CN103386684A - Device and design method for preventing robot from generating accidental collision - Google Patents
Device and design method for preventing robot from generating accidental collision Download PDFInfo
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- CN103386684A CN103386684A CN2013103655655A CN201310365565A CN103386684A CN 103386684 A CN103386684 A CN 103386684A CN 2013103655655 A CN2013103655655 A CN 2013103655655A CN 201310365565 A CN201310365565 A CN 201310365565A CN 103386684 A CN103386684 A CN 103386684A
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Abstract
The invention relates to a device for preventing a robot from generating accidental collision. The device comprises a robot body, a controller and a safety protective device; the controller is connected to the robot body and is provided with a scram button; a viscoelasticity buffering layer is attached to the robot body and is attached to one or more touch sensors; the touch sensors are connected with the input interface of the safety protective device; and the scram button is connected to the output interface of the safety protective device. The buffering layer is wrapped on a connection rod arm of the robot body for buffering and reducing the impact force generated during colliding, and the scram of the robot is realized by feedback of the touch sensors in the effective compression stroke of the buffering layer, so a collided object is protected, the severity of accident collision generated by the robot can be reduced under the premise that the existing robot does not need to be greatly changed, the realization method is simple and the reliability is high.
Description
Technical field
The present invention relates to a kind of device and method for designing that prevents robot generation accident collision, can be applicable to the safeguard protection of industrial robot in normal operation or man-machine interaction operation process.
Background technology
Industrial robot is more and more extensive in the application of manufacturing industry and service field.Because industrial robot is in position control mode usually, in case bump, due to huge rigidity, can produce serious consequence, not only cause being hit object injured, impaired, even serious human casualty accident may occur, robot self also may be because collision damages.In order to prevent that industrial robot from colliding the people in motion process, generally all require with fence, industrial robot to be fenced up, prevent that the people from swarming in unwitting situation.But some work,, as carrying, assembling etc., often need machine person to person coordinated just can complete specific action and function, and can not isolate the human and computer people.For this reason, need to conscientiously take measures to ensure the security of robot in motion process.Be illustrated in figure 1 as typical industrial robot configuration, comprise robot body and controller, wherein be provided with scram button on controller, scram button is connected with the controller internal circuit by two terminals.Scram button in normal course of operation, is pressed by robot, i.e. two closed connections of terminal, and robot stop motion immediately, thus can realize in case of emergency avoiding occurring serious collision accident.The measure of having taked at present also has, and joint of robot is arranged maximum torque, makes the actual joint moment of torsion of robot all the time within the peak torque that arranges; At robot working space's sensor installation, in case the people enters into the working space of robot, robot namely reports to the police and slows down or stop, to guarantee people's safety; Adopt the Torque Control algorithm, make within the power of collision is controlled at a threshold value all the time, etc.Above-mentioned these methods also far can not solve the safety issue of industrial robot at present.
Consider above factor, the present invention directly coats one deck viscoplasticity padded coaming on the connecting rod of industrial robot, pass through padded coaming, not only can significantly reduce impact force, but also contact area (reducing to collide contact stress) is collided in rise time, the expansion that can delay impact force, if before cushion reaches compression limit, robot stop motion rapidly, can effectively guarantee the safety of people and robot.This makes the present invention can be applied in the many needs of industrial robot to carry out in the application scenario of safeguard protection.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of device that can reduce robot accident collision seriousness.
The present invention adopts following scheme to realize: a kind of device that prevents robot generation accident collision; it is characterized in that: comprise a robot body, a controller and a protector; described controller connects described robot body; described controller is provided with a scram button; attach a viscoplasticity cushion on described robot body; attach one or more touch sensors on described viscoplasticity cushion; described touch sensor connects the input interface of described protector, and described scram button connects the output interface of described protector.
In an embodiment of the present invention; described protector comprises one or more input interfaces, a signal processing circuit, a processor, a relay and an output interface; described input interface arrives the signal leading of described touch sensor in described protector; after described signal processing circuit is carried out filtering, amplification, shaping and AD conversion process; be sent to described processor, thereby described processor is controlled described relay and whether is switched on and control the on off state of described scram button.
In an embodiment of the present invention, described touch sensor is attached to inner surface or the outer surface of described viscoplasticity cushion.
In an embodiment of the present invention, described touch sensor is PVDF piezoelectric transducer or artificial skin sensor.
Another object of the present invention is to provide a kind of method for designing that prevents robot generation accident collision device, and the present invention adopts following scheme to realize: a kind of method for designing that prevents the device of robot generation accident collision, it is characterized in that, and comprise the following steps:
S01: the material type selecting of viscoplasticity cushion, determine coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material;
S02: just determine the thickness of viscoplasticity cushion, and get the maximum thickness of permission;
S03: the type selecting of touch sensor, and touch sensor is attached at inner surface or the outer surface of viscoplasticity cushion;
S04: viscoplasticity cushion and touch sensor are attached on the pitman arm of robot body;
S05: the viscoplasticity cushion deformation threshold value of touch sensor action message is determined in test;
S06: the actual measurement robot is from colliding the anxious required viscoplasticity cushion cushion stroke of stopping;
S07:, according to described cushion stroke, redefine the viscoplasticity buffer layer thickness.
The present invention passes through parcel one cushion on robot links, is used for buffering and reduces the impulsive force that produces while colliding, and in effective compression travel of cushion, by touch sensor, feeding back, and realize that the urgency of robot is stopped, thereby object is hit in protection.When touch sensor due to collision pressurized or when deformation occurring reaching certain threshold value; protector output triggers the robot sudden-stop function; control its actuating of relay; make relay contact closure; this contact is connected with the scram button of robot controller simultaneously; thereby make robot avoid occurring serious collision, reach the purpose that object is hit in protection.Advantage of the present invention is to need not under the prerequisite that existing robot is significantly changed, and can prevent that robot from producing the development collision, and implementation method is simple, and reliability is high.
, for making purpose of the present invention, technical scheme and advantage clearer, below will by specific embodiment and relevant drawings, the present invention be described in further detail.
Description of drawings
Fig. 1 is existing industrial robot system.
Fig. 2 is the industrial robot that the present invention coats the viscoplasticity cushion.
Fig. 3 is that the present invention prevents that robot from producing the system structure of device figure of accident collision.
Fig. 4 is the circuit theory diagrams of protector of the present invention.
Fig. 5 is that the present invention prevents that robot from producing the method for designing flow chart of the device of accident collision.
The specific embodiment
Be illustrated in figure 1 as common industrial robot system, by robot body 11 and controller 12, formed, be equipped with scram button 13 on controller.on the basis of Fig. 1 general-purpose machinery robot system, the invention provides a kind of device that prevents robot generation accident collision, as shown in Figures 2 and 3, comprise a robot body, one controller and a protector, described controller connects described robot body, described controller is provided with a scram button, attach a viscoplasticity cushion on described robot body, attach one or more touch sensors on described viscoplasticity cushion, described touch sensor connects the input interface of described protector, described scram button connects the output interface of described protector.The Main Function of viscoplasticity cushion is to reduce collision impact power, delays the time that impact force rises, and reduces the collision contact stress, thus the pain in the time of can reducing to bump against the people.Lay touch sensor between viscoplasticity cushion and rod surface, as the PVDF piezoelectric transducer, also can lay touch sensor at the outer surface of viscoplasticity cushion, as the artificial skin sensor, the impact force signal that produces due to the deformation of viscoplasticity cushion when sensor gathers the robot links collision.Each connecting rod of robot all can wrap up the viscoplasticity cushioning layer material, the independent touch sensor of laying on each connecting rod.
as shown in Figure 4, described protector comprises one or more input interfaces, one signal processing circuit, one processor, one relay and an output interface, described input interface arrives the signal leading of described touch sensor in described protector, carry out filtering through described signal processing circuit, amplify, after shaping and AD conversion process, be sent to described processor, processor is according to the concrete data of sensor that collect, determine whether output circuit moves, whether thereby controlling described relay switches on and controls the on off state of described scram button, the output open contacts of relay is in parallel with the scram button on robot controller.Described touch sensor can be attached to inner surface or the outer surface of described viscoplasticity cushion.
Another object of the present invention is to provide a kind of method for designing that prevents robot generation accident collision device, as shown in Figure 5, comprises the following steps:
S01: the material type selecting of viscoplasticity cushion, determine coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material; Wherein, the material of viscoplasticity cushion can be the macromolecular materials such as expanded material, rubber such as sponge etc., the EGR series of products of producing as Japanese INOAC company;
S02: just determine the thickness of viscoplasticity cushion, and get the maximum thickness of permission; The purpose of viscoplasticity cushion is damp impacts, and realizes anxious stopping before cushion is compressed to the limit; Therefore, the thicker more insurance in theory of the thickness of cushion, but blocked up cushion can affect the flexibility of robot; Initial while determining buffer layer thickness, for the sake of assurance, get thicker value (as 40-60mm) and then by follow-up experimental procedure attenuate;
S03: the type selecting of touch sensor, and touch sensor is attached at inner surface or the outer surface of viscoplasticity cushion;
S04: viscoplasticity cushion and touch sensor are attached on the pitman arm of robot body;
S05: the viscoplasticity cushion deformation threshold value of touch sensor action message is determined in test; When the deformation of viscoplasticity cushion reaches a certain threshold value, just can determine to have occurred collision, and before reaching this threshold value,, because deformation quantity is less, under the effect of various interference and noise, can't prepare to have determined whether that collision occurs; Therefore, determine that this deformation threshold value need to, by test test repeatedly, comprise the combination of different contacts area, contact force, contact velocity, contact direction;
S06: the actual measurement robot is from colliding the anxious required viscoplasticity cushion cushion stroke of stopping;
S07:, according to described cushion stroke, redefine the viscoplasticity buffer layer thickness.Consider certain safe clearance, and impact force can the non-linear increase along with the increase of decrement, buffer layer thickness is greater than 1.3 times more than cushion stroke usually.
Based on above-mentioned steps, can complete effective design and use of robot viscoplasticity cushion, guarantee robot in motion process, play good safeguard protection effect.
Above-listed preferred embodiment; the purpose, technical solutions and advantages of the present invention are further described; institute is understood that; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention; within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. one kind prevents that robot from producing the device of accident collision; it is characterized in that: comprise a robot body, a controller and a protector; described controller connects described robot body; described controller is provided with a scram button; attach a viscoplasticity cushion on described robot body; attach one or more touch sensors on described viscoplasticity cushion; described touch sensor connects the input interface of described protector, and described scram button connects the output interface of described protector.
2. according to claim 1ly a kind ofly prevent that robot from producing the device of accident collision, it is characterized in that: described protector comprises one or more input interfaces, one signal processing circuit, one processor, one relay and an output interface, described input interface arrives the signal leading of described touch sensor in described protector, carry out filtering through described signal processing circuit, amplify, after shaping and AD conversion process, be sent to described processor, thereby whether the described relay of described processor control is switched on and is controlled the on off state of described scram button.
3. according to claim 1ly a kind ofly prevent that robot from producing the device of accident collision, it is characterized in that: described touch sensor is attached to inner surface or the outer surface of described viscoplasticity cushion.
4. according to claim 1ly a kind ofly prevent that robot from producing the device of accident collision, it is characterized in that: described touch sensor is PVDF piezoelectric transducer or artificial skin sensor.
5. a method for designing that prevents the device of robot generation accident collision as described in claim 1-4 any one, is characterized in that, comprises the following steps:
S01: the material type selecting of viscoplasticity cushion, determine coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material;
S02: just determine the thickness of viscoplasticity cushion, and get the maximum thickness of permission;
S03: the type selecting of touch sensor, and touch sensor is attached at inner surface or the outer surface of viscoplasticity cushion;
S04: viscoplasticity cushion and touch sensor are attached on the pitman arm of robot body;
S05: the viscoplasticity cushion deformation threshold value of touch sensor action message is determined in test;
S06: the actual measurement robot is from colliding the anxious required viscoplasticity cushion cushion stroke of stopping;
S07:, according to described cushion stroke, redefine the viscoplasticity buffer layer thickness.
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| CN113059593A (en) * | 2021-03-25 | 2021-07-02 | 上海智能制造功能平台有限公司 | Robot safety protection device and method |
| CN115091505A (en) * | 2022-07-25 | 2022-09-23 | 陕西戴伯特智能科技有限公司 | Robot anti-collision device based on curvature sensor |
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
| CN117067199B (en) * | 2023-07-26 | 2024-06-14 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
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