Industrial robot safety processing method and system
By designing an industrial robot safety handling system, the problem of insufficient safety in existing technologies has been solved, realizing safe monitoring of robot movement and working area, and reducing the occurrence of safety accidents.
Patent Information
- Application Number
- CN202511630267.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-10
- Publication Date
- 2026-01-06
AI Technical Summary
The design and industrialization of industrial robots in terms of safety and functionality are only just beginning. Existing technologies cannot effectively address specific product safety issues, and the safety design of existing industrial robots is inadequate, leading to frequent safety accidents.
An industrial robot safety processing system was designed, including a central processing unit module, a status detection module, a safety protection program module, an execution module, a communication module, and an information storage module. By collecting the robot system status variables, the system analyzes potential hazards and performs safety protection actions, including emergency stop and power cut-off.
It enables safe monitoring of robot movement and work area, ensures that safety protection devices are in normal working order, responds quickly to potential dangers, and reduces the occurrence of safety accidents.
Smart Images
Figure CN121267992A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of industrial robot technology, specifically to a method and system for handling safety issues in industrial robots. Background Technology
[0002] In recent years, with the rapid development of industrial technology, industrial robots have begun to enter new working environments, such as light industry, warehousing and logistics, and agriculture. A recent survey showed that 94% of companies in the UK and the US have accepted robots or believe they will be indispensable in the future. Foreign industrial robots are flooding the Chinese market, and a large number of them are already widely used on various production lines in companies. However, the design and industrialization of industrial robots in China is only just beginning.
[0003] Currently, there are more and more manufacturers producing industrial robots, such as well-known brands like ABB, KUKA, and FUNUC. These foreign brands are continuously improving the safety performance of their industrial robots. However, domestic manufacturers tend to focus more on the functionality of robots, while paying less attention to their safety. This has led to frequent safety accidents when using industrial robots. Therefore, in the face of fierce competition in both domestic and international markets, high performance, high safety, and high quality are the keys to success.
[0004] Robot safety features should at least include the following: limited range of motion, emergency stop or safety stop; slow speed; and interlocking safety devices. Analyzing these safety specifications, it's clear that the robot's work area must have at least some safety protection devices, such as safety fences, safety light curtains, and emergency stop buttons. Beyond this, the system needs to detect the status of these safety devices, the electrical system, and conditions such as robot overspeed, overload, and exceeding the work area, in order to respond quickly and accurately to these dangerous situations. Therefore, an independently operating safety control system is particularly necessary.
[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention
[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned technical defects and provide a method and system for safe handling of industrial robots.
[0007] To address the above problems, the technical solution of this invention is an industrial robot safety handling system, comprising: Central processing unit module, used to provide the hardware platform; The state detection module is responsible for collecting various state variables of the robot system. For different types of variables, corresponding hardware interfaces are designed to collect the state. The safety protection program module executes cyclically, performs safety protection calculations based on the system status, determines whether a dangerous situation has occurred in the system, and then sets safety protection outputs for use by the execution module and communication unit. The execution module performs corresponding operations based on the safety protection output values provided by the program module, including smoothly stopping the robot's movement and cutting off the system's power supply to urgently stop the robot's movement. The communication module is used for data interaction between the security protection program module and the host computer, and completes functions such as sending initialization data from the host computer and uploading alarm information from the security protection program. The information storage module stores robot initialization information, safety protection parameters, and robot error logs. Safety protection parameters include maximum speed limit, maximum torque, and joint limit settings. It also uses a real-time clock chip to record the time when various types of information occur.
[0008] Preferably, the system states include: The servo amplifier I / O interface provides digital and analog signals as well as photoelectric encoder pulse signals, which are used to detect the robot's motion logic, joint speed, torque, motion angle, and other statuses. Control cabinet panel button signals, including but not limited to power-on enable, panel emergency stop, run, pause, etc.; electrical system switching signals: relay and contactor contact status; Status of safety protection facilities and backup power supply.
[0009] Preferably, the state detection module includes a signal acquisition unit, which is used to acquire various state quantities of the robot system and convert and modulate the state quantity signals for processing by the central processing unit module.
[0010] As a preferred option, the safety protection program module analyzes the system status variables provided by the hardware to determine whether there are robot logic errors, safety protection device errors, overspeed or overload, or joint over-limit issues, thereby accurately and quickly taking safety protection actions. Preferably, the information storage module rationally divides the storage space of the memory to store different types of information records separately. At the same time, it obtains time information from the real-time clock chip and records it in the memory along with the above information. The information includes, but is not limited to, robot initialization data, safety protection data, and robot system error information records.
[0011] This invention also discloses a safety handling method for industrial robots, comprising the following steps: Step 1: Execute the safety protection program module; when a dangerous situation occurs, the protection program transmits alarm information to the data interaction program requesting processing, and notifies the information storage program to store the corresponding alarm information. In case of an emergency, the power supply is immediately cut off, and the corresponding information is stored. Step 2: Set the SCIB interrupt function. When the data interaction program receives the setting data from the host computer, such as the overspeed and overload setting value and the joint limit value, it enters the interrupt function, passes the data to the protection program, and notifies the information storage program to update the parameter setting value.
[0012] The advantages of this invention compared to existing technologies are: 1. This invention can monitor various state quantities of the robot motion control system, such as digital quantities of the servo amplifier interface, speed and torque of each joint motor, and position of each joint of the robot. It can analyze whether the robot's operating logic is correct, determine whether each joint of the robot exceeds the maximum range of motion, or whether there is overspeed or overload, and take corresponding protective actions for different safety situations. 2. This invention monitors the status of safety equipment within the robot's working area, ensures stable backup power, and determines the current safety level and permitted actions based on the status of safety doors, safety fences, and other facilities. Attached Figure Description
[0013] Figure 1 This is a system framework diagram of the present invention.
[0014] Figure 2 This is a system flowchart of the present invention. Detailed Implementation
[0015] To make the content of this invention easier to understand, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.
[0016] An industrial robot safety handling system, comprising: Central processing unit module, used to provide the hardware platform; The state detection module is responsible for collecting various state variables of the robot system. For different types of variables, corresponding hardware interfaces are designed to collect the state. The state detection module includes a signal acquisition unit, which is used to collect various state variables of the robot system and convert and modulate the state variable signals for processing by the central processing unit module.
[0017] System status includes: The servo amplifier I / O interface provides digital and analog signals as well as photoelectric encoder pulse signals, which are used to detect the robot's motion logic, joint speed, torque, motion angle, and other statuses. Control cabinet panel button signals, including but not limited to power-on enable, panel emergency stop, run, pause, etc.; electrical system switching signals: relay and contactor contact status; Status of safety protection facilities and backup power supply.
[0018] The safety protection program module executes cyclically, performing safety protection calculations based on the system status to determine if a dangerous situation has occurred. It then sets safety protection outputs for use by the execution module and communication unit. Based on the system status data provided by the hardware, the safety protection program module analyzes whether there are robot logic errors, safety protection device malfunctions, overspeed / overload, or joint over-limit issues, thereby accurately and quickly taking safety protection actions.
[0019] The execution module performs corresponding operations based on the safety protection output values provided by the program module, including smoothly stopping the robot's movement and cutting off the system's power supply to urgently stop the robot's movement. The communication module is used for data interaction between the security protection program module and the host computer, and completes functions such as sending initialization data from the host computer and uploading alarm information from the security protection program. The information storage module stores robot initialization information, safety protection parameters, and robot error logs. Safety protection parameters include maximum speed limit, maximum torque, and joint limit settings. It also uses a real-time clock chip to record the time of occurrence of various types of information. The information storage module rationally divides the storage space of the memory to store different types of information separately. At the same time, it obtains time information from the real-time clock chip and records it in the memory along with the above information. The information includes, but is not limited to, robot initialization data, safety protection data, and robot system error information records.
[0020] A method for ensuring the safety of industrial robots, using the aforementioned system, includes the following steps: Step 1: Execute the safety protection program module; when a dangerous situation occurs, the protection program transmits alarm information to the data interaction program requesting processing, and notifies the information storage program to store the corresponding alarm information. In case of an emergency, the power supply is immediately cut off, and the corresponding information is stored. Step 2: Set the SCIB interrupt function. When the data interaction program receives the setting data from the host computer, such as the overspeed and overload setting value and the joint limit value, it enters the interrupt function, passes the data to the protection program, and notifies the information storage program to update the parameter setting value.
[0021] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.
Claims
1. An industrial robot safety handling system, characterized in that, include: Central processing unit module, used to provide the hardware platform; The state detection module is responsible for collecting various state variables of the robot system. For different types of variables, corresponding hardware interfaces are designed to collect the state. The safety protection program module is executed cyclically. Based on the system status, it performs safety protection calculations, determines whether a dangerous situation has occurred in the system, and then sets safety protection outputs for use by the execution module and communication unit. The execution module performs corresponding operations based on the safety protection output value provided by the program module, including smoothly stopping the robot's movement and cutting off the system's power supply to urgently stop the robot's movement; The communication module is used for data interaction between the security protection program module and the host computer, and completes functions such as sending initialization data by the host computer and uploading alarm information by the security protection program. The information storage module stores robot initialization information, safety protection parameters, and robot error logs. The safety protection parameters include maximum speed limit, maximum torque, and joint limit settings. It also uses a real-time clock chip to record the time when various types of information occur.
2. The industrial robot safety handling system according to claim 1, characterized in that: The system status includes: The servo amplifier I / O interface provides digital and analog signals as well as photoelectric encoder pulse signals, which are used to detect the robot's motion logic, joint speed, torque, motion angle, and other statuses. Control cabinet panel button signals, including but not limited to power-on enable, panel emergency stop, run, pause, etc.; electrical system switching signals: relay and contactor contact status; Status of safety protection facilities and backup power supply.
3. The industrial robot safety handling system according to claim 1, characterized in that: The state detection module includes a signal acquisition unit, which is used to acquire various state quantities of the robot system and convert and modulate the state quantity signals for processing by the central processing unit module.
4. The industrial robot safety handling system according to claim 1, characterized in that: The safety protection module analyzes the system status data provided by the hardware to determine whether there are robot logic errors, safety protection device malfunctions, overspeed or overload, or joint over-limit issues, thereby accurately and quickly taking safety protection actions.
5. The industrial robot safety handling system according to claim 1, characterized in that: The information storage module rationally divides the storage space of the memory to store different types of information records separately. At the same time, it obtains time information from the real-time clock chip and records it in the memory along with the above information. The information includes, but is not limited to, robot initialization data, safety protection data, and robot system error information records.
6. A method for ensuring the safety of an industrial robot according to claims 1-5, characterized in that, Includes the following steps: Step 1: Execute the safety protection program module; when a dangerous situation occurs, the protection program transmits alarm information to the data interaction program requesting processing, and notifies the information storage program to store the corresponding alarm information. In case of an emergency, the power supply is immediately cut off, and the corresponding information is stored. Step 2: Set the SCIB interrupt function. When the data interaction program receives the setting data from the host computer, such as the overspeed and overload setting value and the joint limit value, it enters the interrupt function, passes the data to the protection program, and notifies the information storage program to update the parameter setting value.