CN113059593A - Robot safety protection device and method - Google Patents
Robot safety protection device and method Download PDFInfo
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- CN113059593A CN113059593A CN202110321674.1A CN202110321674A CN113059593A CN 113059593 A CN113059593 A CN 113059593A CN 202110321674 A CN202110321674 A CN 202110321674A CN 113059593 A CN113059593 A CN 113059593A
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- 238000000034 method Methods 0.000 title claims abstract description 16
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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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
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Abstract
The invention provides a robot safety protection device and a method, comprising the following steps: the force sensor is fixed on the robot rod piece; the protective shell is arranged outside the robot and is connected with the robot only through the force sensor; and the processing unit collects signals of the force sensor in real time, analyzes the stress condition of the protective shell, detects whether the robot is in contact with the environment or not, and actively controls the robot in a flexible manner. When the mechanical arm contacts with the environment or an operator, the stress condition of the cladding type shell can be collected by the force sensor connected with the shell and is used for active flexible control of the mechanical arm, so that the mechanical arm can accurately and moderately avoid the environment or the operator, and the protective effect on the mechanical arm and the operator is achieved.
Description
Technical Field
The invention belongs to the field of industrial robot safety protection, and relates to an active compliance control technology based on a force sensor.
Background
Industrial robots generally have the characteristics of high running speed, large acting force, high rigidity and the like, and once the industrial robots collide with operating personnel or a working environment in the running process, the acting force exceeding a bearing range is generated, so that the industrial robots are easy to break down, the industrial robots can be damaged, and the personal safety of the operating personnel can be endangered.
To address this problem, it is common practice to define a safety zone for an industrial robot so that the operator must not make contact with the robot beyond the safety line. Chinese patent application CN202010700323.7 proposes to provide a pressure sensor in a predetermined area, and once a person enters the area, send a warning signal and send a stop command to the industrial robot. Chinese patent application CN202010698935.7 uses thermal sensing technology to identify if a security area is occupied by personnel. The solution can fully ensure the safety of personnel, however, if the safety zone is too large, the false triggering is easy to occur, and the production efficiency and the service life of the robot can be influenced by frequent emergency shutdown; if the safety area is too small, the protection effect cannot be fully ensured. This solution therefore has to design optimal safety zones for different production lines, although the safety is not flexible enough.
One relatively novel class of solutions uses machine vision to determine human machine state. Chinese patent application CN201910448748.0 proposes a robot arm safety system based on vision, which calculates the minimum distance between an industrial robot and people in the environment, and is used to plan and correct the motion trajectory of the robot. The limitations of this solution are: the machine vision has high requirement on calculated amount, and real-time performance, stability and accuracy are not ideal, so that the machine vision is not suitable for industrial use.
In addition, chinese patent application CN202020086812.3 proposes to add a housing to the industrial robot, and a damping mechanism is added at the joint of the housing and the robot, so as to buffer external impact. The scheme is a pure mechanism design, the buffering effect is limited by the size of the damping mechanism, and the damper does not work after reaching the extreme position. Therefore, the scheme is more suitable for reducing the influence of small amplitude vibration on the robot.
Disclosure of Invention
The invention provides a robot safety protection device which is flexible, stable, quick in response and small in size, and ensures that each solid rod piece of the robot can quickly respond when being in contact with or colliding with the environment.
The invention provides a robot safety protection device, comprising: the force sensor is fixed on the robot rod piece; the protective shell is arranged outside the robot and is connected with the robot only through the force sensor; and the processing unit collects signals of the force sensor in real time, analyzes the stress condition of the protective shell, detects whether the robot is in contact with the environment or not, and actively controls the robot in a flexible manner.
The robot safety protection device has the beneficial effects that: when the mechanical arm contacts with the environment or an operator, the stress condition of the cladding type shell can be collected by the force sensor connected with the shell and is used for active flexible control of the mechanical arm, so that the mechanical arm can accurately and moderately avoid the environment or the operator, and the protective effect on the mechanical arm and the operator is achieved.
Preferably, the robot is an industrial robot having a plurality of rods; the protective shell is divided into a plurality of sections and surrounds each rod piece of the robot body.
Preferably, the force sensor is a pressure sensor or a torque sensor or a six-dimensional force sensor.
Preferably, the protective shell is an alloy steel or carbon fiber or aluminum alloy or plastic shell.
Preferably, the active compliance control comprises impedance control or admittance control or force/position hybrid control.
Preferably, the bottom of the force sensor is connected with the robot rod piece by using screws; the top of the force sensor is connected with the protective shell through screws.
Preferably, there is a gap of 1-50 mm between the cylindrical surface of the sensor and the cylindrical concave surface of the protective housing at the portion where the sensor is placed in the cylindrical concave surface of the protective housing.
The invention also provides a robot safety protection method, which uses the robot safety protection device and comprises the following steps:
collecting signals of the force sensor in real time;
analyzing the stress condition of the protective shell, and detecting whether the robot is in contact with the environment;
and carrying out active compliance control on the robot.
The robot safety protection method has the beneficial effects that: when the mechanical arm contacts with the environment or an operator, the stress condition of the cladding type shell can be collected by the force sensor connected with the shell and is used for active flexible control of the mechanical arm, so that the mechanical arm can accurately and moderately avoid the environment or the operator, and the protective effect on the mechanical arm and the operator is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a six degree-of-freedom robotic arm;
FIG. 2 is a schematic view of the robotic arm of FIG. 1 with a robot safety guard mounted thereon;
FIG. 3 is a schematic view of a robot safety arrangement according to the present invention;
fig. 4 is a schematic flow chart of a method according to a second embodiment of the present invention.
Description of reference numerals:
101. a mechanical arm rod;
102. a protective housing;
103. a force sensor;
104. the mechanical arm itself.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The appearances of the phrases "first," "second," and "third," or the like, in the specification, claims, and figures are not necessarily all referring to the particular order in which they are presented. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to the steps or modules listed but may alternatively include other steps or modules not listed or inherent to such process, method, article, or apparatus.
The first embodiment,
As shown in fig. 1, the robot safety protection device of the present invention includes:
the force sensor is fixed on the robot rod piece; the force sensor may be a pressure sensor or a torque sensor or a six-dimensional force sensor.
The pressure sensor is a device or a device which can sense pressure signals and can convert the pressure signals into usable output electric signals according to a certain rule. A pressure sensor is usually composed of a pressure sensitive element and a signal processing unit. Pressure sensors can be classified into gauge pressure sensors, differential pressure sensors, and absolute pressure sensors according to different types of test pressures.
The torque sensor, also called torque sensor, torque sensor and torquemeter, is divided into two categories of dynamic and static, wherein the dynamic torque sensor can be called torque sensor, torque and rotation speed sensor, non-contact torque sensor, rotation torque sensor and the like. Torque sensors are the detection of the perception of torsional moments on various rotating or non-rotating mechanical components. The torque sensor converts the physical change of the torque force into an accurate electrical signal. The torque sensor can be applied to manufacture viscometers and electric (pneumatic and hydraulic) torque wrenches, and has the advantages of high precision, fast frequency response, good reliability, long service life and the like.
The force and the moment in a cartesian coordinate system can be respectively decomposed into three components, the six-dimensional force sensor of the present invention, i.e. a sensor capable of measuring three force components and three moment components simultaneously.
The protective shell is arranged outside the robot and is connected with the robot only through the force sensor; the protective shell can be an alloy steel or carbon fiber or aluminum alloy or plastic shell. The bottom of the force sensor is connected with the robot rod piece through screws; the top of the force sensor is connected with the protective shell through screws. In the part of the sensor which is arranged in the cylindrical concave surface of the protective shell, a clearance of 1-50 mm is arranged between the cylindrical surface of the sensor and the cylindrical concave surface of the protective shell.
And the processing unit collects the force/moment signals of the force sensor in real time, analyzes the stress condition of the protective shell, detects whether the robot is in contact with the environment or not, and actively controls the robot in a flexible manner. The active compliance control may include impedance control or admittance control or force/position hybrid control.
The impedance control means that force interaction exists between a mechanical arm and the environment, after a sensor collects a force signal, the force signal is converted into a position correction quantity by using an impedance model, the position signal which needs to be controlled actually is obtained after the force signal is combined with an expected position, the inverse kinematics is to convert a three-dimensional position in a Cartesian coordinate system into an angle of each joint motor, and then the position control is realized by a position controller (generally PID). The impedance control means that the controller is equivalent to an impedance system, the position output force is input, the robot is equivalent to an admittance system, and the position output force is input. Therefore, the impedance control needs to be able to acquire position information and to control the joint moment of the robot.
The admittance control is the reverse process of impedance control, a controller is equivalent to an admittance system, the input force is output to a position, a robot is equivalent to an impedance system, and the input force is input to the position. Admittance control requires the ability to acquire force information (and therefore often requires the application of force sensors at the distal end) and control the joint position of the robot (this is basically all possible). Admittance control typically employs a PID as a motion tracker. The collected force is firstly input into the admittance controller, the expected movement amount is output, and the movement tracker receives the expected movement amount and then outputs the actual movement of the robot joint. The admittance control is used to obtain a human-machine following effect, so the force required by the admittance control should be a human-machine interaction moment.
The force-position hybrid control of the invention requires force control in the vertical plane direction and position control in the tangential plane direction. The force position control decouples the direction needing force control and the direction needing position control and respectively controls the direction needing force control and the direction needing position control.
The robot is preferably an industrial robot, which has several bars; the protective shell is divided into a plurality of sections and surrounds each rod piece of the robot body.
When the mechanical arm of the robot safety protection device disclosed by the invention is in contact with the environment or an operator, the stress condition of the coating type shell can be acquired by the force sensor connected with the shell and is used for active flexible control of the mechanical arm, so that the mechanical arm can accurately and appropriately avoid the environment or the operator, and the protection effect on the mechanical arm and the operator is realized.
As shown in figure 1, the invention mainly comprises two parts, namely a force sensor and a robot protection shell.
The bottom of the force sensor is connected with the rod piece of the industrial robot by using screws, and if the sensor is arranged in the cylindrical concave surface on the rod piece, a gap of 1-50 mm is reserved between the cylindrical surface of the sensor and the cylindrical concave surface of the rod piece of the machine according to requirements. The top of the force sensor is connected with the protective shell through screws, and if the sensor is arranged in the cylindrical concave surface of the protective shell, a gap of 1-50 mm is reserved between the cylindrical surface of the sensor and the cylindrical concave surface of the protective shell according to requirements. The purpose of reserving the clearance is to reserve a space for the forced deformation of the sensor and the shell, and the measurement precision of the force sensor is ensured. The protective shell is connected with the robot through the force sensor only, is not in direct contact with the robot body, and also keeps a clearance of 1-50 mm with the robot rod.
The combination of the force sensor and the protective casing is directed to a section of the rods of the robot, and 1-6 pairs of casings and force sensors can be installed for the industrial robot according to the number of the rods of the industrial robot.
After the installation is completed, in the working process of the industrial robot, force/moment signals of the force sensors on the rod pieces at all sections are collected in real time, the stress condition of the rod piece protective shells is analyzed, whether all parts of the robot are in contact with the environment or not is detected, and active compliance control such as impedance control or admittance control is performed on the mechanical arm.
When the mechanical arm provided by the invention is used for being in contact with the environment or an operator, the stress condition of the cladding type shell can be acquired by the force sensor connected with the shell and is used for active flexible control of the mechanical arm, so that the mechanical arm can accurately and appropriately avoid the environment or the operator, and the protection effect on the mechanical arm and the operator is achieved.
The invention can be applied to each exposed solid rod piece of the robot, so that no matter which part of the robot is in contact with the environment or collides with the environment, the robot can timely and appropriately react.
The invention uses the active flexible force control method, and has the advantages of high accuracy, flexibility, stability, quick response, small volume, easy adjustment and the like. And the protection action is 'active avoidance' instead of 'emergency shutdown', so that the vehicle can continue to work even if collision occurs, and the production efficiency cannot be reduced.
FIG. 1 is a schematic view of a six degree-of-freedom robotic arm; the six degree-of-freedom robot has 5 segments of longer solid rods (no end effector mounted).
Figure 2 is a schematic diagram of the mounting of 5 pairs of force sensors and protective housings on the robotic arm of figure 1.
As shown in fig. 3, a six-dimensional force sensor is mounted on each of the long 5 rods, and a metal protective housing is mounted on each segment of the six-dimensional force sensor. In the partial drawing, the protective shell is connected with the robot only through the six-dimensional force sensor, and is not in direct contact with the mechanical arm. In the embodiment, the force sensor is connected with the mechanical arm and the shell through screws; the clearance between the cylindrical surface of the force sensor and the concave surface of the cylinder on the mechanical arm rod piece is 2 mm, and the clearance between the protective shell and the mechanical arm rod piece is 2 mm.
Force/moment information acquired by the force sensor is transmitted to the industrial personal computer, and the industrial personal computer uses the information to conduct admittance control on the mechanical arm.
If an external force which is perpendicular to the paper surface and faces inwards is applied to the shell, the shell transmits force/moment information to the force sensor connected with the shell, and the industrial personal computer takes the force/moment information as input to conduct admittance control on a related motor of the mechanical arm, so that a rod piece corresponding to the shell is controlled to move (translate/rotate) towards the paper surface, and avoidance is achieved.
The robot safety protection device can be used for robots, including but not limited to industrial robots.
The processing unit of the present invention may further comprise a memory module. The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an application program (such as an image playing function) required for operating the storage medium, at least one function, and the like; the stored data area may store data created from use of the force sensor. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor and the input module.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. Each functional module in the embodiments of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module.
Example II,
As shown in fig. 4, the robot safety protection method according to the present invention, which uses the robot safety protection device, includes the steps of:
s101, collecting signals of a force sensor in real time;
the force sensor is fixed on the robot rod piece; the force sensor may be a pressure sensor or a torque sensor or a six-dimensional force sensor.
S102, analyzing the stress condition of the protective shell, and detecting whether the robot is in contact with the environment;
and S103, performing active compliance control on the robot.
The active compliance control may include impedance control or admittance control or force/position hybrid control.
The invention is not limited to the embodiments discussed above. The foregoing description of the specific embodiments is intended to describe and explain the principles of the invention. Obvious modifications or alterations based on the teachings of the present invention should also be considered as falling within the scope of the present invention. The foregoing detailed description is provided to disclose the best mode of practicing the invention, and also to enable a person skilled in the art to utilize the invention in various embodiments and with various alternatives for carrying out the invention.
Claims (8)
1. A robot safety arrangement, comprising:
the force sensor is fixed on the robot rod piece;
the protective shell is arranged outside the robot and is connected with the robot only through the force sensor;
and the processing unit collects signals of the force sensor in real time, analyzes the stress condition of the protective shell, detects whether the robot is in contact with the environment or not, and actively controls the robot in a flexible manner.
2. The robot safety apparatus of claim 1,
the robot is an industrial robot, and the industrial robot is provided with a plurality of rod pieces;
the protective shell is divided into a plurality of sections and surrounds each rod piece of the robot body.
3. The robot safety apparatus of claim 2,
the force sensor is a pressure sensor or a torque sensor or a six-dimensional force sensor.
4. The robot safety apparatus of claim 3, wherein,
the protective shell is an alloy steel or carbon fiber or aluminum alloy or plastic shell.
5. The robot safety apparatus of claim 4,
the active compliance control includes impedance control or admittance control or force/position hybrid control.
6. The robot safety apparatus of claim 5,
the bottom of the force sensor is connected with the robot rod piece through screws;
the top of the force sensor is connected with the protective shell through screws.
7. The robot safety apparatus of claim 6,
in the part of the sensor which is arranged in the cylindrical concave surface of the protective shell, a clearance of 1-50 mm is arranged between the cylindrical surface of the sensor and the cylindrical concave surface of the protective shell.
8. A robot safety protection method, characterized in that it uses the robot safety protection device of any one of claims 1-7, comprising the steps of:
collecting signals of the force sensor in real time;
analyzing the stress condition of the protective shell, and detecting whether the robot is in contact with the environment;
and carrying out active compliance control on the robot.
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| CN202110321674.1A CN113059593A (en) | 2021-03-25 | 2021-03-25 | Robot safety protection device and method |
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| CN110977990A (en) * | 2019-12-30 | 2020-04-10 | 苏州艾利特机器人有限公司 | Mechanical arm dragging teaching method based on terminal six-dimensional force sensor |
| CN112140102A (en) * | 2020-06-08 | 2020-12-29 | 深圳市越疆科技有限公司 | Obstacle avoidance method, device and system of industrial robot |
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