CN113771025A - Safety control industrial robot and control method thereof - Google Patents
Safety control industrial robot and control method thereof Download PDFInfo
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- CN113771025A CN113771025A CN202010522391.9A CN202010522391A CN113771025A CN 113771025 A CN113771025 A CN 113771025A CN 202010522391 A CN202010522391 A CN 202010522391A CN 113771025 A CN113771025 A CN 113771025A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention relates to a safety controlled industrial robot and a control method thereof, the industrial robot comprising: a base; a mechanical arm; a joint connecting adjacent two machine arm portions, the joint including a transmission; the first detection module comprises a motor encoder arranged on the input side of the transmission device and is used for detecting at least one of joint position, speed and torque; the second detection module is a motor Hall sensor arranged on the input side of the transmission device and is used for detecting at least one of joint position, joint speed and joint torque; and the control module is used for controlling the robot to execute the safety action when the difference value of the first safety information and the second safety information is greater than a preset value. The invention has the beneficial effects that: the industrial robot has the advantages of good safety, stable safety detection and low cost.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a safety-controlled industrial robot and a control method thereof.
Background
With the development of society, robots are beginning to be widely used in various fields including home robots, industrial robots, and the like. The cooperative robot can assist people to efficiently complete work as a light robot in an industrial robot, and can complete work in a dangerous environment with high precision and high efficiency, so that the cooperative robot is widely favored.
In the working process of the cooperative robot, the cooperative robot may need to interact with human beings in a close distance, in order to better realize human-computer cooperation and guarantee the personal safety of a user, the safety performance of the cooperative robot is an important index.
A conventional robot system has a function of collision detection, which detects a collision of the robot with its environment by an abnormal moment generated at a manipulator part, and when the collision is detected, the robot system performs control so as to stop the operation of the robot or otherwise mitigate the collision with the environment. In this method of collision detection, the sensitivity of collision detection is crucial, but it is difficult to detect a collision between a human being and a robot from the moment of a robot hand part of the robot with high accuracy, and thus this method is not reliable enough to detect a collision between a human being and a robot.
In the prior art, a capacitance sensor is additionally arranged to detect capacitance change generated by the approach of an object and a human so as to judge the approach of the robot and the object or the human, but the capacitance sensor has limited detection materials, so that the realization safety performance is very limited.
Therefore, it is necessary to design an industrial robot having good safety and stability and a control method thereof.
Disclosure of Invention
In view of this, the present invention aims to provide an industrial robot and a control method thereof, which have good safety performance, low cost and good stability.
The invention can adopt the following technical scheme: an industrial robot comprising: a base for carrying the industrial robot; a robot arm connected to the base for movement to perform a work task of the robot, the robot arm comprising two or more arm portions; a joint for connecting adjacent two of said robot arm portions, said joint comprising a transmission; characterized in that the industrial robot further comprises: the first detection module comprises a motor encoder arranged on the input side of the transmission device and is used for detecting at least one of joint position and joint speed; the second detection module is a motor Hall sensor arranged on the input side of the transmission device and is used for detecting at least one of joint position, joint speed and joint torque; the control module is used for generating a working instruction of the robot and controlling the robot to execute work, the control module acquires first safety information representing the working safety of the industrial robot according to the first detection module, acquires second safety information representing the working safety of the industrial robot according to the second detection module, compares the first safety information with the second safety information, and controls the industrial robot to execute safety action when the difference value between the first safety information and the second safety information is larger than a preset value.
Further, the preset value is 0, and the control module is used for controlling the industrial robot to execute a safety action when the first safety information is inconsistent with the second safety information.
Further, the control module includes a first control module and a second control module, the first control module is configured to obtain the first safety information according to the first detection module, and the second control module is configured to obtain the second safety information according to the second detection module.
Further, the first detection module comprises: and the current sensor is used for measuring the current on the input side of the transmission device to obtain the moment information on the input side of the transmission device, and the first safety information comprises the moment information on the input side of the joint.
Further, the control module is configured to: and calculating joint moment information according to the position and speed information of second safety information, wherein the second safety information comprises the joint moment information.
Further, the first security information and the second security information respectively include: joint position information, joint velocity information, and joint torque information.
Further, the joint includes an elbow joint for connecting two adjacent mechanical arm portions of the mechanical arm, which are relatively long, and the first safety information and the second safety information respectively include information obtained according to at least one of joint velocity, joint position, and joint torque, and the information includes: tool position, tool orientation, tool velocity, tool force, elbow joint position, elbow joint velocity, elbow joint force, robot power, robot momentum, robot stop distance, robot stop time, emergency stop, protection stop, robot movement digital output, robot not stop digital output, mode zone reduction.
The invention can also adopt the following technical scheme: a control method of an industrial robot, the industrial robot comprising: a base for carrying the industrial robot; a robot arm connected to the base for movement to perform a work task of the robot, the robot arm comprising two or more arm portions;
a joint for connecting adjacent two of said robot arm portions, said joint comprising a transmission; characterized in that the industrial robot further comprises: the first detection module comprises a motor encoder arranged on the input side of the transmission device; the second detection module is a motor Hall sensor arranged on the input side of the transmission device; the control module is used for generating a working instruction of the robot and controlling the robot to execute work; the control method comprises the following steps: the first detection module detects at least one of joint position and joint speed of the input side of the transmission device; the second detection module detects at least one of joint position, joint speed and joint moment of the input side of the transmission device; the control module respectively acquires first safety information and second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module, compares the first safety information and the second safety information, and controls the industrial robot to execute safety action when the difference value between the first safety information and the second safety information is larger than a preset value.
Further, the preset value is 0, and the control method includes: and when the control module compares the first safety information with the second safety information, the control module controls the industrial robot to execute the safety action.
Further, the first detection module comprises: and the current sensor is used for measuring the current on the input side of the transmission device to obtain the moment information on the input side of the transmission device, and the first safety information comprises the moment information on the input side of the joint.
Further, the control method comprises the following steps: the control module calculates joint moment information according to joint position and speed information of second safety information, wherein the second safety information comprises the joint moment information.
Further, the control module comprises a first control module and a second control module, and the control method comprises the following steps: the first control module acquires first safety information according to the first detection module, and the second control module acquires second safety information according to the second detection module.
Further, the first security information and the second security information respectively include: joint position information, joint velocity information, and joint torque information.
Further, the joint includes an elbow joint for connecting two adjacent mechanical arm portions of the mechanical arm, which are relatively long, and the first safety information and the second safety information respectively include information obtained according to at least one of joint velocity, joint position, and joint torque, and the information includes: tool position, tool orientation, tool velocity, tool force, elbow joint position, elbow joint velocity, elbow joint force, robot power, robot momentum, robot stop distance, robot stop time, emergency stop, protection stop, robot movement digital output, robot not stop digital output, mode zone reduction.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the control module of the industrial robot acquires the first safety information and the second safety information through the first detection module and the second detection module respectively, and executes safety actions when the difference value between the first safety information and the second safety information is larger than a preset value, and the first safety information and the second safety information are detected independently from each other, so that the industrial robot is good in safety and good in stability of safety detection.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
fig. 1 is a perspective view of an industrial robot of an embodiment of the present invention
FIG. 2 is a cross-sectional view of a robotic joint of one embodiment of the present invention
Fig. 3 is a flowchart of a control method of an industrial robot of an embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present invention. 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.
Fig. 1-2 show an industrial robot 100 according to an embodiment of the invention in a perspective view, and fig. 2 shows a cross-sectional view of a joint according to an embodiment of the invention. As shown in fig. 1, the industrial robot 100 comprises a base 110 for carrying said industrial robot 100, and a user can mount the industrial robot 100 to a work platform through the base 110 to perform work; a robot arm connected to the base 110 and configured to move to perform a work task of the robot 100, wherein the robot arm includes two or more arm portions 121, one end of the robot arm is connected to the base 110 for stability, and the other end of the robot arm is configured to be connected to a tool, so that the tool is driven to move by the movement of the robot arm to perform the work task; a joint 130 for connecting two adjacent robot arm sections 121, said joint 130 comprising a transmission, the transmission 135 may take various forms, for example, a transmission gear; referring to fig. 2, transmission 135 has an input side 131 and an output side 132, in this example, input side 131 generates power that is transmitted to output side 132 to rotate joint 130. The industrial robot 100 further comprises a first detection module, which comprises a motor encoder disposed at an input side of the transmission device, for detecting at least one of a joint position and a joint speed; the second detection module is a motor Hall sensor arranged on the input side of the transmission device and used for detecting at least one of joint position, joint speed and joint torque; the industrial robot 100 further comprises a control module for generating a work instruction of the robot 100 and controlling the robot 100 to execute work, wherein the control module acquires first safety information representing the work safety of the industrial robot according to the first detection module, acquires second safety information representing the work safety of the industrial robot according to the second detection module, compares the first safety information with the second safety information, and controls the robot to execute safety action when the difference value between the first safety information and the second safety information is greater than a preset value. By using different detection modes, the first safety information and the second safety information are acquired by using two independent systems, so that the first safety information and the second safety information are acquired relatively independently, the interference factors between the first safety information and the second safety information are small, the two systems can independently cut off the power supply of the robot 100, and the robot 100 is controlled to execute safety actions when the two systems detect that the deviation greater than the preset value occurs. The first detection module and the second detection module respectively monitor necessary safety information in different detection modes, so that the safety performance of the robot 100 in operation can be guaranteed.
The industrial robot 100 includes a plurality of types, and the cooperative robot is one of the most advanced in recent years, and the control module of the cooperative robot includes at least two parts, namely a control box of the cooperative robot, which is a general control center thereof, and a control unit at the joint 130 of the cooperative robot, and is capable of processing the work information of the cooperative robot and generating an appropriate work instruction according to the current work condition.
The industrial robot 100 further comprises user interface means for programming the industrial robot 100 to control it to perform preset operations. The user interface device includes a teach pendant provided outside the main body of the industrial robot 100 and connectable to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.
In one embodiment, the preset value is 0, that is, when the difference between the first safety information and the second safety information is greater than or equal to 0, the industrial robot 100 is controlled to perform a safety action. That is, when the first safety information and the second safety information are compared to be inconsistent, the industrial robot 100 is controlled to perform the safety action. Specifically, the first safety information and the second safety information respectively comprise a plurality of parameters, such as joint position, joint speed, joint force, joint moment and the like, the first detection module and the second detection module are respectively used for detecting at least one of position and speed of the joint, namely, the first detection module and the second detection module carry out detection independently, the first safety information and the second safety information respectively comprise joint positions, joint speeds and joint torques, the control module can respectively acquire the first safety information and the second safety information according to the first detection module and the second detection module, in particular, the control module acquires the first safety information and the second safety information, directly acquiring the first safety information and the second safety information according to the detection of the first detection module and the second detection module, and, and information obtained by calculation or processing according to the detection of the first detection module and the second detection module. The first detection module and the second detection module are respectively used for detecting part or all of the first security information and the second security information, when the first detection module and the second detection module are respectively used for detecting all of the first security information and the second security information, all required security information detection can be realized only by the first detection module and the second detection module, namely, two independent systems of security detection can be formed by the first detection module and the second detection module. In this embodiment, the first detection module and the second detection module are respectively configured to detect partial information in the first security information and the second security information, where the detected partial information refers to information that can be directly detected by the first detection module and the second detection module. The results directly detected by the first detection module and the second detection module can be processed by the control module to directly or indirectly obtain more information, and the information obtained through processing can be used for evaluating the safety of the robot 100 and also belongs to the first safety information and the second safety information. In order to ensure the safety of the industrial robot 100 during operation, it is usually necessary to obtain the position, speed and moment information of the joint 130, that is, the first safety information and the second safety information used by the industrial robot 100 for comparison respectively include the position, speed and moment information. In this embodiment, the first detection module includes a motor encoder 133, the motor encoder 133 is disposed on the input side 131 of the transmission 135 of the joint 130 and is used for acquiring the position and speed information of the input side 131 of the transmission 135, and the second detection module is a motor hall sensor 134, and the motor hall sensor 134 is mounted on the input side 131 of the device and is used for acquiring the position and speed information of the input side 131 of the transmission 135. When the first safety information and the second safety information are compared, the same items of the first safety information and the second safety information are respectively compared, that is, the speed information in the first safety information and the speed information in the second safety information are compared, the position information in the first safety information and the position information in the second safety information are compared, the moment information in the first safety information and the moment information in the second safety information are compared, specifically, for example, the speed of the input side 131 of the transmission 135 detected by the first detection module and the speed of the input side 131 of the transmission 135 detected by the second detection module are compared to judge whether the difference between the two is larger than the preset value of the difference. In this embodiment, the first safety information and the second safety information are respectively composed of a plurality of kinds of information, that is, the first safety information and the second safety information respectively include joint position, joint speed, and joint torque information. In the embodiment, the industrial robot obtains joint position and speed information through a motor encoder of a first detection module, and obtains joint torque information through a current sensor of the first detection module; the industrial robot obtains joint position and speed information through a second detection module, namely a motor Hall sensor, and obtains joint torque information through a control module according to the joint position and speed information detected by the motor Hall sensor so as to respectively obtain the joint position, the joint speed and the joint torque information of the first safety information and the second safety information. Specifically, the joint position, the joint speed, and the joint moment information are basic information for measuring the safety of the industrial robot, and in addition, the first safety information and the second safety information further include information obtained by the control module according to at least one of the joint position information, the joint speed information, and the joint moment information, and specifically include:
the tool position is the position of a tool of the robot 100, specifically, the position of the tool of the robot 100 is calculated by a first control module and a second control module, the first safety information and the second safety information respectively include tool position information, and the industrial robot 100 is controlled to execute a safety action when the tool position information of the first safety information and the tool position information of the second safety information are different;
the tool orientation, i.e. the maximum orientation of the tool of the robot 100 is limited, and in particular the orientation of the tool of the robot 100 is calculated by a first control module and a second control module, respectively, the first safety information and the second safety information comprise the tool orientation, respectively, and the industrial robot 100 is controlled to perform a safety action by comparing that the tool orientations of the first safety information and the second safety information are different.
The tool speed, i.e. the maximum speed of the tool of the robot 100 is limited, specifically, the speed of the tool of the robot 100 is calculated by the first control module and the second control module respectively, the first safety information and the second safety information respectively include the tool speed, and the industrial robot 100 is controlled to perform the safety action when the tool speeds of the first safety information and the second safety information are different.
The tool force, i.e. the maximum force that the tool of the robot 100 is limited to exert in the specific case of operation. For example, when the tool is the gripping tool 200, the maximum force that the robot 100 exerts in a gripping condition is limited. Similar to the above, the first control module and the second control module each calculate a tool force and perform a safety action when the two are not in agreement.
It should be noted that: the industrial robot 100 generally has a plurality of joints and its robot arm generally consists of a plurality of robot arm portions 121, in particular, the robot arm portion 121 includes two relatively long portions and other relatively short portions, in particular, the joint connecting two relatively long adjacent robot arm portions 121 is defined as an elbow joint. Specifically, in the present embodiment, the elbow joint is a joint, i.e., two robot arm portions of the robot arm with relatively long length are connected by one joint, and in other embodiments, the elbow joint may also include two joints, i.e., two robot arm portions 121 of the robot arm with relatively long length are connected by two joints.
The first security information and the second security information specifically further include:
the first control module and the second control module respectively calculate the elbow joint positions and execute safety actions when the elbow joint positions are not consistent with the elbow joint positions, namely the position range of the limiting elbow joint.
The elbow joint velocity, i.e., the maximum velocity of the restricted elbow joint 130, as similar to above, the first control module and the second control module each calculate the elbow joint velocity and perform a safety action when the two do not coincide.
The elbow joint force, i.e., the maximum force limiting the elbow joint 130, as similarly described above, the first control module and the second control module each calculate the elbow joint force and perform a safety action when the two are not in agreement.
Since the industrial robot 100 includes the plurality of joints 130 and the safety information of the plurality of joints 130 is not completely the same, it is necessary to set monitoring of the safety information of each joint when necessary. The elbow joint is a relatively critical joint, and monitoring information of safety information of the elbow joint should be strictly set.
Robot power, i.e. the maximum mechanical work the robot 100 is limited to the environment, in particular the limitation considers the payload as a part of the robot 100 and not the environment, similar to the above, the first and second control modules calculate the robot 100 power separately and perform a safety action if the two are not identical.
The robot momentum, i.e. the limiting maximum robot momentum, as above, the first control module and the second control module calculate the robot momentum, respectively, and perform a safety action when the two are not identical.
The robot stopping distance, i.e. the maximum distance that the robot tool or elbow can be moved when stopped, is limited, and similarly to the above, the first control module and the second control module respectively calculate the robot 100 stopping distance and perform a safety action when the two do not coincide.
Robot stop time, i.e. limiting the maximum time it takes to stop the robot, such as: when the emergency stop is activated, the first control module and the second control module respectively calculate the robot 100 stop time, and perform a safety action when the two are not identical, similarly to the above.
The robot emergency stop is to detect information of the robot emergency stop, and the first control module and the second control module respectively acquire the information of the robot emergency stop and execute safety action when the two are not consistent.
The robot protection stops, namely the protection stops are executed when the input pin is low and the robot is in the automatic mode, and similarly to the above, the first control module and the second control module respectively acquire the robot protection stop information and execute the safety action when the two are not consistent.
And similarly to the above, the first control module and the second control module respectively acquire the robot mobile digital output information and execute the safety action when the two are not consistent.
The robot does not stop the digital output, namely, the digital output in the state that the robot does not stop is obtained, and similarly to the above, the first control module and the second control module respectively obtain the digital output which is not stopped by the robot and execute the safety action when the two are not consistent.
The robot mode area is reduced, that is, the robot mode area reduction information is acquired, and similarly to the above, the first control module and the second control module respectively acquire the robot mode area reduction information and perform the safety action when the two are not identical.
The above safety information is common information that is generally required to be acquired and judged to perform safety actions in the field of industrial robots, and is not a list of all safety information, and the protection scope of the present invention should be subject to the limitation of the claims.
In this embodiment, the control module includes a first control module and a second control module, the first control module is electrically connected to the first detection module, the second control module is electrically connected to the second detection module, the first control module obtains the first safety information according to the first detection module, and the second control module obtains the second safety information according to the second detection module. Specifically, the first detection module comprises a motor encoder and a current sensor, and is used for detecting joint position, speed and torque information of the first safety information, the second detection module is a motor hall sensor and is used for detecting and obtaining joint position and speed information, and the first control module is used for obtaining the other first safety information according to the joint position, the joint speed and the joint torque information of the first safety information; the second control module obtains the joint speed and position of the second safety information according to the detection of the second detection module, namely the detection of the motor Hall sensor, the control module calculates the joint torque of the second safety information by combining the information such as the mass distribution of the robot based on the joint position and speed of the second safety information, and obtains the other second safety information based on the joint position, joint speed and joint torque information of the second safety information. By obtaining the two sets of safety information, namely the first safety information and the second safety information, and independently detecting the two sets of safety information through different sensors, the safety of the industrial robot 100 in operation can be ensured, so that possible danger to human beings is avoided. And the first control module and the second control module are adopted for independent calculation, so that the detection of the first safety information and the second safety information is more independent, and the safety of the industrial robot is better. Simultaneously, through the mode that adopts motor encoder and motor hall sensor to detect, motor encoder is the accurate and indispensable part of industrial robot for control, and motor hall sensor can obtain through selecting suitable motor, and motor hall sensor low price can effectively reduce the complete machine cost simultaneously.
Regarding the setting of the preset value, in the present embodiment, the industrial robot 100 internally sets the preset value when leaving the factory, the preset value corresponds to the components of the first and second safety information and also includes a plurality of component information, specifically, the preset value includes a plurality of information such as preset speed information, preset position information, preset force information, and when the preset value is set, each information needs to be set separately. When the size of the preset value is considered, the error of the information detected or calculated by the robot 100 is mainly considered, and in an ideal state, the first safety information and the second safety information should be completely consistent to represent the safety of the working system of the robot 100, that is, when the preset value is 0, the first safety information and the second safety information are considered to be consistent, and the robot 100 meets the safety requirement; when the preset value is greater than 0, it is considered that the first safety information and the second safety information are not consistent, and the robot 100 should perform a safety operation. In a specific implementation, a small error is allowed to exist in the first safety information and the second safety information, that is, the allowed preset value is a natural number greater than 0, under different robots 100 and different application conditions, the error that may exist in the robots 100 is different in magnitude, a reasonable preset value is set within the allowed error range, and based on the preset value, it is determined whether the difference between the first safety information and the second safety information is greater than or equal to the preset value, that is, it is determined that the difference between the first safety information and the second safety information meets the requirement that the first safety information and the second safety information are consistent within the allowed error range, and the setting of the preset value is determined according to calculation of a person skilled in the art and the error that may exist in the specific robot 100, which is not limited in the present invention. The preset value is determined according to a possible error of the robot 100, and when the difference between the first safety information and the second safety information is within an allowable error range, the robot 100 determines that the first safety information and the second safety information are consistent, and does not execute a safety action, otherwise, the robot 100 determines that the first safety information and the second safety information are inconsistent, and executes a safety action. In other words, the setting of the preset value should be mainly determined according to the error that must exist in the detection of the safety information, and the final purpose is to control the industrial robot 100 to perform the safety action when the detection result of the first safety information and the detection result of the second safety information are substantially inconsistent within the error range.
In the present embodiment, the motor encoder 133 and the motor hall sensor 134 are mainly selected to detect the first safety information and the second safety information of the robot 100, and generally, in order to realize accurate control of the industrial robot 100, the motor encoder 133 is additionally provided to the motor to realize accurate control. For example, the precision of repeated positioning needs to be controlled within plus or minus 0.03mm, and it is sometimes insufficient to use the motor encoder 133 alone to implement accurate detection, so that the motor hall sensor 134 is often used in this field to perform auxiliary detection, in order to implement more accurate detection. By adopting the technical scheme of the invention, new elements are not added on the original collaborative robot design, so that the manufacturing cost of the collaborative robot is relatively reduced. Meanwhile, the appropriate motor encoder 133 and the motor hall sensor 134 are selected, so that the detection result is high in precision, and the measurement requirement for safety can be stably met. By arranging the motor encoder and the motor hall sensor at the input side 131 of the transmission 135, the position is arranged reasonably without destroying the layout of the original cooperative robot. And the power of the joint 130 is transmitted from the power generated by the input side 131 of the transmission device 135, and the motor encoder and the motor hall sensor are both arranged on the input side 131, so that the detection result is more accurate, the detection result is prevented from being influenced by possible loss of force in the transmission process, and the installation mode of the invention ensures that the detection of safety is more stable.
The control module is further configured to compare the first safety information with the second safety information, and when a difference between the first safety information and the second safety information is greater than a preset value, the industrial robot 100 executes a safety action. Specifically, the safety actions performed by the robot 100 include various actions defined by safety regulations of the industrial robot, which are not described herein. Specifically, when the difference between the first safety information and the second safety information is greater than a preset value, a detection result of one of the first detection module and the second detection module may not meet a requirement for accuracy of detection, or at least one of the first detection module and the second detection module detects a safety risk that the industrial robot 100 may have, and the safety of the industrial robot 100 is ensured by executing the safety action. Specifically, when comparing the first safety information with the second safety information, the same items of the first safety information and the second safety information can be compared, so that the possible abnormality of any information of the position, the speed, the force/moment can be independently determined, and the corresponding safety action can be executed.
The beneficial effects of the above embodiment are: the industrial robot 100 has two sets of detection systems for position, speed and force, and the two sets of systems work independently, so that the safety of the industrial robot 100 is ensured. Meanwhile, the selected means of the motor encoder 133, the motor hall sensor 134 and the current sensor 140 are used for obtaining the parameters, the obtained result is high in accuracy, and the stability of the industrial robot 100 is good on the basis of high safety; moreover, the parts such as the motor encoder 133 and the motor hall sensor 134 selected by the invention are not added with new parts on the original industrial robot 100 to realize the safety function, but are developed and designed on the original parts to realize new functions, thereby reducing the overall cost of the industrial robot 100.
The present invention also provides a method for controlling an industrial robot 100, which is described above with reference to fig. 3, and the components of the industrial robot 100 are not described in detail here. The control method comprises the following steps:
s1, the first detection module detects at least one of joint position, joint speed and joint moment;
that is, the first detection module detects at least one of a joint position, a joint speed, and a joint torque of the input side 131 of the transmission 135 of the robot joint 130, and specifically, the first detection module includes a motor encoder 133, and the motor encoder 133 provided to the input side 131 of the transmission 135 of the robot joint 130 detects at least one of a joint position, a joint speed, and a joint torque of the input side 131 of the transmission 135.
S2, the second detection module detects at least one of joint position, joint speed and joint moment;
that is, the second detection module detects at least one of a joint position, a joint speed, and a joint torque on the input side 131 of the transmission 135 of the robot joint 130, and specifically, the second detection module is a motor hall sensor 134, and the motor hall sensor 134 provided on the input side 131 of the transmission 135 of the robot joint 130 detects at least one of a joint position, a joint speed, and a joint torque on the input side 131 of the transmission 135.
And S3, the control module respectively acquires first safety information and second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module, compares the first safety information and the second safety information, and controls the industrial robot to execute safety action when the difference value between the first safety information and the second safety information is larger than a preset value.
That is, the control module acquires the first safety information and the second safety information according to the first detection module and the second detection module, respectively, and controls the industrial robot 100 to perform a safety action when a difference value between the first safety information and the second safety information is greater than a preset value. Specifically, the first detection module includes a motor encoder 133, the motor encoder 133 is disposed on the input side 131 of the transmission 135 of the joint 130 to detect the position and speed information of the input side 131, the second detection module is a motor hall sensor 134, and the motor hall sensor 134 is disposed on the input side 131 of the transmission 135 of the joint 130 to detect the position and speed information of the input side 131; specifically, the first detection module further comprises a current sensor for detecting a joint moment of the first safety information; and the control module calculates joint torque according to the joint position and the joint speed of the second safety information and by combining information such as robot mass distribution. And respectively acquiring other information in the first safety information and the second safety information according to the joint position, the joint speed and the joint moment information of the first safety information and the second safety information. And comparing the corresponding items of the first safety information and the second safety information, and controlling the industrial robot 100 to execute a safety action when judging whether the difference value between the first safety information and the second safety information is greater than a preset value.
Preferably, the preset value is 0, and when the control module compares that the first safety information is inconsistent with the second safety information, the control module controls the industrial robot 100 to execute a safety action. The predetermined value may also be determined by the method described above, and will not be described herein again.
It should be noted that the sequence of steps S1 and S2 in the control method described above is not limited to one of the steps S1 and S2, or S2 and S1, and the sequence of steps S1 and S2 in the control method includes the above two cases, and the sequence of steps is not limited to one. Meanwhile, the force information mentioned herein includes information related to the force, including but not limited to the magnitude of the force itself, and the magnitude of the moment.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. An industrial robot comprising:
a base for carrying the industrial robot;
a robot arm connected to the base for movement to perform a work task of the robot, the robot arm comprising two or more arm portions;
a joint for connecting adjacent two of said robot arm portions, said joint comprising a transmission;
characterized in that the industrial robot further comprises:
the first detection module comprises a motor encoder arranged on the input side of the transmission device and is used for detecting at least one of joint position, joint speed and joint torque;
the second detection module is a motor Hall sensor arranged on the input side of the transmission device and is used for detecting at least one of joint position, joint speed and joint torque;
the control module is used for generating a working instruction of the robot and controlling the robot to execute work, the control module acquires first safety information representing the working safety of the industrial robot according to the first detection module, acquires second safety information representing the working safety of the industrial robot according to the second detection module, compares the first safety information with the second safety information, and controls the industrial robot to execute safety action when the difference value between the first safety information and the second safety information is larger than a preset value.
2. The industrial robot of claim 1, wherein the preset value is 0, and the control module is configured to control the industrial robot to perform a safety action when the first safety information and the second safety information are inconsistent.
3. An industrial robot according to claim 1, characterized in that the control module comprises a first control module for obtaining first safety information based on the first detection module and a second control module for obtaining second safety information based on the second detection module.
4. An industrial robot according to claim 1, characterized in that the first detection module comprises: and the current sensor is used for measuring the current on the input side of the transmission device to obtain joint torque information on the input side of the transmission device, and the first safety information comprises the joint torque information on the input side of the joint.
5. An industrial robot according to claim 1, characterized in that the control module is adapted to: and calculating joint moment information according to the position and speed information of second safety information, wherein the second safety information comprises the joint moment information.
6. An industrial robot according to any of claims 1-5, characterized in that the first safety information and the second safety information comprise, respectively: joint position information, joint velocity information, and joint torque information.
7. An industrial robot according to claim 6, characterized in that said joint comprises an elbow joint for connecting two adjacent robot arm portions of a robot arm being relatively long, said first safety information and second safety information further respectively comprising information derived from at least one of joint velocity, joint position, joint moment, comprising: tool position, tool orientation, tool velocity, tool force, elbow joint position, elbow joint velocity, elbow joint force, robot power, robot momentum, robot stop distance, robot stop time, emergency stop, protection stop, robot movement digital output, robot not stop digital output, mode zone reduction.
8. A control method of an industrial robot, the industrial robot comprising:
a base for carrying the industrial robot;
a robot arm connected to the base for movement to perform a work task of the robot, the robot arm comprising two or more arm portions;
a joint for connecting adjacent two of said robot arm portions, said joint comprising a transmission;
characterized in that the industrial robot further comprises:
the first detection module comprises a motor encoder arranged on the input side of the transmission device;
the second detection module is a motor Hall sensor arranged on the input side of the transmission device;
the control module is used for generating a working instruction of the robot and controlling the robot to execute work;
the control method comprises the following steps:
the first detection module detects at least one of joint position, joint speed and joint moment of the input side of the transmission device;
the second detection module detects at least one of joint position, joint speed and joint moment of the input side of the transmission device;
the control module respectively acquires first safety information and second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module, compares the first safety information and the second safety information, and controls the industrial robot to execute safety action when the difference value between the first safety information and the second safety information is larger than a preset value.
9. The control method according to claim 8, wherein the preset value is 0, the control method comprising: and when the control module compares the first safety information with the second safety information, the control module controls the industrial robot to execute the safety action.
10. The control method according to claim 8, wherein the first detection module includes: a current sensor for measuring a current at the input side of the transmission to obtain torque information at the input side of the transmission therefrom, the first safety information including joint torque information at the input side.
11. The control method according to claim 8, characterized by comprising: the control module calculates joint moment information according to joint position and speed information of second safety information, wherein the second safety information comprises the joint moment information.
12. The control method of claim 1, wherein the control module comprises a first control module and a second control module, the control method comprising: the first control module acquires first safety information according to the first detection module, and the second control module acquires second safety information according to the second detection module.
13. The control method according to any one of claims 8 to 12, characterized in that the first safety information and the second safety information respectively include: joint position information, joint velocity information, and joint torque information.
14. The control method according to claim 13, wherein the joint comprises an elbow joint for connecting two adjacent robot arm portions of a robot arm having a relatively long length, and the first safety information and the second safety information further respectively comprise information obtained from at least one of joint velocity, joint position, and joint torque, the information comprising: tool position, tool orientation, tool velocity, tool force, elbow joint position, elbow joint velocity, elbow joint force, robot power, robot momentum, robot stop distance, robot stop time, emergency stop, protection stop, robot movement digital output, robot not stop digital output, mode zone reduction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024046178A1 (en) * | 2022-09-02 | 2024-03-07 | 北京极智嘉科技股份有限公司 | Motion control system, position detection assembly, and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024046178A1 (en) * | 2022-09-02 | 2024-03-07 | 北京极智嘉科技股份有限公司 | Motion control system, position detection assembly, and robot |
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