CN108858211A - Anti-collision mechanism, robot and collision-proof method - Google Patents

Anti-collision mechanism, robot and collision-proof method Download PDF

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Publication number
CN108858211A
CN108858211A CN201811126776.2A CN201811126776A CN108858211A CN 108858211 A CN108858211 A CN 108858211A CN 201811126776 A CN201811126776 A CN 201811126776A CN 108858211 A CN108858211 A CN 108858211A
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CN
China
Prior art keywords
work department
distance
collision
test section
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811126776.2A
Other languages
Chinese (zh)
Inventor
陈超
李响
董术海
杨玉丽
沈显东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gree Electric Appliances Inc of Zhuhai, Zhuhai Gree Intelligent Equipment Co Ltd filed Critical Gree Electric Appliances Inc of Zhuhai
Priority to CN201811126776.2A priority Critical patent/CN108858211A/en
Publication of CN108858211A publication Critical patent/CN108858211A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides a kind of Anti-collision mechanism, robot and collision-proof methods.The Anti-collision mechanism includes work department, test section and control unit, work department can be movable within a preset range, test section is connected with work department, it is electrically connected by setting control unit with test section and work department, when working position is in pre-determined distance, and when test section detects that work department becomes larger at a distance from external object, work department works normally, when test section detects that work department gradually becomes smaller at a distance from external object, control unit control work department stops working, setting ensure that work department can be avoided to contact with external object and cause to damage in this way, and it can guarantee external object in moving process, work department remains to work normally in certain safe range, it is unaffected.

Description

Anti-collision mechanism, robot and collision-proof method
Technical field
The present invention relates to technical field of workshop equipment, in particular to a kind of Anti-collision mechanism, robot and anticollision Method.
Background technique
With industrialized process, industrial robot just quickly replaces manpower, become in manufacturing industry most important equipment it One.However, industrial robot may be because of operator in debugging, use process as a kind of tool dangerous equipment Member fault or other failures cause industrial robot to collide with staff or other objects, in turn result in casualties or Equipment damage.For avoid industrial robot and other objects collide or collide after generate and seriously damage, existing protection is arranged It applies and equipment mainly has following mode:1. using protective fence etc. physical isolation facility by industrial robot be isolated from the outside with Prevention industrial robot collides with personnel or object, but by applying or place is limited, and is physically isolated that there are limitations, and nothing Method avoids industrial robot from colliding with the object within protective fence;2. detecting collision, the party using anti-collision sensor Method can accurately detect the impact force of end-of-arm tooling, but can not detect the collision at other positions of industrial robot, application range It is limited;3. detecting collision by detection current of electric or feedback moment, this method is widely used in industrial robot field, nothing Need additional placement sensor.But it is not high to there is detection impact force accuracy, and setting inconvenience, there are certain restrictions on.No matter There is a premise using anti-collision sensor or moment inspecting, i.e. industrial machine human body or end effector must be with Personnel or object, which generate to be physically contacted and generate certain power, could trigger emergency stop function, and there are still damage personnel or objects Risk.
Summary of the invention
The main purpose of the present invention is to provide a kind of Anti-collision mechanism, robot and collision-proof methods, existing to solve In technology there is security risk in Anti-collision mechanism.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of Anti-collision mechanism, including:Work Portion, work department can be movable within a preset range;Test section, test section are connected with work department, and test section is for detecting work department At a distance from external object;Control unit, control unit are electrically connected with test section and work department, when working position is in pre-determined distance, And when test section detects that work department becomes larger at a distance from external object, work department is worked normally, when test section detects When gradually becoming smaller at a distance from external object to work department, control unit control work department stops working.
Further, Anti-collision mechanism further includes:Terminal control portion, terminal control portion are electrically connected with control unit and work department It connects, terminal control portion controls the operating mode of work department.
Further, test section is multiple, and multiple test sections are uniformly distributed along the circumferential direction of work department, and multiple test sections are used for The different location of work department is detected at a distance from external object.
Further, test section is laser range sensor or infrared distance sensor or ultrasonic distance-measuring sensor.
Further, the size of pre-determined distance can be adjusted by control unit.
Further, control unit includes display module, and display module is used to show the numerical value of pre-determined distance.
Further, control unit includes:Automatic control module, automatic control module can be used for automatically adjusting pre-determined distance, And/or manual control module, manual control module can be used for that pre-determined distance is manually operated.
Further, control unit further includes:Emergency stop module, operation emergency stop module can make work department stop working or work again Make.
According to another aspect of the present invention, a kind of robot, including Anti-collision mechanism are provided, Anti-collision mechanism is above-mentioned Anti-collision mechanism.
According to another aspect of the present invention, a kind of collision-proof method is provided, collision-proof method includes the following steps:Operation Control unit is in Approximation Model, when work department is located in pre-determined distance at a distance from external object, when test section detects work When portion becomes larger at a distance from external object, work department is worked normally, when test section detects work department and external object When distance gradually becomes smaller, control unit control work department stops working.
Further, collision-proof method is further comprising the steps of:Operation control portion is in i.e. stop mode, when work department and outside When the distance of boundary's object is located at outside pre-determined distance, work department is worked normally, and is preset when work department is located at a distance from external object Apart from it is interior when, control unit control work department stop working.
Further, collision-proof method is further comprising the steps of:The automatic control module of operation control portion is to automatically adjust Pre-determined distance, alternatively, the manual control module of operation control portion, by manually adjusting pre-determined distance.
Further, collision-proof method is further comprising the steps of:The emergency stop module of operation control portion, so that work department is at once It stops working or reworks.
It applies the technical scheme of the present invention, is electrically connected by setting control unit with test section and work department, works as working position In in pre-determined distance, and when test section detects that work department becomes larger at a distance from external object, work department is worked normally, When test section detects that work department gradually becomes smaller at a distance from external object, control unit control work department stops working, in this way Setting ensure that work department can be avoided to contact with external object and cause to damage, and external object can be guaranteed in moving process In, work department remains to work normally in certain safe range, unaffected.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of Anti-collision mechanism according to the present invention;
Fig. 2 shows the structural schematic diagrams of the work department of Anti-collision mechanism according to the present invention and the embodiment of test section.
Wherein, above-mentioned attached drawing includes the following drawings label:
10, work department;11, end effector;
20, test section;
30, control unit;31, display module;
40, terminal control portion.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that term " first ", " second " etc. in the description and claims of this application and attached drawing It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the art used in this way Language is interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to illustrating herein Or the sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce The other step or units of product or equipment inherently.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ", " ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and " in ... lower section " two kinds of orientation.The device can also with 90 degree of other different modes position rotatings or be in other orientation, and Respective explanations are made to the opposite description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein Formula.It should be understood that it is thoroughly and complete to these embodiments are provided so that disclosure herein, and these are shown The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand The big thickness of layer and region, and make that identical device is presented with like reference characters, thus omission retouches them It states.
Referring to figs. 1 and 2, according to an embodiment of the invention, providing a kind of Anti-collision mechanism.
Specifically, as shown in Figure 1, the Anti-collision mechanism includes work department 10, test section 20 and control unit 30, work department 10 Can be movable within a preset range, test section 20 is connected with work department 10, and test section 20 is for detecting work department 10 and foreign objects The distance of body, control unit 30 are electrically connected with test section 20 and work department 10, when work department 10 is located in pre-determined distance, and are detected When portion 20 detects that work department 10 becomes larger at a distance from external object, work department 10 is worked normally, when test section 20 detects When gradually becoming smaller at a distance from external object to work department 10, control unit 30 controls work department 10 and stops working.
In the present embodiment, be electrically connected by setting control unit with test section and work department, when working position in preset away from From interior, and when test section detects that work department becomes larger at a distance from external object, work department is worked normally, and works as test section When detecting that work department gradually becomes smaller at a distance from external object, control unit control work department stops working, and setting in this way guarantees Work department, which can be avoided to contact with external object, to be caused to damage, and can guarantee external object in moving process, work department It remains to work normally in certain safe range, it is unaffected.
Further, Anti-collision mechanism further includes:Terminal control portion 40, terminal control portion 40 and control unit 30 and work department 10 electrical connections, terminal control portion 40 control the operating mode of work department 10.It can be directly to work department 10 by terminal control portion 40 Operating mode controlled, such as adjust work department 10 operating angle, working frequency etc..
In the present embodiment, test section 20 is multiple, and multiple test sections 20 are uniformly distributed along the circumferential direction of work department 10, multiple Test section 20 is used to detect the different location of work department 10 at a distance from external object.Setting can make the more of work department in this way A position can carry out ranging with external object, and setting in this way may insure that work department 10 will not be in contact with external object.
Wherein, test section 20 is laser range sensor or infrared distance sensor or ultrasonic distance-measuring sensor.Detection The optional type in portion 20 is laser range sensor, infrared distance sensor, ultrasonic distance-measuring sensor.Ultrasonic distance-measuring sensor Launch angle is larger, and measurement is closer, and precision is cheap generally in Centimeter Level, not high suitable for required precision, needs big The scene of range monitoring;Infrared distance sensor launch angle is smaller than ultrasonic distance-measuring sensor, and ranging is remoter than its;Laser ranging Sensor emission angle is minimum, and measurement distance is farthest, and precision can meet required precision height, need a small range up to grade The scene of monitoring, but cost highest.By being required according to different scenes difference, flexibly collocation uses different range sensors, Not only it can meet requirement, but also efficiency-cost ratio optimization can be reached.
In the present embodiment, the size of pre-determined distance can be adjusted by control unit 30.Setting can be according to anti-in this way Application environment and the use condition of mechanism are collided different pre-determined distances is arranged.
Further, control unit 30 includes display module 31, and display module 31 is used to show the numerical value of pre-determined distance.Pass through Display module 31 is set on control unit, in order to which user intuitively observes the size of set pre-determined distance, and is convenient for user Further adjusting.
In the present embodiment, control unit 30 includes automatic control module or manual control module, and the two can also be same certainly When exist, automatic control module can be used for automatically adjusting pre-determined distance, and manual control module can be used for that pre-determined distance is manually operated. Setting is selected using automatic control module or is manually controlled according to the different use environments of Anti-collision mechanism convenient for user in this way Module, when object is to be mostly standing object in environment, using manual control module, when object is mostly moving object in environment When, using automatic control module, whether setting in this way detects the distance between work department 10 and external object convenient for test section 20 It becomes larger in safe distance, not will receive the limitation of pre-determined distance and direct work department is caused to stop working.
In addition, control unit 30 further includes emergency stop module, operation emergency stop module can make work department 10 stop working or work again Make.When work department 10 encounters emergency risks environment, urgent danger prevention can be carried out using emergency stop module, stop work department 10 immediately Movement, when releasing emergency risks environment, operating emergency stop module again can make work department 10 resume work.
The collision mechanism of above-described embodiment can be also used for robot device's technical field, i.e., it is according to the present invention another Aspect provides a kind of robot, which includes Anti-collision mechanism, and Anti-collision mechanism is that the anti-collision of above-described embodiment collides Structure.
A kind of collision-proof method is provided according to another aspect of the present invention, and collision-proof method includes the following steps:Behaviour Make control unit 30 and be in Approximation Model, when work department 10 is located in pre-determined distance at a distance from external object, when test section 20 is examined When measuring work department 10 and becoming larger at a distance from external object, work department 10 is worked normally, when test section 20 detects work When portion 10 gradually becomes smaller at a distance from external object, control unit 30 controls work department 10 and stops working.It is forced when control unit 30 is in When plesiotype, when test section detects that object distance is less than pre-determined distance and continues to reduce on tested direction, output promptly stops Stop signal, it is not defeated when object distance is more than or equal to pre-determined distance or less than pre-determined distance but when not reducing persistently on tested direction Washout out.
In addition, collision-proof method is further comprising the steps of:Operation control portion 30 is in i.e. stop mode, when work department 10 and outside When the distance of boundary's object is located at outside pre-determined distance, work department 10 is worked normally, when work department 10 is located at a distance from external object When in pre-determined distance, control unit 30 controls work department 10 and stops working.When control unit 30 is in i.e. stop mode, test section 20 is examined When measuring on tested direction object distance and being less than pre-determined distance, pass through signal output port output washout to machine immediately Device people's controller.When object distance is more than or equal to pre-determined distance on tested direction, stop output washout.
Further, collision-proof method is further comprising the steps of:The automatic control module of operation control portion 30 to adjust automatically Pre-determined distance is saved, alternatively, the manual control module of operation control portion 30, by manually adjusting pre-determined distance.When control unit is in When manual control module, the button of operation control portion is adjusted to the number of display module 31 to increased or decrease pre-determined distance Required numerical value, when control unit is in self-adjustment module, convenient for test section 20 detect work department 10 and external object it Between distance whether become larger the limitation that not will receive pre-determined distance in safe distance and cause directly to stop working.
Further, collision-proof method is further comprising the steps of:The emergency stop module of operation control portion 30, so that work department 10 It stops working or reworks at once.When work department 10 encounters emergency risks environment, can promptly be kept away using emergency stop module Danger, makes the stop motion immediately of work department 10, and when releasing emergency risks environment, operating emergency stop module again can make work department 10 extensive It returns to work work.
It is provided with end effector tooling in work department 10, is flexibly examined range sensor using different mounting assemblies Survey portion 20 is installed in work department 10 or on robot body with various angles, utmostly reduces test section 20 to work department 10 With the influence of robot.
Controller, which is one, has signal input output interface, the module with display screen and operation button.The controller With easy to operate, the advantages that reliable performance, using flexible, it is able to satisfy and is worked normally in complex industrial production environment.
Controller is communicated with range sensor, that is, sensor and robot controller by cable, range sensor Controller is transferred data to, controller carries out processing analysis to data, and it is dedicated outer then to output signals to robot controller Portion emergency stop port runs industrial robot emergent stopping.
As shown in Fig. 2, test section 20 is evenly distributed on the working plate of work department 10, ranging direction is with the end of work department 10 11 center of actuator is held outwardly, to monitor the accident collision from 11 surrounding of end effector.
Four range sensor, that is, test section cables are connected respectively to signal input port on controller, on controller Signal output port is connect by cable with emergency stop port outside robot controller.
Than that described above, it is also necessary to which explanation is " one embodiment " spoken of in the present specification, " another implementation Example ", " embodiment " etc. refer to that specific features, structure or the feature of embodiment description is combined to be included in the application summary Property description at least one embodiment in.It is not centainly to refer to the same reality that statement of the same race, which occur, in multiple places in the description Apply example.Furthermore, it is understood that is advocated is knot when describing a specific features, structure or feature in conjunction with any embodiment Other embodiments are closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment Point, reference can be made to the related descriptions of other embodiments.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification, Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (13)

1. a kind of Anti-collision mechanism, which is characterized in that including:
Work department (10), the work department (10) can be movable within a preset range;
Test section (20), the test section (20) are connected with the work department (10), and the test section (20) is for detecting institute Work department (10) is stated at a distance from external object;
Control unit (30), the control unit (30) is electrically connected with the test section (20) and the work department (10), when the work Make portion (10) to be located in pre-determined distance, and the test section (20) detects the work department (10) at a distance from external object When becoming larger, the work department (10) is worked normally, when the test section (20) detects the work department (10) and the external world When the distance of object gradually becomes smaller, the control unit (30) controls the work department (10) and stops working.
2. Anti-collision mechanism according to claim 1, which is characterized in that the Anti-collision mechanism further includes:
Terminal control portion (40), the terminal control portion (40) are electrically connected with the control unit (30) and the work department (10), The terminal control portion (40) controls the operating mode of the work department (10).
3. Anti-collision mechanism according to claim 1, which is characterized in that the test section (20) be it is multiple, it is multiple described Test section (20) is uniformly distributed along the circumferential direction of the work department (10), and multiple test sections (20) are for detecting the work department (10) different location is at a distance from external object.
4. Anti-collision mechanism according to claim 1, which is characterized in that the test section (20) is laser range sensor Or infrared distance sensor or ultrasonic distance-measuring sensor.
5. Anti-collision mechanism according to claim 1, which is characterized in that the size of the pre-determined distance can pass through the control Portion (30) processed is adjusted.
6. Anti-collision mechanism according to claim 1, which is characterized in that the control unit (30) includes display module (31), the display module (31) is used to show the numerical value of the pre-determined distance.
7. Anti-collision mechanism according to claim 1, which is characterized in that the control unit (30) includes:
Automatic control module, the automatic control module can be used for automatically adjusting the pre-determined distance, and/or
Manual control module, the manual control module can be used for being manually operated the pre-determined distance.
8. Anti-collision mechanism according to claim 1, which is characterized in that the control unit (30) further includes:
Emergency stop module, operating the emergency stop module can make the work department (10) stop working or rework.
9. a kind of robot, including Anti-collision mechanism, which is characterized in that the Anti-collision mechanism is any one of claim 1 to 8 The Anti-collision mechanism.
10. a kind of collision-proof method, which is characterized in that the collision-proof method includes the following steps:
Operation control portion (30) is in Approximation Model, when work department (10) is located in pre-determined distance at a distance from external object, when When test section (20) detects that the work department (10) becomes larger at a distance from external object, the normal work of the work department (10) Make, when the test section (20) detects that the work department (10) gradually becomes smaller at a distance from external object, the control unit (30) work department (10) is controlled to stop working.
11. collision-proof method according to claim 10, which is characterized in that the collision-proof method further includes following step Suddenly:
Operate the control unit (30) and be in i.e. stop mode, when the work department (10) at a distance from external object positioned at described pre- If apart from it is outer when, the work department (10) works normally, when the work department (10) with external object at a distance from positioned at described pre- If apart from it is interior when, the control unit (30) controls the work department (10) and stops working.
12. collision-proof method according to claim 10, which is characterized in that the collision-proof method further includes following step Suddenly:
The automatic control module of the control unit (30) is operated to automatically adjust the pre-determined distance, alternatively, operating the control The manual control module in portion (30), by manually adjusting the pre-determined distance.
13. collision-proof method according to claim 10, which is characterized in that the collision-proof method further includes following step Suddenly:
The emergency stop module of the control unit (30) is operated, so that the work department (10) stops working or reworks at once.
CN201811126776.2A 2018-09-26 2018-09-26 Anti-collision mechanism, robot and collision-proof method Pending CN108858211A (en)

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Application Number Priority Date Filing Date Title
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CN110421598A (en) * 2019-08-13 2019-11-08 中铁第四勘察设计院集团有限公司 A kind of train set comprehensive detection device collision avoidance system
CN114770606A (en) * 2022-05-25 2022-07-22 深圳市大族机器人有限公司 Dustproof and waterproof type automatic production cooperative robot
CN117140592A (en) * 2023-09-15 2023-12-01 江苏科钛机器人有限公司 Industrial welding robot with collision warning function and warning method thereof

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CN108527374A (en) * 2018-06-29 2018-09-14 德淮半导体有限公司 Anti-collision system and method applied to mechanical arm
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CN117140592B (en) * 2023-09-15 2024-06-11 江苏科钛机器人有限公司 Industrial welding robot with collision warning function and warning method thereof

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Application publication date: 20181123