CN109202907A - It is a kind of based on industrial robot without sensing elastic collision device and method - Google Patents
It is a kind of based on industrial robot without sensing elastic collision device and method Download PDFInfo
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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
Abstract
The invention discloses a kind of based on industrial robot without sensing elastic collision device and method.The device includes system control device, motor servo driving device and industrial machine human body, this method is to first pass through industrial robot to carry out self study to the servo motor speed of service, electric current, acquisition speed, the speed of current center's curve and corresponding different phase, electric current allowable deviation threshold values, in actual motion by collected speed, electric current with off-line learning to speed, judge whether industrial robot collides compared with current center's curve.When collision, the controller of motor servo appartus is switched to composite control apparatus by position and speed electric current three close-loop control device, it drives joint servo motor to stop by given Reverse Turning Control electric current and controls its rebound distance using position feed back signal, it avoids industrial robot and is hit the damage of object, also avoid with object is hit being close to that robot is caused to re-power rear servo drive generation overload-alarm due to industrial robot end.
Description
Technical field
The present invention relates to a kind of collision detections and safety control technology based on industrial robot servo-system essence, specifically
Say be it is a kind of based on industrial robot without sensing elastic collision device and method.
Background technique
Industrial robot is in use, since many reasons lead at work that its end and other workpiece occur rigidity and touch
It hits, and impact force suffered by end can be coupled on each joint shaft, and an impact force is loaded on each joint drive motor shaft
Square.Alarm signal can be generated after servo-driver detects that servo motor overloads and is stopped, but robot end at this time
It is close together with object is hit, or leads to end since other axis for not generating overload-alarm continue to execute the instruction given and
End impact is hit object damage mechanical arm and is hit object.When powering on again can rebound due to rammer or dieback cause to collide
Alarm or overload-alarm, lead to that the practicability is poor.
The above problem has related generally to the collision detection and safety control technology of industrial robot.It is common in industrial robot
Collision Detection have the vision-based detection based on camera, the detection based on kinetic model, based on external torque sensor
Detection and the methods of the detection of servo-drive level.Side based on camera vision-based detection and external torque sensor detection
Method requires additionally to increase component, and the latter also needs to change the structure of industrial robot, this all considerably increases industrial machine
The cost of people.Meanwhile the detection method based on kinetic model not only needs to carry out the identification of parameter for different operating conditions, but also
Huge calculation amount is also needed to be difficult to realize complete on-line checking.Safety control technology refers to after detecting collision or danger
How to make corresponding security control and guarantees that it works normally and avoid industrial robot and is hit a kind of technology of object damage.
Industry is by given position instruction or speed command industrial robot to be stopped for common practice after detecting collision
Only run.But be contemplated that in actual motion when powering on again can rebound due to rammer or dieback cause collision warning
Or situations such as overload-alarm.
Summary of the invention
Technical problem to be solved by the present invention lies in defect of the existing technology is overcome, propose a kind of based on industry
Robot without sensing elastic collision device and method.
The first purpose of this invention is achieved through the following technical solutions: based on industrial robot without sensing elastic collision
Device, including system control device, motor servo driving device and industrial machine human body, system control device send joint position
It sets instruction and gives motor servo driving device, motor servo driving device output power signal drives industrial machine human body movement.
Further, the motor servo driving device includes collision detecting device, and collision detecting device compares equipped with electric current
Device and speed comparison unit come from servo motor electric current and speed signal to receive, when current differential is more than allowable deviation valve
Electric current comparison unit exports high level signal when value；When speed difference is more than allowable deviation threshold values, the output of speed comparison unit is high
Level signal then judges industrial robot end when speed comparison unit and electric current comparison unit export high level signal simultaneously
It collides.
Further, motor servo driving device further includes position and speed electric current three close-loop control device, composite control apparatus, control
Equipment switcher processed.The collision detecting device connects the control device switching switch, when collisionless, the collision inspection
It surveys device sending control signal drive dynamic control device switching and switchs the control signal so that position and speed electric current three close-loop control device
It exports and gives motor servo driving device；When colliding, the collision detecting device issues control signal drive dynamic control device
Switching switch is so that the control signal of composite control apparatus inputs to motor servo driving device；The motor servo driving device
It further comprise a power amplifier, the power amplifier connects the control device switching switch and the servo motor.
Further, the industrial machine human body include industrial robot structure system and each joint servo motor,
Absolute type encoder, the servo motor receive the control signal by control device switching switch to which output torque is driven
The shaft of dynamic each joint motions of industrial robot structure system, absolute type encoder and servo motor is coaxially to generate joint position
Feedback signal.
Further, the position and speed electric current three close-loop control device includes positioner, speed control, the first electric current
Controller and differentiator, the joint position instruction that the positioner receives system control device are compiled with from the absolute type
The deviation of the joint position feedback signal of code device simultaneously exports joint velocity and instructs to speed control, and differentiator receives joint position
Feedback signal and output speed feedback signal, speed control receive the deviation of input joint velocity instruction and feedback speed signal
And joint servo motor current command is exported to first current controller, the current controller receives joint servo motor
The deviation of current-order and the current feedback signal detected and output voltage control signal switch to the control device to be switched.
Further, composite control apparatus is equipped with rebound distance detection device and the second current controller, the rebound distance
Detection device receives the joint position feedback signal detected for judging whether rebound distance reaches setting value and export electric current
Control instruction, second current controller receive the deviation and output voltage of the current control instruction and current feedback signal
It controls signal to the control device and switches switch.
Second object of the present invention is achieved through the following technical solutions: based on industrial robot without sensing elastic collision
Device include the following steps: without sensing elastic collision method
(1) average by calculating speed curve and current curve to the servo-driver different operation phase under off-line form
Value obtains current center curve fi (z) and centre of velocity curve fn (z)；And calculate the speed allowable deviation threshold values of respective stage
(ΔnU、ΔnD、ΔnM) and electric current allowable deviation threshold values (Δ iU、ΔiD、ΔiM、ΔiZ)；
(2) in actual motion, servo drive is controlled using position and speed electric current three close-loop control device；
(3) present speed deviation (| n (z)-fn (z) |) and current deviation (| i (z)-fi (z) |) is calculated in real time；According to speed
Degree deviation and current deviation value judge whether to collide；
(4) after colliding generation, switch S is switched to shape by state 1 by the control device switching switch of Servocontrol device
State 2, i.e. control device are switched to composite control apparatus by position and speed electric current three close-loop control device；At this point, servo drive
Given reverse current control instruction is slowed down by composite control apparatus output plugging electric current driving servo motor.
Further, (5) calculate θ by the position feed back signal of absolute type encoder during servo motor slows down,
And the rebound distance θ with settingrbkCompare；
As θ < θrbkWhen, continue to execute step (4)；
As θ > θrbkWhen, servo drive braking joint servo motor makes industrial robot out of service, by anti-
The control of bullet and rebound distance is so that release residual stress, occurs the feelings such as servo motor overload-alarm after avoiding restarting
Condition reduces the damage for being hit object.
Further, the corresponding speed allowable deviation threshold values of different phase and electric current allowable deviation threshold values are respectively by following two
Formula can be calculated:
Δ n=max | fnk(z)-fn(z)|
Δ i=max | fik(z)-fi(z)|
Wherein, fnkIt (z) is k moment speed sampling value, fikIt (z) is k moment current sampling data, fi (z) is that current center is bent
Line and fn (z) are centre of velocity curve.
Further, in described (3) step, when | n (z)-fn (z) | > Δ n } && { | i (z)-fi (z) | > Δ i } not at
Immediately, then industrial robot end does not collide, continues to execute step (2)；
When | n (z)-fn (z) | when > Δ n } && { | i (z)-fi (z) | > Δ i } is set up, then detect industrial robot end
End collides.
The beneficial effects of the present invention are:
(1) pass through off-line operation to current of electric, speed without sensing elastic collision method the present invention is based on industrial robot
Line of writing music carries out self study, obtains speed, current center's curve and the allowable deviation threshold values in corresponding stage of different operation phase,
When then passing through on-line operation the electric current of servo motor and feedback speed signal and off-line learning to value be compared
Complete to be not necessarily to torque sensor to the end collision detection of industrial robot, have calculate simplicity, high sensitivity, real-time it is good,
Feature at low cost；
(2) passing through in the setting of motor servo driving device without sensing elastic collision device the present invention is based on industrial robot
Control device switching switch and collision detecting device, collision detecting device connect control device switching switch, when collisionless, touch
It hits detection device sending control signal drive dynamic control device switching and switchs the control so that position and speed electric current three close-loop control device
Signal, which exports, gives motor servo driving device；When colliding, the controller of motor servo appartus is by position and speed electric current three
Ring control device is switched to composite control apparatus, drives joint servo motor to stop by given Reverse Turning Control electric current and utilizes position
It sets feedback signal and controls its rebound distance, so as to avoid rigid shock to industrial robot and the damage for being hit object, also avoid
Due to industrial robot end with hit object and be close to robot is caused to re-power rear servo drive to generate overload-alarm
The case where occur, can be completed the end of industrial robot is touched without additionally increasing component or changing the structure of industrial robot
Detection is hit, the cost of industrial robot is reduced, and has good practicability.
Detailed description of the invention
When Fig. 1 is servo motor operating status in the present invention, the change curve of speed and electric current；
Fig. 2 be in the present invention based on industrial robot without sensing elastic collision device schematic diagram；
Fig. 3 is to act on front and back motor operating state without sensing elastic collision method based on industrial robot in the present invention
Figure；
Fig. 4 be in the present invention based on industrial robot without sensing elastic collision method flow diagram.
Specific embodiment
Combined with specific embodiments below and attached drawing does further detailed description, but embodiments of the present invention to the present invention
It is without being limited thereto.
It please refers to such as Fig. 2, the present invention provides a kind of based on industrial robot without sensing elastic collision device comprising
System control device 1, motor servo driving device 2 and industrial machine human body 17.System control device 1 sends joint position and refers to
It enables to motor servo driving device 2,2 output power signal of motor servo driving device drives industrial machine human body 17 to move.
It please refers to such as Fig. 2, the motor servo driving device 2 is by position and speed electric current three close-loop control device 3, complex controll
Device 14, collision detecting device 7, control device switching switch 15 and power amplifier 16 form.
The position and speed electric current three close-loop control device 3 receives the position command signal and work that system control device is sent
The joint position feedback signal that industry robot body 17 is sent, output power current signal to industrial machine human body 17 is to drive
Joint servo motor 18 moves.The position and speed electric current three close-loop control device 3 is by positioner 4, speed control 5,
One current controller 6 and differentiator 10 form.
It holds, the positioner 4 receives the pass of the joint position instruction and robot body 17 of system control device 1
It saves the deviation of position feed back signal and exports joint velocity and instruct to speed control 5.Joint position feedback signal passes through differential
10 output speed feedback signal of device, speed control 5 input the deviation of joint velocity instruction and feedback speed signal and export pass
Servo motor current-order is saved to the first current controller 6.First current controller 6 receive joint servo motor current command with
The deviation and output voltage control signal to control device of the current feedback signal detected switch switch 15.
What the current feedback signal and industrial machine human body 17 that the reception of composite control apparatus 14 detects were sent
Joint position feedback signal, output driving current signal drive joint servo motor 18 to move to industrial machine human body 17.
Composite control apparatus 14 is made of rebound distance detection device 12 and the second current controller 13.Rebound distance detection device 12 is used
11 are instructed in judging whether rebound distance reaches the rebound distance of setting and export current control.Second current controller 13 receives
Simultaneously output voltage control signal to control device switches switch 15 to the deviation of current control instruction 11 and current feedback signal.
The signal of the reception position and speed electric current three close-loop control device 3 of power amplifier 16 or composite control apparatus 14 is simultaneously
Power signal is generated after amplifying to be output on the servo motor 18 of industrial machine human body 17.
The collision detecting device 7, which receives to come from 18 electric current of servo motor and speed signal and input to electric current respectively, to be compared
Device 8 and speed comparison unit 9.When current differential is more than allowable deviation threshold values, electric current comparison unit 8 exports high level signal；
When speed difference is more than allowable deviation threshold values, speed comparison unit 9 exports high level signal.When speed comparison unit 8 and electric current
Comparison unit 9 then judges that industrial robot end collides when exporting high level signal simultaneously, and collision detecting device produces at this time
Raw control signal, which is exported, switches switch 15 to control device.When collisionless, the collision detecting device 7 issues control signal and drives
Dynamic control device switching switch 15 makes the control signal of position and speed electric current three close-loop control device 3 input to power amplifier
16；When colliding, issues control signal drive dynamic control device switching switch 15 and the control of composite control apparatus 14 is believed
Number input to power amplifier 16.
Referring to Fig. 2, the industrial machine human body 17 is by industrial robot structure system 20 and the servo in each joint
Motor 18, absolute type encoder 19 form.Servo motor 18 is received from the power amplifier 16 and output torque drives work
Each joint motions of industry robot architecture system 20, absolute type encoder 19 are coaxially anti-to generate joint position with 18 axis of servo motor
Feedback signal, and feedback arrives the position and speed electric current three close-loop control device 3 and the composite control apparatus 14 respectively.
Fig. 1, Fig. 3 and Fig. 4 are please referred to, it is provided by the invention former without sensing elastic collision method based on industrial robot
It manages as follows:
When industrial robot carries out more single repeating motion under determining station operating condition, each servo motor operation
State is fixed in a certain range.Industrial robot runs several work paces under normal workload first,
Servo drive draws curve as shown in Figure 1, rate curve is respectively fn by collected electric current and speed during thisk
(z) (k=1,2...), current curve are respectively fik(z) (k=1,2...).Rate curve can be divided into speed ascent stage,
Speed decline stage, speed are most worth stabilization sub stage three phases, and current curve can also be divided into depression of order under electric current ascent stage, electric current
Section, current best value stabilization sub stage, current zero stabilization sub stage four-stage.
Centre of velocity curve fn (z) is obtained by calculating speed curve and current curve average value to its different operation phase
With current center curve fi (z), as shown in Figure 1.
Different phase speed, the center curve in current value and the stage are made the difference and acquires maximum value and obtains allowable deviation
Threshold values:
Δ n=max | fnk(z)-fn(z)| (1)
Δ i=max | fik(z)-fi(z)| (2)
The allowable deviation threshold values of rate curve different phase: Δ n can be calculated by above formulaU(speed ascent stage),
ΔnD(speed decline stage), Δ nM(speed is most worth the stabilization sub stage).Obtain the allowable deviation threshold values of current curve different phase:
ΔiU(electric current ascent stage), Δ iD(electric current decline stage), Δ iM(current best value stabilization sub stage), Δ iZ(current zero is stablized
Stage).
In actual moving process, by acquiring speed, the current value of current servo motor, carried out according to formula (3), (4)
It calculates.Then sentence when formula (3), (4) have been above corresponding allowable deviation threshold values at velocity deviation immediately and current deviation simultaneously
Break collision.
| n (z)-fn (z) | > Δ n (3)
| i (z)-fi (z) | > Δ i (4)
Collision detecting device generates control signal drive dynamic control device switching switch so that servo drive is by original at this time
Some position and speed electric current three close-loop control pattern switchings are compound control mode (current control and position feedback), by given anti-
The second current controller is made to control servo motor counter motion to current-order, when rebound distance detection device detects absolutely
When the joint position feedback value of formula encoder is equal with the rebound distance of setting, then gives current-order and make the second current control
Device controls servo motor parking.
It please refers to Fig. 3 and Fig. 4, based on industrial robot includes following step without sensing elastic collision method in the present invention
It is rapid:
1, several work paces of industrial robot off-line operation carry out electric current, the feedback speed signal of servo motor 18
Acquisition, and current center curve fi (z) is obtained by calculating speed curve and current curve average value to its different operation phase
With centre of velocity curve fn (z).
2, different phase speed, current value are utilized respectively formula Δ n=max | fnk(z)-fn (z) |, Δ i=max | fik
(z)-fi (z) | speed allowable deviation threshold values (the Δ n of different phase is calculatedU、ΔnD、ΔnM) and electric current allowable deviation threshold values
(ΔiU、ΔiD、ΔiM、ΔiZ)。
3, in actual work, servo drive 2 receives the position command of system control device 1 and exports fast to position
Electric current three close-loop control device (the switch S of control device switching switch 13 is in state 1) is spent to drive industrial machine human body 15
Movement, while speed, electric current sample and according to formula in any t moment | n (z)-fn (z) | > Δ n, | i (z)-fi
(z) | > Δ i is judged.When two formulas are not set up simultaneously, then industrial robot end collisionless occurs, and return continues
Trajectory motion control；
4, as shown in Figure 3, in t1It collides when the moment, 18 revolving speed bust of servo motor, armature supply increased dramatically, watch
Driving device 2 is taken in t2When the moment, according to formula | n (z)-fn (z) | > Δ n, | i (z)-fi (z) | > Δ i calculates judgement simultaneously
It sets up, judges that industrial robot end collides at this time.
5, in t2Moment detects collide after, the control device of Servocontrol device 2 switching switch 15 by switch S by
State 1 is switched to state 2, i.e. control device is switched to composite control apparatus by position and speed electric current three close-loop control device.At this point,
Servo drive 2 gives reverse current control instruction 11, exports plugging electric current by composite control apparatus 14 and drives servo
Motor 18 slows down, finally in t318 revolving speed of moment servo motor is kept to 0.
6, as shown in Figure 3, in t3Moment, servo motor 18 stop.At this point, servo drive 2, which receives, comes from absolute type
The joint position feedback signal θ of encoder 19 and rebound distance θ with settingrbkCompare.
As θ < θrbkWhen, servo drive 2 continues given reverse current control instruction 9 and is driven by composite control apparatus 14
18 counter motion of movable joint servo motor；
As θ > θrbkWhen, servo drive 2 brakes joint servo motor 18 and makes industrial robot out of service.Pass through
After avoiding restarting 18 overload-alarm of servo motor occurs for rebound and the control of rebound distance so that release residual stress
Situations such as, reduce the damage for being hit object.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. based on industrial robot without sensing elastic collision device, including system control device, motor servo driving device and
Industrial machine human body, system control device transmission joint position, which instructs, gives motor servo driving device, motor servo driving dress
Set the driving industrial machine human body movement of output power signal.
2. according to claim 1 based on industrial robot without sensing elastic collision device, it is characterised in that: the motor
Servo drive includes collision detecting device, and collision detecting device is equipped with electric current comparison unit and speed comparison unit, to connect
It receives and comes from servo motor electric current and speed signal, the high electricity of electric current comparison unit output when current differential is more than allowable deviation threshold values
Ordinary mail number；When speed difference is more than allowable deviation threshold values, speed comparison unit exports high level signal, when speed comparison unit
Then judge that industrial robot end collides when exporting high level signal simultaneously with electric current comparison unit.
3. according to claim 2 based on industrial robot without sensing elastic collision device, it is characterised in that: motor servo
Driving device further includes position and speed electric current three close-loop control device, composite control apparatus, control device switching switch.The collision
Detection device connects the control device switching switch, and when collisionless, the collision detecting device issues control signal driving
Control device switching switch is so that the control signal of position and speed electric current three close-loop control device exports and gives motor servo driving device；
When colliding, the collision detecting device issues control signal drive dynamic control device switching switch so that composite control apparatus
Control signal input to motor servo driving device；The motor servo driving device further comprises a power amplifier,
The power amplifier connects the control device switching switch and the servo motor.
4. according to claim 3 based on industrial robot without sensing elastic collision device, it is characterised in that: the industry
Robot body includes the servo motor of industrial robot structure system and each joint, absolute type encoder, the servo electricity
Machine is received by the control signal of control device switching switch to which output torque driving industrial robot structure system is each
The shaft of joint motions, absolute type encoder and servo motor is coaxially to generate joint position feedback signal.
5. according to claim 4 based on industrial robot without sensing elastic collision device, it is characterised in that: the position
Speed electric current three close-loop control device includes positioner, speed control, the first current controller and differentiator, the position
The joint position instruction and the joint position feedback signal from the absolute type encoder that controller receives system control device
Deviation and export joint velocity and instruct to speed control, differentiator receives joint position feedback signal and output speed feedback
Signal, speed control receive the deviation of the instruction of input joint velocity and feedback speed signal and export joint servo current of electric
Instruct the electric current for receiving joint servo motor current command to first current controller, the current controller and detecting
The deviation and output voltage control signal of feedback signal switch to the control device to be switched.
6. according to claim 4 based on industrial robot without sensing elastic collision device, it is characterised in that: complex controll
Device is equipped with rebound distance detection device and the second current controller, and the rebound distance detection device receives the joint detected
Position feed back signal is used to judge whether rebound distance to reach setting value and export current control instruction, second current control
Device receives the current control instruction and the deviation and output voltage control signal to the control device of current feedback signal are cut
Change switch.
7. utilizing carrying out without sensing elastic collision device without sensing elasticity based on industrial robot for claim 1 described device
Collision method, which is characterized in that described method includes following steps:
(1) the servo-driver different operation phase are obtained by calculating speed curve and current curve average value under off-line form
To current center curve fi (z) and centre of velocity curve fn (z)；And calculate speed allowable deviation threshold values (the Δ n of respective stageU、
ΔnD、ΔnM) and electric current allowable deviation threshold values (Δ iU、ΔiD、ΔiM、ΔiZ)；
(2) in actual motion, servo drive is controlled using position and speed electric current three close-loop control device；
(3) present speed deviation (| n (z)-fn (z) |) and current deviation (| i (z)-fi (z) |) is calculated in real time；It is inclined according to speed
Difference and current deviation value judge whether to collide；
(4) after colliding generation, switch S is switched to state 2 by state 1 by the control device switching switch of Servocontrol device,
I.e. control device is switched to composite control apparatus by position and speed electric current three close-loop control device；At this point, servo drive is given
Reverse current control instruction is slowed down by composite control apparatus output plugging electric current driving servo motor.
8. according to claim 7 without sensing elastic collision method, it is characterised in that: in servo in described (4) step
During decelerating through motor, θ, and the rebound distance θ with setting are calculated by the position feed back signal of absolute type encoderrbkThan
Compared with；
As θ < θrbkWhen, continue to execute step (4)；
As θ > θrbkWhen, servo drive braking joint servo motor make industrial robot out of service, by rebound with
And rebound distance control so that release residual stress, avoid restarting after occur servo motor overload-alarm situations such as,
Reduce the damage for being hit object.
9. according to claim 7 without sensing elastic collision method, it is characterised in that: the corresponding speed of different phase is held
Perhaps variance thresholds and electric current allowable deviation threshold values can be calculated by following two formula respectively:
Δ n=max | fnk(z)-fn(z)|
Δ i=max | fik(z)-fi(z)|
Wherein, fnkIt (z) is k moment speed sampling value, fik(z) be k moment current sampling data, fi (z) be current center's curve and
Fn (z) is centre of velocity curve.
10. according to claim 7 without sensing elastic collision method, it is characterised in that: in described (3) step, when
| n (z)-fn (z) | when > Δ n } && { | i (z)-fi (z) | > Δ i } is invalid, then industrial robot end does not collide,
Continue to execute step (2)；
When | n (z)-fn (z) | when > Δ n } && { | i (z)-fi (z) | > Δ i } is set up, then detect that industrial robot end is sent out
Raw collision.
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| CN110053043A (en) * | 2019-03-05 | 2019-07-26 | 华南理工大学 | A kind of industrial robot collision checking method, device, electronic equipment and medium |
| CN111906775A (en) * | 2020-06-08 | 2020-11-10 | 深圳众为兴技术股份有限公司 | Robot collision detection method and device, storage medium and robot |
| CN112123333A (en) * | 2020-08-18 | 2020-12-25 | 珠海格力电器股份有限公司 | Multi-joint robot collision detection method and device |
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| CN114474036B (en) * | 2020-11-12 | 2024-01-02 | 佛山市增广智能科技有限公司 | High-efficiency power control device and high-efficiency power control method thereof |
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| CN113985828A (en) * | 2021-11-02 | 2022-01-28 | 国以贤智能科技(上海)股份有限公司 | Protection system based on agv shipment process flow |
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