Safe stop monitoring device for mobile manual teaching robot

Abstract

The invention discloses a mobile manual teaching robot safety stop monitoring device which comprises a safety wiring terminal module, a wireless signal receiving module, a stop signal transmitting device, a safety guardian terminal and a signal controller. Wherein the safety wiring terminal module is used for realizing input and output connection and management of each safety signal in the robot control cabinet; the wireless signal receiving module is used for receiving wireless signals of the handheld terminal equipment and transmitting the signals to the robot control system; the stop signal transmitting device is used for transmitting a safety signal to the wireless signal receiving module and controlling the robot to move in real time; the safety guardian terminal is used for receiving state information from the robot control system and displaying alarm information, and the signal controller is used for receiving and processing signals transmitted by the stop signal transmitting device and the safety guardian terminal and outputting corresponding safety signals according to different control requirements so as to ensure safe operation of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot safety control, and particularly to a safety stop monitoring device for a mobile manual teaching robot. Background Art

[0002] With the rapid development of industrial automation technology, robots are increasingly widely used in various fields such as production, assembly, and logistics. Especially in intelligent manufacturing and highly automated production lines, industrial robots have become indispensable core equipment. However, with the wide application of robots, safety issues have become increasingly prominent. Especially in the manual teaching mode, there are significant safety risks in the cooperation between operators and robots.

[0003] 1. Safety hazards during robot teaching: In traditional industrial robot applications, robots are usually operated through manual teaching. The teaching process requires the operator to guide the robot to perform tasks by holding a teaching pendant (usually a portable device integrated with control functions). In the teaching mode, there is a close interaction between the operator and the robot, and the robot needs to be controlled by the teaching pendant during this period. However, there are the following safety hazards in this mode:

[0004] Lag in emergency stop response: Most existing safety control systems, such as fixed emergency stop devices or safety buttons integrated in the teaching pendant, cannot respond to sudden emergencies in a timely manner. Especially when the distance between the robot and the operator is relatively far, the operator cannot quickly trigger the emergency stop device or carry out effective intervention.

[0005] Safety control concentrated on the operator: In the existing system, the safety control right often overly concentrated in the teaching pendant held by the operator. If the operator fails to press the emergency stop button or enable button in time, it may cause the robot to be unable to stop quickly when an abnormality occurs, thus leading to accidents.

[0006] Lack of third-party intervention mechanism: Most existing safety control systems lack an independent third-party safety guardianship mechanism. When the operator makes an operation error or fails to react in time, other personnel cannot intervene in real time and take emergency stop or pause measures, thus reducing the safety.

[0007] 2. Safety requirements in high-risk environments: As robots are applied in more and more high-risk environments, such as automated production lines, dangerous goods handling, welding operations, spraying and other operation scenarios, safety issues become particularly important. In these environments, when the robot comes into contact with potential hazard sources such as high temperature, pressure, and toxic gases, the operator may not be able to directly intervene in the robot, or may not be able to take measures quickly when a failure occurs, which is likely to cause accidents.

[0008] For example, in an automated production line, robots work together with a large number of devices and personnel. Any small safety oversight can lead to serious accidents. To ensure the safety of operators and equipment, a safety monitoring device that can quickly respond and effectively control the robot must be available.

[0009] 3. Limitations of existing safety control technologies: Currently, industrial robots generally use fixed emergency stop devices or safety modules integrated into the teach pendant. The fixed emergency stop device is usually located inside the control cabinet, and the operator is far from the equipment, resulting in the inability to trigger the emergency stop button in a timely manner in case of an emergency. Although the safety functions integrated into the teach pendant can provide certain safety guarantees, they rely on the real-time operation of the operator. Once an error occurs, the robot may get out of control, posing a safety hazard. In addition, the safety control function of the teach pendant generally does not have an independent third-party monitoring device and cannot effectively intervene when the operator fails to respond in a timely manner.

[0010] 4. Requirements of international safety standards for robot safety: Currently, industrial robot safety standards in many countries and regions around the world, such as ISO 10218-2, require that robot systems must have a high level of safety, especially in aspects such as collaborative operation and emergency stop. According to these standards, robots should have an independent safety control system to ensure the safety of operators and other workers. Therefore, the existing robot safety control systems / devices cannot meet the requirements of these safety standards and urgently need improvement and innovation. Summary of the Invention

[0011] The purpose of the present invention is to provide a mobile manual teaching robot safety stop monitoring device, which can effectively solve the problems of lagging robot safety control and lack of real-time intervention mechanism in the prior art, and improve the safety during the operation process, especially for applications in high-risk working environments.

[0012] To achieve the above purpose, the present invention provides the following technical solution: A mobile manual teaching robot safety stop monitoring device, comprising a safety wiring terminal module, a wireless signal receiving module, a stop signal transmitting device, a safety guardian terminal and a signal controller, wherein:

[0013] The safety wiring terminal module is used to realize the input / output connection and management of various safety signals inside the robot control cabinet. The safety signals include an enable signal and an emergency stop signal. The safety wiring terminal module includes wiring terminals, a safety circuit module, a signal isolation module and electrical connection ports;

[0014] The wireless signal receiving module is used to receive the wireless signals of a handheld terminal device (i.e., the stop signal transmitting device) and transmit these signals to the robot control system. The wireless signal receiving module includes: an antenna wireless communication module, a signal processing unit and an antenna module;

[0015] The stop signal transmitting device is used to send a safety signal to the wireless signal receiving module and is used to control the movement of the robot in real time. The stop signal transmitting device is a handheld terminal, and the handheld terminal is equipped with two physical buttons: a type-I enable button and a type-II emergency stop button;

[0016] The safety guardian terminal is used to receive the status information from the robot control system, display the alarm information, and feedback the running status of the robot (such as running, stopping, malfunction, etc.) in real time through the sound and light alarm module, so that the safety guardians can take necessary safety measures in time. In addition, the safety guardian terminal can cooperate with the stop signal transmitting device to provide a convenient remote intervention control function;

[0017] The signal controller is used to receive and process the signals transmitted from the stop signal transmitting device and the safety guardian terminal, and output corresponding safety signals according to different control requirements to ensure the safe operation of the robot.

[0018] Preferably, the terminal block is used to connect and transmit the power line, control signal line, enable signal line and emergency stop signal line in the robot system; the safety circuit module has a built-in dual-channel safety circuit, and the safety circuit module is used to transmit the enable signal and the emergency stop signal respectively; through the independent dual-channel design, the conflict or mutual interference between the two signals is avoided, ensuring that the robot system can quickly and accurately respond to the emergency stop signal in an emergency; the signal isolation module is used to electrically isolate the interference of high-voltage or noise signals in the robot system control circuit to the safety signal; ensuring the purity of the signal and improving the stability and safety of the whole system; the electrical connection port is used to provide a plurality of electrical connection ports, and the plurality of electrical connection ports are used to connect the signal lines from external devices (such as wireless signal receiving module, safety guardian terminal, etc.).

[0019] Preferably, the antenna wireless communication module uses the ISM 2.4GHz frequency band for wireless communication. The antenna wireless communication module has a built-in redundant communication protocol, supports long-distance signal transmission, and has strong anti-interference ability. This module ensures that signals can be stably received even in a complex industrial environment, guarantees the reliability of communication, and ensures that information can still be effectively transmitted even in case of unstable signals. This design greatly improves the fault tolerance of communication and avoids system failures caused by communication interruptions or signal losses. The signal processing unit is used for decoding and processing the received wireless signals, and transmitting the processed signals to the robot control system. The processing unit verifies and analyzes the signals to ensure the correctness and effectiveness of the signals. The antenna module is used to enhance the signal reception range, ensuring that the receiving module can receive signals from the handheld terminal within a large working area.

[0020] Preferably, the type-I enabling button is a self-resetting push switch. Only when the button is continuously pressed can the robot start and execute actions. The purpose of this button design is to ensure that the robot starts running only after the operator has clearly confirmed, avoiding misoperations.

[0021] The type-II emergency stop button adopts a self-locking mushroom head design. Once pressed, it immediately triggers the robot to enter the emergency braking mode. After triggering the emergency stop signal, the robot will quickly cut off the power and perform brake locking to prevent continued operation. This button is designed to require manual reset to ensure that the robot can restart after a safety check.

[0022] Preferably, the safety guardian terminal includes:

[0023] A display screen for displaying real-time data such as the current working status, alarm information, and fault diagnosis results of the robot;

[0024] An audible and visual alarm module, including a buzzer and an LED indicator, to feedback the robot status to the guardian in real time;

[0025] A wireless communication module for communicating with the stop signal transmitting device and the wireless signal receiving module. This module is responsible for receiving the robot status information, providing feedback information to the safety guardian in real time, and supporting the sending of remote control signals (such as triggering an emergency stop or enabling signal);

[0026] A control panel providing a simple operation interface, allowing the safety guardian to view the robot working status, perform control operations (such as triggering an emergency stop, enabling, etc.), and perform system settings;

[0027] An emergency reset button allowing the guardian to reset the emergency stop state when needed to restore the normal operation of the robot.

[0028] Preferably, the signal controller includes:

[0029] A signal input interface: The signal controller receives signals from the stop signal transmitting device and the safety guardian terminal through the wireless communication module. These signals include an enabling signal (24V DC) and an emergency stop signal (normally closed contact). The signal input interface receives and decodes these signals to ensure accurate signal transmission.

[0030] A control logic module: The control logic module is the brain of the signal controller, responsible for making logical judgments based on the input signal status (enabling signal or emergency stop signal) and controlling signal output. The task of this module is to output corresponding signal groups according to different input combinations to control the working status of the robot.

[0031] The main rules of the control logic are as follows:

[0032] Enable signal (Type I) single trigger: If only the enable signal is received, the signal controller will output the signal group: 11, 00 (indicating that the robot can run).

[0033] Emergency stop signal (Type II) single trigger: If only the emergency stop signal is received, the signal controller will output the signal group: 00, 11 (indicating that the robot stops immediately and enters the emergency stop state).

[0034] No signal triggered: If no signal is triggered, the signal controller will output the signal group: 00, 00 (indicating that the robot is in an inactive state).

[0035] Signal overlap control: If the enable signal and the emergency stop signal are triggered simultaneously, the signal controller will give priority to processing the emergency stop signal and output the signal group: 00, 11 (indicating an emergency stop and the robot must stop immediately).

[0036] Output signal interface: The output signal interface converts the processing result of the control logic module into specific electrical signals, and through connection to the safety control system of the robot, finally triggers the corresponding operations of the robot (such as start, stop or emergency stop). The transmission of the output signal follows reliable electrical connection and control standards to ensure that the signal can be transmitted in a timely and accurate manner.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] The device of the present invention is a mobile safety stop monitoring device that realizes the emergency stop and enable control of the robot through third-party independent guardianship. The device can effectively solve the problems of lagging safety control and lack of real-time intervention mechanism in the prior art, and improve the safety during the operation process, especially in high-risk working environments.

[0039] It has the following technical effects:

[0040] 1. Improve the response speed of safety control: The present invention adopts a wireless signal receiving module and a dual-mode control technology, enabling the safety stop signal to be quickly transmitted within the working area of the robot, and the signal transmission delay is less than 50 milliseconds. This means that the safety guardian can quickly trigger the emergency stop signal through a handheld terminal at any position in the robot operation site, significantly shortening the response time, thereby improving the safety protection ability of the robot in case of emergencies.

[0041] 2. Enhanced safety and avoidance of misoperation: The device adopts a dual-button physical isolation design, that is, the enable button (Type I) and the emergency stop button (Type II) have clear functional distinctions. The enable button requires continuous pressing when the robot is started, while the emergency stop button, once pressed, will immediately trigger the robot to stop and enter an emergency braking state, and requires manual reset to release. This design effectively avoids accidental start or stop caused by misoperation or negligence, ensuring the safety of operators and equipment. In addition, the emergency stop signal has a higher priority than the enable signal, which can forcibly terminate the robot's action in an emergency to ensure safety.

[0042] 3. Realization of independent third-party safety monitoring: The safety guardian terminal designed by the present invention integrates an audible and visual alarm module, which can provide real-time feedback on the robot's operating status, such as running, stopping or failure. When an abnormal situation occurs in the robot, the guardian can receive the audible and visual alarm in time, actively intervene and take measures. Unlike traditional control systems that rely solely on operators, the present invention implements a third-party monitoring mechanism and separates safety control rights from operating rights, so that safety guardians can intervene in the robot system in a timely manner and reduce safety risks caused by operator errors or failure to respond in a timely manner.

[0043] 4. Adaptable to different operation modes: The signal controller of the present invention is designed with a manual mode switching combination switch, which can switch between automatic production mode and manual control mode. In the automatic production mode, the input signal of the signal controller is cut off and does not interfere with the automatic operation of the robot. In the manual mode, the signal controller is enabled normally and implements strict safety control on the robot. This design improves the flexibility of the system, so that the robot can smoothly transition and follow appropriate safety measures under different operating environments and production requirements.

[0044] 5. Reduced system failure risk: Through the design of redundant communication protocols and dual-channel safety control circuits, the present invention effectively avoids system downtime or safety hazards caused by communication or control module failures. The wireless signal receiving module adopts a redundant design to ensure the reliability of signal transmission and avoid control failure caused by single channel failure, thereby enhancing the stability and reliability of the system.

[0045] 6. Improved operational flexibility and production efficiency: The wireless control method of the device no longer relies on traditional physical wiring or remote emergency stop buttons. Operators can use handheld terminals to operate at any location on the work site, making robot operations more flexible. When rapid intervention or adjustment of the robot status is required, operators can take immediate action, which not only improves work efficiency but also reduces downtime in the production process.

[0046] 7. Compliant with international safety standards: The design of the present invention complies with the safety control requirements in international safety standards such as ISO 10218-2, especially the regulations on the "safety level of collaborative operations". By separating the safety control rights of the operator and the robot system and implementing an independent monitoring mechanism, the present invention enables the robot to better protect the safety of operators and other staff in high-risk operating environments and meet the safety requirements in the modern intelligent manufacturing environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of the module structure of the present invention;

[0048] Figure 2 is the schematic principle diagram of the present invention.

[0049] In the figure: 1. Safety terminal block module; 2. Wireless signal receiving module; 3. Stop signal transmitting device; 4. Safety guardian terminal; 5. Signal controller. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0052] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Please refer to Figure 1, the present invention provides a technical solution: a safety stop monitoring device for a mobile manual teaching robot, including a safety wiring terminal module 1, a wireless signal receiving module 2, a stop signal transmitting device 3, a safety guardian terminal 4, and a signal controller 5.

[0054] Please refer to Figure 1 , Figure 2 , in this embodiment, the safety wiring terminal module 1 is used to implement the input and output connection and management of various safety signals in the robot control cabinet. The safety signals include an enable signal and an emergency stop signal. The safety wiring terminal module 1 includes a wiring terminal, a safety circuit module, a signal isolation module, and an electrical connection port, where:

[0055] The wiring terminal is used to connect and transmit the power line, control signal line, enable signal line, and emergency stop signal line in the robot system;

[0056] The safety circuit module has a built-in dual-channel safety circuit. The safety circuit module is used to transmit the enable signal and the emergency stop signal respectively; through an independent dual-channel design, the conflict or mutual interference between the two signals is avoided, ensuring that the robot system can quickly and accurately respond to the emergency stop signal in an emergency;

[0057] The signal isolation module is used to electrically isolate the interference of high-voltage or noise signals in the robot system control circuit to the safety signal; ensuring the purity of the signal and improving the stability and safety of the entire system;

[0058] The electrical connection port is used to provide multiple electrical connection ports, and the multiple electrical connection ports are used to connect signal lines from external devices (such as the wireless signal receiving module 2, the safety guardian terminal 4, etc.).

[0059] Working principle:

[0060] Enable signal transmission: When the operator activates the robot through the type I enable button or the guardian activates the robot through the safety monitoring device, the safety wiring terminal module 1 is responsible for receiving the external enable signal (24VDC). This signal is transmitted to the robot control system through the dual-channel circuit, ensuring that the robot can work normally in an authorized state.

[0061] Emergency stop signal transmission: The safety wiring terminal module 1 is also responsible for processing the emergency stop signal (normally closed contact). In an emergency, when the operator or the safety guardian triggers the type II emergency stop button, the emergency stop signal is immediately transmitted to the robot control system through the safety wiring terminal module 1, performing the robot emergency stop action, cutting off the power and locking the brake to prevent accidents.

[0062] Signal Isolation and Protection: During signal transmission, the signal isolation module within the module effectively avoids interference to control signals, ensuring the independence and accuracy of the enable and emergency stop signals. In addition, the protection function of the electrical connection port can also prevent voltage overload or short circuit during wiring, guaranteeing the stable operation of the system.

[0063] In this embodiment, the wireless signal receiving module 2 is used to receive wireless signals from a handheld terminal device (i.e., the stop signal transmitting device 3) and transmit these signals to the robot control system. The wireless signal receiving module 2 includes:

[0064] An antenna wireless communication module that conducts wireless communication using the ISM 2.4GHz frequency band. The antenna wireless communication module has a built-in redundant communication protocol, supports long-distance signal transmission, and has strong anti-interference capabilities. This module ensures stable signal reception even in complex industrial environments, guarantees the reliability of communication, and ensures effective information transmission even when the signal is unstable. This design greatly improves the communication fault tolerance and avoids system failures caused by communication interruptions or signal losses.

[0065] A signal processing unit that decodes and processes the received wireless signals and transmits the processed signals to the robot control system. This processing unit verifies and analyzes the signals to ensure their correctness and effectiveness.

[0066] An antenna module that enhances the signal reception range, ensuring that the receiving module can receive signals from the handheld terminal within a large working area.

[0067] Real-time Safety Control: The wireless signal receiving module 2 can ensure that safety supervisors can quickly issue safety instructions (such as enable and emergency stop instructions) through the handheld terminal and transmit them to the robot control system in real time, greatly enhancing the safety and response speed of the robot.

[0068] Due to supporting remote wireless control, safety supervisors can monitor and intervene in robot operations at different positions in the work area, even at the edge of the robot work area, avoiding response delays caused by fixed personnel positions. After adopting the redundant communication protocol, the module can ensure stable signal reception and transmission to the control system even under wireless signal interference, reducing the risk of system failures caused by signal interruptions and enhancing the safety and reliability of the industrial automation system.

[0069] The wireless signal receiving module 2 uses the TI CC2652R chipset and supports AES-128 encrypted communication. When the guardian presses the type-I enable button, the transmitting device sends periodic heartbeat signals to the receiving module. If the signal is interrupted for more than 500ms, the receiving module automatically cuts off the robot enable circuit.

[0070] In this embodiment, the stop signal transmitting device 3 is used to send a safety signal to the wireless signal receiving module 2 and to control the robot movement in real time. The stop signal transmitting device 3 is a handheld terminal equipped with two physical buttons: a type I enabling button and a type II emergency stop button;

[0071] Type I enabling button: The Type I enabling button is a self-resetting push switch. The robot can only start and perform actions if the button is pressed continuously. This button is designed to ensure that the robot starts running only after the operator's explicit confirmation to avoid misoperation.

[0072] Type II emergency stop button: The type II emergency stop button adopts a self-locking mushroom head design. Once pressed, it immediately triggers the robot to enter emergency braking mode. After the emergency stop signal is triggered, the robot will quickly cut off the power and lock the brake to prevent further operation. The button is designed to require manual reset to ensure that the robot can be restarted after a safety check.

[0073] The working principle of the stop signal transmitting device 3 is as follows:

[0074] Type I enable button: When the operator presses the enable button, the button triggers the signal transmitter module to send a continuous enable signal (24V DC), which is transmitted through the wireless channel to the wireless signal receiving module 2. After receiving the signal, the robot will enable the operating mode and allow the robot to perform normal working operations.

[0075] Type II emergency stop button: When the operator presses the emergency stop button, the button triggers the signal transmitter module to send an emergency stop signal. After receiving the signal, the robot immediately enters the emergency braking state, cuts off the power and performs brake locking to quickly stop the robot. Once the emergency stop state is triggered, the emergency stop button needs to be manually reset. The robot can only restart after the emergency stop state is released.

[0076] Signal transmission and reception: The stop signal transmitter 3 sends the control signal to the wireless signal receiving module 2 via the built-in wireless transmitter module at a frequency of 2.4 GHz. After receiving the signal, the wireless signal receiving module 2 decodes the signal and transmits it to the robot control system, ultimately triggering the corresponding operation (such as start, stop or emergency stop).

[0077] In this embodiment, the safety guardian terminal 4 is used to receive status information from the robot control system, display alarm information, and provide real-time feedback of the robot's operating status (such as running, stopping, failure, etc.) through the sound and light alarm module, so that the safety guardian can take necessary safety measures in time. In addition, the safety guardian terminal 4 can cooperate with the stop signal transmitter 3 to provide a convenient remote intervention control function.

[0078] The safety guardian terminal 4 includes:

[0079] A display screen for displaying real-time data such as the current working status, alarm information, and fault diagnosis results of the robot;

[0080] An audible and visual alarm module, including a buzzer and an LED indicator, which provides real-time feedback on the robot's status to the guardians;

[0081] A wireless communication module for communicating with the stop signal transmitting device 3 and the wireless signal receiving module 2. This module is responsible for receiving the robot's status information, providing real-time feedback to the safety guardians, and supporting the transmission of remote control signals (such as triggering an emergency stop or enabling signal);

[0082] A control panel that provides a simple operation interface, allowing safety guardians to view the robot's working status, perform control operations (such as triggering an emergency stop, enabling, etc.), and perform system settings;

[0083] An emergency reset button that allows the guardians to reset the emergency stop state when needed and restore the normal operation of the robot;

[0084] The working principle of the safety guardian terminal 4 is as follows:

[0085] Real-time status reception: The safety guardian terminal 4 receives real-time working status data sent by the robot control system through the wireless communication module, including whether the robot is in a running state, a stopped state, an emergency stop state, or a fault state.

[0086] Status feedback: Based on the received status information, the display screen of the safety guardian terminal 4 shows the current running status of the robot. If the robot is running normally, the display screen will show "Running"; if the robot is in an emergency stop state, the screen will show "Emergency stop", and the buzzer will emit a loud alarm. At the same time, the color of the LED indicator will turn red to remind the guardians to pay attention to safety.

[0087] Alarm function: When an abnormal situation is detected (such as the robot entering an emergency stop state or a fault occurring), the audible and visual alarm module will promptly issue an alarm signal. The buzzer will emit a high-frequency alarm, and the LED indicator will flash red to prompt the guardians to intervene immediately.

[0088] Remote control: The safety guardian terminal 4 can send control signals (such as enabling, emergency stop, etc.) to the stop signal transmitting device 3 to control the robot wirelessly. The guardians can issue commands through the control panel or buttons on the terminal according to the on-site situation to ensure the safety of the robot.

[0089] In this embodiment, the signal controller 5 is configured to receive and process signals transmitted from the stop signal transmitting device 3 and the safety guardian terminal 4, and output corresponding safety signals according to different control requirements to ensure the safe operation of the robot.

[0090] The signal controller 5 includes: a signal input interface: The signal controller 5 receives signals sent from the stop signal transmitting device 3 and the safety guardian terminal 4 through a wireless communication module. These signals include an enable signal (24V DC) and an emergency stop signal (normally closed contact). The signal input interface receives and decodes these signals to ensure the accurate transmission of the signals.

[0091] A control logic module: The control logic module is the brain of the signal controller 5, responsible for making logical judgments based on the input signal states (enable signal or emergency stop signal) and controlling signal output. The task of this module is to output corresponding signal groups according to different input combinations to control the working state of the robot.

[0092] The main rules of the control logic are as follows:

[0093] Separate triggering of the enable signal (Type I): If only the enable signal is received, the signal controller 5 will output the signal group: 11, 00 (indicating that the robot can run).

[0094] Separate triggering of the emergency stop signal (Type II): If only the emergency stop signal is received, the signal controller 5 will output the signal group: 00, 11 (indicating that the robot stops immediately and enters the emergency stop state).

[0095] No signal triggered: If no signal is triggered, the signal controller 5 will output the signal group: 00, 00 (indicating that the robot is in an inactive state).

[0096] Signal overlap control: If the enable signal and the emergency stop signal are triggered simultaneously, the signal controller 5 will give priority to processing the emergency stop signal and output the signal group: 00, 11 (indicating an emergency stop and the robot must stop immediately).

[0097] An output signal interface: The output signal interface converts the processing result of the control logic module into specific electrical signals, and through connection to the safety control system of the robot, finally triggers the corresponding operations of the robot (such as start, stop, or emergency stop). The transmission of the output signals follows reliable electrical connection and control standards to ensure that the signals can be transmitted in a timely and accurate manner.

[0098] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mobile manual teaching robot safety stop monitoring device, comprising a safety terminal module (1), a wireless signal receiving module (2), a stop signal transmitting device (3), a safety guardian terminal (4) and a signal controller (5), characterized in that: The safety terminal module (1) is used to realize the input and output connection and management of various safety signals in the robot control cabinet, the safety signals include an enable signal and an emergency stop signal, and the safety terminal module (1) includes a wiring terminal, a safety circuit module, a signal isolation module and an electrical connection port; The wireless signal receiving module (2) is used to receive wireless signals from the stop signal transmitting device (3) and transmit these signals to the robot control system. The wireless signal receiving module (2) includes: an antenna wireless communication module, a signal processing unit and an antenna module; The stop signal transmitting device (3) is used to send a safety signal to the wireless signal receiving module (2) and to control the movement of the robot in real time. The stop signal transmitting device (3) is a handheld terminal, which is equipped with a type I enabling button and a type II emergency stop button. The safety guardian terminal (4) is used to receive status information from the robot control system, display alarm information, and provide real-time feedback on the robot's operating status through an audible and visual alarm module; The signal controller (5) is used to receive and process signals transmitted from the stop signal transmitting device (3) and the safety guardian terminal (4), and output corresponding safety signals according to different control requirements to ensure the safe operation of the robot.

2. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The wiring terminals are used to connect and transmit power lines, control signal lines, enable signal lines and emergency stop signal lines in the robot system; the safety circuit module has a built-in dual-channel safety circuit, and the safety circuit module is used to transmit the enable signal and the emergency stop signal respectively.

3. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The antenna wireless communication module uses the ISM 2.4GHz frequency band for wireless communication, and the antenna wireless communication module has a built-in redundant communication protocol.

4. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The signal processing unit is used for decoding and processing the received wireless signal, and transmitting the processed signal to the robot control system.

5. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The type I enabling button is a self-resetting push switch, and the type II emergency stop button adopts a self-locking mushroom head structure.

6. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The security guardian terminal (4) comprises: Display screen, used to display the robot's current working status, alarm information, and fault diagnosis results; The sound and light alarm module includes a buzzer and LED indicator light to provide real-time feedback of the robot status to the supervisor; The wireless communication module is used to communicate with the stop signal transmitting device (3) and the wireless signal receiving module (2).

7. A mobile manual teaching robot safety stop monitoring device according to claim 1, characterized in that: The signal controller (5) comprises: Signal input interface: receiving signals from the stop signal transmitting device (3) and the safety guardian terminal (4) through wireless communication; Control logic module: used to make logical judgments based on the input signal status and control signal output.

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