Robot sudden stop circuit and method

Abstract

The invention provides a robot sudden stop circuit and method, and the circuit comprises a sudden stop button module which is used for outputting a corresponding level signal according to a triggering state; the signal input end of the main control module is connected with the scram button module, and the main control module is used for detecting a level signal output by the scram button module and outputting a corresponding control signal; the signal output end of the main control module is connected with the control end of the solid-state relay module; the control end of the intermediate relay module and the scram button module are both connected to the output end of the solid-state relay module, and the solid-state relay module is used for controlling the on-off state of a circuit between the scram button module and the intermediate relay module according to the control signal output by the main control module; and the driving module is connected with the intermediate relay module, the intermediate relay module is used for controlling work of the driving module, and the driving module is used for driving the robot to move.

Description

Technical Field

[0001] The invention relates to the technical field of robot control, in particular to a robot emergency stop circuit and method. Background Art

[0002] In robot systems, the emergency stop function is a key mechanism to ensure the safety of personnel and equipment. When the operator presses the emergency stop button on the teach pendant or the electric cabinet, the normally closed contact opens, and this action generates a trigger signal, which is transmitted to the controller through the circuit. The controller performs logical judgment and processing on the received emergency stop signal to determine whether the emergency stop operation needs to be initiated. If it is determined that an emergency stop is required, the controller will send an emergency stop command signal to the servo drive.

[0003] After receiving the emergency stop command, the servo drive will perform the corresponding emergency stop operation according to the internal preset logic. For example, the servo drive can smoothly stop the motor by using the preset deceleration, or directly cut off the motor drive current to achieve emergency braking. The emergency stop function has a higher priority than all other functions of the robot system. Its main purpose is to quickly stop the movement of the robot in an emergency to avoid harm to personnel, or damage to mechanical equipment and ongoing work.

[0004] However, in the related art, in the existing robot emergency stop system, when the detection circuit of the emergency stop button fails, for example, when the optocoupler isolation circuit between the controller and the emergency stop button is damaged or the line is disconnected, the controller cannot effectively identify the action of the emergency stop button being pressed, resulting in the inability to start the emergency stop operation in time; and, when the controller freezes or other failures occur, even if the emergency stop button is pressed, the controller cannot detect the state change of the emergency stop button output signal, and thus the emergency stop operation cannot be started. Summary of the invention

[0005] In view of the above problems, in a first aspect, an embodiment of the present invention provides a robot emergency stop circuit, the robot emergency stop circuit comprising: an emergency stop button module, the emergency stop button module is used to output a corresponding level signal according to a trigger state;

[0006] A main control module, wherein a signal input end of the main control module is connected to the emergency stop button module, and the main control module is used to detect the level signal output by the emergency stop button module and output a corresponding control signal;

[0007] A solid-state relay module, wherein the signal output terminal of the main control module is connected to the control terminal of the solid-state relay module;

[0008] An intermediate relay module, wherein the control end of the intermediate relay module and the emergency stop button module are both connected to the output end of the solid-state relay module, and the solid-state relay module is used to control the on-off state of the circuit between the emergency stop button module and the intermediate relay module according to the control signal output by the main control module;

[0009] A driving module, wherein the driving module is connected to the intermediate relay module, the intermediate relay module is used to control the operation of the driving module, and the driving module is used to drive the movement of the robot.

[0010] In one of the embodiments, a first optocoupler isolation module is provided between the emergency stop button module and the main control module, and the first optocoupler isolation module is used for electrical isolation.

[0011] In one embodiment, the emergency stop button module includes an electric cabinet emergency stop button and a teach pendant emergency stop button, and the electric cabinet emergency stop button and the teach pendant emergency stop button are connected in series.

[0012] In one of the embodiments, a buffer driving module is provided between the main control module and the solid-state relay module, and the buffer driving module is used to amplify the control signal output by the main control module.

[0013] In one of the embodiments, a second optocoupler isolation module and a MOS tube driving module are further provided between the main control module and the solid-state relay module, the main control module is connected to the buffer driving module, the buffer driving module is connected to the second optocoupler isolation module, the second optocoupler isolation module is connected to the MOS tube driving module, the MOS tube driving module is connected to the solid-state relay module, the second optocoupler isolation module is used for electrical isolation, and the MOS tube driving module is used to drive the solid-state relay module.

[0014] In one embodiment, the emergency stop button module is connected to the first indicator light module, and the signal output end of the main control module is connected to the second indicator light module.

[0015] A second aspect of the present application further provides a robot emergency stop method, the method being applied to the robot emergency stop circuit as described in the above aspect, the method comprising:

[0016] The main control module obtains the corresponding level signal output by the emergency stop button module according to the trigger state;

[0017] The main control module outputs a corresponding control signal to the solid-state relay module according to the level signal output by the emergency stop button module;

[0018] The solid-state relay module controls the on-off state of the circuit between the emergency stop button module and the intermediate relay module according to the control signal;

[0019] The intermediate relay module controls the operation of the driving module according to the on-off state of the circuit between the emergency stop button module and the intermediate relay module and the trigger state of the emergency stop button module;

[0020] The driving module drives the movement of the robot when it is working, and stops driving the movement of the robot when the driving module stops working.

[0021] In one embodiment, the step of the main control module obtaining the corresponding level signal output by the emergency stop button module according to the trigger state specifically includes:

[0022] When the trigger state of the emergency stop button module is not triggered, the contact in the emergency stop button module is in a normally closed state, and the level signal output by the emergency stop button module is a first level signal;

[0023] When the triggering state of the emergency stop button module is triggered, the contact in the emergency stop button module is in a disconnected state, and the level signal output by the emergency stop button module is a second level signal.

[0024] In one embodiment, the step of the main control module outputting a corresponding control signal to the solid-state relay module according to the level signal output by the emergency stop button module specifically includes:

[0025] When the main control module obtains that the level signal output by the emergency stop button module is a first level signal, the main control module outputs a first control signal, wherein the first control signal is used to control the solid-state relay module to make the circuit between the emergency stop button module and the intermediate relay module in a connection state;

[0026] When the main control module obtains that the level signal output by the emergency stop button module is a second level signal, it outputs a second control signal, and the second control signal is used to control the solid-state relay module to make the circuit between the emergency stop button module and the intermediate relay module in an open circuit state.

[0027] In one embodiment, the method further comprises:

[0028] The main control module determines the triggering state of the emergency stop button module according to the level signal output by the emergency stop button module;

[0029] When the trigger state of the emergency stop button module is triggered, the main control module sends an alarm signal to the teaching pendant;

[0030] After the teaching pendant receives the alarm signal, an alarm pop-up window will pop up through the operation interface;

[0031] The teaching pendant monitors the operation signal of clearing the alarm, and when the operation signal of clearing the alarm is monitored, the clearing alarm signal is sent to the main control module;

[0032] The main control module outputs the first control signal after receiving the clear alarm signal.

[0033] The above one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

[0034] The present invention proposes a robot emergency stop circuit, comprising an emergency stop button module, a main control module, a solid-state relay module, an intermediate relay module and a drive module. In actual use, after the system is powered on, the emergency stop button module is in an untriggered state, the contacts inside the emergency stop button module are normally closed, the contacts inside the solid-state relay module are normally closed, and the solid-state relay module short-circuits the emergency stop button module and the intermediate relay module. The coil inside the intermediate relay module is energized, so that the drive module can be enabled to work normally, and the system works normally at this time. When the robot has a security threat, abnormal movement or abnormal working environment, the operator presses the emergency stop button module, the emergency stop button module changes from an untriggered state to a triggered state, the contacts inside the emergency stop button module change from normally closed to normally open, the level signal output by the emergency stop button module changes, and at this time the solid-state relay module short-circuits the emergency stop button module and the intermediate relay module, so the control end input signal of the intermediate relay module also changes, causing the coil inside the intermediate relay module to lose power, so that the input signal of the driver module is disconnected from the ground signal, the driver module cannot be enabled, the emergency stop command is executed, and the system enters the emergency stop state. The main control module determines that the emergency stop button module is pressed by detecting the level signal output by the emergency stop button module, and then outputs the corresponding control signal, thereby triggering the contact inside the solid-state relay module to disconnect. This application designs an independent emergency stop signal circuit. Even if the main control module fails (such as freezing, program abnormality, detection circuit abnormality, etc.), after the emergency stop button module is pressed, the emergency stop operation can still be directly implemented through the solid-state relay module and the intermediate relay module, avoiding the problem of emergency stop function failure caused by the failure of the main control module, and greatly improving the reliability of emergency stop detection.

[0035] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 Schematic diagram of a circuit module of an emergency stop circuit of a robot in an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of a circuit module of an emergency stop circuit of a robot in an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of the circuit principle of the robot emergency stop circuit in an embodiment of the present invention;

[0040] Figure 4 Schematic diagram of signal changes of the robot emergency stop circuit in an embodiment of the present invention.

[0041] Explanation of the reference numerals: 100, emergency stop button module; 110, electric cabinet emergency stop button; 120, teaching pendant emergency stop button; 200, main control module; 210, first optocoupler isolation module; 220, buffer drive module; 230, second optocoupler isolation module; 240, MOS tube drive module; 300, solid-state relay module; 400, intermediate relay module; 500, drive module; 600, first indicator light module; 700, second indicator light module. DETAILED DESCRIPTION

[0042] The overall idea of ​​the technical solution provided by the present invention is as follows:

[0043] See also Figure 1 The robot emergency stop circuit includes: an emergency stop button module 100, a main control module 200, a solid-state relay module 300, an intermediate relay module 400 and a drive module 500, wherein:

[0044] The emergency stop button module 100 is used to output a corresponding level signal according to the trigger state. Specifically, the emergency stop button module 100 outputs different level signals according to the trigger state of the emergency stop button (pressed or not pressed), such as outputting a high level signal when pressed and outputting a low level signal when not pressed;

[0045] The signal input end of the main control module 200 is connected to the emergency stop button module 100, and the main control module 200 is used to detect the level signal output by the emergency stop button module 100 and output the corresponding control signal; specifically, the main control module 200 monitors the level signal output by the emergency stop button module 100 in real time, and performs logical judgment based on the monitored level signal to determine whether the emergency stop needs to be triggered, and then outputs the corresponding control signal to the solid-state relay module 300 according to the judgment result to control the on and off of the circuit of the solid-state relay module 300. For example, when the main control module 200 detects that the level signal output by the emergency stop button module 100 is a low-level signal, it is determined that the emergency stop button module 100 is not triggered, and a low-level control signal is output at this time; and when the main control module 200 detects that the level signal output by the emergency stop button module 100 is a high-level signal, it is determined that the emergency stop button module 100 is triggered, and a high-level control signal is output at this time.

[0046] The solid-state relay module 300, the signal output end of the main control module 200 is connected to the control end of the solid-state relay module 300; specifically, please refer to Figure 3 The solid-state relay module 300 can use a solid-state relay RY1. The solid-state relay RY1 is usually composed of semiconductor devices such as an optical coupler, MOSFET or thyristor, which can achieve fast switching of the circuit. The solid-state relay RY1 has no mechanical contacts and has the advantages of fast response speed, long life, high reliability, etc. The solid-state relay RY1 receives the control signal from the main control module 200, and according to the control signal, quickly and safely cuts off or connects the circuit.

[0047] The intermediate relay module 400, the control end of the intermediate relay module 400 and the emergency stop button module 100 are both connected to the output end of the solid-state relay module 300, and the solid-state relay module 300 is used to control the on-off state of the circuit between the emergency stop button module 100 and the intermediate relay module 400 according to the control signal output by the main control module 200; specifically, please refer to Figure 3 The intermediate relay module 400 may adopt an electromagnetic relay RY2, which generates a magnetic field by energizing the coil, attracting or releasing mechanical contacts, and controlling the on and off of the circuit.

[0048] The driving module 500 is connected to the intermediate relay module 400. The intermediate relay module 400 is used to control the operation of the driving module 500. The driving module 500 is used to drive the movement of the robot. Specifically, the driving module 500 can adopt a servo drive. In the robot system, the servo drive is a common driving component used to accurately control the position, speed and acceleration of the motor. Using the servo drive as the driving module 500 can achieve accurate control of the robot's moving parts, and can quickly respond and reliably stop the robot's movement in an emergency stop situation.

[0049] More specifically, when the emergency stop button module 100 is not pressed, the emergency stop button module 100 outputs a low-level signal, the main control module 200 detects the low-level signal, and outputs a low-level control signal to the solid-state relay module 300. The contacts inside the solid-state relay module 300 are in a closed state, so that the circuit between the emergency stop button module 100 and the intermediate relay module 400 is connected. At this time, the coil of the intermediate relay module 400 is energized, the contacts are closed, and the drive module 500 works normally, thereby driving the robot to move normally. When the emergency stop button module 100 is pressed, the level signal output by the emergency stop button module 100 changes from a low level to a high level, the main control module 200 detects the change in the level signal, and outputs a high-level control signal to the solid-state relay module 300. At this time, the solid-state relay module 300 is disconnected, the circuit between the emergency stop button module 100 and the intermediate relay module 400 is disconnected, the coil of the intermediate relay module 400 loses power, the contacts are disconnected, the drive module 500 stops working, the robot stops moving, and enters an emergency stop state.

[0050] In the robot emergency stop circuit in the embodiment of the present application, the main control module 200 is responsible for monitoring the state of the emergency stop button module 100 and controlling the solid-state relay module 300, thereby realizing the emergency stop of the robot movement. However, in actual applications, the main control module 200 may fail, such as freezing, software abnormality, communication interruption, etc. In order to ensure that the robot can still stop safely when the main control module 200 fails, the emergency stop circuit needs to have a redundant design and a fail-safe mechanism. Specifically, since the control end of the intermediate relay module 400 and the emergency stop button module 100 are both connected to the output end of the solid-state relay module 300, in addition to the main control module 200, there is an independent emergency stop signal loop between the emergency stop button module 100 and the solid-state relay module 300 in the robot emergency stop circuit. The loop does not depend on the normal operation of the main control module 200. When the emergency stop button module 100 is pressed, the output level signal of the emergency stop button module 100 changes. Even if the main control module 200 fails, the signal can still directly act on the solid-state relay module 300. The solid-state relay module 300 independently controls the intermediate relay module 400 and the drive module 500 according to the level signal change of the emergency stop button module 100 to realize the emergency stop function.

[0051] Furthermore, in actual use, after the system is powered on, the emergency stop button module 100 is in an untriggered state, the contacts inside the emergency stop button module 100 are normally closed, the contacts inside the solid-state relay module 300 are normally closed, and the solid-state relay module 300 short-circuits the emergency stop button module 100 and the intermediate relay module 400. The coil inside the intermediate relay module 400 is energized, so that the drive module 500 can be enabled to work normally, and the system works normally at this time. When the robot is threatened with safety, has abnormal movements, or has abnormal working conditions, the operator presses the emergency stop button module 100, and the emergency stop button module 100 changes from an untriggered state to a triggered state, and the contacts inside the emergency stop button module 100 change from normally closed to normally open, and the level signal output by the emergency stop button module 100 changes. At this time, the solid-state relay module 300 short-circuits the emergency stop button module 100 and the intermediate relay module 400, so the control end input signal of the intermediate relay module 400 also changes, causing the coil inside the intermediate relay module 400 to lose power, thereby disconnecting the input signal of the driver module from the ground signal, and the driver module cannot be enabled, executing the emergency stop command, and the system enters the emergency stop state. The main control module 200 determines that the emergency stop button module 100 is pressed by detecting the level signal output by the emergency stop button module 100, and then outputs the corresponding control signal, thereby triggering the disconnection of the contacts inside the solid-state relay module 300. The present application designs an independent emergency stop signal circuit. Even if the main control module 200 fails (such as freezing, program abnormality, detection circuit abnormality, etc.), after the emergency stop button module 100 is pressed, the emergency stop operation can still be directly implemented through the solid-state relay module 300 and the intermediate relay module 400, avoiding the problem of emergency stop function failure caused by the failure of the main control module 200, and greatly improving the reliability of emergency stop detection.

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] See also Figure 2 A first optical coupler isolation module 210 is provided between the emergency stop button module 100 and the main control module 200, and the first optical coupler isolation module 210 is used for electrical isolation. Specifically, the first optical coupler isolation module 210 is used to isolate the electrical connection between the emergency stop button module 100 and the main control module 200 to prevent electrical interference and fault propagation, and transmit the level signal output by the emergency stop button module 100 to the main control module 200 through the first optical coupler isolation module 210 to ensure the reliability and safety of signal transmission. For your understanding, please refer to Figure 3 The first optical coupling isolation module 210 includes an optical coupling chip U4. The optical coupling chip is a device that uses light as a medium to achieve electrical signal transmission.

[0054] See also Figure 2 The emergency stop button module 100 includes an electric cabinet emergency stop button 110 and a teaching pendant emergency stop button 120, and the electric cabinet emergency stop button 110 and the teaching pendant emergency stop button 120 are connected in series. Figure 3 The electric cabinet emergency stop button 110 includes a button SB2, and the teach pendant emergency stop button 120 includes a button SB1; the electric cabinet emergency stop button 110 is installed on the robot's electric cabinet or control cabinet, and is usually used by the operator in an emergency. The teach pendant emergency stop button 120 is installed on the robot's teach pendant, which is convenient for the operator to quickly trigger an emergency stop during on-site operation. The two emergency stop buttons are connected in series, which means that any button pressed will cause the circuit to be disconnected and trigger an emergency stop. The redundant design of the electric cabinet emergency stop button 110 and the teach pendant emergency stop button 120 connected in series provides higher safety and reliability for the robot's emergency stop function.

[0055] See also Figure 2 , a buffer drive module 220 is provided between the main control module 200 and the solid-state relay module 300, and the buffer drive module 220 is used to amplify the control signal output by the main control module 200. Specifically, in the robot emergency stop circuit, the main control module 200 is responsible for generating a control signal to control the state of the solid-state relay module 300, thereby achieving an emergency stop of the robot movement. However, the control signal output by the main control module 200 may have problems such as insufficient voltage, current or insufficient signal strength, and cannot directly drive the solid-state relay module 300 to work normally. For this reason, a buffer drive module 220 is provided in the circuit, and its main function is to amplify and enhance the control signal output by the main control module 200, please refer to Figure 3 The buffer driver module 220 includes a buffer driver chip U2. The main control module 200 outputs a control signal (such as a high level or a low level) to the buffer driver chip U2. The control signal is usually a low voltage and low current signal, which may not be able to directly drive the solid-state relay module 300. The buffer driver chip U2 amplifies the received control signal. The amplified signal has sufficient voltage and current to drive the input end of the solid-state relay module 300 and control its conduction or disconnection.

[0056] See also Figure 2A second optical coupler isolation module 230 and a MOS tube drive module 240 are also provided between the main control module 200 and the solid-state relay module 300. The main control module 200 is connected to the buffer drive module 220, the buffer drive module 220 is connected to the second optical coupler isolation module 230, the second optical coupler isolation module 230 is connected to the MOS tube drive module 240, the MOS tube drive module 240 is connected to the solid-state relay module 300, the second optical coupler isolation module 230 is used for electrical isolation, and the MOS tube drive module 240 is used for driving the solid-state relay module 300. Specifically, please be in Figure 3 The second optocoupler isolation module 230 includes an optocoupler chip U3, and the MOS tube driving module 240 includes a MOS tube Q1. The optocoupler chip U3 realizes electrical isolation between the main control module 200 and the MOS tube driving module 240. The MOS tube Q1 receives the signal from the second optocoupler isolation module 230 and outputs a driving signal to the solid-state relay module 300. The MOS tube Q1 can provide sufficient driving current and voltage to ensure that the solid-state relay module 300 can be reliably turned on or off.

[0057] See also Figure 2 The emergency stop button module 100 is connected to the first indicator light module 600, and the signal output end of the main control module 200 is connected to the second indicator light module 700. For details, please refer to Figure 3 , the first indicator light module 600 includes a light emitting diode D3, and the second indicator light module 700 includes a light emitting diode D2. The first indicator light module 600 is used to indicate the state of the emergency stop button module 100, such as whether the emergency stop button is pressed. When the emergency stop button is pressed, the first indicator light module 600 lights up or goes out, prompting the operator that the emergency stop function has been triggered. When the main control module 200 detects that the emergency stop button module 100 is pressed and outputs a control signal, it outputs a control signal to make the second indicator light module 700 light up or go out, prompting the main control module 200 to respond to the emergency stop signal.

[0058] The present invention also provides a robot emergency stop method, which specifically comprises the following steps:

[0059] The main control module 200 obtains the corresponding level signal output by the emergency stop button module 100 according to the trigger state;

[0060] The main control module 200 outputs a corresponding control signal to the solid-state relay module 300 according to the level signal output by the emergency stop button module 100;

[0061] The solid-state relay module 300 controls the on / off state of the circuit between the emergency stop button module 100 and the intermediate relay module 400 according to the control signal;

[0062] The intermediate relay module 400 controls the operation of the driving module 500 according to the on / off state of the circuit between the emergency stop button module 100 and the intermediate relay module 400 and the trigger state of the emergency stop button module 100;

[0063] The driving module 500 drives the movement of the robot when it is working, and stops driving the movement of the robot when it stops working.

[0064] Furthermore, the step in which the main control module 200 obtains the corresponding level signal output by the emergency stop button module 100 according to the trigger state specifically includes:

[0065] When the trigger state of the emergency stop button module 100 is not triggered, the contact in the emergency stop button module 100 is in a normally closed state, and the level signal output by the emergency stop button module 100 is a first level signal;

[0066] When the triggering state of the emergency stop button module 100 is triggered, the contact in the emergency stop button module 100 is in a disconnected state, and the level signal output by the emergency stop button module 100 is a second level signal.

[0067] Furthermore, the step of the main control module 200 outputting a corresponding control signal to the solid-state relay module 300 according to the level signal output by the emergency stop button module 100 specifically includes:

[0068] When the main control module 200 obtains that the level signal output by the emergency stop button module 100 is a first level signal, it outputs a first control signal, and the first control signal is used to control the solid-state relay module 300 to make the circuit between the emergency stop button module 100 and the intermediate relay module 400 in a connection state;

[0069] When the main control module 200 obtains that the level signal output by the emergency stop button module 100 is a second level signal, it outputs a second control signal, and the second control signal is used to control the solid-state relay module 300 to open the circuit between the emergency stop button module 100 and the intermediate relay module 400.

[0070] Furthermore, the method also includes:

[0071] The main control module 200 determines the triggering state of the emergency stop button module 100 according to the level signal output by the emergency stop button module 100; for example, when the emergency stop button module 100 outputs the second level signal, it indicates that the emergency stop button is pressed, and the main control module 200 confirms the triggering state of the emergency stop button through logical judgment.

[0072] When the trigger state of the emergency stop button module 100 is triggered, the main control module 200 sends an alarm signal to the teaching pendant; for example, the main control module 200 can send an alarm signal to the teaching pendant through a communication interface (such as RS232, RS485, Ethernet, etc.).

[0073] After the teach pendant receives the alarm signal, an alarm pop-up window pops up through the operation interface; for example, after the teach pendant receives the alarm signal, the alarm information is immediately displayed on the operation interface, and the alarm pop-up window can display the number, trigger time, position, error code and other information of the emergency stop button.

[0074] The teaching pendant monitors the operation signal of clearing the alarm, and when the operation signal of clearing the alarm is monitored, the clearing alarm signal is sent to the main control module 200; for example, the operator can click the "confirm" or "clear alarm" button through the operation interface of the teaching pendant. The teaching pendant converts the operation signal of the operator into the clearing alarm signal, and sends the clearing alarm signal to the main control module 200 through the communication interface.

[0075] The main control module 200 outputs a first control signal after receiving the clear alarm signal.

[0076] Specifically, on the basis of the basic emergency stop function, the present invention also expands the alarm mechanism to improve the safety of the system and the response speed of the operator. When the emergency stop button is pressed, the main control module 200 will not only trigger the emergency stop, but also send an alarm signal to the teaching pendant to prompt the operator of an emergency. This extended function further improves the safety and ease of operation of the robot emergency stop system through the alarm and alarm clearing mechanism. By reasonably designing the alarm process and operation interface, the operator's response speed and processing ability to emergency situations can be effectively improved, ensuring that the robot can stop safely in an emergency.

[0077] For further information, see Figure 3 and Figure 4 The following uses the time period from T0 to T9 to illustrate the robot system from normal operation (T0), the emergency stop button triggers an emergency stop event (T1), the controller recognizes the alarm (T2), the controller outputs the emergency stop control & the teach pendant interface displays the emergency stop alarm (T3), the teach pendant interface clears the emergency stop alarm (T4), the emergency stop button is reset (T5), the controller recognizes the emergency stop button reset (T6), the teach pendant interface clears the emergency stop error again & the controller confirms that the teach pendant clears the alarm event (T7), the solid-state relay contact becomes normally closed and EO0 becomes low level (T8), the servo drive releases the emergency stop, and the system returns to normal (T9). A total of nine stages are given as examples:

[0078] Phase T0: After the system is powered on, the contacts of the emergency stop button SB1 and the emergency stop button SB2 are in a normally closed state. The level signal EI1 output by the emergency stop button module 100 is low level (0V), the main control module 200 detects that the input signal CPU_EI1 is low level, and the output control signal CPU_EO0 is low level. At this time, the contacts of the solid-state relay RY1 are closed, and the level signal EI1 and the level signal EO0 are short-circuited, so the level signal EO0 is also low level, so that the coil of the intermediate relay RY2 is energized, so that the input signals EMG1, EMG2, and EMG3 of the drive module 500 are low level, and the drive module 500 works normally. The light-emitting diode D2 (Opt_EO0) and the light-emitting diode D3 (EI1) are both on. At this stage, the system is in normal working state, the emergency stop circuit is not triggered, and the drive module 500 is in an enabled state.

[0079] Phase T1: If a safety threat or abnormal situation occurs during operation, the operator presses the emergency stop button SB1 or SB2, and the contact of the emergency stop button SB1 or SB2 changes from normally closed to normally open, and the level signal EI1 changes from 0V to 24V (high level). Since the level signal EI1 and the level signal EO0 are short-circuited, the level signal EO0 also changes to a high level, so that the coil of the intermediate relay RY2 loses power, and the input signals EMG1, EMG2, and EMG3 of the drive module 500 are disconnected from the ground signal, the drive module 500 stops working, the system enters the emergency stop state, and the light-emitting diode D3 (EI1) goes out. At this stage, the emergency stop button module 100 is pressed, the emergency stop circuit is triggered, the drive module 500 stops working, and the robot stops moving.

[0080] Phase T2: The level signal EI1 output by the emergency stop button module 100 becomes high level, and after passing through the optocoupler chip U4, the output signal CPU_EI1 to the input pin of the main control module 200 also becomes high level. The main control module 200 detects that the input signal CPU_EI1 is high level and recognizes that the emergency stop button module 100 is pressed. In this stage, the main control module 200 detects that the level signal EI1 output by the emergency stop button module 100 becomes high level, confirming that the emergency stop button module 100 is pressed.

[0081] Stage T3: The main control module 200 outputs the control signal CPU_EO0 at a high level, triggering the solid-state relay RY1 contact to disconnect, the signal EI1 and the signal EO0 to disconnect, the signal EI1 remains at a high level, and the signal EO0 also remains at a high level because it is pulled up to +24V. The main control module 200 sends an alarm signal to the teach pendant through the network, and the teach pendant pops up an emergency stop alarm pop-up window through the interface. Pop-up information example: "Current time-240-ERROR: An error occurred! Error number: 300, emergency stop!" At this time, the output control signal CPU_EO0 is high, and the light-emitting diode D2 is off. At this stage, the main control module 200 confirms the emergency stop event and notifies the teach pendant to display the alarm information.

[0082] Stage T4: The operator did not reset the emergency stop button, but directly clicked the "Clear Alarm" button on the teach pendant interface. The teach pendant recognized the "Clear Alarm" operation signal, and notified the main control module 200 of the clear alarm signal through the network. After receiving the "Clear Alarm" signal, the main control module 200 tried to change the output control signal CPU_EO0 from a high level to a low level. However, since the input signal CPU_EI1 is still at a high level, the main control module 200 determines that the emergency stop button has not been reset, and the output control signal CPU_EO0 returns to a high level. The system is still in an emergency stop state, and the light-emitting diode D2 flashes. At this stage, the operator tried to clear the alarm, but did not reset the emergency stop button, and the system could not return to normal.

[0083] Stage T5: The operator resets the emergency stop button SB1 or SB2, and the contact of the emergency stop button is restored from normally open to normally closed, and the input signal EI1 of the emergency stop button module 100 changes from high level to low level (0V). The light-emitting diode D3 (EI1) lights up, and since the control signal CPU_EO0 output by the main control module 200 is still at a high level, the contact of the solid-state relay RY1 is still disconnected, and the signal EO0 remains at a high level. At this stage, the emergency stop button is reset, but the system is still in the emergency stop state, waiting for confirmation from the main control module 200.

[0084] Phase T6: Signal EI1 changes to low level, and through the optocoupler chip U4, the input signal CPU_EI1 to the input pin of the main control module 200 also changes to low level. The main control module 200 detects that the input signal CPU_EI1 is low level and recognizes that the emergency stop button is reset. At this stage, the main control module 200 confirms that the emergency stop button is reset and is ready to release the emergency stop.

[0085] Stage T7: The operator clicks the "Clear Alarm" button on the teach pendant interface, and the teach pendant recognizes the "Clear Alarm" operation and informs the main control module 200 through the network. After the main control module 200 receives the "Clear Alarm" signal, the output control signal CPU_EO0 changes from high level to low level. The buffer drive module 220 also changes from high level to low level, the optocoupler chip U3 is turned on, the signal Opt_EO0 state changes from low level to high level, and the MOS tube Q1 is turned on. The light-emitting diode D2 changes from off to on. At this stage, the main control module 200 confirms that the alarm is cleared and outputs a control signal to release the emergency stop.

[0086] Stage T8: MOS tube Q1 is turned on, the coil of solid-state relay RY1 is energized, EO0 and EI1 contacts are short-circuited, and signal EO0 becomes low level. In this stage, the contact of solid-state relay RY1 is closed, and the emergency stop circuit returns to normal.

[0087] Stage T9: Signal EO0 returns to low level, the coil of the intermediate relay RY2 is energized, the input signals EMG1, EMG2, and EMG3 of the drive module 500 are low level, the drive module 500 is re-enabled, the emergency stop state is released, and the system returns to normal. At this stage, the emergency stop state is released, and the robot returns to normal operation.

[0088] Through the detailed analysis of the above nine stages, it can be seen that the emergency stop system designed by the present invention realizes accurate detection and control of the emergency stop signal in each stage, ensuring that the robot can stop quickly in an emergency and resume operation safely after troubleshooting.

[0089] The robot emergency stop circuit and method designed by the present invention has an independent emergency stop signal loop between the emergency stop button module 100 and the driver module 500. When the emergency stop button module 100 is pressed, the output level signal of the emergency stop button module 100 changes. Even if the main control module 200 is damaged or the line is disconnected, the signal can still directly act on the solid-state relay module 300. The solid-state relay module 300 further transmits the signal to the intermediate relay module 400. The intermediate relay module 400 disconnects the circuit according to the level signal change of the emergency stop button module 100, triggering the driver module 500 to enter the emergency stop state, thereby ensuring that the robot can stop quickly in an emergency and avoid entering an unsafe and uncontrollable state. Even if the main control module 200 crashes or fails, the emergency stop function is still valid, avoiding the failure of the emergency stop function caused by the failure of the main control module 200. In addition, the buffer drive module 220 amplifies and enhances the control signal output by the main control module 200 to ensure that the signal strength meets the driving requirements and avoids the failure of the emergency stop function caused by insufficient signal driving ability.

[0090] Furthermore, the solid-state relay module 300 cleverly realizes the linkage between the level signal EI1 output by the emergency stop button module 100 and the coil control signal EO0 in the intermediate relay module 400 of the emergency stop control driving module 500, avoiding the problem that the emergency stop cannot be effectively triggered due to the related optocoupler isolation signal between the main control module 200 and the emergency stop button module 100, or the abnormal CPU crash. The solid-state relay module 300 receives the control signal from the main control module 200 and controls the coil of the intermediate relay module 400. The solid-state relay module 300 can absorb the surge current when the coil is powered off to prevent the surge current from damaging the MOS tube drive module 240, and avoid the MOS tube drive module 240 control relay under strong interference due to coil surge current, overvoltage and other reasons. The characteristics of the solid-state relay module 300 such as surge current buffering, overvoltage protection, and contact anti-adhesion further enhance the stability of the system.

[0091] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0092] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot emergency stop circuit, characterized in that: include: An emergency stop button module, which is used to output a corresponding level signal according to a trigger state; A main control module, wherein a signal input end of the main control module is connected to the emergency stop button module, and the main control module is used to detect the level signal output by the emergency stop button module and output a corresponding control signal; A solid-state relay module, wherein the signal output terminal of the main control module is connected to the control terminal of the solid-state relay module; An intermediate relay module, wherein the control end of the intermediate relay module and the emergency stop button module are both connected to the output end of the solid-state relay module, and the solid-state relay module is used to control the on-off state of the circuit between the emergency stop button module and the intermediate relay module according to the control signal output by the main control module; A driving module, wherein the driving module is connected to the intermediate relay module, the intermediate relay module is used to control the operation of the driving module, and the driving module is used to drive the movement of the robot.

2. The robot emergency stop circuit according to claim 1, characterized in that: A first optical coupling isolation module is provided between the emergency stop button module and the main control module, and the first optical coupling isolation module is used for electrical isolation.

3. The robot emergency stop circuit according to claim 1, characterized in that: The emergency stop button module includes an electric cabinet emergency stop button and a teach pendant emergency stop button, and the electric cabinet emergency stop button and the teach pendant emergency stop button are connected in series.

4. The robot emergency stop circuit according to claim 1, characterized in that: A buffer driving module is provided between the main control module and the solid-state relay module, and the buffer driving module is used to amplify the control signal output by the main control module.

5. The robot emergency stop circuit according to claim 4, characterized in that: A second optocoupler isolation module and a MOS tube drive module are also provided between the main control module and the solid-state relay module. The main control module is connected to the buffer drive module, the buffer drive module is connected to the second optocoupler isolation module, the second optocoupler isolation module is connected to the MOS tube drive module, the MOS tube drive module is connected to the solid-state relay module, the second optocoupler isolation module is used for electrical isolation, and the MOS tube drive module is used to drive the solid-state relay module.

6. The robot emergency stop circuit according to claim 1, characterized in that: The emergency stop button module is connected to the first indicator light module, and the signal output end of the main control module is connected to the second indicator light module.

7. A robot emergency stop method, characterized in that: The method is applied to the robot emergency stop circuit according to any one of claims 1 to 6, and the method comprises: The main control module obtains the corresponding level signal output by the emergency stop button module according to the trigger state; The main control module outputs a corresponding control signal to the solid-state relay module according to the level signal output by the emergency stop button module; The solid-state relay module controls the on-off state of the circuit between the emergency stop button module and the intermediate relay module according to the control signal; The intermediate relay module controls the operation of the driving module according to the on-off state of the circuit between the emergency stop button module and the intermediate relay module and the trigger state of the emergency stop button module; The driving module drives the movement of the robot when it is working, and stops driving the movement of the robot when the driving module stops working.

8. The robot emergency stop method according to claim 7, characterized in that: The step of the main control module obtaining the corresponding level signal output by the emergency stop button module according to the trigger state specifically includes: When the trigger state of the emergency stop button module is not triggered, the contact in the emergency stop button module is in a normally closed state, and the level signal output by the emergency stop button module is a first level signal; When the triggering state of the emergency stop button module is triggered, the contact in the emergency stop button module is in a disconnected state, and the level signal output by the emergency stop button module is a second level signal.

9. The robot emergency stop method according to claim 8, characterized in that: The step of the main control module outputting a corresponding control signal to the solid-state relay module according to the level signal output by the emergency stop button module specifically includes: When the main control module obtains that the level signal output by the emergency stop button module is a first level signal, the main control module outputs a first control signal, wherein the first control signal is used to control the solid-state relay module to make the circuit between the emergency stop button module and the intermediate relay module in a connection state; When the main control module obtains that the level signal output by the emergency stop button module is a second level signal, it outputs a second control signal, and the second control signal is used to control the solid-state relay module to make the circuit between the emergency stop button module and the intermediate relay module open.

10. The robot emergency stop method according to claim 9, characterized in that: The method further comprises: The main control module determines the triggering state of the emergency stop button module according to the level signal output by the emergency stop button module; When the trigger state of the emergency stop button module is triggered, the main control module sends an alarm signal to the teaching pendant; After the teaching pendant receives the alarm signal, an alarm pop-up window will pop up through the operation interface; The teaching pendant monitors the operation signal of clearing the alarm, and when the operation signal of clearing the alarm is monitored, the clearing alarm signal is sent to the main control module; The main control module outputs the first control signal after receiving the clear alarm signal.

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