CN107972025B - limiting method and device for robot and robot - Google Patents
limiting method and device for robot and robot Download PDFInfo
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- CN107972025B CN107972025B CN201610939339.7A CN201610939339A CN107972025B CN 107972025 B CN107972025 B CN 107972025B CN 201610939339 A CN201610939339 A CN 201610939339A CN 107972025 B CN107972025 B CN 107972025B
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Abstract
The invention discloses a limiting method and device for a robot and the robot. Wherein, the method comprises the following steps: acquiring the actual motion condition of each joint of the robot; determining the actual motion space of each joint of the robot according to the actual motion condition; and judging whether the actual motion space meets the preset motion space limit condition or not. The invention solves the technical problem that the robot cannot run safely in the related technology.
Description
Technical Field
The invention relates to the field of robots, in particular to a limiting method and device for a robot and the robot.
background
In a control system of an industrial robot, two safety measures of hard limiting and soft limiting are set in order to ensure that the robot can safely operate in a working space. In daily use, if the battery of the encoder of the motor of the robot fails or abnormal mechanical collision happens, the original point of the robot is lost, and the safe operation of the robot is threatened.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a limiting method and device for a robot and the robot, and at least solves the technical problem that the robot cannot run safely in the related art.
According to an aspect of an embodiment of the present invention, there is provided a spacing method for a robot, including: acquiring the actual motion condition of each joint of the robot; determining the actual motion space of each joint of the robot according to the actual motion condition; and judging whether the actual motion space meets the preset motion space limit condition or not.
further, after determining whether the actual motion space meets a preset motion space limit condition, the method further includes: and if the judgment result shows that the actual motion space does not meet the preset motion space limit condition, reconfiguring the motion space limit condition of each joint of the robot.
further, reconfiguring motion space limit conditions of each joint of the robot comprises: receiving a space limiting parameter sent by an external demonstrator; judging whether the motion space limit conditions of each joint of the robot need to be modified or not according to the space limit parameters; and if so, modifying the motion space limiting conditions of each joint of the robot according to the space limiting parameters.
Further, after determining whether the motion space limitation condition of each joint of the robot needs to be modified according to the space limitation parameter, the method further includes: if not, the actual motion conditions of the joints of the robot are continuously acquired so as to monitor whether the robot has limit overrun conditions.
further, the preset motion space limiting condition includes at least one of the following conditions: limiting parameters of the robot axis joint; robot cartesian coordinate space limit parameter.
According to another aspect of the embodiments of the present invention, there is also provided a position limiting device for a robot, including: the acquisition unit is used for acquiring the actual motion condition of each joint of the robot; a determining unit, configured to determine an actual motion space of each joint of the robot according to the actual motion condition; and the judging unit is used for judging whether the actual motion space meets the preset motion space limiting condition or not.
Further, the above apparatus further comprises: and a configuration unit, configured to, after determining whether the actual motion space satisfies a preset motion space limit condition, reconfigure the motion space limit condition of each joint of the robot if the determination result indicates that the actual motion space does not satisfy the preset motion space limit condition.
Further, the configuration unit includes: the receiving module is used for receiving the space limiting parameters sent by the external demonstrator; the judging module is used for judging whether the motion space limiting conditions of each joint of the robot need to be modified or not according to the space limiting parameters; and the modification module is used for modifying the motion space limit conditions of each joint of the robot according to the space limit parameters under the condition of yes.
Further, the above apparatus further comprises: and the monitoring unit is used for continuously acquiring the actual motion situation of each joint of the robot after judging whether the motion space limit condition of each joint of the robot needs to be modified according to the space limit parameters and under the condition of no motion space limit condition so as to monitor whether the robot has a limit overrun situation.
Further, the preset motion space limiting condition includes at least one of the following conditions: limiting parameters of the robot axis joint; robot cartesian coordinate space limit parameter.
According to another aspect of the embodiments of the present invention, there is also provided a robot including: any one of the above stop devices for a robot.
In the embodiment of the invention, the actual motion condition of each joint of the robot is obtained by adopting a mode of monitoring whether the motion space of the robot exceeds the limit in real time to determine whether to modify the current limit condition; determining the actual motion space of each joint of the robot according to the actual motion condition; whether the actual motion space meets the preset motion space limiting condition or not is judged, and the purpose of timely adjusting the limiting parameters of the robot is achieved, so that the technical effect of ensuring the safe operation of the robot is achieved, and the technical problem that the robot cannot safely operate in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative spacing method for a robot according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an alternative restraint condition for a monitoring robot in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of an alternative spacing device for a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
in accordance with an embodiment of the present invention, there is provided a method embodiment of a method for robot restraint, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
fig. 1 is a flowchart of an alternative spacing method for a robot according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, acquiring the actual motion condition of each joint of the robot;
Step S104, determining the actual motion space of each joint of the robot according to the actual motion condition;
and step S106, judging whether the actual motion space meets the preset motion space limit condition.
During implementation, the actual motion conditions of all joints of the robot can be monitored and acquired in real time to determine the actual motion space of the robot, and whether the robot moves beyond the limit is judged based on the preset motion space limit conditions. If the robot is out of limit, the robot needs to be stopped, and the robot can be prevented from being worn or even damaged due to the out-of-limit movement. If the robot is out of limit, the robot can continue to operate, and whether the operation of the robot is out of limit is monitored continuously in real time.
according to the embodiment of the invention, the actual motion condition of each joint of the robot is obtained by adopting a mode of monitoring whether the motion space of the robot exceeds the limit in real time to determine whether to modify the current limit condition; determining the actual motion space of each joint of the robot according to the actual motion condition; whether the actual motion space meets the preset motion space limiting condition or not is judged, and the purpose of timely adjusting the limiting parameters of the robot is achieved, so that the technical effect of ensuring the safe operation of the robot is achieved, and the technical problem that the robot cannot safely operate in the related technology is solved.
As an optional embodiment, after determining whether the actual motion space meets the preset motion space limit condition, the method further includes: and if the judgment result is that the actual motion space does not meet the preset motion space limit condition, reconfiguring the motion space limit condition of each joint of the robot.
During implementation, if the robot is out of limit, the robot can be controlled to stop running, after the working personnel reconfigure the motion space limit conditions of each joint of the robot through a teaching machine connected with the robot controller, the robot is started and receives configuration parameters uploaded by the teaching machine, and the purpose of reconfiguring the motion space limit conditions of each joint of the robot is achieved.
As an alternative embodiment, reconfiguring the motion space limit condition of each joint of the robot includes: receiving a space limiting parameter sent by an external demonstrator; judging whether the motion space limit conditions of each joint of the robot need to be modified or not according to the space limit parameters; and if so, modifying the motion space limiting conditions of each joint of the robot according to the space limiting parameters.
Specifically, as shown in fig. 2, after receiving the data uploaded by the teach pendant, the robot may perform the following operations through a parameter modification module in the controller: judging whether the original limit configuration parameters need to be modified or not; if the data analysis is required, the data analysis is carried out, if the data analysis is successful, the original limit configuration parameters are modified, if the data analysis is failed, failure processing is executed, wherein after the original limit configuration parameters are modified, the parameter modification module initializes the parameters, at the moment, if the initialization is successful, the limit monitoring module of the controller executes monitoring operation, otherwise, the failure processing is executed, after the failure processing is executed each time, the step of judging whether the original limit configuration parameters need to be modified is returned, the parameter modification module continues to execute the related operation, in addition, if the original limit configuration parameters do not need to be modified, the system jumps to a limit monitoring thread, and the limit monitoring module executes the related limit operation.
as an alternative embodiment, after determining whether the motion space limitation condition of each joint of the robot needs to be modified according to the space limitation parameter, the method further includes: if not, the actual motion conditions of all joints of the robot are continuously obtained so as to monitor whether the limit overrun condition occurs in the robot.
Specifically, as shown in fig. 2, after receiving the data uploaded by the teach pendant, the robot may perform the following operations through a parameter modification module in the controller: judging whether the original limit configuration parameters need to be modified or not; if not, the system jumps to a limit monitoring thread, and a limit monitoring module executes relevant limit operation. Wherein, the spacing monitoring module in the controller carries out following operation: the operation condition of the robot is monitored in real time, whether the robot moves beyond the limit or not is judged, if not, the operation condition of the robot is continuously monitored in real time, and if yes, the robot is stopped, wherein relevant data can be transmitted to the demonstrator in the real-time monitoring process and during shutdown.
it should be noted that the parameter modification module and the limit monitoring module are mutually exclusive, so that logic conflicts can be avoided.
As an alternative embodiment, the preset motion space limiting condition includes at least one of the following: limiting parameters of the robot axis joint; robot cartesian coordinate space limit parameter.
That is, during implementation, the soft limit of each joint of the robot can be configured on the demonstrator, and the factory setting authority is set, so that the soft limit parameters of the robot can be conveniently modified. The controller can monitor the overrun condition of the shaft joint space and the Cartesian space of the robot in real time, and the safe operation of the robot is guaranteed. Specifically, interfaces can be reserved on the demonstrator, such as a robot axis joint limit parameter configuration interface and a robot cartesian coordinate space limit parameter configuration interface. Therefore, relevant limiting parameters of the robot can be modified on line, the overrun condition of the robot is monitored in real time, and the running safety of the robot is guaranteed.
it should be noted that the robot in any of the above embodiments may be an industrial robot.
Example 2
According to an embodiment of the present invention, an embodiment of an apparatus for a limiting device of a robot is provided, and it should be noted that the apparatus of this embodiment may be used to implement the method in embodiment 1.
fig. 3 is a schematic view of an alternative spacing device for a robot according to an embodiment of the present invention, as shown in fig. 3, the device including: an obtaining unit 302, configured to obtain actual motion conditions of joints of the robot; a determining unit 304, configured to determine an actual motion space of each joint of the robot according to an actual motion situation; and the judging unit 306 is configured to judge whether the actual motion space meets a preset motion space limit condition.
According to the embodiment of the invention, the purpose of timely adjusting the limiting parameters of the robot is achieved by monitoring whether the motion space of the robot exceeds the limit in real time to determine whether the current limiting condition is modified, so that the technical effect of ensuring the safe operation of the robot is realized, and the technical problem that the robot cannot safely operate in the related technology is solved.
As an alternative embodiment, the apparatus further comprises: and the configuration unit is used for reconfiguring the motion space limiting conditions of each joint of the robot under the condition that the actual motion space does not meet the preset motion space limiting conditions according to the judgment result after judging whether the actual motion space meets the preset motion space limiting conditions.
As an alternative embodiment, the configuration unit comprises: the receiving module is used for receiving the space limiting parameters sent by the external demonstrator; the judging module is used for judging whether the motion space limiting conditions of each joint of the robot need to be modified or not according to the space limiting parameters; and the modification module is used for modifying the motion space limit conditions of each joint of the robot according to the space limit parameters under the condition of yes.
As an alternative embodiment, the apparatus further comprises: and the monitoring unit is used for continuously acquiring the actual motion condition of each joint of the robot after judging whether the motion space limit condition of each joint of the robot needs to be modified or not according to the space limit parameters and under the condition of no motion space limit condition so as to monitor whether the robot has the limit overrun condition or not.
As an alternative embodiment, the preset motion space limiting condition includes at least one of the following: limiting parameters of the robot axis joint; robot cartesian coordinate space limit parameter.
It should be noted that, each implementation manner in the device part embodiment is similar to or the same as each implementation manner in the method part embodiment, and the problem to be solved and the effect to be achieved are also similar to or the same, which are not described herein again.
Example 3
According to an embodiment of the present invention, an apparatus embodiment of a robot is provided. It should be noted that the robot in example 3 includes the limiting device for the robot in any one of the embodiments in example 2, and details are not repeated here.
according to the embodiment of the invention, the purpose of timely adjusting the limiting parameters of the robot is achieved by monitoring whether the motion space of the robot exceeds the limit in real time to determine whether the current limiting condition is modified, so that the technical effect of ensuring the safe operation of the robot is realized, and the technical problem that the robot cannot safely operate in the related technology is solved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
the integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A spacing method for a robot, comprising:
Acquiring the actual motion condition of each joint of the robot;
Determining the actual motion space of each joint of the robot according to the actual motion condition;
judging whether the actual motion space meets a preset motion space limiting condition or not;
after judging whether the actual motion space meets the preset motion space limit condition, the method further comprises the following steps: and if the judgment result is that the actual motion space does not meet the preset motion space limit condition, reconfiguring the motion space limit condition of each joint of the robot.
2. The method of claim 1, wherein reconfiguring motion space constraints for each joint of the robot comprises:
Receiving a space limiting parameter sent by an external demonstrator;
Judging whether the motion space limit conditions of each joint of the robot need to be modified or not according to the space limit parameters;
And if so, modifying the motion space limiting conditions of each joint of the robot according to the space limiting parameters.
3. The method according to claim 2, wherein after determining whether the motion space limiting condition of each joint of the robot needs to be modified according to the space limiting parameter, the method further comprises:
If not, the actual motion conditions of all joints of the robot are continuously obtained so as to monitor whether the robot has limit overrun conditions.
4. a method according to any one of claims 1 to 3, wherein the predetermined motion space limiting conditions comprise at least one of:
Limiting parameters of the robot axis joint;
robot cartesian coordinate space limit parameter.
5. A stop device for a robot, comprising:
The acquisition unit is used for acquiring the actual motion condition of each joint of the robot;
the determining unit is used for determining the actual motion space of each joint of the robot according to the actual motion condition;
The judging unit is used for judging whether the actual motion space meets the preset motion space limiting condition or not;
Wherein the apparatus further comprises: and the configuration unit is used for reconfiguring the motion space limiting conditions of each joint of the robot under the condition that the actual motion space does not meet the preset motion space limiting conditions according to the judgment result after judging whether the actual motion space meets the preset motion space limiting conditions.
6. the apparatus of claim 5, wherein the configuration unit comprises:
the receiving module is used for receiving the space limiting parameters sent by the external demonstrator;
The judging module is used for judging whether the motion space limiting conditions of each joint of the robot need to be modified or not according to the space limiting parameters;
And the modification module is used for modifying the motion space limit conditions of each joint of the robot according to the space limit parameters under the condition of yes.
7. The apparatus of claim 6, further comprising:
and the monitoring unit is used for continuously acquiring the actual motion condition of each joint of the robot after judging whether the motion space limit condition of each joint of the robot needs to be modified according to the space limit parameters and under the condition of no motion space limit condition so as to monitor whether the robot has a limit overrun condition.
8. The apparatus according to any one of claims 5 to 7, wherein the predetermined motion space limiting conditions comprise at least one of:
Limiting parameters of the robot axis joint;
Robot cartesian coordinate space limit parameter.
9. A robot, comprising: a spacing device for a robot as claimed in any one of claims 5 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939339.7A CN107972025B (en) | 2016-10-24 | 2016-10-24 | limiting method and device for robot and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939339.7A CN107972025B (en) | 2016-10-24 | 2016-10-24 | limiting method and device for robot and robot |
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| Publication Number | Publication Date |
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| CN107972025A CN107972025A (en) | 2018-05-01 |
| CN107972025B true CN107972025B (en) | 2019-12-06 |
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| CN201610939339.7A Active CN107972025B (en) | 2016-10-24 | 2016-10-24 | limiting method and device for robot and robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109746936B (en) * | 2018-12-19 | 2021-05-04 | 深圳镁伽科技有限公司 | Robot joint limiting method, device and system and storage medium |
| CN114700952A (en) * | 2022-04-24 | 2022-07-05 | 伍福人工智能(河南)有限公司 | Joint limiting control method and device, terminal equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722554A (en) * | 2014-01-15 | 2014-04-16 | 西北工业大学 | Space teleoperation method |
| CN104385283A (en) * | 2014-07-03 | 2015-03-04 | 哈尔滨工程大学 | Quick judging method for singular configuration of six-degree-of-freedom mechanical arm |
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- 2016-10-24 CN CN201610939339.7A patent/CN107972025B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722554A (en) * | 2014-01-15 | 2014-04-16 | 西北工业大学 | Space teleoperation method |
| CN104385283A (en) * | 2014-07-03 | 2015-03-04 | 哈尔滨工程大学 | Quick judging method for singular configuration of six-degree-of-freedom mechanical arm |
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Address after: 519070 Guangdong city of Zhuhai Province Qianshan No. six Applicant after: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI Applicant after: ZHUHAI GREE INTELLIGENT EQUIPMENT CO., LTD. Address before: 519015 Guangdong province Zhuhai City Jiuzhou Road No. 2097 Zhuhai Lingda Compressor Co., Ltd. No. 1 factory and office building Applicant before: ZHUHAI GREE INTELLIGENT EQUIPMENT CO., LTD. Applicant before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |
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