TW202146191A - Safety system and method for teaching a robot - Google Patents

Abstract

The invention is to disclose a safety system and method for teaching a robot. A first enable device is installed on the end-effector of the robot, and a second enable device is installed on a pendant. Under teaching mode, the start order of the two enable devices is detected. The enable device, which first starts open state, is enabled, and the other enable device isn’t enabled. The robot is controlled by the enabled enable device to ensure safety in teaching mode.

Description

Safety system and method for teaching robots

The present invention relates to a safety system and method for a robot, in particular, to a safety system and method for protecting the robot from hand-pulling or non-hand-pull teaching the robot when the robot is switched to the teaching mode.

With the vigorous development of robot technology, the use of robots in factories can help operators to quickly carry out processing, assembly and manufacturing operations and improve factory production efficiency, but the normal operation of robots will seriously affect the safety of operators. safety standards and specifications to maintain the operational safety of robots.

Please refer to FIG. 5 , in order to teach the robot 1 to work in the prior art, a hand-pull button 2 is set at the end of the robot 1. The hand-pull button is usually designed to be pressed to run (Hold to Run). Connectivity or communication to Robot 1 Controller 3. When the teaching pendant 4 sets the robot 1 to be in the teaching mode, when the user presses the hand pulling button 2 , a signal is notified to the controller 3 to switch the robot 1 from the stationary state to the hand guiding mode (Hand Guiding). There are various methods for the hand-pull mode in the prior art. For example, through the calculation and compensation of the encoders of the actuators and the motor current sensors in each of the toggles 5 of the robot 1, the force applied to each joint or the hand-pull of the end can be obtained. Apply force to control the robot 1 to move in compliance with the hand pull. Teach the robot 1 to work by pulling the robot 1 to the point recording position, or pulling the recording path by hand. And when the hand pull button 2 is released, the robot 1 switches out of the hand pull mode and returns to the static state. stop state.

In order to meet the requirements of the safety standard specification ISO 10218-1, the teaching pendant 4 of the aforementioned prior art robot 1 is equipped with an enabling device (Enable Device) under teaching modes such as hand-pulling, jogging, and trial-run speed regulation, etc. to protect collaborating users. The enabling device is usually a 3 Position Enabling Switch. Its structure is designed with three pressing stages, fully releasing, neutral, and pressing. Only the neutral position can enable the robot 1 to perform teaching behavior, and it is fully released. When pressing or pressing, the electrical or communication is transmitted to the controller 3, the safety system is activated to interrupt the teaching behavior, the robot 1 stops moving, and the robot 1 is monitored through the "Stand Still Monitoring" (Stand Still Monitoring). Do not act rashly when the power is turned on. If the monitoring finds that the robot is moving, the safety system will cut off the power of the actuator of the robot 1 to protect the safety of the user during the teaching process.

However, in the prior art, an enabling device is installed on the teach pendant according to safety standards. When in the teaching mode, the user is restricted to move slowly when the enabling device is enabled, and the user of the robot is pulled close by hand for safety protection. In addition, the enabling device on the teach pendant is set separately from the hand-pull button on the end of the robot. It must be pressed at the same time to teach the robot by hand, which is extremely inconvenient. When operated separately, the teach pendant is easily switched by other users. When it is in other modes, it will cause danger to the user in the hand-pull collaboration. Therefore, there are still problems to be solved urgently in the safety system and method of the robot in the teaching mode.

The object of the present invention is to provide a safety system for teaching a robot. By arranging a first enabling device at the end of the robot and a second enabling device on the teach pendant, in the teaching mode, the controller detects the two enabling devices. In order to ensure the safety of the teaching robot, select the enabling device to be enabled.

Another object of the present invention is to provide a safety method for teaching a robot. By detecting the enabling device in the ON state first, the enabling device in the ON state is enabled first, and the other enabling devices are disabled, so as to avoid misoperation and improve the user safety.

In order to achieve the purpose of the foregoing invention, the present invention teaches the safety system of the robot. The robot has multiple toggle joints, one end is a fixed base, the other end is a movable end, a first enabling device is provided, and an actuator and an actuator are arranged in each toggle joint. position sensor. The controller is connected to the robot, controls the actuator and the position sensor, moves the end of the robot, and the second enabling device is connected to the controller. The controller is equipped with a safety module, which is electrically or communicatively connected to the first enabling device and the second enabling device. According to the off state of the enabled first enabling device or the second enabling device, an electrical signal is sent to enable the robot to Enter a safe state. The controller detects the first enabling device or the second enabling device to enable the enabling device in the on-state first, but disable the other enabling device.

The present invention teaches the safety system of the robot. The safety module is electrically or communicatively connected to the position sensor of each toggle, and receives the signal of the position sensor to monitor the activity state of the robot. When the monitoring robot generates motion, the actuator is turned off. power, or monitor the robot to enter a safe state when it exceeds the speed limit. When the first enabling device or the second enabling device is off, the safety module makes the robot enter a safe state, and when the first enabling device or the second enabling device is on, the safety module cancels the safe state of the robot . The safety module cuts off the power of the actuator, or after a fixed time or after observing the deceleration of the robot, the power of the actuator is turned off, or the static monitoring safety function is turned on, so that the robot enters a safe state. The first enabling device or the second enabling device displays the enabled or disabled state by light or sound. The first enabling device is set to have the function of a hand-pulled button.

The invention teaches the safety method of the robot, switches the robot to the teaching mode, Disable the first enabling device or the second enabling device, and the robot enters a safe state; detect that both the first enabling device and the second enabling device are off, enter the detecting state, and start to detect the first enabling device Which one of the enabling device or the second enabling device is first activated to the ON state; when the first enabling device is first activated to the ON state, the first enabling device is enabled, and the second enabling device is not enabled, releasing the safety of the robot state, enter the first state. The first state can be set as the hand-pull teaching state, which enables hand-pull control of the robot. Then it is detected that when the first enabling device is switched to the off state, it returns to the detection state.

The present invention teaches the safety method of the robot to detect the first enabling device is not first turned on, then check the second enabling device is not first turned on, then return to the detection state and continue to detect which one is first turned on. Check that the second enabling device is in the ON state first, enable the second enabling device, and fail to enable the first enabling device, release the safe state of the robot, and enter the second state. The second state can be set as a non-hand-pull teaching state, which enables non-hand-pull control of the robot. Then, when the second enabling device is detected to be switched to the off state, it returns to the detection state.

10: Security System

11: Robots

12: Controller

13: Teach Pendant

14: Security Module

15: The first enabling device

16: Second enabling device

17: Toggle

18: Pedestal

19: End

20: Position Sensor

FIG. 1 is a schematic diagram of the safety system of the teaching robot of the present invention.

FIG. 2 is a schematic diagram of the control function of the safety system of the present invention.

FIG. 3 is a schematic diagram of the switch state of the enabling device of the safety system of the present invention.

FIG. 4 is a flow chart of the safety method of teaching a robot according to the present invention.

FIG. 5 is a schematic diagram of a prior art hand-pulled teaching robot.

Regarding the technical means adopted by the present invention to achieve the above-mentioned objects and their effects, preferred embodiments are given and described below with the accompanying drawings.

Please refer to FIG. 1 to FIG. 2 at the same time, FIG. 1 is a schematic diagram of a safety system of the teaching robot of the present invention, FIG. 2 is a schematic diagram of a control function of the safety system of the present invention, and FIG. 3 is a switch state of an enabling device of the safety system of the present invention. Schematic. In FIG. 1 , the safety system 10 of the present invention includes a robot 11 , a controller 12 , a teach pendant 13 , a safety module 14 , a first enabling device 15 and a second enabling device 16 . The robot 11 has multiple toggle joints 17 , one end is a fixed base 18 , the other end is a movable end 19 , and the end 19 is provided with a first enabling device 15 . The robot 11 is connected to the controller 12 , and the controller 12 includes a safety module 14 . The safety module 14 has the function of directly sending an electrical signal or a communication signal to cut off the power of the actuator to stop the robot 11 . The controller 12 controls the end 19 of the mobile robot 11 by controlling the actuators and position sensors 20 in each toggle 17 . The controller 12 is connected to the teaching pendant 13 for editing the program of the robot 11 or operating and controlling the robot 11 . The teaching pendant 13 is provided with a second enabling device 16 . Although this embodiment is exemplified by the second smart device 16 being disposed on the teaching pendant 13, it includes but is not limited to this embodiment, and the second enabling device 16 may not be located on the teaching pendant 13, or may be a separate handheld enabling device The device is connected to the security module 14, or the controller 12 is provided with an enabling module port for the user to connect the second enabling device 16 purchased by himself.

In FIG. 2 , the security module 14 is electrically or communicatively connected to the first enabling device 15 and the second enabling device 16 via the controller 12 , and the first enabling device 15 and the second enabling device 16 are in an ON state (ON ) and the function of the OFF state (OFF) operation, when the first enabling device 15 or the second enabling device 16 is in the ON state (ON) state, the safety module 14 cancels the safety state of the robot 11, and when the first enabling device 15 or the second enabling device 16 is in the ON state (ON) state When the enabling device 15 or the second enabling device 16 is in an OFF state, the safety module 14 stops the robot 11 to enter a safe state. The safety module 14 is also electrically or communicatively connected to the position sensors 20 of the respective toggles 17 of the robot 11 , and receives signals from the position sensors 20 to monitor the activity state of the robot 11 . power to the actuator, or the machine is monitored by the security module 14 When the speed of the human 11 exceeds the preset speed limit, the robot 11 enters a safe state.

The safety module 14 stops the robot 11 from entering a safe state. There are three types. The zero type of stop is a power-off stop function: when the safety module 14 determines that the robot 11 should enter a safe state, the power to the actuator is directly turned off. The first type of shutdown is the advanced power-off shutdown function: when the safety module 14 determines that the robot 11 should enter a safe state, after a deceleration command is issued to the controller 12, the actuator is turned off after a fixed time or after the deceleration movement of the robot 11 is observed. power supply. The second type of shutdown is a non-power-off shutdown function: when the safety module 14 determines that the robot 11 should enter a safe state, after a deceleration command is issued to the controller 12, after a fixed time or after observing the completion of the robot's deceleration movement, the static monitoring safety function is turned on. (Standstill Monitoring), the position sensor 20 is continuously monitored, and when the monitoring robot 11 produces motion, the power supply of the actuator is turned off.

In FIG. 3 , when the robot 11 switches from other modes to the Teaching Mode, no matter whether the first enabling device 15 or the second enabling device 16 is in the ON state, it cannot be pulled by hand or not by hand (for example, The robot 11 is taught by the safety module 14 such as jogging or trial running speed regulation, etc., and the safety module 14 makes the robot 11 enter a safe state such as shutting down the actuator power or static monitoring. Next, it is detected that the first enabling device 15 or the second enabling device 16 is in the off state, the security system 10 enters the detecting state, and the security system 10 uses the controller 12 to start checking and detecting the first enabling device 15 or the second enabling device 15 The enabling device 16 activates the ON state, enabling the first enabling device in the ON state, but not enabling the other enabling device.

When the first enabling device 15 is first activated to the ON state, that is, the first enabling device 15 located at the end 19 of the robot is first activated by the user, and the user is at the robot 11 , the safety system 10 enables the first enabling device 15 , and the first enabling device 15 is not activated. When the second enabling device 16 is enabled, the safety system 10 can distinguish the enabled or disabled state by light or sound, and the safety module 14 releases the shutdown safety state of the robot 11 at the same time. state (that is, the actuator is powered on or stopped for static monitoring), from the detection state to the hand-pull teaching state, and the controller 12 indicates that the control of the hand-pull robot 11 is enabled. For the convenience of operation, the first enabling device 15 is also Can be set to have the function of a pull button. At this time, only the first enabling device 15 selected by the user performs the hand-pull control. Regardless of whether the second enabling device 16 is on or not, the security system 10 prohibits the second enabling device 16 from teaching the control of the robot 11 , that is, , whether the second enabling device 16 is pressed or not will not cause the hand-pull teaching state to change, so as to protect the user performing the hand-pull. When the safety system 10 detects that the first enabling device 15 is switched to the off state, the safety module 14 makes the robot 11 enter the safe state of stopping, and returns to the detection state.

In the detection state, when the second enabling device 16 is activated earlier than the first enabling device 15, that is, the second enabling device 16 located on the teach pendant 13 is first activated by the user, and the safety system 10 is enabled. The second enabling device 16 does not enable the first enabling device 15 , the safety system 10 can distinguish the enabled or disabled state of the enabling device by light or sound, while the safety module 14 cancels the shutdown of the robot 11 In the safe state, from the detection state to the non-hand-pull teaching state, the controller 12 indicates that the control of the non-hand-pull robot 11 is enabled. At this time, it is only controlled by the second enabling device 16 selected by the user. Regardless of whether the first enabling device 15 is on or not, the safety system 10 prohibits the robot 11 from being pulled by hand. That is, the first enabling device 15 presses and No does not cause the non-hand-pulled teaching state to change. When the safety module 14 detects that the second enabling device 16 is switched to the OFF state, the safety module 14 makes the robot 11 enter the safety state of stopping, and returns to the detection state.

As shown in FIG. 4 , it is a flow chart of the safety method for teaching a robot according to the present invention. The detailed steps of the safety method for teaching the robot of the present invention are described as follows: step S1, the robot switches to the teaching mode; step S2, the first enabling device and the second enabling device are not enabled, and cannot be taught by hand or not by hand robot, the robot enters a safe state; then enter step S3, when the detection of the first When both the first enabling device and the second enabling device are off, enter the detecting state; step S4, start to detect which of the first enabling device or the second enabling device is turned on first; step S5, check the first enabling device Does the device start the ON state first? If the first enabling device is in the ON state first, then go to step S6 to enable the first enabling device, but not enable the second enabling device, then go to step S7 to release the robot from the shutdown safe state; then go to step S8 , enter the first state. The first state corresponds to the first enabling device to set the working state. For example, the first enabling device is located at the end of the robot. Then go to step S9, when it is detected that the first enabling device is switched to the off state, it returns to the detection state of step S3.

In step S5, if the first enabling device is not in the on state first, then go to step S10 to check whether the second enabling device is in the on state first? If the second enabling device is not the first to enable the on state, then go back to step S4 to continue to detect which enabling device first enables the on state, if the second enabling device first enables the on state, the second enabling device is enabled, and If the first enabling device is not enabled, then go to step S11 to release the shutdown safety state of the robot; then go to step S12, enter the second state, the second state corresponds to the setting operation state of the second enabling device, such as the second enabling device Set on the teach pendant, the second state can be set as the non-hand-pull teaching state, which enables the control of the non-hand-pull robot. Then, when it is detected in step S9 that the second enabling device is switched to the off state, it returns to the detection state in step S3.

Therefore, the safety system and method of the teaching robot of the present invention can be detected by the controller by setting the first enabling device at the end of the robot and the second enabling device at the teaching pendant or other positions in the teaching mode. Measure the activation sequence of the two enabling devices, enable the enabling device in the open state first, and disable the rest of the enabling devices, select a single enabling device for operation, avoid misoperation by other users, and ensure that the user can teach the robot. for security purposes.

The above descriptions are only for the convenience of describing the preferred embodiments of the present invention. The scope of the invention is not limited to these preferred embodiments, and any changes made according to the present invention, without departing from the spirit of the present invention, all belong to the scope of the patent application of the present invention.

Claims (13)

A safety system for teaching robots, including: The robot has multiple toggles, one end is a fixed base, the other end is a movable end, the end is provided with a first enabling device, and each toggle is provided with an actuator and a position sensor; a controller, connected to the robot, controls the actuator and the position sensor, and moves the end of the robot; a second enabling device, connected to the controller; A security module, disposed in the controller, is electrically or communicatively connected with the first enabling device and the second enabling device, and is in an off state according to the enabled first enabling device or the second enabling device , send out electrical or communication signals to make the robot enter a safe state; Wherein, the controller detects the first enabling device or the second enabling device, and enables the enabling device in the ON state first, but cannot enable the other enabling device. The safety system for teaching a robot as described in item 1 of the claimed scope, wherein the safety module is electrically or communicatively connected to the position sensor of each toggle, and receives the signal of the position sensor to monitor the safety of the robot. In the active state, when the robot is monitored to generate movement, the power supply of the actuator is turned off, so that the robot enters a safe state. The safety system for teaching a robot as described in item 2 of the scope of the patent application, wherein the safety module monitors the speed of the robot, and when a preset speed limit is exceeded, the robot enters a safe state. The safety system for teaching a robot as described in item 1 of the claimed scope, wherein when the first enabling device or the second enabling device is in an off state, the safety module enables the robot to enter a safe state, and the first enabling device or the second enabling device is in an off state. When the enabling device or the second enabling device is in an on state, the safety module cancels the safety state of the robot. The safety system for teaching a robot as described in claim 4, wherein the safety module cuts off the power to the actuator, or turns off the power to the actuator after a fixed period of time or after observing that the robot decelerates. , or turn on the static monitoring safety function to make the robot enter a safe state. The safety system for teaching a robot as described in item 1 of the claimed scope, wherein the first enabling device or the second enabling device displays the enabled or disabled states by means of lights or sounds. The safety system for teaching a robot as described in claim 1, wherein the first enabling device is configured to have the function of pulling a button. The safety system for teaching a robot as described in claim 1, wherein the second enabling device is disposed on a teaching pendant connected to the controller, or is an independent hand-held enabling device. A safe method for teaching robots, including: Switch to the teaching mode, the first enabling device or the second enabling device are not enabled, and the robot enters a safe state; detecting that both the first enabling device and the second enabling device are off; Enter the detection state, and start to detect which of the first enabling device or the second enabling device is turned on first; When the first enabling device first starts the on state, enabling the first enabling device and not enabling the second enabling device; Release the safe state of the robot; enter the first state. The safety method for teaching a robot as described in item 9 of the scope of the application, wherein the first enabling device is not turned on first, and then checks that the second enabling device is not turned on first, and then returns to the detection state Continue to detect which one activates the on state first. The safety method for teaching a robot as described in claim 10 of the scope of the application, wherein checking that the second enabling device is in the first ON state, enabling the second enabling device, failing to enable the first enabling device, disabling The safe state of the robot enters the second state. The safety method for teaching a robot as described in item 11 of the scope of the patent application, wherein the second state is set to a non-hand-pull teaching state, enabling control of the robot without hand-pulling, and the first state is set to a hand-pull teaching state, Enables hand-pull control of the robot. The safety method for teaching a robot as described in item 11 of the claimed scope, wherein when entering the first state or entering the second state, and detecting that the first enabling device or the second enabling device is switched to the off state, Return to detection state.

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