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WO2023077457A1 - Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel - Google Patents

Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel Download PDF

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Publication number
WO2023077457A1
WO2023077457A1 PCT/CN2021/129099 CN2021129099W WO2023077457A1 WO 2023077457 A1 WO2023077457 A1 WO 2023077457A1 CN 2021129099 W CN2021129099 W CN 2021129099W WO 2023077457 A1 WO2023077457 A1 WO 2023077457A1
Authority
WO
WIPO (PCT)
Prior art keywords
safety
circuit
controller
output
instruction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/129099
Other languages
English (en)
Chinese (zh)
Inventor
丁程润
林康华
李乐荣
张国柱
邹磊
陈文杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Midea Group Co Ltd
GD Midea Air Conditioning Equipment Co Ltd
KUKA Robotics Guangdong Co Ltd
Original Assignee
Midea Group Co Ltd
GD Midea Air Conditioning Equipment Co Ltd
KUKA Robotics Guangdong Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Midea Group Co Ltd, GD Midea Air Conditioning Equipment Co Ltd, KUKA Robotics Guangdong Co Ltd filed Critical Midea Group Co Ltd
Priority to PCT/CN2021/129099 priority Critical patent/WO2023077457A1/fr
Publication of WO2023077457A1 publication Critical patent/WO2023077457A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety

Definitions

  • the second aspect of the present application provides a safety control system for an industrial robot, the safety control system comprising:
  • the safety controller is the above-mentioned safety controller.
  • FIG. 9 is a schematic structural diagram of a seventh embodiment of a safety controller of the present application.
  • Fig. 12 is a schematic diagram of the first flow chart of the safety logic control performed by the safety controller of the present application.
  • Fig. 13 is a second schematic flow diagram of the safety logic control performed by the safety controller of the present application.
  • diagnosis circuit 101 is also used for connecting with the logic circuit 12 , for comparing the first safety control instruction output by the output circuit 13 with the first safety instruction output by the logic circuit 12 . Specifically, in response to the fact that the first safety control command output by the output circuit 13 is inconsistent with the first safety control command output by the logic circuit 12 , the diagnosis circuit 101 determines that the output circuit 13 is faulty. At the same time, the diagnostic circuit 101 can feed back the verification result to the logic circuit 12 , and then report to the main controller 40 of the industrial robot through the logic circuit 12 .
  • FIG. 9 is a schematic structural diagram of a seventh embodiment of the safety controller of the present application.
  • the safety controller 10 of this embodiment further includes a reset input acquisition circuit 16 and a power protection circuit 17.
  • the industrial robot is reset through the reset input acquisition circuit 16 and the power supply to the safety controller 10 is provided through the power protection circuit 17.
  • the safety monitoring of the power supply further improves the safety and reliability of the safety controller 10 and meets the safety standard requirements of Category 3 and Performance Level d.
  • the reset input acquisition circuit 16 is directly connected to an external reset button, and a reset signal is obtained by operating the reset button.
  • the reset input collection circuit 16 can also be connected to the input circuit 11 , and the input circuit 11 is further connected to a reset button, and the reset signal can be obtained through the input circuit 11 .
  • FIG. 11 is a schematic flowchart of a safety controller outputting a shutdown control command in the present application.
  • the safety controller 10 outputting the shutdown control instruction may include the following steps:
  • FIG. 12 is a schematic diagram of a first flowchart of safety logic control performed by the safety controller of the present application.
  • the safety logic control performed by the safety controller 10 in this embodiment may include the following steps:
  • Step S62 Start the timing and feed back the trigger state of the second shutdown to the main controller.
  • Step S68 Execute the disabling command.
  • the safety input device 110 is used to collect hazard trigger signals.
  • the hazard trigger signal may include an emergency stop signal, a safety door closing signal, an enabling stop signal, and the like.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)
  • Manipulator (AREA)

Abstract

Système de commande de sécurité et dispositif de commande de sécurité (10) pour un robot industriel. Le dispositif de commande de sécurité (10) est intégré dans une armoire de commande (20) d'un robot industriel et comprend : un circuit logique (12) pour générer une première instruction de sécurité sur la base d'informations d'état d'un dispositif d'entrée de sécurité (50) du robot industriel ; un circuit de sortie (13) destiné à être connecté au circuit logique (12) et à être connecté à un dispositif de servocommande (30) du robot industriel, et transmettre la première instruction de sécurité au dispositif de servocommande (30), de telle sorte que le dispositif de servocommande (30) exécute la première instruction de sécurité ; et un circuit de diagnostic (101) destiné à être connecté au circuit de sortie (13) de façon à déterminer si le trajet de transmission du circuit de sortie (13) au dispositif de servocommande (30) a échoué. Une commande logique de sécurité d'un robot industriel est réalisée au moyen d'un dispositif de commande de sécurité de petite taille (10), tandis qu'il est garanti qu'un dispositif de servocommande (30) du robot industriel peut être efficacement arrêté.
PCT/CN2021/129099 2021-11-05 2021-11-05 Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel Ceased WO2023077457A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/129099 WO2023077457A1 (fr) 2021-11-05 2021-11-05 Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/129099 WO2023077457A1 (fr) 2021-11-05 2021-11-05 Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel

Publications (1)

Publication Number Publication Date
WO2023077457A1 true WO2023077457A1 (fr) 2023-05-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/129099 Ceased WO2023077457A1 (fr) 2021-11-05 2021-11-05 Système de commande de sécurité et dispositif de commande de sécurité pour robot industriel

Country Status (1)

Country Link
WO (1) WO2023077457A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103955160A (zh) * 2014-05-08 2014-07-30 安徽埃夫特智能装备有限公司 一种工业机器人的安全保护模块
US20200073359A1 (en) * 2018-08-29 2020-03-05 Denso Wave Incorporated Functional safety module for industrial devices
CN111736514A (zh) * 2020-06-10 2020-10-02 杭州凯尔达机器人科技股份有限公司 基于通用计算机的机器人控制系统
CN111781891A (zh) * 2020-06-10 2020-10-16 杭州凯尔达机器人科技股份有限公司 机器人安全逻辑控制系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103955160A (zh) * 2014-05-08 2014-07-30 安徽埃夫特智能装备有限公司 一种工业机器人的安全保护模块
US20200073359A1 (en) * 2018-08-29 2020-03-05 Denso Wave Incorporated Functional safety module for industrial devices
CN111736514A (zh) * 2020-06-10 2020-10-02 杭州凯尔达机器人科技股份有限公司 基于通用计算机的机器人控制系统
CN111781891A (zh) * 2020-06-10 2020-10-16 杭州凯尔达机器人科技股份有限公司 机器人安全逻辑控制系统

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