, etc., so that the motor can stably stop at the current position and does not continue to run. In this way, the power supply to the brake assembly of the motor is cut off by the safety relay and the servo driver, the motor brake is completed, and another safety control circuit for the emergency stop of the motor is formed.

[0090] Based on this, the solution provided in the embodiment of the present application is applied. When the motor of the robot workstation is controlled to stop suddenly, two control methods are used: a safety relay is used to cut off the main power supply of the servo driver, and a safety relay and a servo driver are used to cut off the power supply of the brake assembly of the motor. The above two control methods form safety control loops respectively. Therefore, in the embodiment of the present application, when the motor of the robot workstation is controlled to stop suddenly, a dual safety control loop control is adopted. When the motor is controlled to stop running, the motor is controlled to stop stably at the current position when it stops running, and does not continue to run due to inertia, gravity, etc. In this way, when the motor of the robot workstation stops suddenly, the stability of the motor of the robot workstation can be improved to improve the safety of the motor emergency stop.

[0091] In addition, by using the solution provided in the embodiment of the present application, since dual safety control loops are used, when a certain safety control loop fails, the motor of the robot workstation can still be controlled to stop running with the help of another safety control loop, thereby providing dual control guarantees for the motor to stop running, so as to ensure the stable triggering of the overall operation signal of the robot workstation.

[0092] Generally, the generation method of the above safety circuit trigger signal may be different depending on the type of robot workstation, application scenario, current working state, etc. For example, in order to ensure that the robot workstation can be stopped in time when an unexpected situation occurs, the robot workstation is usually provided with an emergency stop button, and the safety circuit trigger signal can be generated by pressing the emergency stop button to control the emergency stop of the motor of the robot workstation.

[0093] Based on this, optionally, in a specific implementation, such as Figure 4 As shown, a motor control system of a robot workstation provided in an embodiment of the present application may also include a safety IO component 105. Among them, in this specific implementation:

[0094] The safety IO component 105 is used to generate a safety circuit trigger signal and report the safety circuit trigger signal to the main controller 101 when it detects that the emergency stop button of the motor 104 is triggered or the photoelectric signal transmission of the safety light curtain of the robot workstation is interrupted.

[0095] When the handling device of the robot workstation is unbalanced or in an unexpected situation, the staff of the robot workstation can press the emergency stop button of the motor 104, and the emergency stop button is triggered. Therefore, when the safety IO component 105 detects that the emergency stop button of the motor 104 is triggered, it can generate a safety circuit trigger signal and report the safety circuit trigger signal to the main controller 101.

[0096] In addition, in many application scenarios, in order to ensure personnel safety, during the operation of the robot workstation, personnel and equipment are usually prohibited from approaching the robot workstation to avoid accidents such as personnel being injured by goods. For the robot workstation, in order to cooperate with other equipment, an access channel is usually set for the other equipment to enter and exit the robot workstation to complete tasks such as cargo delivery. Figure 5 Take the side view of the combing machine workstation as an example. Figure 5 As shown, it can be seen that a lifting motor (i.e., the motor in the embodiment of the present application) is arranged at the lower end of the fixed base of the tooth combing machine workstation, and a control panel is arranged on the side of the fixed bracket of the tooth combing machine workstation, and two emergency stop buttons, a lifting drive (i.e., the servo drive in the embodiment of the present application) and a main controller are arranged on the control panel. When the emergency stop button is pressed, a safety circuit trigger signal can be sent to the main controller, thereby triggering the emergency stop process of the lifting motor. In addition, in the tooth combing machine workstation, according to Figure 5When the posture is set as shown, the CTU and other equipment working with the combing machine workstation enters the combing machine workstation from left to right and leaves the combing machine workstation from right to left, so that a safety light curtain can be set on the side of the inlet and outlet passage of the combing machine workstation, that is, the moving passage formed between the light curtain transmitter and the light curtain receiver of the safety light curtain is connected to the inlet and outlet passage of the combing machine workstation. In addition, a light curtain shielding sensor is set at the lower end of the above-mentioned safety light curtain.

[0097] Based on this, a safety light curtain for detecting whether there are objects such as people and equipment approaching can be set in the robot workstation. The safety light curtain usually includes a light curtain transmitter and a light curtain receiver that are relatively set, and the light curtain transmitter transmits a photoelectric signal to the light curtain receiver at a set frequency, so that the light curtain receiver can receive the photoelectric signal at the above set frequency. When there are objects such as people and equipment between the light curtain transmitter and the light curtain receiver, the photoelectric signal emitted by the light curtain transmitter to the light curtain receiver will be blocked, so that the light curtain receiver cannot normally receive the photoelectric signal at the above set frequency, that is, the photoelectric signal transmission of the safety light curtain is interrupted. Therefore, when the safety IO component 105 detects that the photoelectric signal transmission of the safety light curtain is interrupted, it can generate a safety circuit trigger signal and report the safety circuit trigger signal to the main controller 101. Among them, as mentioned above, the light curtain transmitter transmits a photoelectric signal to the light curtain receiver at a set frequency, so that the light curtain receiver can receive the photoelectric signal at the above-mentioned set frequency. Therefore, the photoelectric signal of the safety light curtain is usually a normally closed signal. When the light curtain receiver cannot receive the photoelectric signal normally or other abnormalities occur, the safety IO component 105 will detect the interruption of the photoelectric signal transmission of the safety light curtain, thereby directly triggering the emergency stop of the motor of the robot workstation, that is, triggering the generation of a safety circuit trigger signal, and reporting the safety circuit trigger signal to the main controller 101.

[0098] Among them, optionally, in a specific implementation, the above-mentioned safety light curtain may include a light curtain transmitter and a light curtain receiver, and the above-mentioned light curtain transmitter and light curtain receiver are respectively installed on both sides of the entrance and exit channel of the robot workstation and installed opposite to each other, and the above-mentioned light curtain transmitter transmits a photoelectric signal to the light curtain receiver.

[0099] Since the light curtain transmitter and the light curtain receiver in the above-mentioned safety light curtain are respectively installed on both sides of the entrance and exit channel of the robot workstation, when the mobile robot working in cooperation with the robot workstation enters and exits the robot workstation through the above-mentioned entrance and exit channel, the safety IO component 105 will also detect the interruption of the photoelectric signal transmission of the safety light curtain. However, at this time, there is no need to control the motor of the robot workstation to stop suddenly. Therefore, for the mobile robot working in cooperation with the robot workstation to enter and exit the robot workstation through the above-mentioned entrance and exit channel normally, there is no need to control the motor of the robot workstation to stop suddenly due to the interruption of the photoelectric signal transmission of the safety light curtain. In other words, for the mobile robot working in cooperation with the robot workstation to enter and exit the robot workstation through the above-mentioned entrance and exit channel normally, the effect of the safety light curtain can be temporarily shielded.

[0100] Based on this, optionally, in a specific implementation, such as Figure 6 As shown, a motor control system of a robot workstation provided in an embodiment of the present application may also include a light curtain shielding sensor 106 and a common IO component 107. Among them, in this specific implementation:

[0101] The light curtain shielding sensor 106 is used to send a shielding signal to the general IO component 107 when detecting that the mobile robot working in cooperation with the robot workstation moves in the access channel, so that the general IO component 107 sends a shielding signal to the main controller;

[0102] When the light curtain shielding sensor 106 detects that an object is moving in the entrance and exit passage of the robot workstation, it will combine the current work task of the robot workstation, the working state of the combing machine and the photoelectric shielding signal generated during the movement of the object to determine whether the object is a mobile robot working in cooperation with the robot workstation. When the object is a mobile robot working in cooperation with the robot workstation, a shielding signal is sent to the ordinary IO component 107 so that the ordinary IO component 107 sends a shielding signal to the main controller, thereby achieving temporary signal shielding. When the object is not a mobile robot working in cooperation with the robot workstation, it can be confirmed that the object is an interference object, such as a staff member who mistakenly enters the entrance and exit passage of the robot workstation, thereby triggering the light curtain to directly report an emergency stop, that is, when the safety IO component detects that the photoelectric signal transmission of the safety light curtain is interrupted, it reports the generated safety circuit trigger signal to the main controller to trigger the motor of the robot workstation to stop suddenly.

[0103] The main controller 101 is further used to send a shielding instruction to the safety IO component 105 when receiving the shielding signal, so that the safety IO component 105 ignores the detection result of the photoelectric signal transmission interruption of the detected safety light curtain;

[0104] The light curtain shielding sensor 106 is also used to send a shielding release signal to the general IO component 107 when detecting that the mobile robot leaves the entrance and exit channel, so that the general IO component 107 sends a shielding release signal to the main controller 101;

[0105] The main controller 101 is also used to send a shielding release instruction to the safety IO component 105 when receiving the shielding signal, so that the safety IO component 105 reports the generated safety loop trigger signal to the main controller 101 when detecting that the photoelectric signal transmission of the safety light curtain is interrupted.

[0106] In this specific implementation, the mobile robot that cooperates with the robot workstation can be determined in advance, and the light curtain shielding sensor 106 can detect in real time whether the above-mentioned mobile robot moves in the entrance and exit channel of the robot workstation, for example, the above-mentioned mobile robot enters the above-mentioned entrance and exit channel to enter the robot workstation, or the above-mentioned mobile robot leaves the above-mentioned entrance and exit channel to leave the robot workstation, etc.

[0107] In this way, when the light curtain shielding sensor 106 detects that the mobile robot moves in the access channel, it can send a shielding signal to the general IO component 107. At this time, the general IO component 107 receives the shielding signal and sends the shielding signal to the main controller 101. When the main controller 101 receives the shielding signal, it can confirm that the mobile robot currently working with the robot workstation moves in the access channel, thereby shielding the safety circuit trigger signal generated by the safety IO component 105 due to the interruption of the photoelectric signal transmission of the safety light curtain. Therefore, the main controller 101 can send a shielding instruction to the safety IO component 105. Furthermore, the safety IO component 105 receives the shielding instruction, and when it detects that the photoelectric signal transmission of the safety light curtain is interrupted, it ignores the detection result detected above and does not generate a safety circuit trigger signal.

[0108] Correspondingly, when the mobile robot leaves the entrance and exit channel, the object causing the photoelectric signal transmission terminal of the safety light curtain may be personnel, equipment and other objects that are not allowed to enter the entrance and exit channel. At this time, when the photoelectric signal transmission interruption of the safety light curtain is detected, the safety IO component 105 needs to generate a safety loop trigger signal and send the generated safety loop trigger signal to the main controller 101, that is, at this time, it is necessary to unshield the safety loop trigger signal generated by the safety IO component 105 due to the interruption of the photoelectric signal transmission of the safety light curtain.

[0109] Based on this, when the light curtain shielding sensor 106 detects that the mobile robot moves out of the channel, it can send a shielding release signal to the general IO component 107. At this time, the general IO component 107 contacts the shielding release signal and sends the shielding release signal to the main controller 101. When the main controller 101 receives the shielding release signal, it can confirm that the mobile robot currently working with the robot workstation has left the entry and exit channel, thereby releasing the shielding of the safety circuit trigger signal generated by the safety IO component 105 due to the interruption of the photoelectric signal transmission of the safety light curtain. Therefore, the main controller 101 can send a shielding release instruction to the safety IO component 105. Furthermore, the safety IO component receives the shielding release instruction, and when it detects that the photoelectric signal transmission of the safety light curtain is interrupted, it generates a safety circuit trigger signal and sends the generated safety circuit trigger signal to the main controller 101.

[0110] Optionally, in a specific implementation, such as Figure 7 As shown, a motor control system of a robot workstation provided in an embodiment of the present application may also include a safety PLC (Programmable Logic Controller) 108. In this specific implementation:

[0111] The main controller 101 is also used to send a disconnection instruction and a stop signal to the safety PLC 108;

[0112] The safety PLC 108 is also used to use the dual MCUs provided to respectively verify the disconnection instruction and the stop signal, and output an alarm signal when the disconnection instruction and / or the stop signal verification fails.

[0113] In this specific implementation, in order to ensure the accuracy of signal processing during the motor emergency stop control process, the safety PLC108 can be used to verify the disconnection command and stop signal issued by the main controller 101. Among them, the main controller 101 can send a disconnection command and a stop signal to the safety PLC108, and the safety PLC108 is provided with a dual MCU, that is, the safety PLC108 is provided with two MCUs, then the safety PLC108 can use the dual MCUs to verify the disconnection command and the stop signal respectively, and when at least one of the disconnection command and the stop signal fails to verify, it means that there is an error in the signal processing of the current motor control system, so that the safety PLC can output an alarm signal to report an error, thereby reminding the staff to troubleshoot the above motor control system.

[0114] Among them, for the disconnection instruction, the access pins of the two MCUs of the safety PLC108 receive the above disconnection instruction respectively, so that the two MCUs perform logic operations on the above disconnection instruction respectively, and output the above logic operation results through the output pins. If the logic operation results obtained by the two MCUs are the same, it means that the disconnection instruction verification is successful, otherwise, it means that the disconnection instruction verification has failed. Similarly, for the stop signal, the access pins of the two MCUs of the safety PLC108 receive the above stop signal respectively, so that the two MCUs perform logic operations on the above stop signal respectively, and output the above logic operation results through the output pins. If the logic operation results obtained by the two MCUs are the same, it means that the stop signal verification is successful, otherwise, it means that the stop signal verification has failed.

[0115] Optionally, the safety PLC 108 may receive a disconnection instruction and a stop signal sent by the main controller 101 through two CANs respectively.

[0116] In order to facilitate understanding of the control process of the motor emergency stop of the robot workstation provided in the above-mentioned embodiment of the present application, an example is given below using a combing machine workstation as an example.

[0117] like Figure 2 The figure shows a schematic diagram of the dual safety control circuit of the combing machine workstation provided by the embodiment of the present application, wherein the lifting drive is the above-mentioned servo drive, and the lifting motor is the above-mentioned motor. The control process of the motor emergency stop of the combing machine workstation is as follows:

[0118] 1. When the photoelectric transmission of the safety light curtain is interrupted, the safety light curtain sends the first signal to INT1 and INT2 of the safety IO through the IN interface to indicate the interruption of the photoelectric transmission signal; when the safety emergency stop button is pressed, the safety emergency stop button sends the second signal to INT3 and INT4 of the safety IO through the IN interface to indicate that the safety emergency stop button is triggered. Among them, safety IO is the abbreviation of safety IO component.

[0119] 2. When the safety IO receives the first signal or the second signal, it generates a safety loop trigger signal and sends the safety loop trigger signal to CAN1 of the main controller via CAN.

[0120] 3. When the main controller receives the above-mentioned safety circuit trigger signal, it uses the set dual MCU to verify the above-mentioned safety circuit trigger signal, and when the verification is successful, it sends a disconnection command to the CAN of the safety relay and the CAN1 of the safety PLC through CAN1, and sends a stop signal to the CAN2 of the lifting drive and the CAN2 of the safety PLC through CAN2.

[0121] 4. The safety PLC uses the dual MCUs to verify the disconnection command and the stop signal respectively.

[0122] 5. When the safety relay receives the disconnection instruction, it verifies the disconnection instruction using the dual MCUs. When the verification succeeds, OUT1 stops outputting the first IO signal, the coil of KM1 loses power, and the contact of KM1 is disconnected. Moreover, OUT2 stops outputting the second IO signal, the coil of KM2 loses power, and the contact of KM2 is disconnected. At this point, the safety relay cuts off the connection between the live wire (L) of the main power supply of the lifting drive and the live wire connection port (POWER_L) of the lifting drive, and cuts off the connection between the neutral wire (N) of the main power supply of the lifting drive and the neutral wire connection port (POWER_N) of the lifting drive, thereby the safety relay cuts off the power supply of the main power supply of the lifting drive to the lifting drive.

[0123] 6. When the safety relay successfully verifies the above disconnection command, OUT3 stops supplying 24V voltage to the brake assembly (Brake) of the lifting motor.

[0124] 7. When the brake control output port of the lifting driver stops outputting the brake signal, the coil of KA1 loses power and the contacts of KA1 are disconnected, thus cutting off the 0V voltage supply of the lifting driver to the brake assembly (Brake) of the lifting motor.

[0125] 8. When the main power supply of the lifting drive is cut off, and the power supply of the safety relay and the lifting drive to the brake assembly of the lifting motor is cut off, the lifting motor stops running and stops stably at the current position through the motor brake.

[0126] 9. When the light curtain shielding sensor detects that the mobile robot working in cooperation with the combing machine workstation moves in the entry and exit channel of the combing machine workstation, it sends a shielding signal to INT1 and INT2 of the ordinary IO, and the ordinary IO sends the above shielding signal to CAN1 of the main controller through CAN. When the main controller receives the above shielding signal, it sends a shielding instruction to the CAN of the safety IO through CAN1. When the safety IO receives the above shielding instruction, it ignores the first signal sent by the safety spectrum to characterize the interruption of the photoelectric transmission signal. Among them, ordinary IO is an abbreviation of ordinary IO component, and the so-called ignoring the first signal means: not responding to the first signal, that is, not generating a safety circuit trigger signal due to receiving the first signal, for example, deleting the first signal.

[0127] 10. When the light curtain shielding sensor detects that the mobile robot working with the combing machine workstation leaves the entry and exit channel of the combing machine workstation, it sends a shielding release signal to INT1 and INT2 of the ordinary IO, and the ordinary IO sends the above shielding release signal to CAN1 of the main controller through CAN. When the main controller receives the above shielding release signal, it sends a shielding release instruction to the CAN of the safety IO through CAN1. When the safety IO receives the above shielding release instruction, when it receives the first signal sent by the safety spectrum to characterize the interruption of the photoelectric transmission signal, it generates a safety circuit trigger signal and sends the above safety circuit trigger signal to the main controller.

[0128] Correspondingly, such as Figure 8 As shown, it is for Figure 2 The dual safety control circuit shown is the control logic timing diagram of the motor emergency stop control process of the combing machine workstation. Among them, 1 means the output exists, 0 means the output is disconnected, and the main circuit ON means the main circuit is connected.

[0129] 1. When the safety emergency stop button is triggered, or the photoelectric signal transmission of the safety light curtain is interrupted, the emergency stop of the lifting motor is triggered. As a result, the main controller sends a disconnection command to the safety relay and a stop signal to the lifting driver.

[0130] 2. The safety relay receives the above disconnection command and disconnects the outputs of OUT1, OUT2 and OUT3.

[0131] 3. Since the outputs OUT1 and OUT2 of the safety relay are disconnected, the coils of the main power contactor KM1 and the main power contactor KM2 of the lifting driver lose power and the contacts are disconnected. As a result, the main circuit between the main power supply and the lifting driver is disconnected, and the main power supply to the lifting driver is cut off. As a result, there is no main circuit voltage.

[0132] 4. Since the output of OUT3 of the safety relay is disconnected, the coil of the intermediate relay KA1 loses power and the contacts are disconnected. As a result, the 0V voltage supply of the lifting driver to the brake assembly of the motor through the intermediate relay KA1 is disconnected, that is, the output of the intermediate relay KA1 is disconnected.

[0133] 5. Since the output of the intermediate relay KA1 is disconnected, the brake action switches from holding brake release to holding brake action, that is, the motor's brake device switches from a released state to a clamped state, and then the motor speed drops to 0, the motor stops running, and the motor emergency stop is completed.

[0134] Accordingly, in Figure 8In the control logic timing diagram shown, during the process of controlling the motor emergency stop, if the motor emergency stop is finally completed, the above instructions (signals) are valid, otherwise, the instructions (signals) are invalid.

[0135] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0136] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0137] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0138] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A motor control system for a robot workstation, characterized in that: The system comprises: a main controller, a safety relay, a servo driver and a motor, wherein the servo driver is used to drive the motor; The main controller is used to send a disconnection instruction to the safety relay and a stop signal to the servo driver when receiving a safety circuit trigger signal; wherein the safety circuit trigger signal is used to instruct the motor to stop urgently; The safety relay is used to cut off the main power supply of the servo drive and cut off the power supply of the safety relay to the brake assembly of the motor when receiving the disconnection instruction; The servo driver is used to cut off the power supply of the servo driver to the brake assembly when receiving the stop signal.

2. The system according to claim 1, characterized in that The safety relay cuts off the main power supply of the servo drive, including: The first output port of the safety relay stops outputting the first IO signal, so that the coil of the first AC contactor loses power and the contacts of the first AC contactor are disconnected; The second output port of the safety relay stops outputting the second IO signal, so that the coil of the second AC contactor loses power and the contacts of the second AC contactor are disconnected.

3. The system according to claim 2, characterized in that The safety relay cuts off the power supply of the safety relay to the brake assembly of the motor, including: The third output port of the safety relay stops supplying power of a preset voltage value to the brake assembly of the motor.

4. The system according to claim 3, characterized in that The preset voltage value is 24V.

5. The system according to claim 1, characterized in that The servo driver cuts off the power supply of the servo driver to the brake assembly, comprising: The brake control output port of the servo driver stops outputting the brake signal to de-energize the intermediate relay coil and disconnect the intermediate relay contacts; wherein, when the intermediate relay contacts are closed, the servo driver supplies 0V voltage to the brake assembly of the motor.

6. The system according to any one of claims 1 to 5, characterized in that: The system also includes: a secure IO component; The safety IO component is used to generate the safety circuit trigger signal and report the safety circuit trigger signal to the main controller when it detects that the emergency stop button of the motor is triggered or the photoelectric signal transmission of the safety light curtain of the robot workstation is interrupted.

7. The system according to claim 6, characterized in that The safety light curtain comprises a light curtain transmitter and a light curtain receiver. The light curtain transmitter and the light curtain receiver are respectively installed on both sides of the entrance and exit channel of the robot workstation and are installed opposite to each other. The light curtain transmitter transmits a photoelectric signal to the light curtain receiver.

8. The system according to claim 7, characterized in that The system also includes: a light curtain shielding sensor and a common IO component; The light curtain shielding sensor is used to send a shielding signal to the common IO component when detecting that the mobile robot working in cooperation with the robot workstation moves in the entry and exit channel, so that the common IO component sends the shielding signal to the main controller; The main controller is further configured to, upon receiving the shielding signal, send a shielding instruction to the safety IO component to enable the safety IO component to ignore the detection result of the interruption of the photoelectric signal transmission of the safety light curtain; The light curtain shielding sensor is further used to send a shielding release signal to the common IO component when detecting that the mobile robot leaves the entry and exit channel, so that the common IO component sends the shielding release signal to the main controller; The main controller is further configured to send a shielding release instruction to the safety IO component when receiving the shielding signal, so that the safety IO component reports the generated safety loop trigger signal to the main controller when detecting that the photoelectric signal transmission of the safety light curtain is interrupted.

9. The system according to any one of claims 1 to 5, characterized in that: The system also includes: a safety PLC; The main controller is further used to send the disconnection instruction and the stop signal to the safety PCL; The safety PLC is used to use the dual MCUs to verify the disconnection instruction and the stop signal respectively, and output an alarm signal when the disconnection instruction and / or the stop signal verification fails.

10. The system according to any one of claims 1 to 5, characterized in that: The main controller is specifically used to verify the safety circuit trigger signal using the dual MCU when receiving the safety circuit trigger signal, and when the verification is successful, send a disconnection instruction to the safety relay and send a stop signal to the servo driver; and / or, The safety relay is specifically used to verify the disconnection instruction using the provided dual MCU when receiving the disconnection instruction, and when the verification is successful, cut off the main power supply of the servo drive and cut off the power supply of the safety relay to the motor.

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