CN108942915A - Method for programming speed of cooperative robot - Google Patents
Method for programming speed of cooperative robot Download PDFInfo
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- CN108942915A CN108942915A CN201810203730.XA CN201810203730A CN108942915A CN 108942915 A CN108942915 A CN 108942915A CN 201810203730 A CN201810203730 A CN 201810203730A CN 108942915 A CN108942915 A CN 108942915A
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- speed
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003860 storage Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000012144 step-by-step procedure Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a method for programming speed of a cooperative robot, which comprises the steps of comparing a human body stress comparison table with different human body parts entering a cooperative area according to setting, comparing a limiting speed of the cooperative area by a speed acting force comparison table, and adjusting a standard operation speed as an operation speed of a cooperative mode when the maximum standard operation speed is greater than the limiting speed so as to quickly finish programming.
Description
Technical field
The present invention relates to a kind of robots more particularly to industrial robot in man-machine collaboration, and programming robot security makees
The method of industry speed.
Background technique
Robot has flexibly mobile, accurate positioning and continuous production process characteristic, it has also become manufactures in product line
The best sharp weapon of assembling.And simplify the programming of robot manipulating task, allow robot to rapidly join production line, it has also become hoisting machine people
The important topic of production efficiency.
The robot of the prior art in man-machine collaboration, usually using sensor detecting operator close to robot away from
From when detecting operator does not enter workspace, to program optimal normal operation speed, full speed operation, which is promoted, to be made for robot
Industry efficiency.When detecting operator enters cooperative work area, robot automatically switches to collaboration mode, by operating speed tune
It is down to the cooperative job speed of programming setting.Under cooperative job speed, even if robot touches operator, operator
It will not be injured.And when robot detecting operator enters dangerous work area, robot will be according to the urgent mould of programming setting
Operating speed is downgraded the urgent operating speed of programming setting by formula, the distance according to operator close to robot, stage tune
The operating speed of drop programming setting is to zero, to protect the safety of cooperative operation personnel.
However, the impact force that operator's each section human body can be born is different, such as head may be with regard to unbearable upper limb
Acceptable safe impact force, the robot of the prior art set the operating speed of various modes regardless of human body programming, are just difficult to
Reach safe man-machine collaboration.In addition, the programming normal operating speed of robot, is exactly that a time-consuming is heavy to operator
Work, also the operating speed of different phase is programmed close to the different parts of distance and body of robot according to operator, more
It is very time-consuming work.Therefore, cooperation humanoid robot is still problematic urgently to be resolved on program speed.
Summary of the invention
The purpose of the present invention is to provide a kind of methods of cooperating robotic programming speed, different according to coordinated regions are entered
Human body, minimum safe impact force is compared out by human body stress's table of comparisons, then compareed and decided by vote by robot speed's active force
Robot is determined in the limitation speed of coordinated regions, to ensure man-machine collaboration safety.
Another object of the present invention is to provide a kind of methods of cooperating robotic programming speed, most by programming robot
The standard mode operation of good operating speed, more maximum standard operation speed are more than limitation speed, adjust standard operation speed,
The operating speed of programming robot is rapidly completed.
In order to achieve the purpose that aforementioned invention, the method for cooperating robotic programming speed of the present invention stores human body in advance
The stress table of comparisons and the speed active force table of comparisons, reprogram standard mode operation, by the standard operation speed of standard mode operation,
Maximum standard operation speed is found out, and according to the human body parts for entering coordinated regions, by the more the smallest punching of human body stress's table of comparisons
Power is hit as safe impact force, the maximum operation speed of robot is found using the speed active force table of comparisons according to safe impact force
Degree when checking maximum standard operation speed no more than limitation speed, programs cooperation mould as limitation speed with standard operation speed
The operating speed of formula adjusts standard operation speed, as collaboration mode when checking that maximum standard operation speed is greater than limitation speed
Operating speed, be rapidly completed programming.Wherein aforementioned impact power can be replaced with clamping force.
The method of cooperating robotic programming speed of the present invention, human body stress's table of comparisons include that each portion's human body bears most favourable opposition
Hit power and the not injured data of maximum clamping force.And the speed active force table of comparisons includes the different work speed of robot, will be made
Industry speed triggers until shutdown through safe sensor mechanism, the data of the maximum impact force of generation and maximum clamping force.Cooperating
Robot utilizes storage device storage human body stress's table of comparisons and the speed active force table of comparisons.
The method of cooperating robotic programming speed of the present invention, wherein standard mode operation is with the optimal operation speed of robot
Degree carries out operation, and collaboration mode is then set as man-machine collaboration, controls robot with safety work speed and carries out operation.Cooperating machine
Device people programs the picture of collaboration mode using man-machine interface display, and human body is presented in picture, provides selection and is set into coordinated regions
Human body parts.The picture for programming collaboration mode shows maximum standard operation speed and limitation speed.
It when the present invention adjusts standard operation speed, then will be greater than the standard operation speed of limitation speed, be reduced to limitation speed
Degree, remaining maintains primary standard operating speed, the operating speed as collaboration mode.Or it calculates limitation speed and makees divided by maximum standard
The ratio of industry speed downgrades standard operation speed according to ratio ratio, the operating speed as collaboration mode.
Detailed description of the invention
Fig. 1 is the operating system figure of robot of the present invention；
Fig. 2 is the schematic diagram of human body stress's table of comparisons of robot of the present invention；
Fig. 3 is the schematic diagram of the speed active force table of comparisons of robot of the present invention；
Fig. 4 is the schematic diagram of present invention programming robot manipulating task speed；
Fig. 5 is the schematic diagram that another embodiment of the present invention programs robot manipulating task speed；
Fig. 6 is the picture figure of the man-machine interface programming of the present invention；
Fig. 7 is the flow chart of the method for cooperating robotic programming speed of the present invention.
Symbol description
10 operating systems
11 robots
12 controllers
13 man-machine interfaces
14 processing units
15 storage devices
16 normal areas
17 coordinated regions
Specific embodiment
The related present invention to reach above-mentioned purpose, now lift preferred embodiment, and match by used technological means and its effect
Conjunction attached drawing is illustrated as follows.
It please also refer to shown in Fig. 1 to Fig. 6, Fig. 1 is the operating system figure of robot of the present invention, and Fig. 2 is machine of the present invention
The schematic diagram of human body stress's table of comparisons of people, Fig. 3 are the schematic diagram of the speed active force table of comparisons of robot of the present invention, and Fig. 4 is
The present invention programs the schematic diagram of robot manipulating task speed, and Fig. 5 is that another embodiment of the present invention programs showing for robot manipulating task speed
It is intended to, Fig. 6 is the picture figure of the man-machine interface programming of the present invention.In Fig. 1, the operating system 10 of robot of the invention is main to wrap
Containing robot 11, controller 12 and man-machine interface 13.Wherein work pattern of the man-machine interface 13 to program robot 11, operation
Mode sets the different operating speed of robot 11.Controller 12 additionally comprises processing unit 14 and storage device 15, controller 12
The work pattern that man-machine interface 13 programs is stored using storage device 15, and 14 controls machine according to work pattern through the processing unit
Device people 11 carries out operation.
The workspace of robot 11 is separately divided into normal area 16 and coordinated regions by the operating system 10 of robot 11 of the present invention
17, wherein normal area 16, which is set as robot 11, carries out operation with the optimal operating speed of standard mode operation, and set taboo
Only operator enters, and damages to avoid the 11 impact operations personnel of robot of sharp work.And coordinated regions 17 are set as
The region of man-machine collaboration needs to control robot 11 with the safety work speed of collaboration mode and carries out operation, in collaboration mode
The maximum operating speed of robot 11, it is necessary to the state for being reduced to impact operations personnel not damage.Though the present embodiment with
Two workspaces are divided as explanation, but the present invention includes and is not limited to two workspaces, multiple work can be divided into according to safe condition
Area.
For the programming standard mode operation in normal area 16, the present invention can utilize 13 editing procedure of man-machine interface, dragger
The prior art known to device people 11 or importing pre-set programs etc., first programs the standard mode operation of robot 11, by the mark programmed
Quasi- work pattern forms the standard operation speed (Vs) of operation stroke, so that it may as Fig. 5 compares maximum standard operation speed
(Vsm).But for the collaboration mode of coordinated regions 17, it need to consider injury journey of the size to each portion's human body of 11 operating speed of robot
Degree, head, shoulder, upper arm, ancon, lower arm, hand, finger, chest, abdomen, upper limb, knee, lower limb and the foot of usual human body
Portion etc. has different impact forces or clamping force without injured Bearing degree.And the size of the operating speed of robot 11, for certainly
Determine robot 11 and causes impact force or clamping force most direct factor.
The present invention passes through ergonomics impact experiment in advance, obtains rough each portion's human body and absorbs impact the not injured number of power
According to human body stress's table of comparisons in, list such as Fig. 2, wherein such as hand and finger can about bear maximum impact force 280N (newton
Power) or maximum clamping force 140N it is not injured, and the data of human body stress's table of comparisons are had previously been stored in into storage device 15.In addition,
The present invention also passes through experiment, by robot for the impact force and clamping force of the different work speed generation of robot 11 in advance
11 each operating speeds are triggered via safe sensor mechanism, until reaching the shutdown of robot 11, the maximum impact force and maximum of generation
The data of clamping force, the speed active force table of comparisons of list such as Fig. 3, wherein the operating speed 250mm/sec of such as robot 11
When, the maximum impact force of generation is 280N and maximum clamping force 140N.Aforementioned human body stress's table of comparisons and the control of speed active force
Table includes and is not limited to table of comparisons mode and stores, the table of comparisons can also be with control line though the present embodiment is stored in a manner of the table of comparisons
Property mode store, in benefit extrapolation obtain contrasting data.
Therefore the present invention is when determining that the human body parts for entering coordinated regions 16 are, for example, hand, so that it may utilize human body stress couple
According to table, comparing out hand and bearing maximum impact force is 280N, as safe impact force 280N, recycles the control of speed active force
Table, according to the safe impact force 280N that aforementioned hand is born, comparing out the opposite maximum operation speed of robot 11 is 250mm/
Sec, to limit robot 11 coordinated regions 16 maximum operation speed in 250mm/sec hereinafter, just can ensure that operator
Hand coordinated regions 16 operation safety, and by the 250mm/sec of the opposite maximum operation speed of robot 11, as cooperation
The limitation speed (Va) in area 16.
The present invention, for the standard operation speed (Vs) programmed, considers association when programming the operating speed of collaboration mode
Make the limitation speed (Va) in area 16 to be adjusted when whether more maximum standard operation speed (Vsm) is greater than limitation speed (Va)
Standard operation speed (Vs), the operating speed as coordinated regions 16.There are many adjustment standard operation speed (Vs) embodiment,
Embodiment in Fig. 4 will be greater than limitation speed (Va) when more maximum standard operation speed (Vsm) is greater than limitation speed (Va)
Standard operation speed (Vs), be reduced to limitation speed (Va), remaining maintain primary standard operating speed (Vs), obtain cooperative job
Speed (Vc), the cooperative job speed of programming collaboration mode is rapidly completed.
It is another embodiment of the operating speed of programming coordinated regions in Fig. 5, the present invention will limit speed (Va) divided by standard
The maximum standard operation speed (Vsm) of work pattern calculates and obtains a ratio, followed by the standard mode operation of aforementioned programming
Standard operation speed (Vs), calculate the cooperative job speed (Vc) of collaboration mode, make Vc=Vs* (Va/Vsm), that is, utilize than
Value automatic ratio downgrades standard operation speed (Vs), obtains cooperative job speed (Vc), programming collaboration mode is rapidly completed
Cooperative job speed.
Since the human body that operator enters coordinated regions 16 is not only a part of, manifold human body ability may be needed simultaneously
Man-machine collaboration is carried out, to avoid aforementioned calculating cooperative job speed one by one, such as Fig. 6, the present invention completes to program standard operation mould
After formula, the picture of programming collaboration mode is shown using man-machine interface 13, human body is presented in picture, provide operator's more options into
Enter the human body of coordinated regions 16, such as select two position such as hand and finger, upper arm and ancon in picture, processing unit 14 will
According to the human body of selection, finding out two-part maximum impact force by human body stress's table of comparisons automatically is respectively 280N and 300N,
And comparing the smallest maximum impact force in two parts is 280N, as safe impact force 280N, recycles speed active force pair
According to table, according to safe impact force 280N, finding the opposite maximum operation speed of robot 11 is 250mm/sec, as limitation speed
Degree, then standard operation speed automated programming cooperative job speed is adjusted, and show maximum standard operation speed (Vsm) and limitation speed
It spends (Va), for operator's examination.Therefore, simple to select as long as operator programs the picture of collaboration mode through the invention
Select the human body parts in coordinated regions, so that it may be automatically performed programming collaboration mode.
As shown in fig. 7, the flow chart of the method for cooperating robotic programming speed of the present invention.Cooperating machine of the present invention
The step-by-step procedures of the method for people's program speed is as follows: in step S1, starting the work pattern for programming robot, stores in advance
Human body stress's table of comparisons and the speed active force table of comparisons；Step S2 programs standard mode operation；Step S3, by standard operation mould
The standard operation speed of formula compares maximum standard operation speed；In step S4, the human body portion of coordinated regions is entered according to selection
Point, the smallest impact force is compared as safe impact force by human body stress's table of comparisons；Step S5, according to safe impact force, benefit
The maximum operation speed that robot is compared with the speed active force table of comparisons, as limitation speed；Step S6 checks maximum standard
Does is operating speed greater than limitation speed? if maximum standard operation speed is not adjusted no more than limitation speed then to step S7
Standard operation speed, directly with the operating speed of standard operation speed programming collaboration mode, then to step S9；If maximum standard
Operating speed is greater than limitation speed, then to step S8, adjusts the operating speed of standard operation speed programming collaboration mode；Again to step
Rapid S9 terminates the operating speed of programming collaboration mode.
Embodiment above-mentioned is using the maximum impact force of human body stress's table of comparisons and the speed active force table of comparisons as programming
Illustrate, but the maximum clamping force of human body stress's table of comparisons and the speed active force table of comparisons, similarly also the achievable present invention programs
Technology.And though the present embodiment is using impact force as the explanation of programming, the method converted with the energy of impact force same principle,
Belong to the technology of the present invention scope.
Therefore the method for cooperating robotic programming speed of the invention, so that it may according to the human body portion different into coordinated regions
Position compares out wherein the smallest safety impact force by human body stress's table of comparisons, impacts force by robot speed further according to safety
The degree active force table of comparisons compares out robot in the limitation speed of coordinated regions, is made by the standard of the best operating speed of programming robot
Industry mode compares maximum standard operation speed, and when checking that maximum standard operation speed is greater than limitation speed, adjustment standard is made
Industry speed, as the operating speed of collaboration mode, the operating speed of programming robot is rapidly completed.
By the aforementioned visual coordinate system in each image, the calculating of overcomplicated is not needed, the point of Direct Programming executes
When, although point is the coordinate of each visual coordinate system, when each visual coordinate system is established, programing system has recorded each vision
Data after coordinate system correction relative to robot coordinate system, as long as the coordinate of point visual coordinate system is converted to machine
The coordinate of device people's coordinate system.Just controllable robot executes the first point to the 4th point, picks and places the work flow of workpiece.
Above-described is only to illustrate the preferred embodiment of the present invention to facilitate, and it is excellent that the scope of the present invention is not limited to this etc.
Embodiment is selected, all any changes done according to the present invention all belong to the model that the present invention protects without departing from the spirit of the present invention
It encloses.
Claims (11)
1. a kind of method of cooperating robotic programming speed stores human body stress's table of comparisons and the control of speed active force in advance
Table, step include:
Program standard mode operation；
By the standard operation speed of standard mode operation, maximum standard operation speed is compared；
According to the human body parts for being set into coordinated regions, by the more the smallest impact force of human body stress's table of comparisons as safety impact
Power；
According to safe impact force, the maximum operation speed of robot is compared out using the speed active force table of comparisons, as limitation speed
Degree；
It checks that maximum standard operation speed is greater than limitation speed, adjusts standard operation speed, the operating speed as collaboration mode.
2. the method for cooperating robotic programming speed as described in claim 1, wherein the impact force is replaced with clamping force.
3. the method for cooperating robotic programming speed as claimed in claim 2, wherein the human body stress table of comparisons includes each
Position human body bears maximum impact force and the not injured data of maximum clamping force.
4. the method for cooperating robotic programming speed as claimed in claim 2, wherein the speed active force table of comparisons includes
The different work speed of robot triggers operating speed until shutdown through safe sensor mechanism, the maximum impact force of generation
And the data of maximum clamping force.
5. the method for cooperating robotic programming speed as described in claim 1, wherein the standard mode operation is with robot
Optimal operating speed carries out operation, and collaboration mode is set as man-machine collaboration, and control robot is made with safety work speed
Industry.
6. the method for cooperating robotic programming speed as described in claim 1, wherein the cooperation humanoid robot utilizes storage
Device stores human body stress's table of comparisons and the speed active force table of comparisons.
7. the method for cooperating robotic programming speed as described in claim 1, wherein the cooperation humanoid robot utilizes man-machine
Interface display programs the picture of collaboration mode, and human body is presented in picture, provides the human body parts that selection is set into coordinated regions.
8. the method for cooperating robotic programming speed as claimed in claim 7, wherein the picture of programming collaboration mode is shown
Show maximum standard operation speed and limitation speed.
9. the method for cooperating robotic programming speed as described in claim 1, wherein checking maximum standard operation speed not
When greater than limitation speed, with the operating speed of standard operation speed programming collaboration mode.
10. the method for cooperating robotic programming speed as described in claim 1, wherein when adjustment standard operation speed, it will
Greater than the standard operation speed of limitation speed, it is reduced to limitation speed, remaining maintains primary standard operating speed, as collaboration mode
Operating speed.
11. the method for cooperating robotic programming speed as described in claim 1, wherein when adjustment standard operation speed, meter
Limitation speed is calculated divided by the ratio of maximum standard operation speed, standard operation speed is downgraded according to ratio ratio, as cooperation mould
The operating speed of formula.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106117080A TWI710871B (en) | 2017-05-22 | 2017-05-22 | Method for programming velocity of collaborative robot |
| TW106117080 | 2017-05-22 |
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| Publication Number | Publication Date |
|---|---|
| CN108942915A true CN108942915A (en) | 2018-12-07 |
| CN108942915B CN108942915B (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810203730.XA Active CN108942915B (en) | 2017-05-22 | 2018-03-13 | Method for programming speed of cooperative robot |
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| Country | Link |
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| CN (1) | CN108942915B (en) |
| TW (1) | TWI710871B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026984A (en) * | 2019-05-08 | 2019-07-19 | 苏州东控自动化科技有限公司 | A kind of smart collaboration control method based on large power output machine device people |
| CN111618840A (en) * | 2019-02-27 | 2020-09-04 | 精工爱普生株式会社 | Robot system |
| CN112847430A (en) * | 2019-11-26 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Intrinsic safety design method for cooperative robot |
| WO2021160635A1 (en) * | 2020-02-14 | 2021-08-19 | Franka Emika Gmbh | Force limitation in the event of collision of a robot manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111618840A (en) * | 2019-02-27 | 2020-09-04 | 精工爱普生株式会社 | Robot system |
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| CN112847430A (en) * | 2019-11-26 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Intrinsic safety design method for cooperative robot |
| WO2021160635A1 (en) * | 2020-02-14 | 2021-08-19 | Franka Emika Gmbh | Force limitation in the event of collision of a robot manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108942915B (en) | 2020-07-14 |
| TWI710871B (en) | 2020-11-21 |
| TW201901326A (en) | 2019-01-01 |
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