Safety control board for industrial robot

Abstract

The utility model discloses a kind of safety control panel for industrial robot, belong to industrial robot safety control technical field.Through setting a safety control panel, the circuit of this safety control panel includes first emergency stop control loop and second emergency stop control loop.First loop is used to send soft stop instruction to robot controller;Second loop is used to directly cut off the power supply of robot driver to realize hard stop.The key of circuit is that a power-off delay relay is set, the relay ensures that soft stop, which is less harmful to robot, is preferentially executed in emergency, only when soft stop path fails, hard stop will be time-delay triggered as the final safety guarantee, so as to realize double protection.The utility model has the beneficial effects of double safety guarantee, effectively prolonging equipment life, flexible operation mode and high reliability.

Description

Technical Field

[0001] This utility model relates to industrial robot control, and more particularly to a safety control board for industrial robots. Background Technology

[0002] In the application of industrial robots, operational safety is of paramount importance. Traditionally, to ensure the robot can stop immediately in an emergency, a "hard stop" method—directly cutting off the motor power—is typically used. However, while this method offers a rapid response, it causes significant stress to the motor and mechanical transmission system, shortening the equipment's lifespan in the long run. Therefore, how to minimize damage to the robot itself while ensuring absolute safety and improving control flexibility is a pressing technical problem that needs to be solved in this field. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the present invention aims to solve the problems of the single emergency stop method of robots and the easy damage to the motor in the existing technology, and to provide a safety control scheme that can achieve fast and reliable emergency braking, and can select a soft stop mode with less impact on the motor according to the needs.

[0004] To achieve the above objectives, this application discloses a safety control board for industrial robots, which includes a circuit system composed of electronic components, the circuit system comprising:

[0005] Input section: includes at least one emergency stop button interface for receiving external emergency stop commands, and at least one intermediate relay electrically connected to the interface;

[0006] First control path: One end of this path is connected to the contact of the intermediate relay, and the other end is provided with an output terminal connected to the robot controller I / O board for transmitting soft stop commands;

[0007] Second control path: One end of this path is also connected to the contact of the intermediate relay, and the other end is provided with an output terminal that is directly connected to the emergency stop pin of the robot driver for controlling hard stop;

[0008] Delay component: This component is a power-off delay relay, which is connected in series in the first control path. It is used to delay the change of the output signal from the first control path to the I / O board after the intermediate relay is disconnected, thereby ensuring that in normal emergency stop, the soft stop generated by the first control path is executed before the hard stop generated by the second control path.

[0009] Furthermore, the normally open contacts of at least two intermediate relays in the input section are configured in a series connection structure to improve the reliability of the entire circuit.

[0010] Furthermore, the second control path achieves a hard stop by disconnecting the 24V operating voltage supplied to the driver's emergency stop pin.

[0011] Furthermore, the circuit system also includes a mode selection structure consisting of a pluggable jumper. When the jumper is removed, the second control path is activated, causing the emergency stop command to bypass the delay component and directly trigger a hard stop.

[0012] Furthermore, the soft stop command transmitted by the first control path is a low-level active signal.

[0013] Beneficial effects of the technical solution of this utility model

[0014] 1. Enhanced safety: The innovative dual-circuit, dual-relay series design, coupled with the mechanism for automatic hard stop intervention after soft stop failure, constitutes double insurance, greatly improving the operational safety of the robot.

[0015] 2. Extend equipment life: Soft-stop methods that minimize impact on the motor are preferred, effectively avoiding damage to the motor and mechanical structure caused by frequent hard stops.

[0016] 3. High flexibility: Users can freely choose between priority soft stop or forced hard stop according to the needs of the actual production environment through a simple shorting device, making it more applicable.

[0017] 4. Cost-effective: While improving safety and flexibility, the overall circuit design is simple, which helps to reduce production and maintenance costs. Attached Figure Description

[0018] 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.

[0019] Fig. 1 This is a diagram showing the use of the safety control board of this utility model;

[0020] Fig. 2 This is a circuit diagram of the safety control board of this utility model;

[0021] Wherein: ST1, ST2: Emergency stop buttons; KA1, KA2: Intermediate relays; KT1: Power-off delay relay; IO: I / O board; D: Driver; 3. Shorting circuit. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figs. 1-2 The present invention will now be described in detail with reference to the accompanying drawings and preferred embodiments. It should be understood that the following embodiments are merely illustrative of specific implementations of the present invention and are not intended to limit the scope of protection of the present invention.

[0024] Circuit structure description

[0025] As shown in the attached figure, the safety control board for an industrial robot provided in this embodiment of the present invention has a circuit system mainly composed of the following electronic components:

[0026] Emergency stop input elements: including two normally closed emergency stop buttons ST1 and ST2.

[0027] Core control components include two intermediate relays KA1 and KA2, whose coils are adapted to a 24V operating voltage; and a power-off delay relay KT1, whose coil is also adapted to a 24V operating voltage.

[0028] The execution interface components include an I / O board (IO) with an emergency stop signal input that is active low; and a robot driver (D) whose emergency stop pin operates normally when it receives a 24V voltage. When the 24V voltage is disconnected, the driver reports an emergency stop and causes the motor to perform a hard stop.

[0029] Mode selection element: includes a pluggable jumper 3.

[0030] These components form two core control paths on the circuit board:

[0031] First control path (soft stop path): Emergency stop buttons ST1 and ST2 are connected in series, and then connected to the coil of power-off delay relay KT1 through the contacts of intermediate relays KA1 and KA2. The delay contacts of KT1 then control the input pin level of the I / O board (IO).

[0032] The second control path (hard stop path): Emergency stop buttons ST1 and ST2 are connected in series, and then directly connected to the emergency stop pin of the driver (D) through another set of normally open contacts of intermediate relays KA1 and KA2. To improve reliability, the normally open contacts of intermediate relays KA1 and KA2 are connected in series in two ways.

[0033] Workflow Description

[0034] Normal working status

[0035] With shorting connector 3 remaining shorted, the robot is powered on. At this time, the 24V power supply powers the coils of intermediate relays KA1 and KA2, causing them to engage and all their normally open contacts to close. Therefore, the emergency stop pin of driver D receives 24V, and the input pins of the I / O board are at a high level. The robot motor is in normal standby or working state, and the emergency stop indicator light illuminates.

[0036] Implementation Method 1: Soft Stop Priority Mode

[0037] When any emergency stop button (ST1 or ST2) is pressed, the normally closed contact of the button opens, causing the coil circuits of intermediate relays KA1 and KA2 to be de-energized and immediately lose power, and their normally open contacts open accordingly.

[0038] In the first control path: the opening of contacts KA1 and KA2 causes the coil of the power-off delay relay KT1 to lose power, and KT1 begins to delay according to its preset value. Simultaneously, due to the change in the state of contacts KA1 and KA2, the input pin level of the I / O board immediately becomes a low-level active signal. The I / O board transmits this signal to the robot controller, which executes a preset program to smoothly decelerate and stop the motor, i.e., a "soft stop".

[0039] In the second control path: the circuit connected to the emergency stop pin of driver D is also ready to be disconnected due to the disconnection of contacts KA1 and KA2.

[0040] Safety Redundancy Mechanism: The delay time of the power-off delay relay KT1 is intentionally set to be longer than the time required for the I / O board signal to be transmitted to the driver and for a soft stop to be completed. Therefore, the driver will prioritize responding to the "soft stop" command from the controller. Only in the event of a failure in the first control path (e.g., no response from the I / O board or controller) will the delay of KT1 end, its contacts finally open, thereby cutting off the 24V voltage to the driver's D emergency stop pin and forcing a "hard stop" as a final safety guarantee.

[0041] Implementation Method 2: Forced Hard Stop Mode

[0042] When the field environment requires the highest response speed, the operator can remove jumper 3.

[0043] In this mode, when any emergency stop button is pressed, intermediate relays KA1 and KA2 are de-energized, and their normally open contacts open.

[0044] Since jumper 3 has been removed, the second control path bypasses all delay stages, causing the 24V voltage on the emergency stop pin of driver D to be instantly cut off. Upon receiving this signal, driver D does not need to wait for controller instructions and directly cuts off the motor power supply, achieving the fastest "hard stop".

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications and substitutions should be covered within the scope of the claims and description of this utility model.

Claims

1. A safety control board for an industrial robot, characterized in that, It includes a circuit system composed of electronic components, the circuit system comprising: Input section: includes at least one emergency stop button (ST1, ST2) interface for receiving external emergency stop commands, and at least one intermediate relay (KA1, KA2) electrically connected to the interface. First control path: One end of this path is connected to the contacts of the intermediate relays (KA1, KA2), and the other end is provided with an output terminal connected to the robot controller I / O board (IO) for transmitting soft stop commands; Second control path: One end of this path is also connected to the contacts of the intermediate relays (KA1, KA2), and the other end is provided with an output terminal that is directly connected to the emergency stop pin of the robot driver (D) for controlling hard stop; Delay component: This component is a power-off delay relay (KT1), which is connected in series in the first control path. It is used to delay the change of the output signal of the first control path to the I / O board after the intermediate relay is disconnected, thereby ensuring that in normal emergency stop, the soft stop generated by the first control path is executed before the hard stop generated by the second control path.

2. The safety control board for an industrial robot according to claim 1, characterized in that: The normally open contacts of at least two intermediate relays (KA1, KA2) in the input section are configured in series to improve the reliability of the entire circuit.

3. The safety control board for an industrial robot according to claim 1, characterized in that: The second control path achieves a hard stop by disconnecting the 24V operating voltage from the emergency stop pin of the driver (D).

4. The safety control board for an industrial robot according to claim 1, characterized in that: The circuit system is also provided with a mode selection structure, which consists of a pluggable jumper (3). When the jumper is removed, the second control path is activated, so that the emergency stop command bypasses the delay component and directly triggers a hard stop.

5. A safety control board for an industrial robot according to claim 1, characterized in that: The soft stop command transmitted by the first control path is a low-level active signal.

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