CN108145716A - Articulated robot with automatic hold function and it is automatically stopped method - Google Patents
Articulated robot with automatic hold function and it is automatically stopped method Download PDFInfo
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- CN108145716A CN108145716A CN201810048733.0A CN201810048733A CN108145716A CN 108145716 A CN108145716 A CN 108145716A CN 201810048733 A CN201810048733 A CN 201810048733A CN 108145716 A CN108145716 A CN 108145716A
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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
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Abstract
A kind of articulated robot with automatic hold function, include sequentially connected multiple joints, the moving component for driving each joint motions, the control parts of motion for driving the moving component movement, the control parts of motion includes control unit and driving portion, the control unit, for generating control waveform according to kinematic parameter；The driving portion, for generating driving current according to the control waveform, the driving moving component moves；The control unit is additionally operable to obtain the actual motion data of the moving component in real time, and the actual motion data and one group of theory movement data is compared；When the difference of the actual motion data and the theory movement data is more than a threshold value, the control unit stops generating the control waveform.The robot of the present invention can not only reduce the damage of all parts of robot to the greatest extent, but also reach self-braking effect.
Description
Technical field
The present invention relates to articulated robot field, the articulated robot and one of particularly a kind of automatic hold function
Kind is automatically stopped method.
Background technology
It is the core component for realizing motion control in moving components such as motion control field, motors, such as the fortune of robot
Row just needs motor cooperation leading screw or retarder etc. as Motor execution component to drive robot motion.
By motor coordinate retarder for, motor cooperation retarder be articulated robot (or for multi-joint manipulator,
Multi-axis robot, mechanical arm etc.) main movement execution unit, articulated robot mainly according to scheduled route from one
Initial position grips target object to target location, suitable for the mechanical automation operation of many industrial circles.
Articulated robot currently on the market mainly includes four axis robots (there are four joints for tool) and six-joint robot
(tool there are six joint), they include pedestal, arm and the object of end clamping part, arm upper joint number determine
The quantity of " axis " of robot, each joint are by movement of the rotation of a motor to drive, to realize joint.
At present, user needs to realize the ginseng to articulated robot by human-computer interaction device's (such as computer, teaching machine)
Number setting and control, human-computer interaction device currently on the market is whole both for robot greatly and designs, and user generally passes through
Motion control of the kinematic parameter realization in each joint to robot is edited, the kinematic parameter is actually controlled motion portion
The kinematic parameter of part (such as motor) after user edits the kinematic parameter of robot, is sent to the motion control portion of robot body
Part (or being driving controller etc.), controlled motion component moves after control parts of motion resolves the kinematic parameter received,
Chinese patent application if number of patent application is 201710438383.4 discloses a kind of articulated robot.
With reference to refer to the attached drawing 1, attached drawing 1 shows a kind of articulated robot 100, and robot 100 is a kind of four joint machines
Device people, robot 100 include pedestal 1, large arm 2, forearm 3, and wrist (being not shown in attached drawing 1), wrist can also be connected on forearm 3
On can have pawl, to realize to functions such as the crawls of object, such as the Chinese patent that number of patent application is 201710381661.7
Application discloses a kind of object clamping part, which can be used as pawl to be mounted on wrist joint.
Moving component (motor and retarder) is respectively arranged on each joint of robot 100, such as in pedestal 1
A set of motor and retarder, the upper cover of the output shaft connect base 1 of retarder are provided in shell；The upper cover installation of pedestal 1 is big
Arm 2, the bottom of large arm 2 are provided with another set of motor 4 and retarder 5, the ontology of the output axis connection large arm 2 of retarder 5；Big
The top of arm 2 is provided with another set of motor and retarder, the ontology of the output axis connection forearm 3 of retarder；In the front end of forearm 3
It is also provided with another set of motor and retarder, the ontology of the output axis connection wrist of retarder；Various ends can be installed on wrist
Actuator is held, such as number of patent application is object clamping part disclosed in 201710381661.7.
Motor rotary motion in pedestal 1 can drive the upper cover of pedestal 1 in the horizontal direction 360 degree rotation movement and then
The 360 degree rotation in the horizontal direction such as large arm 2, forearm 3 with mobile robot 100；The rotary motion of motor 4 can drive large arm 2
It bows along S1 directions and moves downward or moved upwards, and then moved with 3 grade of forearm along S1 or S2 directions along the layback of S2 directions；Greatly
The motor rotary motion on 2 top of arm can drive forearm 3 to be rotated, and then with rotary motions such as wrists；Forearm 3 it is another
The motor rotary motion of one end can drive wrist to be rotated, and then be rotated with end effector；End
Motor on actuator can also drive end effector to carry out the operations such as gripping object.
Above-mentioned multiple motors is controlled to be moved by moving line set by user by different kinematic parameters, it is possible to realize
Accurate control to robot 100, makes robot 100 complete various functions set by user.
Control to each motor (such as motor 4) is realized by control parts of motion, and control parts of motion can be with
It is provided separately within the outside of robot 100, connect by connecting line with each motor in robot 100；Control parts of motion
It can also be mounted in the body housing of robot 100.
The working range that there are one the tools of robot 100 determines, with the cooperation relation between robot and user increasingly
Closely, robot 100 can be placed on a non-confined space and be worked in (such as in laboratory) by user, the work of robot 100
Making environment can become increasingly complex, and robot 100 may touch people or other objects during the motion, this can be to machine
People 100, people or other objects damage, this is that robot needs strongly to avoid.
The prior art is mostly by control of the realization such as teaching machine to robot, is pressed by the emergent stopping on teaching machine
Button makes 100 emergent stopping of robot or power-off, but this is typically control could artificially to be realized after user sees, and usually again
The components such as machinery, the circuit of robot 100 can be damaged, it is impossible to meet the development trend of present robot.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of articulated robot with automatic hold function, machines
People can obtain the exercise data in each joint in real time, by the actual motion data detected and preset one group of theory movement number
According to being compared in real time, when the difference of the two is more than a threshold value, robot be automatically stopped movement, both can be maximum
The damage of all parts of robot is reduced, and has reached self-braking effect.
Articulated robot of the present invention with automatic hold function, include sequentially connected multiple joints,
Drive the moving component of each joint motions, the control parts of motion of the driving moving component movement, the motion control portion
Part includes control unit and driving portion,
The control unit, for generating control waveform according to kinematic parameter；
The driving portion, for generating driving current according to the control waveform, the driving moving component moves；
The control unit, is additionally operable to obtain the actual motion data of the moving component in real time, and by the actual motion
Data are compared with one group of theory movement data；When the difference of the actual motion data and the theory movement data is more than
During one threshold value, the control unit stops generating the control waveform.
As one kind for example, in articulated robot of the present invention, the actual motion number of the moving component
According to the driving force indicated value SG generated for the driving portion；The theory movement data indicate minimum for driving force；When
When the driving force indicated value SG is less than driving force instruction minimum more than a threshold value, the control unit stops production
The raw control waveform.
As another for example, in articulated robot of the present invention, the actual motion of the moving component
Data are the power utilization of the moving component；The theory movement data are power utilization maximum；When the power
When utilization rate is more than the power utilization maximum more than a threshold value, the control unit stops generating the control waveform.
As another for example, in articulated robot of the present invention, the actual motion of the moving component
Practical code value of the data for the encoder output on each joint；The theory movement data are the encoder
Theoretical code value；When the practical code value, which is less than the theoretical code value, is more than a threshold value, the control unit stops generating institute
State control waveform.
As another for example, in articulated robot of the present invention, the actual motion of the moving component
The actual angle value that data are generated for the angular transducer on the articulated robot；The theory movement data are
The point of theory value of the angular transducer；The difference of the point of theory value and the actual angle value is more than a threshold value
When, the control unit stops generating the control waveform.
As another for example, in articulated robot of the present invention, it is single that the control unit includes control
Member and PWM waveform generate unit, and described control unit generates one group of periodic quantity P, the PWM waveform production according to the kinematic parameter
Raw unit generates the control waveform of PWM forms according to the periodic quantity P；The control unit stops generating the control waveform
Refer to：The PWM waveform generates the control waveform that unit stops generating the PWM forms.
As another for example, in articulated robot of the present invention, the control unit stops described in generation
Control waveform refers to：When the difference of the actual motion data and the theory movement data is more than a threshold value, the control
Unit processed generates a trigger signal；The PWM waveform generates unit and generates the PWM lattice according to the trigger signal, stopping
The control waveform of formula.
To solve the above-mentioned problems, the present invention also provides one kind to be automatically stopped method, should applied to articulated robot
In method, robot can obtain the exercise data in each joint in real time, by the actual motion data detected and preset one
Group theory movement data compared in real time, the two difference more than a threshold value when, robot be automatically stopped movement, both may be used
To reduce the damage of all parts of robot to the greatest extent, and self-braking effect is reached.
It is of the present invention to be automatically stopped method, applied to articulated robot, the articulated robot include according to
The motion control portion that multiple joints of secondary connection, the moving component for driving each joint motions, the driving moving component move
Part, the control parts of motion include control unit and driving portion,
The control unit, for generating control waveform according to kinematic parameter；
The driving portion, for generating driving current according to the control waveform, the driving moving component moves；
The method includes：
The actual motion data of the moving component are obtained in real time；
Compared with the actual motion data are carried out in real time with one group of theory movement data；
When the difference of the actual motion data and the theory movement data is more than a threshold value, the control unit stops
The control waveform is only generated, makes the articulated robot stop motion.
As one kind for example, in articulated robot of the present invention, the actual motion number of the moving component
According to the driving force indicated value SG generated for the driving portion；The theory movement data indicate minimum for driving force；When
When the driving force indicated value SG is less than driving force instruction minimum more than a threshold value, the control unit stops production
The raw control waveform, makes the articulated robot stop motion.
As another for example, of the present invention be automatically stopped in method, the actual motion of the moving component
Data are the power utilization of the moving component；The theory movement data are power utilization maximum；When the power
When utilization rate is more than the power utilization maximum more than a threshold value, the control unit stops generating the control waveform, makes
The articulated robot stop motion.
As another for example, of the present invention be automatically stopped in method, the actual motion of the moving component
Practical code value of the data for the encoder output on each joint；The theory movement data are the encoder
Theoretical code value；When the practical code value, which is less than the theoretical code value, is more than a threshold value, the control unit stops generating institute
Control waveform is stated, makes the articulated robot stop motion.
As another for example, of the present invention be automatically stopped in method, the actual motion of the moving component
The actual angle value that data are generated for the angular transducer on the articulated robot；The theory movement data are
The point of theory value of the angular transducer；The difference of the point of theory value and the actual angle value is more than a threshold value
When, the control unit stops generating the control waveform, makes the articulated robot stop motion.
As another for example, of the present invention be automatically stopped in method, it is single that the control unit includes control
Member and PWM waveform generate unit, and described control unit generates one group of periodic quantity P, the PWM waveform production according to the kinematic parameter
Raw unit generates the control waveform of PWM forms according to the periodic quantity P；The control unit stops generating the control wave
Shape refers to the articulated robot stop motion：The PWM waveform generates the institute that unit stops generating the PWM forms
Control waveform is stated, the driving portion stops driving the moving component movement, makes the articulated robot stop motion.
As another for example, of the present invention be automatically stopped in method, the control unit stops described in generation
Control waveform refers to：When the difference of the actual motion data and the theory movement data is more than a threshold value, the control
Unit processed generates a trigger signal；The PWM waveform generates unit and generates the PWM lattice according to the trigger signal, stopping
The control waveform of formula.
Articulated robot provided by the invention by obtaining the actual motion data of the moving component in each joint in real time,
Real time contrast's actual motion data and theory movement data, and a threshold value is set to the difference of the two, when the difference of the two is small
When the threshold value, robot be in normal mode of operation, when the two difference be more than the threshold value when, robot error, pass through control
Portion processed stops generating the movement that the mode of waveform is controlled to stop robot.Compared to power-off etc., other stop mode, present invention drop
The damage of the low all parts to robot, and reached self-braking effect.
Description of the drawings
Fig. 1 is the structure principle chart of the articulated robot 100 of the present invention；
Fig. 2 is the functional block diagram of the robot system 200 of the present invention；
Fig. 3 is the flow chart for being automatically stopped method S300 of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As a specific embodiment, with reference to refer to the attached drawing 1 and attached drawing 2, attached drawing 1 shows articulated robot 100
Structure, attached drawing 2 show a kind of robot system 200, and robot system 200 includes robot 100, specifically includes robot
Controller 201, CAN data lines 202, control parts of motion 203, motor 208, control parts of motion 203 include control unit 204
With driving portion 207, motor 208 is the motor in robot 100, it is assumed that robot 100 is a 4 articulated robot, 4 joints
5 motors may be used with end effector to respectively drive, then the quantity of the motor 208 in robot system 200 is 5.
Robot controller 201 is connected to the control parts of motion 203 in robot 100 by CAN data lines 202, altogether
With robot system 200 is constituted, user can realize the control to robot 100 by robot controller 201.
The robot controller 201 can be teaching machine, can also be the computer for being equipped with upper computer software, can be with
It is that mobile phone/Pad of APP etc. is installed, to realize human-computer interaction so that user can be configured by robot controller 201 and be transported
The functions such as dynamic parameter, 207 operating status of control motor, display curve movement.
The CAN data lines 202 realize the communication between robot controller 201 and control parts of motion 203, and CAN is total
Line is a kind of STD bus, is widely used in the fields such as automotive electronics, Industry Control, motion control, and CAN bus data have solid
Fixed form, CAN data lines 202 can be twisted-pair feeder or coaxial line etc..Alternatively, the replacements such as serial communication can also be passed through
CAN data lines 202 realize communication therebetween.
The control parts of motion 203 realizes the resolving of the kinematic parameter sent to robot controller 201, obtains reality
The motor control data (generally PWM wave) on border, by adjusting the operation of the regulation motors such as the period of PWM wave and duty ratio 207
State.
The control parts of motion 203 can be single axial movement control unit or Multi-axis motion control component.It is single
Axis control parts of motion, which can only be realized, controls a moving component, 208 company of being required to of each motor in robot 100
Connect a single axial movement control unit；Multi-axis motion control component can realize and multiple moving components are controled simultaneously, machine
Multiple motors 208 in people 100 can be controlled only simultaneously with a Multi-axis motion control component；Multiple electricity in robot 100
Machine 208 can also be controlled by single axial movement control unit and Multi-axis motion control component combination.
Wherein control unit 204 realizes the resolving to kinematic parameter and generates corresponding PWM wave according to obtained data are resolved
Graphic data is as control waveform.
As a kind of for example, control unit 204 can include control unit 205 and PWM waveform generates unit 206：
Wherein, control unit 205 realizes the resolving to kinematic parameter, and can resolve kinematic parameter becomes corresponding generation
The wavetable data of PWM waveform, periodic quantity P in wavetable data is different, then represents that the speed that motor 208 is run is different.Control is single
Member 205 can be realized by dsp chip, can be realized by ARM chips, can also be by realizations such as fpga chips.
It is a kind of PWM waveform generator that PWM waveform, which generates unit 206, such as is occurred by the PWM waveform that fpga chip is realized
Device can generate corresponding PWM wave graphic data according to the wavetable data that control unit 205 generates, and PWM waveform is otherwise referred to as arteries and veins
Waveform is rushed, there are two states of low and high level, reach in duty ratio, the period of motion control field by adjusting PWM waveform etc.
The purpose of controlling motor speed.PWM waveform generates unit 206 and existing various PWM waveform generator realizations may be used, such as
Using the PWM waveform generator of DDS signals generation technique realization, using PWM waveform generator of digital counting technology realization etc..
Driving portion 207 is the driving unit of motor 208, and the PWM waveform that unit 206 generates can be generated according to PWM waveform
Data-driven motor 208 moves.Driving portion 207 can utilize all kinds of motor drive ics to realize.
In robot system 200, the output shaft of motor 207 is generally connected with retarder, and motor 208 and retarder are common
Constitute moving component, motor 208 sometimes can also be separately as moving component, such as motor on end effector can be with
End effector is directly driven to carry out the operation such as capturing, without retarder.
With reference to refer to the attached drawing 1, attached drawing 1 shows the structure of 1 articulated robot 100, and articulated robot 100 includes
Pedestal 1, large arm 2, forearm 3 can also include the end effector (also as grasping body portion etc.) mounted on 3 end of forearm,
Motor and retarder on each joint of articulated robot 100 are set respectively, such as a set of motor is provided on pedestal 1
And retarder, motor and retarder can drive large arm 2 to carry out 360 degree rotation in the horizontal direction, and be set in the bottom of large arm 2
It is equipped with another set of motor 4 (motor 208 in robot system 200 can be corresponded to) and retarder 5, the rotation of motor 4 and retarder 5
Writing 2 can be driven to be rotated upward or downward along S1 or S2 directions, another set of motor and retarder are also equipped on forearm 3,
The motor and retarder can drive forearm 3 along S1 or S2 directions swing, can also be provided on end effector motor and/
Or retarder, end effector to be driven to perform corresponding action, such as crawl object etc..
Motor 4 is the motor 208 in corresponding robot system 200, is realized by robot controller 201 to each motor
The control of (including motor 4) makes each motor install kinematic parameter set by user and is moved, that is, realizes robot 100
Movement.
When user needs that robot 100 is controlled to move, user can set robot by robot controller 201
100 every kinematic parameter, kinematic parameter can include displacement (rotation angle etc.), time (or moment), speed etc., machine
The kinematic parameter of user configuration is transferred to each control parts of motion 203 by people's controller 201 by CAN data lines 202, each
Control parts of motion 203, which corresponds to, receives associ-ated motion parameters, and resolve as one group of wavetable data for including periodic quantity P, PWM wave
Shape generates unit 206 and generates PWM wave graphic data as control waveform according to wavetable data, and driving portion 207 is then according to PWM wave figurate number
According to corresponding motor 208 is driven to move, entire robot 100 to be driven to be moved by the path that user needs.
In the present embodiment, control unit 204 can also obtain the actual motion data of motor 208 in real time, and by the reality of acquisition
Compared with border exercise data carries out in real time with one group of theory movement data, compare the difference obtained therebetween, when this difference surpasses
When crossing a preset threshold value, it is believed that robot 100 breaks down at this time, therefore control unit 204 stops generating the control wave
Shape, driving portion 207 can not receive the control waveform and then driving motor 208 cannot move again again, and motor 208 stops automatically
Rotation stop is moved so that 100 stop motion of robot.
The aforesaid way of the present invention allows robot 100 to detect its exercise data automatically, when a failure occurs, movement
Data will appear exception, when monitoring that exercise data occurs abnormal, be not using the hard stops such as powering off by the way of, but controlling
Handled at portion 204 processed, i.e., control unit 204 stops generating control waveform, make motor 208 when not receiving driving current from
It is dynamic to stop, robot 100 is reduced because stopping the damage to all parts brought suddenly.
As a kind of for example, driving portion 207 can generate driving force in real time during driving motor 208 moves
Indicated value SG, driving force indicated value SG represent that 207 remaining driving force of driving portion namely remaining drive of motor 208 are born
The ability of load, SG is bigger to represent that remaining driving force is higher, and SG is smaller to represent that remaining driving force is lower, when SG is for 0
The driving force for meaning driving portion 207 exhausts, has reached the maximum load capability of driving portion 207.
The preferred version of driving force indicated value SG is maintained in a suitable range, such as is indicated in driving force
In lower limiting value SGmin and driving force instruction upper limit value SGmax this section preferably, represent that the load of motor is suitable and extend
The service life of motor, the Chinese patent that this scheme is 201711003396.5 in the number of patent application that the applicant submits
It is discussed in detail in application documents (applying date is on October 24th, 2017), the application repeats no more.
In the present embodiment, the driving force indicated value SG generated in real time can be sent to control unit by driving portion 207
204, a driving force instruction minimum can be respectively arranged in control unit 204 to each motor in robot 100 and is made
For theory movement data, control unit 204 can be calculated in real time between driving force indicated value SG and driving force instruction minimum
Difference, when difference is less than a threshold value, that is, is judged as that robot 100 breaks down and (such as is touched with other objects
Hit), and then control unit 204 stops generating control waveform, robot 100 is automatically stopped.
As another for example, driving portion 207 can generate driving energy in real time during driving motor 208 moves
Driving force indicated value SG can also be converted to more intuitive power utilization by power indicated value SG, be submitted in the applicant
To above-mentioned in the Chinese patent application file (applying date is on October 24th, 2017) that number of patent application is 201711003367.9
Scheme has detailed discussion, and the application repeats no more.
Power utilization represents the usage rate of the load of 208 actual loaded of motor, and power utilization is smaller, represents motor
208 be actually utilized it is fewer；Power utilization is bigger, it is more to represent that motor 208 is actually utilized；Theoretically, power profit
If reaching 100% with rate, represent to have made motor 208 by driving portion 207 that full-load run is (i.e. under the driving current of user setting
It is used for the maximum load capability of motor 208)；Power utilization represents that motor 208 is no-load running for 0.
In the present embodiment, the driving force indicated value SG generated in real time can be sent to control unit by driving portion 207
204, control unit 204 is translated into power utilization, and each motor in robot 100 can be distinguished in control unit 204
Setting is theory movement data there are one power utilization maximum, and the power utilization being calculated in real time and power is sharp
Carry out mathematic interpolation with rate maximum, when the two difference be more than a threshold value when, it is believed that robot 100 break down (such as
Collide with other objects), and then control unit 204 stops generating control waveform, robot 100 is automatically stopped.
As another for example, encoder can also be provided on each joint of robot 100, such as this Shen
It is a kind of with encoder that the China for the Patent No. 201720587952.7 submitted of asking someone authorizes utility model patent to disclose
Robot, i.e., encoder is installed on the output shaft of retarder on its base, is formed for detecting motor and encoder
Moving component exercise data；Encoder can be equally provided on the joints such as large arm 2, forearm 3 in robot 100, is compiled
Code device can be arranged on the output shaft of motor, can be arranged on the output shaft of retarder, can also be arranged on motor and/
Or in the shaft of the output shaft synchronous of retarder (such as connected between motor and retarder and the shaft in the joint by drive mechanism
It connects).
The output terminal of encoder can be connected to control unit 204, control unit 204 can obtain encoder output in real time
According to the kinematic parameter of user setting, the code value that encoder should theoretically export can also be calculated in practical code value；Machine
People 100 is during the motion it is possible that failure, then motor 208 possibly can not move, therefore encoder according to theoretical value
It there is error (difference of the two) between the practical code value that detects and theoretical code value, this error in a certain range can be with
Compensate, once but this error be more than setting threshold value, that is, think robot 100 occur failure (such as with other objects
Body collides), and then control unit 204 stops generating control waveform, robot 100 is automatically stopped.
Encoder can detect the practical rotation data of motor 208 and retarder, such as the reduction ratio of retarder in real time
It is 50:1, for user by setting kinematic parameter that motor 208 is made to rotate 25 360 degree, i.e., theoretical upper reducer should be with movable joint
Rotate 180 degree, if encoder is 2000 line coding devices, then retarder rotation 180 degree when, encoder should generate 1000 lines
Signal, if only 950 lines that control unit 204 is an actually-received, that is, be lost 50 lines, this means that retarder has walked 9 degree less
(motor 208 has walked 450 degree less), if 50 lines during the threshold value of the difference of the two that we set, then control unit 204 should at this time
Stop generating control waveform, robot 100 is automatically stopped.
It should be noted that encoder be it is real-time generate code value, can essentially set one group of difference threshold value (or
The threshold curve of one difference), such as the path of 100 actual motion of robot is shorter, threshold value is smaller, path is longer, threshold value more
Greatly.
As another for example, in robot 100 real-time robot measurement can also be carried out by setting angle sensor
The exercise data in 100 each joint, such as an angular transducer is installed to detect in real time on the forearm 3 of robot 100
The angle of forearm 3 can also install the angle that an angular transducer detects large arm 2 in real time in large arm 2, can also be at end
One angular transducer of installation detects the angle of end effector in real time on the actuator of end.
User can use the movement angle value of the setting of robot controller 201 large arm 2, forearm 3 and end effector, such as
The initial angle of forearm 3 is 0 degree (i.e. forearm 3 is horizontal), forearm 3 is needed to move downward 45 degree, robot controller
201 can be sent to control unit 204 by 45 degree of user setting, this angle value is resolved the movement for motor 208 by control unit 204
Data, driving forearm 3 move downward, then angular transducer can be in real time by actual angle during forearm 3 moves downward
Value is sent to control unit 204, and according to the theoretical angle for resolving the obtained exercise data of motor 208, one group of forearm 3 being obtained
Angle value, control unit 204 can calculate the difference of the two in real time, once the difference of the two is more than a threshold value, that is, think robot
100 break down, and control unit 204 should stop generating control waveform, and robot 100 is automatically stopped.
For example, the reduction ratio of the retarder at forearm is 30:1, user needs forearm 3 to move downward 45 degree, i.e. motor needs
Rotate 1350 degree, i.e., motor needs 3.75 circle of rotation, and in motor rotation in real time, angular transducer in real time passes actual angle value
Control unit 204 is defeated by, the difference of real-time actual angle value and point of theory value can be calculated in control unit 204, the difference
It should control in a certain range and constantly restrain, once the difference is more than the threshold value of a setting, that is, think robot
100 break down, and control unit 204 should stop generating control waveform, and robot 100 is automatically stopped.
In the present embodiment, control unit 205 realizes the resolving to kinematic parameter, generates one group of periodic quantity P, as wave table
Data, periodic quantity P in wavetable data is different, then represents that the speed that motor 208 is run is different.
It is a kind of PWM waveform generator that PWM waveform, which generates unit 206, and the institute of PWM forms is generated according to the periodic quantity P
State control waveform.
Therefore, realizing the method for stopping generating control waveform is：PWM waveform, which generates unit 206, to be stopped generating PWM forms
Waveform is controlled, such driving portion 207 can not just receive control waveform again, therefore cannot generate driving current, and motor 208 can stop
Rotation stop is moved.
As a kind of deformation, control unit 204 can also be realized by a chip, such as the embedded FPGA by DSP core
Chip etc..At this time in order to realize the function of the present embodiment, can flexibly be designed, it is single in order to control without strictly distinguishing
Member and PWM waveform generate unit.
In the present embodiment, when control unit 204 includes control unit 205 and PWM waveform generates unit 206, control
Unit 205 calculates the difference of actual motion data and theory movement data and when difference is more than threshold value, and control unit 205 is produced
A raw trigger signal, the PWM waveform generate the institute that unit 206 stops generating PWM forms according to the trigger signal received
State control waveform, 208 stop motion of motor.
As another deformation, control unit 204 can also be included there are one individual computing unit, for calculating practical fortune
Dynamic difference between data and theory movement data.
As another deformation, control unit 204 can also be included there are one individual comparing unit, for more above-mentioned difference
Size between value and a preset threshold value.
As another deformation, when control unit 204 includes control unit 205 and PWM waveform generates unit 206, control
Unit 205 processed calculates the difference of actual motion data and theory movement data and when difference is more than threshold value, control unit 205
Control PWM waveform can also be used to generate, and the output terminal of unit, making it, the modes such as output signal do not stop generating control waveform.
As a kind of explanation, robot 100 is articulated robot, therefore can monitor multiple joints simultaneously according to demand
Exercise data, can also only monitor the exercise data in a joint, once monitor that the exercise data in some joint is managed with it
When being more than threshold value by the difference of exercise data, it should while control each joint of robot 100 wholly off, so that machine
The whole stop motion of people 100.
As a kind of deformation, robot 100 is articulated robot, therefore can monitor multiple joints simultaneously according to demand
Exercise data, can also only monitor the exercise data in a joint, once monitor that the exercise data in some joint is managed with it
When being more than threshold value by the difference of exercise data, associated partial joint can also only be made to stop by the way of the present embodiment
Only, and other joints may be used deceleration and the modes stop motion such as stop, can preferably protecting each portion of robot 100
Part reduces damage.
The robot 100 of the present invention can calculate the theory movement number in each joint according to the kinematic parameter of user setting
According to, then robot 100 obtains the actual motion data in each joint in real time, the deviation difference of real-time judge therebetween, and one
The difference of denier therebetween is more than a threshold value, thinks that robot 100 breaks down, and then stops producing by control unit 204
The mode of raw control waveform, makes driving portion 207 that can not receive control waveform and then can not generate driving current, corresponding electricity
The i.e. stop motion of machine 208, and then 100 stop motion of robot, had both reached self-braking purpose, had also reduced to robot
The damage of 100 all parts.
As another specific embodiment, with reference to refer to the attached drawing 3, attached drawing 3 shows that one kind is automatically stopped method S300, should
For articulated robot 100 of the present invention and robot system 200, the method S300 includes：
S301：The actual motion data of the moving component are obtained in real time；Exercise data can be that driving portion 207 generates
Driving force indicated value SG, can be power utilization, the code value that can be corresponding encoder, can be corresponding angle and pass
The angle value of sensor can also be torque or output current of motor 208 etc..Different exercise datas can reflect machine
The motion state of the moving component (such as motor 208) in some joint of people 100 represents the position of the actual motion in the joint
And/or track, and then 100 real-time movement locus of robot can be judged according to exercise data.
S302：Compared with the actual motion data are carried out in real time with one group of theory movement data；Once user passes through machine
Device people controller 201 is provided with the kinematic parameter of robot 100, and control unit 204 can resolve the kinematic parameter of user setting
The control waveform of motor 208 for each joint, driving portion 207 control motor 208 in real time according to obtained control waveform is resolved
It moves and then drives each joint motions.
Therefore after user sets kinematic parameter, control unit 204 can resolve to obtain the moving component in each joint
One group of theory movement data, the theory movement data characterization optimal movement locus of robot 100, in actual motion process
In, the actual motion track of robot 100 and optimal theoretic movement locus are there may be deviation, when deviation is smaller,
Control unit 204 can also be compensated according to deviation in subsequent motion process so that the movement locus of robot 100 is use up
Amount is close to the optimal movement locus.It should be noted that theory movement data can also be calculated in real time, such as
Once robot 100 can correct its movement locus in real time during the motion, then corresponding theory movement track may also be sent out
Changing, in this case theory movement data be calculated in real time.
Once but robot 100 break down (such as robot 100 during the motion with other objects generation touch
Hit), the deviation between the actual motion data of robot 100 and theory movement data will become larger, present invention setting one
Threshold value once detecting that the difference between actual motion data and theory movement data is more than the threshold value in real time, that is, thinks machine
Device people 100 is broken down, it is therefore desirable to do the stopping processing of step S303.
It should be noted that the corresponding threshold value of different exercise data types may be different, same exercise data type exists
May also be different under different kinematic parameters, which can be one group of data being set in advance in control unit 204, can also
It is the data by user by 201 setting of robot control, this can't influence protection scope of the present invention.
S303：When the difference of the actual motion data and the theory movement data is more than a threshold value, the control
Portion processed stops generating the control waveform, makes the articulated robot stop motion.
Once robot 100 breaks down (such as robot 100 generates collision with other objects during the motion), machine
Deviation between the actual motion data of device people 100 and theory movement data will become larger, the present invention one threshold value of setting, and one
Denier detects that the difference between actual motion data and theory movement data is more than the threshold value in real time, that is, thinks robot 100
It breaks down, and then control unit 204 stops generating control waveform, then driving portion 207 can not receive control waveform, Jin Erwu
Method generates driving current again, and motor 208 stops operating due to not receiving driving current.
As a kind of explanation, robot 100 is articulated robot, therefore can monitor multiple joints simultaneously according to demand
Exercise data, can also only monitor the exercise data in a joint, once monitor that the exercise data in some joint is managed with it
When being more than threshold value by the difference of exercise data, it should while control each joint of robot 100 wholly off, so that machine
The whole stop motion of people 100.
As a kind of deformation, robot 100 is articulated robot, therefore can monitor multiple joints simultaneously according to demand
Exercise data, can also only monitor the exercise data in a joint, once monitor that the exercise data in some joint is managed with it
When being more than threshold value by the difference of exercise data, associated partial joint can also only be made to stop by the way of the present embodiment
Only, and other joints may be used deceleration and the modes stop motion such as stop, can preferably protecting each portion of robot 100
Part reduces damage.
According to the kinematic parameter of user setting can to calculate robot 100 each by the method S300 that is automatically stopped of the present invention
The theory movement data in joint, then robot 100 obtain in real time both the actual motion data in each joint, real-time judge it
Between deviation difference, once difference therebetween is more than a threshold value, thinks that robot 100 breaks down, and then passes through
Control unit 204 stops generating the mode of control waveform, makes driving portion 207 that can not receive control waveform and then can not generate drive
Streaming current, the i.e. stop motion of corresponding motor 208, and then 100 stop motion of robot, had both reached self-braking purpose,
Also reduce the damage to 100 all parts of robot.
Articulated robot 100 provided by the invention and method S300 is automatically stopped by detecting robot 100 in real time
The modes of the actual motion data of moving component, the actual motion track for obtaining robot 100, then by actual motion data with
One group of theory movement data (can be that calculated in advance obtains, can also be calculated in real time) is compared, one in real time
The difference of denier therebetween is more than a threshold value, thinks that failure occurs in robot 100, needs stop motion immediately, this hair
It is bright not to be using power-off etc. by the way of hard stops, but control unit 204 judges to stop generating control waveform immediately after breaking down,
Driving portion 207 due to do not receive control waveform so that can not output driving current, motor 208 when thering is no driving current from
It is dynamic to stop, it was automatically stopped when both having realized automatic detection, failure of the robot 100 to displacement state in this way, without
Need the manipulation of personnel；It is reduced again because the hard stops modes such as power-off are to 100 all parts of robot, especially mechanical part
Damage, solves the technical issues of in background technology.
Above-described is only specific embodiments of the present invention, it should be understood that the explanation of above example is only used
In facilitating the understanding of the method and its core concept of the invention, the protection domain that is not intended to limit the present invention is all the present invention's
Any modification for being made within thought and principle, equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of articulated robot with automatic hold function includes sequentially connected multiple joints, drives each close
The moving component of movement, the control parts of motion of the driving moving component movement are saved, the control parts of motion includes control
Portion processed and driving portion,
The control unit, for generating control waveform according to kinematic parameter；
The driving portion, for generating driving current according to the control waveform, the driving moving component moves；
It is characterized in that：
The control unit, is additionally operable to obtain the actual motion data of the moving component in real time, and by the actual motion data
It is compared with one group of theory movement data；When the difference of the actual motion data and the theory movement data is more than one
During threshold value, the control unit stops generating the control waveform.
2. the articulated robot according to claim 1 with automatic hold function, it is characterised in that：
The actual motion data of the moving component are the driving force indicated value SG that the driving portion generates；
The theory movement data indicate minimum for driving force；
When the driving force indicated value SG, which is less than driving force instruction minimum, is more than a threshold value, the control unit
Stop generating the control waveform.
3. the articulated robot according to claim 1 with automatic hold function, it is characterised in that：
The actual motion data of the moving component are the power utilization of the moving component；
The theory movement data are power utilization maximum；
When the power utilization, which is more than the power utilization maximum, is more than a threshold value, the control unit stops generating institute
State control waveform.
4. the articulated robot according to claim 1 with automatic hold function, it is characterised in that：
Practical code value of the actual motion data of the moving component for the encoder output on each joint；
The theory movement data are the theoretical code value of the encoder；
When the practical code value, which is less than the theoretical code value, is more than a threshold value, the control unit stops generating the control wave
Shape.
5. the articulated robot according to claim 1 with automatic hold function, it is characterised in that：
The reality that the actual motion data of the moving component are generated for the angular transducer on the articulated robot
Border angle value；
The theory movement data are the point of theory value of the angular transducer；
When the difference of the point of theory value and the actual angle value is more than a threshold value, the control unit stops described in generation
Control waveform.
6. the articulated robot with automatic hold function according to claim 2-5, it is characterised in that：
The control unit includes control unit and PWM waveform generates unit, and described control unit is produced according to the kinematic parameter
Raw one group of periodic quantity P, the PWM waveform generate the control waveform that unit generates PWM forms according to the periodic quantity P；
The control unit stops the generation control waveform and refers to：The PWM waveform, which generates unit, to be stopped generating the PWM forms
The control waveform.
7. the articulated robot according to claim 6 with automatic hold function, it is characterised in that：
The control unit stops the generation control waveform and refers to：When the actual motion data and the theory movement data
When difference is more than a threshold value, described control unit generates a trigger signal；The PWM waveform generates unit and is touched according to described
It signals, the control waveform of the stopping generation PWM forms.
8. one kind is automatically stopped method, applied to articulated robot, the articulated robot includes sequentially connected more
The control parts of motion that a joint, the moving component for driving each joint motions, the driving moving component move, the movement
Control unit includes control unit and driving portion,
The control unit, for generating control waveform according to kinematic parameter；
The driving portion, for generating driving current according to the control waveform, the driving moving component moves；
It is characterized in that, the method includes：
The actual motion data of the moving component are obtained in real time；
Compared with the actual motion data are carried out in real time with one group of theory movement data；
When the difference of the actual motion data and the theory movement data is more than a threshold value, the control unit stops production
The raw control waveform, makes the articulated robot stop motion.
9. according to claim 8 be automatically stopped method, it is characterised in that：
The actual motion data of the moving component are the driving force indicated value SG that the driving portion generates；
The theory movement data indicate minimum for driving force；
When the driving force indicated value SG, which is less than driving force instruction minimum, is more than a threshold value, the control unit
Stop generating the control waveform, make the articulated robot stop motion.
10. according to claim 8 be automatically stopped method, it is characterised in that：
The actual motion data of the moving component are the power utilization of the moving component；
The theory movement data are power utilization maximum；
When the power utilization, which is more than the power utilization maximum, is more than a threshold value, the control unit stops generating institute
Control waveform is stated, makes the articulated robot stop motion.
11. according to claim 8 be automatically stopped method, it is characterised in that：
Practical code value of the actual motion data of the moving component for the encoder output on each joint；
The theory movement data are the theoretical code value of the encoder；
When the practical code value, which is less than the theoretical code value, is more than a threshold value, the control unit stops generating the control wave
Shape makes the articulated robot stop motion.
12. according to claim 8 be automatically stopped method, it is characterised in that：
The reality that the actual motion data of the moving component are generated for the angular transducer on the articulated robot
Border angle value；
The theory movement data are the point of theory value of the angular transducer；
When the difference of the point of theory value and the actual angle value is more than a threshold value, the control unit stops described in generation
Waveform is controlled, makes the articulated robot stop motion.
13. it is automatically stopped method according to claim 9-12, it is characterised in that：
The control unit includes control unit and PWM waveform generates unit, and described control unit is produced according to the kinematic parameter
Raw one group of periodic quantity P, the PWM waveform generate the control waveform that unit generates PWM forms according to the periodic quantity P；
The control unit stops generating the control waveform, refers to the articulated robot stop motion：The PWM waveform
The control waveform that unit stops generating the PWM forms is generated, the driving portion stops driving the moving component movement,
Make the articulated robot stop motion.
14. according to claim 13 be automatically stopped method, it is characterised in that：
The control unit stops the generation control waveform and refers to：When the actual motion data and the theory movement data
When difference is more than a threshold value, described control unit generates a trigger signal；The PWM waveform generates unit and is touched according to described
It signals, the control waveform of the stopping generation PWM forms.
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| CN201810048733.0A CN108145716A (en) | 2018-01-18 | 2018-01-18 | Articulated robot with automatic hold function and it is automatically stopped method |
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| CN111736556A (en) * | 2020-06-29 | 2020-10-02 | 浙江明度智控科技有限公司 | Warehousing operation and maintenance management system applied to intelligent manufacturing |
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| CN111523522A (en) * | 2020-06-29 | 2020-08-11 | 浙江明度智控科技有限公司 | Intelligent operation and maintenance management method and management system for equipment |
| CN112207824A (en) * | 2020-09-22 | 2021-01-12 | 慧灵科技（深圳）有限公司 | Method, system, device and storage medium for controlling multiple single-axis modules |
| CN114589690A (en) * | 2020-12-07 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Robot joint pose monitoring method and device |
| WO2023060423A1 (en) * | 2021-10-12 | 2023-04-20 | Shanghai Flexiv Robotics Technology Co., Ltd. | Safety system, joint assembly with safety system, and robot having joint assembly |
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