CN103386684B - A kind of device and method for designing preventing robot generation accident collision - Google Patents
A kind of device and method for designing preventing robot generation accident collision Download PDFInfo
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- CN103386684B CN103386684B CN201310365565.5A CN201310365565A CN103386684B CN 103386684 B CN103386684 B CN 103386684B CN 201310365565 A CN201310365565 A CN 201310365565A CN 103386684 B CN103386684 B CN 103386684B
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Abstract
The present invention relates to a kind of device preventing robot from producing 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; described robot body attaches a viscoplasticity cushion; described viscoplasticity cushion attaches one or more touch sensor; described touch sensor connects the input interface of described protector, and described scram button connects the output interface of described protector.The present invention by wrapping up a cushion on the pitman arm of robot body; the impulsive force produced during for cushioning and reducing collision; and in effective compression travel of cushion; fed back by touch sensor, the urgency realizing robot is stopped, thus object is hit in protection; under the prerequisite without the need to significantly changing existing robot; can reduce the seriousness that robot produces accident collision, implementation method is simple, and reliability is high.
Description
Technical field
The present invention relates to a kind of device and the method for designing that prevent 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, once collide, due to huge rigidity, serious consequence can be produced, not only cause being hit object injured, impaired, even serious human casualty accident may occur, robot self also may damage due to collision.In order to prevent industrial robot from colliding people in motion process, generally all requirement fence fences up industrial robot, prevents people from swarming in unwitting situation.But some work, as carrying, assembling etc., often needs machine person to person coordinated just can complete specific action and function, and human and computer people can not be isolated.For this reason, need conscientiously to take measures to ensure the security of robot in motion process.Be illustrated in figure 1 the configuration of typical industrial robot, comprise robot body and controller, be wherein provided with scram button on the controller, scram button is connected with controller internal circuit by two terminals.Scram button, in normal course of operation, is pressed by robot, i.e. two closed connections of terminal, then robot stop motion immediately, thus can be implemented in the collision accident in emergency circumstances avoiding generation serious.The measure taked at present also has, and arranges maximum torque to joint of robot, makes the actual joint moment of torsion of robot all the time within the peak torque arranged; At robot working space's sensor installation, once people enters into the working space of robot, namely robot reports to the police and slows down or stop, to guarantee the safety of people; Adopt Torque Control algorithm, make the power of collision control all the time within a threshold value, etc.These methods above-mentioned also far can not solve the safety issue of industrial robot at present.
Consider above factor, the present invention is coated one deck viscoplasticity padded coaming on the connecting rod of industrial robot directly, pass through padded coaming, not only significantly can reduce impact force, but also rise time, the expansion making contact area (reducing making contact stress) of impact force can be delayed, if before cushion reaches compression limit, robot can stop motion rapidly, then effectively can guarantee the safety of people and robot.This makes the present invention can be applied in industrial robot many needs to carry out in the application scenario of safeguard protection.
Summary of the invention
In view of this, the object 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 preventing robot from producing 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; described robot body attaches a viscoplasticity cushion; described viscoplasticity cushion attaches one or more touch sensor; 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 interface, a signal processing circuit, a processor, a relay and an output interface; described input interface is incorporated into the signal of described touch sensor in described protector; carry out after filtering, amplification, shaping and AD conversion process through described signal processing circuit; be sent to described processor, whether described processor controls described relay and is energized thus the on off state controlling 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 preventing robot from producing accident collision device, and the present invention adopts following scheme to realize: a kind of method for designing preventing robot from producing the device of accident collision, is characterized in that, comprise the following steps:
S01: the material type selecting of viscoplasticity cushion, determines coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material;
S02: the thickness just determining viscoplasticity cushion, and get the maximum thickness of permission;
S03: the type selecting of touch sensor, and the inner surface or the outer surface that touch sensor are attached at 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: actual measurement robot suddenly stops required viscoplasticity cushion cushion stroke from colliding;
S07: according to described cushion stroke, redefines viscoplasticity buffer layer thickness.
The present invention by wrapping up a cushion on robot links, the impulsive force produced during for cushioning and reducing collision, and in effective compression travel of cushion, is fed back by touch sensor, and the urgency realizing robot is stopped, thus object is hit in protection.When touch sensor due to collision pressurized or occur deformation and reach certain threshold value time; protector exports and triggers 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; thus make robot avoid severe crash occurs, reach protection and hit the object of object.Advantage of the present invention is under the prerequisite without the need to significantly changing existing robot, and can prevent robot from producing development collision, implementation method is simple, and reliability is high.
For making object of the present invention, technical scheme and advantage clearly understand, below by specific embodiment and relevant drawings, the present invention will be described in further detail.
Accompanying drawing explanation
Fig. 1 is existing industrial robot system.
Fig. 2 is the industrial robot of the coated viscoplasticity cushion of the present invention.
Fig. 3 is that the present invention prevents 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 robot from producing the method for designing flow chart of the device of accident collision.
Detailed description of the invention
Be illustrated in figure 1 usual industrial robot system, be made up of robot body 11 and controller 12, be equipped with scram button 13 on the controller.On the basis of Fig. 1 general-purpose machinery robot system, the invention provides a kind of device preventing robot from producing accident collision, as shown in Figures 2 and 3, comprise a robot body 1, one controller 2 and a protector 3, described controller 2 connects described robot body 1, described controller 2 is provided with a scram button 4, described robot body 1 attaches a viscoplasticity cushion 5, described viscoplasticity cushion 5 attaches one or more touch sensor 6, described touch sensor 6 connects the input interface of described protector 3, described scram button 4 connects the output interface of described protector 3.The Main Function of viscoplasticity cushion 5 reduces collision impact, delays the time that impact force rises, and reduces making contact stress, thus can reduce pain when bumping against people.Touch sensor 6 is laid between viscoplasticity cushion 5 and rod surface, as PVDF piezoelectric transducer, also touch sensor 6 can be laid at the outer surface of viscoplasticity cushion 5, as artificial skin sensor, the impact force signal produced due to viscoplasticity cushion 5 deformation when sensor gathers robot links collision.The each connecting rod of robot all can wrap up viscoplasticity cushioning layer material, independent laying touch sensor 6 on each connecting rod.
As shown in Figure 4, described protector 3 comprises one or more input interface, one signal processing circuit, one processor, one relay and an output interface, described input interface is incorporated into the signal of described touch sensor 6 in described protector 3, filtering is carried out through described signal processing circuit, amplify, after shaping and AD conversion process, be sent to described processor, processor is according to the sensor volume data collected, determine output circuit whether action, control described relay whether to be energized thus the on off state controlling described scram button, the output open contacts of relay is in parallel with the scram button 4 on robot controller 2.Described touch sensor 6 can be attached to inner surface or the outer surface of described viscoplasticity cushion 5.
Another object of the present invention is to provide a kind of method for designing preventing robot from producing accident collision device, as shown in Figure 5, comprises the following steps:
S01: the material type selecting of viscoplasticity cushion 5, determines coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material; Wherein, the material of viscoplasticity cushion 5 can be the macromolecular materials such as expanded material, rubber etc. such as sponge, as the EGR series of products that Japanese INOAC company produces;
S02: the thickness just determining viscoplasticity cushion 5, and get the maximum thickness of permission; The object of viscoplasticity cushion 5 is damp impacts, and before cushion is compressed to the limit, realize anxious stopping; Therefore, the thickness of cushion is thicker more to be insured in theory, but blocked up cushion can affect the flexibility of robot; When initially determining buffer layer thickness, for the sake of assurance, thicker value (as 40-60mm) and then thinning by follow-up experimental procedure is got;
S03: the type selecting of touch sensor 6, and the inner surface or the outer surface that touch sensor 6 are attached at viscoplasticity cushion 5;
S04: viscoplasticity cushion 5 and touch sensor 6 are attached on the pitman arm of robot body;
S05: the viscoplasticity cushion 5 deformation threshold value of touch sensor 6 action message is determined in test; When viscoplasticity cushion 5 deformation reaches a certain threshold value, just can determine to there occurs collision, and before reaching this threshold value, because deformation quantity is less, under the effect of various interference and noise, cannot prepare to have determined whether that collision occurs; Therefore, determine that this deformation threshold value needs repeatedly to be tested by test, comprise the combination in different contacts area, contact force, contact velocity, contact direction;
S06: actual measurement robot suddenly stops required viscoplasticity cushion 5 cushion stroke from colliding;
S07: according to described cushion stroke, redefines viscoplasticity cushion 5 thickness.Consider certain safe clearance, and impact force can the non-linear increase along with the increase of decrement, usual buffer layer thickness is greater than more than 1.3 times of cushion strokes.
Based on above-mentioned steps, design effectively and the use of robot viscoplasticity cushion 5 can be completed, guarantee that robot is in motion process, play good safeguard protection effect.
Above-listed preferred embodiment; the object, technical solutions and advantages of the present invention are further described; be 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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. the device preventing robot from producing 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, described robot body attaches a viscoplasticity cushion, described viscoplasticity cushion attaches one or more touch sensor, described touch sensor connects the input interface of described protector, and described scram button connects the output interface of described protector;
Described protector comprises one or more input interface, a signal processing circuit, a processor, a relay and an output interface, described input interface is incorporated into the signal of described touch sensor in described protector, carry out after filtering, amplification, shaping and AD conversion process through described signal processing circuit, be sent to described processor, whether described processor controls described relay and is energized thus the on off state controlling described scram button;
Described touch sensor is attached to inner surface or the outer surface of described viscoplasticity cushion;
Described touch sensor is PVDF piezoelectric transducer or artificial skin sensor.
2. prevent robot from producing a method for designing for the device of accident collision as claimed in claim 1, it is characterized in that, comprise the following steps:
S01: the material type selecting of viscoplasticity cushion, determines coefficient of elasticity and the viscosity of viscoplasticity cushioning layer material;
S02: the thickness just determining viscoplasticity cushion, and get the maximum thickness of permission;
S03: the type selecting of touch sensor, and the inner surface or the outer surface that touch sensor are attached at 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: actual measurement robot suddenly stops required viscoplasticity cushion cushion stroke from colliding;
S07: according to described cushion stroke, redefines viscoplasticity buffer layer thickness.
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| CN201310365565.5A CN103386684B (en) | 2013-08-21 | 2013-08-21 | A kind of device and method for designing preventing robot generation accident collision |
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| CN103386684B true CN103386684B (en) | 2016-02-24 |
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| CN107053254B (en) * | 2017-01-24 | 2019-07-12 | 重庆大学 | Wearable robot skin based on multi-layer airbag |
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| CN107813308A (en) * | 2017-10-20 | 2018-03-20 | 高井云 | A kind of human computer cooperation system of robot |
| CN107598972B (en) * | 2017-10-24 | 2020-07-31 | 温岭市华航电子科技有限公司 | Industrial robot anticollision gripping apparatus device |
| CN108340412A (en) * | 2018-03-19 | 2018-07-31 | 上海优尼斯工业服务有限公司 | A kind of industrial machinery arm safety guard |
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