CN108858211A - anti-collision mechanism, robot and anti-collision method - Google Patents
anti-collision mechanism, robot and anti-collision method Download PDFInfo
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- 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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- 230000007246 mechanism Effects 0.000 title claims abstract description 34
- 238000012360 testing method Methods 0.000 claims description 50
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000005611 electricity Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 239000012636 effector Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 1
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Classifications
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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
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls 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)
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Abstract
The invention provides an anti-collision mechanism, a robot and an anti-collision method. This anticollision mechanism includes the work portion, detection portion and control part, the work portion can be at the within range activity of predetermineeing, the detection portion is connected with the work portion, be connected with detection portion and work portion electricity through setting up the control part, work position in predetermineeing the distance, and when the detection portion detected the distance grow gradually of work portion and external object, the work portion normally works, when the detection portion detected the distance of work portion and external object and gradually become little, control part control work portion stop work, it can avoid causing the damage with external object contact to set up like this to have guaranteed that the work portion, and can guarantee that external object is at the removal in-process, the work portion still can normally work in certain safety range, is not influenced.
Description
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.
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| CN201811126776.2A CN108858211A (en) | 2018-09-26 | 2018-09-26 | anti-collision mechanism, robot and anti-collision method |
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| CN201811126776.2A CN108858211A (en) | 2018-09-26 | 2018-09-26 | anti-collision mechanism, robot and anti-collision method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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