Robot emergency stop circuit

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of robot control technology, specifically to a robot emergency stop circuit. Background Technology

[0002] In robotic systems, the emergency stop function is a critical mechanism for ensuring the safety of personnel and equipment. When an operator presses the emergency stop button on the teach pendant or electrical cabinet, the normally closed contact opens, generating a trigger signal that is transmitted to the controller via circuitry. The controller performs logical judgment and processing on the received emergency stop signal to determine whether an emergency stop operation is necessary. If an emergency stop is deemed required, the controller sends an emergency stop command signal to the servo driver.

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

[0004] However, in existing robot emergency stop systems, when the detection circuit of the emergency stop button malfunctions, such as when the optocoupler isolation circuit between the controller and the emergency stop button is damaged or the line is broken, the controller cannot effectively recognize the action of pressing the emergency stop button, resulting in the inability to initiate the emergency stop operation in time. Furthermore, when the controller freezes or malfunctions, even if the emergency stop button is pressed, the controller cannot detect the state change of the emergency stop button output signal, thus failing to initiate the emergency stop operation. Utility Model Content

[0005] In view of the above problems, in a first aspect, this utility model provides a robot emergency stop circuit, the robot emergency stop circuit including: an emergency stop button module, the emergency stop button module being used to output a corresponding level signal according to the trigger state;

[0006] The main control module has its signal input terminal connected to the emergency stop button module. The main control module is used to detect the level signal output by the emergency stop button module and output the corresponding control signal.

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

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

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

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

[0011] In one embodiment, the first optocoupler isolation module includes an optocoupler chip U4.

[0012] In one embodiment, the emergency stop button module includes an electrical cabinet emergency stop button and a teaching pendant emergency stop button, which are connected in series.

[0013] In one embodiment, a buffer drive module is provided between the main control module and the solid-state relay module, and the buffer drive module is used to amplify the control signal output by the main control module.

[0014] In one embodiment, the buffer driver module includes a buffer driver chip U2.

[0015] In one embodiment, a second optocoupler isolation module and a MOSFET driver module are further provided between the main control module and the solid-state relay module. The main control module is connected to the buffer driver module, the buffer driver module is connected to the second optocoupler isolation module, the second optocoupler isolation module is connected to the MOSFET driver module, and the MOSFET driver module is connected to the solid-state relay module. The second optocoupler isolation module is used for electrical isolation, and the MOSFET driver module is used to drive the solid-state relay module.

[0016] In one embodiment, the second optocoupler isolation module includes an optocoupler chip U3, and the MOS transistor driving module includes a MOS transistor Q1.

[0017] In one embodiment, the emergency stop button module is connected to the first indicator light module, and the signal output terminal of the main control module is connected to the second indicator light module.

[0018] In one embodiment, the first indicator module includes a light-emitting diode D3, and the second indicator module includes a light-emitting diode D2.

[0019] The above-described one or more technical solutions in the embodiments of this application have at least one or more of the following technical effects:

[0020] This invention proposes a robot emergency stop circuit, including an emergency stop button module, a main control module, a solid-state relay module, an intermediate relay module, and a drive module. In actual use, after the system is powered on, the emergency stop button module is in an untriggered state, with its internal contacts normally closed. The solid-state relay module's internal contacts are also normally closed, and the solid-state relay module short-circuit both the emergency stop button module and the intermediate relay module. The coil inside the intermediate relay module is energized, enabling the drive module to operate normally, and the system functions normally. When the robot experiences a safety threat, abnormal movement, or abnormal working environment, the operator presses the emergency stop button module. The emergency stop button module changes from an untriggered state to a triggered state, its internal contacts change from normally closed to normally open, and the output signal level changes. At this time, the solid-state relay module short-circuits both the emergency stop button module and the intermediate relay module, causing a change in the control input signal of the intermediate relay module. This de-energizes the coil inside the intermediate relay module, disconnecting the driver module's input signal from ground. The driver module cannot be enabled to execute the emergency stop command, and the system enters an emergency stop state. The main control module determines that the emergency stop button module has been pressed by detecting the level signal output by the emergency stop button module, and then outputs a corresponding control signal to trigger the contacts inside the solid-state relay module to open. This application designs an independent emergency stop signal circuit. Even if the main control module malfunctions (e.g., crashes, program errors, detection circuit malfunctions, etc.), the emergency stop operation can still be directly achieved through the solid-state relay module and intermediate relay module after the emergency stop button module is pressed. This avoids the problem of emergency stop function failure due to main control module failure and greatly improves the reliability of emergency stop detection.

[0021] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1This is a schematic diagram of the circuit module of the robot emergency stop circuit in an embodiment of this utility model;

[0024] Figure 2 This is a schematic diagram of the circuit module of the robot emergency stop circuit in an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram of the robot emergency stop circuit in an embodiment of the present invention.

[0026] Figure 4 This is a schematic diagram of the signal changes in the robot emergency stop circuit in an embodiment of this utility model.

[0027] Explanation of reference numerals in the attached diagram: 100, Emergency stop button module; 110, Electrical cabinet emergency stop button; 120, Teach pendant emergency stop button; 200, Main control module; 210, First optocoupler isolation module; 220, Buffer drive module; 230, Second optocoupler isolation module; 240, MOSFET drive module; 300, Solid-state relay module; 400, Intermediate relay module; 500, Drive module; 600, First indicator light module; 700, Second indicator light module. Detailed Implementation

[0028] The overall concept of the technical solution provided by this utility model is as follows:

[0029] Please see Figure 1 The robot emergency stop circuit includes: an emergency stop button module 100, a main control module 200, a solid-state relay module 300, an intermediate relay module 400, and a drive module 500.

[0030] The emergency stop button module 100 is used to output a corresponding level signal according to the trigger state. Specifically, the emergency stop button module 100 outputs different level signals according to the trigger state of the emergency stop button (pressed or not pressed). For example, it outputs a high level signal when pressed and a low level signal when not pressed.

[0031] The signal input terminal of the main control module 200 is connected to the emergency stop button module 100. The main control module 200 is used to detect the level signal output by the emergency stop button module 100 and output the corresponding control signal. Specifically, the main control module 200 monitors the level signal output by the emergency stop button module 100 in real time, performs logical judgment based on the detected level signal to determine whether an emergency stop needs to be triggered, and then outputs the corresponding control signal to the solid-state relay module 300 to control the on / off state of the solid-state relay module 300 circuit. For example, when the main control module 200 detects that the level signal output by the emergency stop button module 100 is a low level signal, it determines that the emergency stop button module 100 has not been triggered, and outputs a low level control signal; while when the main control module 200 detects that the level signal output by the emergency stop button module 100 is a high level signal, it determines that the emergency stop button module 100 has been triggered, and outputs a high level control signal.

[0032] The solid-state relay module 300 has its signal output terminal connected to the control terminal of the main control module 200; for details, please refer to [link to relevant documentation]. Figure 3 The solid-state relay module 300 can use a solid-state relay RY1. The solid-state relay RY1 typically consists of semiconductor devices such as optocouplers, MOSFETs, or thyristors, enabling rapid circuit switching. Furthermore, the solid-state relay RY1 has no mechanical contacts, offering advantages such as fast response speed, long lifespan, and high reliability. The solid-state relay RY1 receives control signals from the main control module 200 and, based on these signals, quickly and safely disconnects or connects the circuit.

[0033] Intermediate relay module 400, whose control terminal and emergency stop button module 100 are both connected to the output terminal of solid-state relay module 300, is used to control the on / off state of the circuit between emergency stop button module 100 and intermediate relay module 400 according to the control signal output by main control module 200; for details, please refer to... Figure 3 The intermediate relay module 400 can use an electromagnetic relay RY2. The electromagnetic relay RY2 generates a magnetic field by energizing the coil, which attracts or releases the mechanical contacts to control the on / off state of the circuit.

[0034] A drive module 500 is connected to an intermediate relay module 400, which controls the operation of the drive module 500. The drive module 500 drives the robot's movement. Specifically, the drive module 500 can be a servo driver. Servo drivers are common drive components in robot systems, used to precisely control the position, speed, and acceleration of motors. Using a servo driver as the drive module 500 enables precise control of the robot's moving parts and allows for rapid response and reliable stopping of the robot in emergency situations.

[0035] More specifically, when the emergency stop button module 100 is not pressed, it outputs a low-level signal. The main control module 200 detects this low-level signal and outputs a low-level control signal to the solid-state relay module 300. The contacts inside the solid-state relay module 300 are closed, connecting the circuit between the emergency stop button module 100 and the intermediate relay module 400. At this time, the coil of the intermediate relay module 400 is energized, its contacts close, and the drive module 500 operates normally, thus driving the robot to move normally. When the emergency stop button module 100 is pressed, its output signal changes from low to high. The main control module 200 detects this change and outputs a high-level control signal to the solid-state relay module 300. At this time, the solid-state relay module 300 disconnects, the circuit between the emergency stop button module 100 and the intermediate relay module 400 is broken, the coil of the intermediate relay module 400 is de-energized, its contacts open, the drive module 500 stops working, and the robot stops moving, entering an emergency stop state.

[0036] In the robot emergency stop circuit of this embodiment, the main control module 200 is responsible for monitoring the status of the emergency stop button module 100 and controlling the solid-state relay module 300, thereby achieving an emergency stop for the robot's movement. However, in practical applications, the main control module 200 may malfunction, such as crashing, software errors, or communication interruptions. To ensure that the robot can still stop safely when the main control module 200 malfunctions, the emergency stop circuit needs to have redundant design and fault-tolerant mechanisms. Specifically, since the control terminal of the intermediate relay module 400 and the emergency stop button module 100 are both connected to the output terminal of the solid-state relay module 300, there is an independent emergency stop signal loop between the emergency stop button module 100 and the solid-state relay module 300 in the robot emergency stop circuit, apart from the main control module 200. This loop does not depend on the normal operation of the main control module 200. When the emergency stop button module 100 is pressed, the output level signal of the emergency stop button module 100 changes. Even if the main control module 200 fails, this signal can still directly act on the solid-state relay module 300. The solid-state relay module 300 independently controls the intermediate relay module 400 and the drive module 500 according to the level signal change of the emergency stop button module 100 to realize the emergency stop function.

[0037] Furthermore, in actual use, after the system is powered on, the emergency stop button module 100 is in an untriggered state, and the contacts inside the emergency stop button module 100 are normally closed. The contacts inside the solid-state relay module 300 are also normally closed. The solid-state relay module 300 short-circuits the emergency stop button module 100 and the intermediate relay module 400. The coil inside the intermediate relay module 400 is energized, thereby enabling the drive module 500 to operate normally, and the system operates normally at this time. When the robot encounters a safety threat, abnormal movement, or abnormal working environment, the operator presses the emergency stop button module 100. The emergency stop button module 100 changes from a non-triggered state to a triggered state, and the internal contacts of the emergency stop button module 100 change from normally closed to normally open. The output level signal of the emergency stop button module 100 changes. At this time, the solid-state relay module 300 short-circuits the emergency stop button module 100 and the intermediate relay module 400. Therefore, the control terminal input signal of the intermediate relay module 400 also changes, causing the coil inside the intermediate relay module 400 to lose power. This disconnects the input signal of the driver module from the ground signal, preventing the driver module from being enabled and executing the emergency stop command, and the system enters an emergency stop state. The main control module 200 detects that the emergency stop button module 100 has been pressed by detecting the output level signal of the emergency stop button module 100, and then outputs the corresponding control signal, thereby triggering the internal contacts of the solid-state relay module 300 to open. This application designs an independent emergency stop signal circuit. Even if the main control module 200 malfunctions (such as crash, program abnormality, detection circuit abnormality, etc.), the emergency stop button module 100 can still directly achieve the emergency stop operation through the solid-state relay module 300 and the intermediate relay module 400 after it is pressed. This avoids the problem of emergency stop function failure caused by the failure of the main control module 200 and greatly improves the reliability of emergency stop detection.

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0039] Please see Figure 2A first optocoupler isolation module 210 is provided between the emergency stop button module 100 and the main control module 200. The first optocoupler isolation module 210 is used for electrical isolation. Specifically, the first optocoupler isolation module 210 is used to isolate the electrical connection between the emergency stop button module 100 and the main control module 200, preventing electrical interference and fault propagation. It also transmits the level signal output by the emergency stop button module 100 to the main control module 200 through the first optocoupler isolation module 210, ensuring the reliability and safety of signal transmission. (For clarification, please refer to [link / reference]). Figure 3 The first optocoupler isolation module 210 includes an optocoupler chip U4, which is a device that uses light as a medium to transmit electrical signals.

[0040] Please see Figure 2 The emergency stop button module 100 includes an electrical cabinet emergency stop button 110 and a teaching pendant emergency stop button 120, which are connected in series. For details, please refer to... Figure 3 The emergency stop button 110 in the electrical cabinet includes button SB2, and the emergency stop button 120 in the teach pendant includes button SB1. The emergency stop button 110 is installed on the robot's electrical cabinet or control cabinet and is typically used by the operator in emergency situations. The emergency stop button 120 is installed on the robot's teach pendant, allowing operators to quickly trigger an emergency stop during on-site operation. The two emergency stop buttons are connected in series, meaning that pressing either button will cause the circuit to break, triggering an emergency stop. This redundant design of the series connection between the emergency stop button 110 and the emergency stop button 120 provides higher safety and reliability for the robot's emergency stop function.

[0041] Please see Figure 2 A buffer drive module 220 is provided between the main control module 200 and the solid-state relay module 300. The buffer drive module 220 is used to amplify the control signal output by the main control module 200. Specifically, in the robot emergency stop circuit, the main control module 200 is responsible for generating control signals to control the state of the solid-state relay module 300, thereby achieving an emergency stop of the robot's movement. However, the control signal output by the main control module 200 may have problems such as insufficient voltage, current, or signal strength, and cannot directly drive the solid-state relay module 300 to work normally. Therefore, a buffer drive module 220 is set in the circuit, whose main function is to amplify and enhance the control signal output by the main control module 200. Please refer to [link to relevant documentation]. Figure 3The buffer drive module 220 includes a buffer drive chip U2. The main control module 200 outputs a control signal (e.g., high level or low level) to the buffer drive chip U2. This control signal is usually a low voltage and low current signal, which may not be able to directly drive the solid-state relay module 300. The buffer drive chip U2 amplifies the received control signal. The amplified signal has sufficient voltage and current to drive the input terminal of the solid-state relay module 300 and control it to be turned on or off.

[0042] Please see Figure 2 A second optocoupler isolation module 230 and a MOSFET driver module 240 are also provided between the main control module 200 and the solid-state relay module 300. The main control module 200 is connected to the buffer driver module 220, the buffer driver module 220 is connected to the second optocoupler isolation module 230, the second optocoupler isolation module 230 is connected to the MOSFET driver module 240, and the MOSFET driver module 240 is connected to the solid-state relay module 300. The second optocoupler isolation module 230 is used for electrical isolation, and the MOSFET driver module 240 is used to drive the solid-state relay module 300. Specifically, please refer to... Figure 3 The second optocoupler isolation module 230 includes an optocoupler chip U3, and the MOSFET drive module 240 includes a MOSFET Q1. The optocoupler chip U3 realizes electrical isolation between the main control module 200 and the MOSFET drive module 240. The MOSFET Q1 receives the signal from the second optocoupler isolation module 230 and outputs the drive signal to the solid-state relay module 300. The MOSFET Q1 can provide sufficient drive current and voltage to ensure that the solid-state relay module 300 can reliably turn on or off.

[0043] Please see Figure 2 The emergency stop button module 100 is connected to the first indicator light module 600, and the signal output terminal of the main control module 200 is connected to the second indicator light module 700. For details, please refer to [link / reference]. Figure 3 The first indicator module 600 includes a light-emitting diode D3, and the second indicator module 700 includes a light-emitting diode D2. The first indicator module 600 is used to indicate the status of the emergency stop button module 100, such as whether the emergency stop button has been pressed. When the emergency stop button is pressed, the first indicator module 600 lights up or turns off, indicating to the operator that the emergency stop function has been triggered. When the main control module 200 detects that the emergency stop button module 100 has been pressed and outputs a control signal, it outputs a control signal to make the second indicator module 700 light up or turn off, indicating to the main control module 200 that it has responded to the emergency stop signal.

[0044] This utility model embodiment also provides a robot emergency stop method, which specifically includes the following steps:

[0045] The main control module 200 acquires the emergency stop button module 100 and outputs the corresponding level signal according to the trigger state;

[0046] The main control module 200 outputs a corresponding control signal to the solid-state relay module 300 based on the level signal output by the emergency stop button module 100.

[0047] The solid-state relay module 300 controls the on / off state of the circuit between the emergency stop button module 100 and the intermediate relay module 400 according to the control signal.

[0048] The intermediate relay module 400 controls the operation of the drive module 500 based on the on / off state of the circuit between the emergency stop button module 100 and the intermediate relay module 400, as well as the trigger state of the emergency stop button module 100.

[0049] When the drive module 500 is working, it drives the movement of the robot; when the drive module 500 stops working, it stops driving the movement of the robot.

[0050] Furthermore, the steps by which the main control module 200 obtains the corresponding level signal output by the emergency stop button module 100 according to the trigger state specifically include:

[0051] When the emergency stop button module 100 is in an untriggered state, the contacts inside the emergency stop button module 100 are normally closed, and the level signal output by the emergency stop button module 100 is the first level signal.

[0052] When the emergency stop button module 100 is in the triggered state, the contacts inside the emergency stop button module 100 are in the open state, and the level signal output by the emergency stop button module 100 is the second level signal.

[0053] Furthermore, the step of the main control module 200 outputting a corresponding control signal to the solid-state relay module 300 based on the level signal output by the emergency stop button module 100 specifically includes:

[0054] When the main control module 200 obtains the first level signal output by the emergency stop button module 100, it outputs the first control signal. The first control signal is used to control the solid-state relay module 300 to make the circuit between the emergency stop button module 100 and the intermediate relay module 400 a closed state.

[0055] When the main control module 200 obtains the level signal output by the emergency stop button module 100 as the second level signal, it outputs the second control signal. The second control signal is used to control the solid-state relay module 300 to make the circuit between the emergency stop button module 100 and the intermediate relay module 400 open.

[0056] Furthermore, the methods also include:

[0057] The main control module 200 determines the triggering state of the emergency stop button module 100 based on the level signal output by the emergency stop button module 100. For example, when the emergency stop button module 100 outputs the second level signal, it indicates that the emergency stop button has been pressed. The main control module 200 confirms the triggering state of the emergency stop button through logical judgment.

[0058] When the emergency stop button module 100 is in the triggered state, the main control module 200 sends an alarm signal to the teach pendant. For example, the main control module 200 can send an alarm signal to the teach pendant through a communication interface (such as RS232, RS485, Ethernet, etc.).

[0059] After receiving an alarm signal, the teach pendant will display an alarm pop-up window on the operation interface. For example, after receiving an alarm signal, the teach pendant will immediately display the alarm information on the operation interface. The alarm pop-up window can display information such as the emergency stop button number, trigger time, location, and error code.

[0060] The teach pendant listens for alarm clearing operation signals. When it detects an alarm clearing operation signal, it sends the alarm clearing signal to the main control module 200. For example, the operator can click the "Confirm" or "Clear Alarm" button through the teach pendant's interface. The teach pendant converts the operator's operation signal into an alarm clearing signal and sends it to the main control module 200 via the communication interface.

[0061] After receiving the alarm clearing signal, the main control module 200 outputs the first control signal.

[0062] Specifically, based on the basic emergency stop function, this embodiment also extends the alarm mechanism to improve system safety and operator response speed. When the emergency stop button is pressed, the main control module 200 not only triggers the emergency stop but also sends an alarm signal to the teach pendant, alerting the operator to an emergency. This extended function, through alarm and alarm clearing mechanisms, further enhances the safety and ease of operation of the robot's emergency stop system. By rationally designing the alarm process and user interface, the operator's response speed and handling ability in emergencies can be effectively improved, ensuring the robot can stop safely in emergency situations.

[0063] For further details, please refer to Figure 3 and Figure 4The following describes the robot system's operation from normal operation (T0), emergency stop event triggered by the emergency stop button (T1), controller alarm recognition (T2), controller output emergency stop control & teach pendant display of emergency stop alarm (T3), teach pendant clearing emergency stop alarm (T4), emergency stop button reset (T5), controller recognition of emergency stop button reset (T6), teach pendant clearing emergency stop error again & controller confirming teach pendant clearing alarm event (T7), solid-state relay contact becomes normally closed and EO0 becomes low level (T8), servo driver releases emergency stop, system returns to normal (T9), a total of nine stages are illustrated with examples:

[0064] T0 Stage: After the system is powered on, the contacts of emergency stop buttons SB1 and SB2 are normally closed. The level signal EI1 output by the emergency stop button module 100 is low (0V). The main control module 200 detects that the input signal CPU_EI1 is low and outputs the control signal CPU_EO0 as low. At this time, the solid-state relay RY1 contacts close, shorting the level signals EI1 and EO0, so the level signal EO0 is also low, energizing the coil of the intermediate relay RY2. This causes the input signals EMG1, EMG2, and EMG3 of the drive module 500 to be low, and the drive module 500 operates normally. LEDs D2 (Opt_EO0) and D3 (EI1) are both lit. In this stage, the system is in normal operating condition, the emergency stop circuit is not triggered, and the drive module 500 is enabled.

[0065] Phase T1: If a safety threat or abnormal situation occurs during operation, the operator presses emergency stop button SB1 or SB2. The contacts of emergency stop buttons SB1 or SB2 change from normally closed to normally open, and the voltage level EI1 changes from 0V to 24V (high level). Because voltage level signals EI1 and EO0 are shorted, EO0 also becomes high, thus de-energizing the intermediate relay RY2 coil. The input signals EMG1, EMG2, and EMG3 of drive module 500 are disconnected from ground, drive module 500 stops working, the system enters emergency stop mode, and LED D3 (EI1) turns off. In this phase, emergency stop button module 100 is pressed, triggering the emergency stop circuit, stopping drive module 500, and the robot stops moving.

[0066] Phase T2: The level signal EI1 output by the emergency stop button module 100 becomes high. After passing through the optocoupler chip U4, the output signal CPU_EI1 to the input pin of the main control module 200 also becomes high. The main control module 200 detects that the input signal CPU_EI1 is high and recognizes that the emergency stop button module 100 has been pressed. In this phase, the main control module 200 detects that the level signal EI1 output by the emergency stop button module 100 has become high, confirming that the emergency stop button module 100 has been pressed.

[0067] Phase T3: The main control module 200 outputs a high-level control signal CPU_EO0, triggering the solid-state relay RY1 to open its contact. Signals EI1 and EO0 disconnect, with EI1 remaining high and EO0 also remaining high due to being pulled up to +24V. The main control module 200 sends an alarm signal to the teach pendant via the network, and the teach pendant displays an emergency stop alarm pop-up window. Example pop-up message: "Current time -240- ERROR: An error has occurred! Error number: 300, Emergency Stop!" At this time, the output control signal CPU_EO0 is high, and LED D2 is off. During this phase, the main control module 200 confirms the emergency stop event and notifies the teach pendant to display the alarm information.

[0068] Phase T4: The operator clicks the "Clear Alarm" button on the teach pendant interface without resetting the emergency stop button. The teach pendant recognizes the "Clear Alarm" operation signal and notifies the main control module 200 via the network. Upon receiving the "Clear Alarm" signal, the main control module 200 attempts to change the output control signal CPU_EO0 from high to low. However, since the input signal CPU_EI1 is still high, the main control module 200 determines that the emergency stop button has not been reset, and the output control signal CPU_EO0 returns to high. The system remains in emergency stop mode, and LED D2 flashes briefly. During this phase, the operator attempts to clear the alarm but fails to reset the emergency stop button, and the system cannot return to normal.

[0069] T5 Stage: The operator resets either the emergency stop button SB1 or SB2. The contacts of the emergency stop button change from normally open to normally closed, and the input signal EI1 of the emergency stop button module 100 changes from high to low (0V). LED D3 (EI1) lights up. Since the control signal CPU_EO0 output by the main control module 200 remains high, the solid-state relay RY1 contacts remain open, and signal EO0 remains high. During this stage, the emergency stop button is reset, but the system remains in an emergency stop state, awaiting confirmation from the main control module 200.

[0070] Stage T6: Signal EI1 goes low. After passing through optocoupler chip U4, the input pin of input signal CPU_EI1 to main control module 200 also goes low. Main control module 200 detects that input signal CPU_EI1 is low and recognizes that the emergency stop button has been reset. In this stage, main control module 200 confirms that the emergency stop button has been reset and prepares to release the emergency stop.

[0071] Phase T7: The operator clicks the "Clear Alarm" button on the teach pendant interface. The teach pendant recognizes the "Clear Alarm" operation and notifies the main control module 200 via the network. Upon receiving the "Clear Alarm" signal, the main control module 200 changes its output control signal CPU_EO0 from high to low. The buffer drive module 220 also changes from high to low, the optocoupler chip U3 turns on, the Opt_EO0 signal changes from low to high, and the MOSFET Q1 turns on. The LED D2 changes from off to lit. At this stage, the main control module 200 confirms the alarm is cleared and outputs a control signal to release the emergency stop.

[0072] Stage T8: MOSFET Q1 is turned on, the coil of solid-state relay RY1 is energized, the contacts of EO0 and EI1 are short-circuited, and the signal EO0 goes low. During this stage, the contacts of solid-state relay RY1 close, and the emergency stop circuit returns to normal.

[0073] T9 Stage: Signal EO0 returns to low level, the coil of intermediate relay RY2 is energized, and the input signals EMG1, EMG2, and EMG3 of drive module 500 are low level. Drive module 500 is re-enabled, the emergency stop state is released, and the system returns to normal. During this stage, the emergency stop state is released, and the robot resumes normal operation.

[0074] Through the detailed analysis of the above nine stages, it can be seen that the emergency stop system designed in this utility model achieves accurate detection and control of the emergency stop signal at each stage, ensuring that the robot can stop quickly in an emergency and can safely resume operation after the fault is cleared.

[0075] The robot emergency stop circuit designed in this utility model has an independent emergency stop signal loop between the emergency stop button module 100 and the driver module 500. When the emergency stop button module 100 is pressed, the output level signal of the emergency stop button module 100 changes. Even if the main control module 200 is damaged or the circuit is broken, this signal can still directly act on the solid-state relay module 300. The solid-state relay module 300 further transmits the signal to the intermediate relay module 400. The intermediate relay module 400 disconnects the circuit according to the level signal change of the emergency stop button module 100, triggering the driver module 500 to enter the emergency stop state. This ensures that the robot can stop quickly in an emergency, avoiding entering an unsafe and uncontrollable state. Even if the main control module 200 malfunctions or crashes, the emergency stop function remains effective, preventing the emergency stop function from failing due to a failure of the main control module 200. Furthermore, the buffer driver module 220 amplifies and strengthens the control signal output by the main control module 200, ensuring that the signal strength meets the driving requirements and preventing the emergency stop function from failing due to insufficient signal driving capability.

[0076] Furthermore, the solid-state relay module 300 cleverly achieves the linkage between the level signal EI1 output by the emergency stop button module 100 and the coil control signal EO0 within the intermediate relay module 400 of the control drive module 500 for emergency stop. This avoids the problem of ineffective emergency stop triggering due to related optocoupler isolation signals between the main control module 200 and the emergency stop button module 100, or due to abnormal CPU crashes. The solid-state relay module 300 receives control signals from the main control module 200 and controls the coil of the intermediate relay module 400. The solid-state relay module 300 can absorb the surge current when the coil is de-energized, preventing the surge current from damaging the MOSFET driver module 240. This avoids the phenomenon that the MOSFET driver module 240 controls the relay due to coil surge current, overvoltage, etc., under strong interference. The surge current buffering, overvoltage protection, and contact anti-sticking characteristics of the solid-state relay module 300 further improve the stability of the system.

[0077] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0078] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this utility model without departing from the spirit and scope of the embodiments of this utility model. Therefore, if these modifications and variations to the embodiments of this utility model fall within the scope of the claims of this utility model and their equivalents, then this utility model also intends to include these modifications and variations.

Claims

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

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

3. The robot emergency stop circuit according to claim 2, characterized in that, The first optocoupler isolation module includes an optocoupler chip U4.

4. The robot emergency stop circuit according to claim 1, characterized in that, The emergency stop button module includes an electrical cabinet emergency stop button and a teaching pendant emergency stop button, which are connected in series.

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

6. The robot emergency stop circuit according to claim 5, characterized in that, The buffer driver module includes a buffer driver chip U2.

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

8. The robot emergency stop circuit according to claim 7, characterized in that, The second optocoupler isolation module includes an optocoupler chip U3, and the MOS transistor driving module includes a MOS transistor Q1.

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

10. The robot emergency stop circuit according to claim 9, characterized in that, The first indicator module includes a light-emitting diode D3, and the second indicator module includes a light-emitting diode D2.

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