Double-computer control robot system and sudden stop and additional shaft control loop thereof

Abstract

The utility model discloses a double-computer control robot system and an emergency stop and additional shaft control loop thereof, and relates to the field of industrial robot control. Comprising a main body group and an additional body group, the main body group comprises a first contactor, a first servo driver and a first motor group, and the additional body group comprises a second contactor, a second servo driver and a second motor group; the control group comprises a switching power supply and a main controller, and the main controller is provided with a demonstrator and an IO module which are electrically connected with the main controller; the demonstrator is in communication connection with the IO module through the main controller, the IO module is in communication connection with the first servo driver, and the second servo driver is in communication connection with the first servo driver. The problem that the working conditions of two robots need to be controlled at the same time is solved, one control cabinet controls two bodies to work, meanwhile, a main body and an additional body are distinguished, whether the additional body works or not can be manually controlled, and meanwhile, sudden stop and additional shaft control loops of the control cabinet are disclosed.

Description

Technical Field

[0001] The utility model relates to the field of industrial robot control, in particular to a dual-machine control robot system and an emergency stop and additional axis control loop thereof. Background Art

[0002] The industrial robot system is configured to include a robot body (such as a multi-jointed robot arm) for performing assembly operations, and a robot control device for controlling the axes of the robot body. Peripheral devices, such as a manually operated console called a teach pendant, are electrically connected to the robot control device. The teach pendant console includes a display unit with a touch panel and a key operation device for performing a plurality of key inputs. The robot system is configured to respond to an operator's operation on the teach pendant console, a robot program is activated and the robot body is manually operated during teaching.

[0003] At present, the conventional configuration of robots is generally one control cabinet controlling one main body, but some working conditions require the simultaneous control of two main bodies. For example, the invention patent with publication number CN101362333A discloses a controller for a robot with a robot main body and an additional mechanism, but when two main bodies are controlled simultaneously by one control cabinet. In order to avoid the malfunction of the other main body when one main body needs to be used alone during the debugging process or in special circumstances, it is necessary to add an additional robot selection button to the electrical circuit, which can choose not to power the additional main body to reduce safety risks. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a dual-machine control robot system and its emergency stop and additional axis control circuit, which solves the need to simultaneously control the working conditions of two robots, and enables one control cabinet to control the two bodies to work, while distinguishing between the main body and the additional body, wherein the additional body can be manually controlled to work or not, and at the same time discloses its emergency stop and additional axis control circuit.

[0005] To achieve the above-mentioned purpose, the present application discloses a dual-machine control robot system, including a main body group and an additional body group electrically connected to a power supply group through a three-phase circuit breaker, the main body group including a first contactor, a first servo drive and a first motor group connected in sequence to the three-phase circuit breaker, the additional body group including a second contactor, a second servo drive and a second motor group connected in sequence to the three-phase circuit breaker; and a control group electrically connected to the power supply through a two-phase circuit breaker, the control group including a switching power supply and a main controller connected in sequence to the two-phase circuit breaker, the main controller being provided with a teach pendant and an IO module electrically connected thereto respectively; the teach pendant is communicatively connected to the IO module through the main controller, the IO module is communicatively connected to the first servo drive, and the second servo drive is communicatively connected to the first servo drive.

[0006] Furthermore, the power supply group includes an external input power supply, a conversion switch and an isolation transformer which are electrically connected in sequence.

[0007] Furthermore, the external input power supply is a three-phase four-wire power supply, which is used to supply power to the system input; the isolation transformer is used to reduce or eliminate the impact of harmonics on the system, and convert the three-phase 380V voltage into a three-phase 220V voltage and a single-phase 220V voltage.

[0008] Furthermore, the first contactor and the second contactor are used to control the on and off of the main circuit, and the switch power supply control system is powered by 24V.

[0009] At the same time, the application also discloses an emergency stop and additional axis control circuit for a dual-machine control robot system, wherein the teach pendant is provided with a teach pendant emergency stop button, and also includes a cabinet door emergency stop button, one side of the teach pendant emergency stop button and the cabinet door emergency stop button are connected to the 24V power supply of the switching power supply, and one side of the other side of the teach pendant emergency stop button and the cabinet door emergency stop button is electrically connected to the IO module, and one side is electrically connected to the intermediate relay; the normally closed contact of the intermediate relay is electrically connected to the time relay, one side of the time relay contact is directly connected to the contact of the first contactor, and the other side is connected to the contact of the second contactor through a two-position selection switch.

[0010] Beneficial effects of the technical solution of the utility model

[0011] The utility model is mainly used to solve the need to control the working conditions of two robots at the same time, realize one control cabinet to control the two bodies to work, and distinguish between the main body and the additional body, wherein the additional body can be manually controlled to work or not.

[0012] In addition, through the design of the control circuit, the main body movement can be controlled and emergency stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A schematic diagram of the power supply structure of the present application is shown;

[0015] Figure 2 A schematic diagram of the communication network of the present application is shown;

[0016] Figure 3 The main control and emergency stop circuit diagrams are shown.

[0017] Among them: 1. external input power supply, 2. conversion switch, 3. isolation transformer, 4. three-phase circuit breaker, 5a. first contactor, 5b. second contactor, 6a. first servo drive, 6b. second servo drive, 7a. first motor group, 7b. second motor group, 8. two-phase circuit breaker, 9. switching power supply, 10. teaching pendant, 11. main controller, 12. IO module. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] For examples, see Figure 1-3 , a dual-machine control robot system, including a main body group and an additional body group electrically connected to a power supply group through a three-phase circuit breaker 4, the main body group including a first contactor 5a, a first servo driver 6a and a first motor group 7a connected in sequence to the three-phase circuit breaker, the additional body group including a second contactor 5b, a second servo driver 6b and a second motor group 7b connected in sequence to the three-phase circuit breaker; and a control group electrically connected to the power supply through a two-phase circuit breaker 8, the control group including a switching power supply 9 and a main controller 11 connected in sequence to the two-phase circuit breaker 8, the main controller being provided with a teach pendant 10 and an IO module 12 electrically connected thereto respectively; the teach pendant 10 is communicatively connected to the IO module 12 through the main controller 11, the IO module is communicatively connected to the first servo driver 6a, and the second servo driver 6b is communicatively connected to the first servo driver 6a.

[0020] Furthermore, the power supply group includes an external input power supply 1, a conversion switch 2 and an isolation transformer 3 which are electrically connected in sequence. The external input power supply 1 is a three-phase four-wire U, V, W, PE power supply, which is used for system input power supply; the isolation transformer 3 is used to reduce or eliminate the influence of harmonics on the system, and convert the three-phase 380V voltage into a three-phase 220V voltage and a single-phase 220V voltage. The first contactor 5a and the second contactor 5b are used to control the on and off of the main circuit, and the switch power supply 9 controls the system 24V power supply.

[0021] At the same time, the present application also discloses an emergency stop and additional axis control circuit for a dual-machine control robot system, wherein the teach pendant 10 is provided with a teach pendant emergency stop button ES1, and also includes a cabinet door emergency stop button ES2, one side of the teach pendant emergency stop button ES1 and the cabinet door emergency stop button ES2 is connected to the 24V power supply of the switching power supply 9, and one side of the other side of the teach pendant emergency stop button ES1 and the cabinet door emergency stop button ES2 is electrically connected to the IO module 12, and one side is electrically connected to the intermediate relay KA1; the normally closed contact KA1-1 of the intermediate relay is electrically connected to the time relay KT1, and one side of the time relay contact KT1-1 is directly connected to the contact KM1 of the first contactor, and the other side is connected to the contact KM2 of the second contactor through the two-position selection switch PB1.

[0022] Specific references Figure 3 After the robot is powered on, the 24V switching power supply is energized, the intermediate relay KA coil is energized, the normally closed contact is disconnected, the power-on delay relay KT coil is not energized, the normally closed contact is closed, the first contactor and the second contactor coils are energized, the normally open contacts are closed, the first servo drive and the second servo drive are powered normally, and both robots work normally.

[0023] The two-position selector switch PB11 is connected in series between the time relay KT1 and the second contactor coil as a normally closed contact. When the two-position selector switch is turned to the normally closed contact, both drives can be powered normally, and both bodies can work normally; when the two-position selector switch is turned to another position, the first servo drive is powered normally, the second servo drive stops powering, and only the main body works normally.

[0024] When the cabinet door or the teaching pendant is pressed in emergency stop, one route uses I / O to control the two main bodies to stop working.

[0025] On the other hand, after the emergency stop button ES is pressed, the normally closed contact is disconnected, the coil of the intermediate relay KA loses power, the normally closed contact is closed, the coil of the power-on delay relay KT is energized, the normally closed contact is delayed to disconnect, the coils of the first contactor and the second contactor lose power, the driver input stops supplying power, and the two main bodies stop working.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dual-machine control robot system, characterized in that: The invention comprises a main body group and an additional body group electrically connected to a power supply group via a three-phase circuit breaker (4), wherein the main body group comprises a first contactor (5a), a first servo driver (6a) and a first motor group (7a) connected in sequence to the three-phase circuit breaker, and the additional body group comprises a second contactor (5b), a second servo driver (6b) and a second motor group (7b) connected in sequence to the three-phase circuit breaker; and a control group electrically connected to the power supply via a two-phase circuit breaker (8), wherein the control group comprises a switch power supply (9) and a main controller (11) connected in sequence to the two-phase circuit breaker (8), wherein the main controller is provided with a teach pendant (10) and an IO module (12) electrically connected thereto respectively; the teach pendant (10) is communicatively connected to the IO module (12) via the main controller (11), the IO module is communicatively connected to the first servo driver (6a), and the second servo driver (6b) is communicatively connected to the first servo driver (6a).

2. A dual-machine control robot system according to claim 1, characterized in that: The power supply group comprises an external input power supply (1), a conversion switch (2) and an isolation transformer (3) which are electrically connected in sequence.

3. A dual-machine control robot system according to claim 2, characterized in that: The external input power supply (1) is a three-phase four-wire (U, V, W, PE) power supply, which is used for system input power supply; the isolation transformer (3) is used to reduce or eliminate the influence of harmonics on the system, and convert the three-phase 380V voltage into a three-phase 220V voltage and a single-phase 220V voltage.

4. A dual-machine control robot system according to claim 1, characterized in that: The first contactor (5a) and the second contactor (5b) are used to control the on and off of the main circuit, and the switch power supply (9) controls the system 24V power supply.

5. An emergency stop and additional axis control circuit of a dual-machine control robot system as claimed in any one of claims 1 to 4, characterized in that: The teach pendant (10) is provided with a teach pendant emergency stop button (ES1), and also includes a cabinet door emergency stop button (ES2); one side of the teach pendant emergency stop button (ES1) and the cabinet door emergency stop button (ES2) is connected to a 24V power supply of a switch power supply (9); one side of the teach pendant emergency stop button (ES1) and the cabinet door emergency stop button (ES2) is electrically connected to an IO module (12) and another side of the teach pendant emergency stop button (ES1) and the cabinet door emergency stop button (ES2); a normally closed contact (KA1-1) of the intermediate relay is electrically connected to a time relay (KT1); one side of the time relay contact (KT1-1) is directly connected to a contact (KM1) of a first contactor, and the other side is connected to a contact (KM2) of a second contactor via a two-position selection switch (PB1).

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