Scram control system and robot with same

Abstract

The invention belongs to the technical field of safety control, and provides an emergency stop control system and a robot with the same, the system comprises a plurality of modules, a signal isolation module realizes electrical isolation through two sub-isolation modules, a key module is used for generating an emergency stop signal, and the emergency stop signal is transmitted to a control module. Two control units in the control module can confirm the current state based on the sudden stop signal and can generate a control signal for relieving sudden stop, and the driving module generates a driving instruction based on the received sudden stop signal or a recovery signal generated by the recovery module and transmits the driving instruction to the output module, so that the equipment is controlled to stop suddenly or relieve sudden stop. According to the scheme for remotely and electronically relieving the sudden stop action, detectable and controllable relieving can be achieved after sudden stop is triggered, an effective way is provided for remote sudden stop recovery and intelligent sudden stop recovery, sudden stop safety specifications can be met, safety risks are reduced, the overall structure and safety processing logic of the system are simple, and the system is convenient to use. And the practical value is high.

Description

Technical Field

[0001] This invention belongs to the field of safety control technology, specifically relating to an emergency stop control system and a robot having the same. Background Technology

[0002] The emergency stop button, also known as the emergency stop button, is an important safety measure in the field of industrial safety. According to emergency stop safety standards and specifications, the emergency stop button is a self-locking button. As a safety measure, it is used to immediately stop a load that may cause damage. Once the emergency stop is triggered by pressing, it needs to be manually rotated to unlock and reset after confirming that the danger has passed.

[0003] Machines and equipment where abnormalities in the transmission parts may occur, thereby causing injury to operators, are generally equipped with at least one emergency stop button. This button is located in the most convenient, conspicuous, and easily accessible position without any obstructions. The emergency stop button plays a crucial role; pressing the button in an emergency can immediately stop the machine's operation and ensure personnel safety. Normally, once the emergency stop is triggered, the equipment will be in an emergency stop state and will be unable to continue normal operation. Operators will need to perform safety checks and manually unlock and restore the equipment.

[0004] However, in some actual application scenarios of the equipment, the emergency stop button may be accidentally or intentionally operated by children or passersby, causing the emergency stop to be triggered falsely. In most cases, the operators or maintenance personnel are not always on site, so they cannot determine whether the danger has been eliminated, whether the equipment is normal, or restore it in time, which brings a lot of trouble to the normal operation of the equipment. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention proposes an emergency stop control system for use in electronic devices, comprising:

[0006] The signal isolation module is used to achieve electrical isolation between the high-voltage end and the low-voltage end in the system circuit, and includes two sub-isolation modules;

[0007] The button module is connected to the two sub-isolation modules one by one through two independent channels. The button module is configured with normally closed contacts in the two channels to generate an emergency stop signal to cut off the power supply and / or safety circuit of the electronic device in response to the button command.

[0008] An output module is configured to respond to a drive command and, based on the drive command, control the power supply and / or safety circuit of the electronic device to be cut off, or, based on the drive command, restore the power supply and / or safety circuit of the electronic device.

[0009] The control module includes a first control unit and a second control unit connected to the signal isolation module. The first control unit and the second control unit are used to confirm the current emergency stop state based on the received emergency stop signal, and in response to the release command, generate a control signal for releasing the emergency stop state. The first control unit is used to generate a first control signal, and the second control unit is used to generate a second control signal.

[0010] A recovery module, connected to the signal isolation module, the first control unit, and the second control unit, is used to receive the emergency stop signal, the first control signal, and the second control signal, and generate a recovery signal for restoring the power and / or safety circuit of the electronic device when all three signals are valid.

[0011] A drive module is connected to the signal isolation module, the recovery module, and the output module respectively. It is used to receive the emergency stop signal from the signal isolation module and the recovery signal from the recovery module, generate the drive command based on the emergency stop signal or the recovery signal, and transmit the drive command to the output module.

[0012] Furthermore, the system also includes:

[0013] A signal conditioning module is provided, which is connected to the signal isolation module, the first control unit, the second control unit, and the recovery module, respectively. The signal conditioning module is used to convert the emergency stop signal received by the signal isolation module into a level signal and transmit it to the first control unit, the second control unit, and the recovery module.

[0014] Preferably, the first control unit includes a first MCU, and the second control unit includes a second MCU;

[0015] The first MCU is connected to the second MCU; the first MCU is used to back up system data and monitor the second MCU, and the second MCU is used to back up system data and monitor the first MCU.

[0016] The first MCU and the second MCU are also used to confirm whether the cross-monitoring is normal based on the release instruction, and when the cross-monitoring is normal, the first MCU outputs the first control signal to the recovery module, and the second MCU outputs the second control signal to the recovery module.

[0017] Specifically, the button module includes two independent normally closed contacts. One normally closed contact is connected in series with the power supply terminal to the first button network, and the other normally closed contact is connected in series with the power supply terminal to the second button network.

[0018] Specifically, the signal isolation module includes a first optocoupler, a second optocoupler, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a first diode, and a second diode;

[0019] The anode of the first optocoupler, the cathode of the first diode, and the first terminal of the first capacitor are connected to the first button network through a second resistor, and the cathode of the first optocoupler and the anode of the first diode are connected to the first terminal of the third resistor.

[0020] The anode of the second optocoupler and the cathode of the second diode are connected to the second button network through the first resistor, and the cathode of the second optocoupler and the anode of the second diode are connected to the first terminal of the fourth resistor; the second segment of the first capacitor, the second terminal of the third resistor, and the second terminal of the fourth resistor are all grounded.

[0021] The emitter of the first optocoupler, the emitter of the second optocoupler, and the first end of the fifth resistor are all connected to the driving module through a sixth resistor, and the second end of the fifth resistor is connected to the power supply; the collectors of the first optocoupler and the collectors of the second optocoupler are all grounded.

[0022] The first optocoupler and the second optocoupler are used to emit light and make the output terminal conduct to ground when the emergency stop signal is not received, and are also used to stop emitting light and make the output terminal non-conducting when the emergency stop signal is received.

[0023] Furthermore, the driving module includes a first transistor, a seventh resistor, an eighth resistor, and a second capacitor;

[0024] The first end of the seventh resistor is connected to the sixth resistor and the recovery module. The second end of the seventh resistor, the first end of the eighth resistor, and the first end of the second capacitor are all connected to the base of the first transistor. The collector of the first transistor is connected to the output module.

[0025] The second terminal of the eighth resistor and the emitter of the first transistor are both grounded, and the second terminal of the second capacitor is grounded.

[0026] Specifically, the signal conditioning module includes a first MOS transistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a third capacitor, a third diode, and a fourth diode;

[0027] The first end of the ninth resistor is connected to both the signal isolation module and the driving module. The second end of the ninth resistor, the first end of the third capacitor, and the first end of the eleventh resistor are all connected to the gate of the first MOS transistor. The drain of the first MOS transistor is connected to the power supply through the tenth resistor.

[0028] The source of the first MOS transistor, the first terminal of the twelfth resistor, the anode of the third diode, and the anode of the fourth diode are all connected to the recovery module; the cathode of the third diode is connected to the first control unit; and the cathode of the fourth diode is connected to the second control unit.

[0029] The second terminal of the third capacitor is grounded, and the second terminals of the eleventh resistor and the twelfth resistor are both grounded.

[0030] The signal conditioning module is used to switch the first MOSFET from the off state to the on state after receiving an emergency stop signal, thereby generating a valid high-level signal and transmitting it to the first control unit, the second control unit and the recovery module.

[0031] Furthermore, the recovery module includes a first device, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, and a second MOSFET;

[0032] The drain of the second MOSFET is connected to the first terminal of the seventh resistor and is connected to the signal isolation module through the sixth resistor; the source of the second MOSFET is grounded.

[0033] The first device includes a three-AND gate input device, the gate of the second MOSFET is connected to the output terminal of the first device through the thirteenth resistor, the first input terminal of the first device is connected to the key input network through the fourteenth resistor, the second input terminal of the first device is connected to the first control unit through the fifteenth resistor, and the third input terminal of the first device is connected to the second control unit through the sixteenth resistor.

[0034] The first device is used to output the recovery signal that turns on the first transistor through the output terminal when the input signals received through the first input terminal, the second input terminal, and the third input terminal are all valid.

[0035] Furthermore, the output module includes a relay, a fifth diode, and an emergency stop circuit with a seventeenth resistor;

[0036] The first coil terminal of the relay and the cathode of the fifth diode are connected to the power supply together, the second coil terminal of the relay and the anode of the fifth diode are connected to the collector of the first transistor together, and the normally closed dual-channel of the relay is connected in series in the emergency stop circuit.

[0037] The output module is used to switch the relay from a closed state to an open state when it receives the drive command, thereby cutting off the power supply and / or safety circuit of the electronic device; or, it is used to switch the relay from an open state to a closed state when it receives the drive command, thereby restoring the power supply and / or safety circuit of the electronic device.

[0038] The present invention also proposes a robot comprising an emergency stop control system as described above.

[0039] The present invention has at least the following beneficial effects:

[0040] The proposed solution improves system safety through a dual control unit design. By having two control units independently confirm the emergency stop state and generate control signals separately, a dual-loop mechanism is used, allowing remote confirmation of safety and recovery. This solves the problem that current equipment cannot remotely perform recovery after accidental emergency stop triggering, while meeting emergency stop safety standards and specifications, freeing equipment from the trouble of accidental emergency stop triggering, and reducing safety risks.

[0041] Furthermore, the proposed solution converts the signal into a level signal through a signal conditioning module so that the control module can receive it and ensure signal stability. By setting two MCUs in the control module and implementing cross-monitoring, the normal status of both can be ensured. At the same time, the design of the recovery module ensures the safety of the recovery operation through a confirmation mechanism of multiple control signals. The recovery signal is only generated when the emergency stop signal and the signals of the two control units are valid at the same time, which greatly reduces the possibility of misoperation.

[0042] In addition, this solution adds two independent channels of normally closed contacts to the button module, which improves the redundancy and reliability of the button module. The circuit design of the drive module ensures that the power supply or safety circuit can be cut off in time after receiving an emergency stop signal. The signal isolation module reduces the risk of electrical interference. The emergency stop control system that integrates the above modules has significant performance improvements in terms of safety, reliability, fault tolerance and scalability.

[0043] Therefore, this invention provides an emergency stop control system and a robot having the same. This invention provides a solution for remote electronic release of emergency stop actions, which can achieve detectable and controllable release after an emergency stop is triggered, providing an effective way for remote emergency stop recovery and intelligent emergency stop recovery. It can meet emergency stop safety standards, reduce safety risks, and the overall system structure and safety processing logic are relatively simple, with high practical value. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the module structure of the emergency stop control system provided in Example 1;

[0046] Figure 2 This is a schematic diagram of the circuit structure of an emergency stop control system.

[0047] Figure Labels

[0048] 1-Button module; 2-Signal isolation module; 3-Control module; 4-Recovery module; 5-Driver module; 6-Output module; 7-Signal conditioning module. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0050] Various embodiments of the invention will be described more fully below. The invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the invention to the specific embodiments disclosed herein, but rather the invention should be understood to cover all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the invention.

[0051] In the following, the terms “comprising” or “may include” as used in various embodiments of the invention indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the invention, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0052] In various embodiments of the invention, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0053] The expressions used in the various embodiments of the present invention (such as "first," "second," etc.) may modify various constituent elements in the various embodiments, but do not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing one element from other elements. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first element may be referred to as a second element without departing from the scope of the various embodiments of the present invention, and similarly, a second element may also be referred to as a first element.

[0054] It should be noted that, in this invention, unless otherwise explicitly specified and defined, terms such as "installation," "connection," and "fixation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] In this invention, those skilled in the art should understand that the terms indicating orientation or positional relationship in the text are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the purpose of facilitating the description of this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0056] The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. The terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0057] Example 1

[0058] Please see Figures 1-2 This embodiment proposes an emergency stop control system with a dual-loop mechanism, which can achieve ISO-13849 PLd level functional safety, meet emergency stop safety specifications, and allow remote confirmation of safety and recovery. The emergency stop control system proposed in this embodiment can be applied to electronic devices, which can perfectly solve the problem that current electronic devices cannot remotely perform recovery after accidental emergency stop triggering, while meeting emergency stop safety standards and specifications, freeing electronic devices from the trouble of accidental emergency stop triggering, and reducing safety risks.

[0059] The emergency stop control system proposed in this embodiment specifically includes:

[0060] Signal isolation module 2 is used to achieve electrical isolation between the high-voltage end and the low-voltage end in the system circuit and enhance the anti-interference capability of the signal. It includes two sub-isolation modules. The dual-channel design in signal isolation module 2 is the basis for realizing the dual-loop design of the emergency stop control system proposed in this embodiment.

[0061] The button module 1 is connected to two sub-isolation modules one by one through two independent channels. The button module 1 is used to generate an emergency stop signal to cut off the power and / or safety circuit of the electronic device in response to the button command. In this embodiment, the button module 1 includes a dual-channel emergency stop button. That is, the button module 1 is configured with normally closed (NC) contacts in the two channels, which can ensure that the power supply or safety circuit of the device is reliably cut off in an emergency, which meets the requirements of the dual-circuit mechanism and the premise of achieving ISO-13849 PLd level functional safety.

[0062] Output module 6 is used to respond to drive commands and control, based on the drive commands, to cut off the power supply and / or safety circuit of the electronic device, or to restore the power supply and / or safety circuit of the electronic device based on the drive commands; output module 6 can convert the intention of emergency stop into a truly controllable switching path for the emergency stop circuit, so that it can be connected in series in the safety circuit in a manner similar to an emergency stop button; in this embodiment, output module 6 needs to select a dual-channel type switch to meet the dual-circuit design, and in an optional implementation, output module 6 includes a double-pole double-throw relay;

[0063] The control module 3 includes a first control unit and a second control unit connected to the signal isolation module 2. The first control unit and the second control unit are used to confirm the current emergency stop state based on the received emergency stop signal, and in response to the release command, generate a control signal for releasing the emergency stop state. The first control unit is used to generate a first control signal, and the second control unit is used to generate a second control signal.

[0064] Recovery module 4 is connected to signal isolation module 2, first control unit and second control unit through signal conditioning module 7. It is used to receive emergency stop signal, first control signal and second control signal, and generate recovery signal for restoring power and / or safety circuit of electronic device when the emergency stop signal, first control signal and second control signal are all valid. Recovery module 4 can reset drive module 5, so that output module 6 enters initial state, thereby restoring power and / or safety circuit of electronic device.

[0065] The drive module 5 is connected to the signal isolation module 2, the recovery module 4, and the output module 6 respectively. It is used to receive an emergency stop signal from the signal isolation module 2 and a recovery signal from the recovery module 4, generate a drive command based on the emergency stop signal or the recovery signal, and transmit the drive command to the output module 6. The drive command generated by the drive module 5 after receiving the emergency stop signal is used to control the output module 6 to realize the emergency stop, and the drive command generated by the drive module 5 after receiving the recovery signal is used to control the output module 6 to release the emergency stop.

[0066] The signal conditioning module 7 is connected to the signal isolation module 2, the first control unit, the second control unit, and the recovery module 4. It is used to convert the emergency stop signal received by the signal isolation module 2 into a level signal and transmit it to the first control unit, the second control unit, and the recovery module 4. Through the signal conditioning module 7, the emergency stop signal can be converted into a level signal that the control module 3 can accept.

[0067] In this embodiment, the first control unit includes a first MCU, and the second control unit includes a second MCU;

[0068] The first MCU is connected to the second MCU; the first MCU is used to back up system data and monitor the second MCU, and the second MCU is used to back up system data and monitor the first MCU.

[0069] The first MCU and the second MCU are also used to confirm whether the cross-monitoring is normal based on the release command, and when the cross-monitoring is normal, the first MCU outputs a first control signal to the recovery module 4 and the second MCU outputs a second control signal to the recovery module 4. Through the dual-loop design of the backup and cross-monitoring mechanism of the dual MCU system in the control module 3, the system proposed in this embodiment can meet the functional safety requirements of ISO-13849 PLd level.

[0070] Specifically, the button module 1 includes two independent normally closed contacts. One normally closed contact is connected in series from the power supply terminal VBAT to the first button network KEY_ESTOP0, and the other normally closed contact is connected in series from the power supply terminal VBAT to the second button network KEY_ESTOP1.

[0071] Specifically, the signal isolation module 2 includes a first optocoupler U1A, a second optocoupler U1B, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, a first diode D1, and a second diode D2.

[0072] The anode of the first optocoupler U1A, the cathode of the first diode D1, and the first terminal of the first capacitor C1 are connected to the first button network KEY_ESTOP0 through the second resistor R2. The cathode of the first optocoupler U1A and the anode of the first diode D1 are connected to the first terminal of the third resistor R3.

[0073] The anode of the second optocoupler U1 B and the cathode of the second diode D2 are connected to the second key network KEY_ESTOP1 through the first resistor R1. The cathode of the second optocoupler U1 B and the anode of the second diode D2 are connected to the first end of the fourth resistor R4. The second segment of the first capacitor C1, the second end of the third resistor R3 and the second end of the fourth resistor R4 are grounded together.

[0074] The emitter of the first optocoupler U1A, the emitter of the second optocoupler U1B, and the first end of the fifth resistor R5 are connected to the drive module 5 through the sixth resistor R6. The second end of the fifth resistor R5 is connected to the power supply 12V0. The collector of the first optocoupler U1A and the collector of the second optocoupler U1B are grounded together.

[0075] The first optocoupler U1A and the second optocoupler U1B are used to emit light and connect the output terminal to ground when no emergency stop signal is received, at which time the output voltage is 0V; the first optocoupler U1A and the second optocoupler U1B are also used to stop emitting light and de-connect the output terminal when an emergency stop signal is received. At this time, the output voltage is determined by the voltage division of the resistor network composed of the fifth resistor R5, the sixth resistor R6, the seventh resistor R7, the eighth resistor R8, the ninth resistor R9, and the eleventh resistor R11. The strength of the output voltage signal is sufficient to trigger the circuit constituting the drive module 5 and the signal conditioning module 7 and produce an effective action. That is, when the first optocoupler U1A and the second optocoupler U1B receive an emergency stop signal, they can output an effective voltage signal to the drive module 5 and the signal conditioning module 7. This effective voltage signal can also be regarded as an emergency stop signal or a continuation signal of the emergency stop signal.

[0076] Furthermore, the driving module 5 includes a first transistor Q2, a seventh resistor R7, an eighth resistor R8, and a second capacitor C2; in this embodiment, the first transistor Q2 is an NPN transistor.

[0077] The first end of the seventh resistor R7 is connected to the sixth resistor R6 and the recovery module 4. The second end of the seventh resistor R7, the first end of the eighth resistor R8, and the first end of the second capacitor C2 are all connected to the base of the first transistor Q2. The collector of the first transistor Q2 is connected to the output module 6.

[0078] The second end of the eighth resistor R8 and the emitter of the first transistor Q2 are grounded together, and the second end of the second capacitor C2 is grounded. When the circuit input received by the drive module 5 is an effective voltage signal, the first transistor Q2 is turned on, thereby driving the output module 6 to generate an emergency stop action.

[0079] Specifically, the signal conditioning module 7 includes a first MOSFET Q1, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a third capacitor C3, a third diode D3, and a fourth diode D4; in this embodiment, the first MOSFET Q1 is an N-channel MOSFET.

[0080] The first end of the ninth resistor R9 is connected to the signal isolation module 2 and the drive module 5. The second end of the ninth resistor R9, the first end of the third capacitor C3, and the first end of the eleventh resistor R11 are connected to the gate of the first MOS transistor Q1. The drain of the first MOS transistor Q1 is connected to the power supply 5V0_SYS through the tenth resistor R10.

[0081] The source of the first MOSFET Q1, the first terminal of the twelfth resistor R12, the anode of the third diode D3, and the anode of the fourth diode D4 are all connected to the recovery module 4. The cathode of the third diode D3 is connected to the input of the first control unit, i.e., the key input network KEY_ESTOP_IN0; the cathode of the fourth diode D4 is connected to the input of the second control unit, i.e., the key input network KEY_ESTOP_IN1.

[0082] The second terminal of the third capacitor C3 is grounded, and the second terminals of the eleventh resistor R11 and the twelfth resistor R12 are both grounded.

[0083] The signal conditioning module 7 is used to switch the first MOSFET Q1 from the off state to the on state after receiving a valid voltage signal, thereby generating a valid high-level signal and transmitting it to the first control unit, the second control unit and the recovery module 4.

[0084] Furthermore, the output module 6 includes a relay RLY1, a fifth diode D5, and an emergency stop circuit with a seventeenth resistor R17;

[0085] The first coil terminal of relay RLY1 and the cathode of the fifth diode D5 are connected to the power supply 12V0_RLY1. The second coil terminal of relay RLY1 and the anode of the fifth diode D5 are connected to the collector of the first transistor Q2. The normally closed dual-channel of relay RLY1 is connected in series in the emergency stop circuit.

[0086] Output module 6 is used to switch relay RLY1 from closed to open state when a drive command is received, thereby cutting off the power supply and / or safety circuit of the electronic device; or, it is used to switch relay RLY1 from open state to closed state when a drive command is received, thereby restoring the power supply and / or safety circuit of the electronic device.

[0087] Furthermore, the recovery module 4 includes a first device U2, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, and a second MOSFET Q3; in this embodiment, the second MOSFET Q3 is an N-channel MOSFET.

[0088] The drain of the second MOSFET Q3 is connected to the first terminal of the seventh resistor R7, and is connected to the signal isolation module 2 through the sixth resistor R6. The source of the second MOSFET Q3 is grounded.

[0089] The first device U2 includes a three-AND gate input device. The gate of the second MOSFET Q3 is connected to the output terminal Y of the first device U2 through the thirteenth resistor R13. The first input terminal B of the first device U2 is connected to the key input network KEY_ESTOP_IN through the fourteenth resistor R14. The second input terminal A of the first device U2 is connected to the first control unit, i.e., the network ESTOP_CLC0, through the fifteenth resistor R15. The third input terminal C of the first device U2 is connected to the second control unit, i.e., the network ESTOP_CLC1, through the sixteenth resistor R16.

[0090] The first device U2 is used to output a recovery signal to turn on the first transistor Q2 through the output terminal Y when the input signals received through the first input terminal B, the second input terminal A, and the third input terminal C are all valid. In this embodiment, the high-level signal is the valid signal of the first device U2. The first device U2 will output a valid high-level signal through the output terminal Y only when the input signals received through the first input terminal B, the second input terminal A, and the third input terminal C are all high-level signals. This will drive the first transistor Q2 to turn on, thereby short-circuiting the valid voltage signal input to the driving module 5 circuit to ground and turning it into an invalid signal. Finally, the relay RLY1 will return to the normally closed state, the emergency stop circuit will return to normal, and the electronic release of the emergency stop action will be completed.

[0091] It should be noted that the emergency stop control system proposed in this embodiment provides a remote electronic release of the emergency stop action. Electronic release is different from manual release. Therefore, in practical applications, users can also release the triggered emergency stop action by manually releasing it physically.

[0092] Because the emergency stop control system proposed in this embodiment needs to meet the emergency stop safety specifications that have very high requirements for the reliability of the emergency stop circuit, the key modules such as button module 1, signal isolation module 2, output module 6, recovery module 4, and control module 3 in the emergency stop control system all adopt a dual-loop design, follow the Cat.3 architecture, and the single-channel part combines simple reliability devices to achieve a high level of MTTFD, basically meeting the ISO-13849 PLd level implementation requirements, ensuring safety and reliability.

[0093] Example 2

[0094] This embodiment proposes a robot, which includes an emergency stop control system as proposed in Embodiment 1.

[0095] For example, the robot proposed in this embodiment may include service robots used in restaurants, hotels, hospitals and other places for food delivery, item delivery and medical guidance. In these scenarios, there is frequent flow of people and the emergency stop button is easily triggered accidentally. For example, a child may press the emergency stop button out of curiosity, causing the robot to stop running. This emergency stop control system enables staff to quickly resume the operation of the robot through remote control after confirming safety, reducing interference with the service process.

[0096] The robot proposed in this embodiment can also include industrial robots used for tasks such as handling and assembly in factory workshops. In complex production environments, industrial robots may cause emergency stops due to equipment failure, human operation errors, etc. By cooperating with the factory's integrated monitoring system, when an emergency stop is triggered, the user can confirm safety and release the emergency stop through the remote monitoring center, thereby improving production efficiency and reducing production downtime caused by emergency stops.

[0097] The robot proposed in this embodiment can also include logistics robots responsible for handling and sorting goods in logistics warehouses. Since logistics warehouses are generally large in space and have a large number of personnel and equipment, the possibility of accidental emergency stop is also high. The emergency stop control system configured on the robot can enable the logistics robot to quickly respond to remote signals to release the emergency stop, ensuring the efficient operation of the logistics robot and ensuring the smooth flow of logistics transportation.

[0098] Specifically, the integration of the robot with the emergency stop control system can include hardware integration and software integration. If hardware integration is used, the various modules of the emergency stop control system can be installed inside or outside the robot in a suitable location. If software integration is used, a program for communication and control with the emergency stop control system can be added to the robot's control system software.

[0099] Building on this, the emergency stop control system integrated into the robot can be further integrated with other safety systems such as collision detection systems and lidar obstacle avoidance systems to achieve more comprehensive safety protection. For example, when the collision detection system detects that the robot is about to collide with a person or equipment, it can automatically trigger an emergency stop signal and achieve rapid stopping through the emergency stop control system. When the robot detects that the surrounding environment has returned to normal and there is no danger, it can automatically release the emergency stop and resume operation without human intervention.

[0100] Furthermore, the robot proposed in this embodiment can also add a user access control function to the emergency stop control system, so that only authorized personnel have the authority to remotely release the emergency stop. For example, by setting a password, fingerprint recognition or facial recognition, it can be ensured that only legitimate managers or operators can remotely release the emergency stop, preventing unauthorized operations from causing safety risks.

[0101] In summary, this invention provides an emergency stop control system and a robot having the same. It offers a remote electronic method for releasing an emergency stop action, enabling detectable and controllable release after an emergency stop is triggered. This provides an effective approach for remote and intelligent emergency stop recovery, meets emergency stop safety standards, reduces safety risks, and features a relatively simple overall system structure and safety processing logic, thus possessing high practical value.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An emergency stop control system, characterized in that, Applied to electronic devices, including: The signal isolation module is used to achieve electrical isolation between the high-voltage end and the low-voltage end in the system circuit, and includes two sub-isolation modules; The button module is connected to the two sub-isolation modules one by one through two independent channels. The button module is configured with normally closed contacts in the two channels to generate an emergency stop signal to cut off the power supply and / or safety circuit of the electronic device in response to the button command. An output module is configured to respond to a drive command and, based on the drive command, control the power supply and / or safety circuit of the electronic device to be cut off, or, based on the drive command, restore the power supply and / or safety circuit of the electronic device. The control module includes a first control unit and a second control unit connected to the signal isolation module. The first control unit and the second control unit are used to confirm the current emergency stop state based on the received emergency stop signal, and in response to the release command, generate a control signal for releasing the emergency stop state. The first control unit is used to generate a first control signal, and the second control unit is used to generate a second control signal. A recovery module, connected to the signal isolation module, the first control unit, and the second control unit, is used to receive the emergency stop signal, the first control signal, and the second control signal, and generate a recovery signal for restoring the power and / or safety circuit of the electronic device when all three signals are valid. A drive module is connected to the signal isolation module, the recovery module, and the output module respectively. It is used to receive the emergency stop signal from the signal isolation module and the recovery signal from the recovery module, generate the drive command based on the emergency stop signal or the recovery signal, and transmit the drive command to the output module.

2. The emergency stop control system according to claim 1, characterized in that, Also includes: A signal conditioning module is provided, which is connected to the signal isolation module, the first control unit, the second control unit, and the recovery module, respectively. The signal conditioning module is used to convert the emergency stop signal received by the signal isolation module into a level signal and transmit it to the first control unit, the second control unit, and the recovery module.

3. The emergency stop control system according to claim 1 or 2, characterized in that, The first control unit includes a first MCU, and the second control unit includes a second MCU; The first MCU is connected to the second MCU; the first MCU is used to back up system data and monitor the second MCU, and the second MCU is used to back up system data and monitor the first MCU. The first MCU and the second MCU are also used to confirm whether the cross-monitoring is normal based on the release instruction, and when the cross-monitoring is normal, the first MCU outputs the first control signal to the recovery module, and the second MCU outputs the second control signal to the recovery module.

4. The emergency stop control system according to claim 1, characterized in that, The button module includes two independent normally closed contacts. One normally closed contact is connected in series with the power supply terminal to the first button network, and the other normally closed contact is connected in series with the power supply terminal to the second button network.

5. The emergency stop control system according to claim 4, characterized in that, The signal isolation module includes a first optocoupler, a second optocoupler, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a first diode, and a second diode; The anode of the first optocoupler, the cathode of the first diode, and the first terminal of the first capacitor are connected to the first button network through a second resistor, and the cathode of the first optocoupler and the anode of the first diode are connected to the first terminal of the third resistor. The anode of the second optocoupler and the cathode of the second diode are connected to the second button network through the first resistor, and the cathode of the second optocoupler and the anode of the second diode are connected to the first terminal of the fourth resistor; the second segment of the first capacitor, the second terminal of the third resistor, and the second terminal of the fourth resistor are all grounded. The emitter of the first optocoupler, the emitter of the second optocoupler, and the first end of the fifth resistor are all connected to the driving module through a sixth resistor, and the second end of the fifth resistor is connected to the power supply; the collectors of the first optocoupler and the collectors of the second optocoupler are all grounded. The first optocoupler and the second optocoupler are used to emit light and make the output terminal connected to ground when the emergency stop signal is not received, and are also used to stop emitting light and make the output terminal non-connected when the emergency stop signal is received.

6. The emergency stop control system according to claim 5, characterized in that, The driving module includes a first transistor, a seventh resistor, an eighth resistor, and a second capacitor; The first end of the seventh resistor is connected to the sixth resistor and the recovery module. The second end of the seventh resistor, the first end of the eighth resistor, and the first end of the second capacitor are all connected to the base of the first transistor. The collector of the first transistor is connected to the output module. The second terminal of the eighth resistor and the emitter of the first transistor are both grounded, and the second terminal of the second capacitor is grounded.

7. The emergency stop control system according to claim 2, characterized in that, The signal conditioning module includes a first MOSFET, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a third capacitor, a third diode, and a fourth diode; The first end of the ninth resistor is connected to both the signal isolation module and the driving module. The second end of the ninth resistor, the first end of the third capacitor, and the first end of the eleventh resistor are all connected to the gate of the first MOS transistor. The drain of the first MOS transistor is connected to the power supply through the tenth resistor. The source of the first MOS transistor, the first terminal of the twelfth resistor, the anode of the third diode, and the anode of the fourth diode are all connected to the recovery module; the cathode of the third diode is connected to the first control unit; and the cathode of the fourth diode is connected to the second control unit. The second terminal of the third capacitor is grounded, and the second terminals of the eleventh resistor and the twelfth resistor are both grounded. The signal conditioning module is used to switch the first MOSFET from the off state to the on state after receiving an emergency stop signal, thereby generating a valid high-level signal and transmitting it to the first control unit, the second control unit and the recovery module.

8. The emergency stop control system according to claim 6, characterized in that, The recovery module includes a first device, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, and a second MOSFET; The drain of the second MOSFET is connected to the first terminal of the seventh resistor and is connected to the signal isolation module through the sixth resistor; the source of the second MOSFET is grounded. The first device includes a three-AND gate input device, the gate of the second MOS transistor is connected to the output terminal of the first device through the thirteenth resistor, the first input terminal of the first device is connected to the key input network through the fourteenth resistor, the second input terminal of the first device is connected to the first control unit through the fifteenth resistor, and the third input terminal of the first device is connected to the second control unit through the sixteenth resistor. The first device is used to output the recovery signal that turns on the first transistor through the output terminal when the input signals received through the first input terminal, the second input terminal, and the third input terminal are all valid.

9. The emergency stop control system according to claim 6, characterized in that, The output module includes a relay, a fifth diode, and an emergency stop circuit with a seventeenth resistor. The first coil terminal of the relay and the cathode of the fifth diode are connected to the power supply together, the second coil terminal of the relay and the anode of the fifth diode are connected to the collector of the first transistor together, and the normally closed dual-channel of the relay is connected in series in the emergency stop circuit. The output module is used to switch the relay from a closed state to an open state when it receives the drive command, thereby cutting off the power supply and / or safety circuit of the electronic device; Alternatively, it can be used to switch the relay from an open state to a closed state upon receiving the drive command, thereby restoring the power and / or safety circuit of the electronic device.

10. A robot, characterized in that, Including the emergency stop control system as described in any one of claims 1-9.

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