CN114074326A - Safety system for ensuring boundary limitation of robot posture - Google Patents
Safety system for ensuring boundary limitation of robot posture Download PDFInfo
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- CN114074326A CN114074326A CN202010816993.5A CN202010816993A CN114074326A CN 114074326 A CN114074326 A CN 114074326A CN 202010816993 A CN202010816993 A CN 202010816993A CN 114074326 A CN114074326 A CN 114074326A
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
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Abstract
The invention relates to a safety system for ensuring the boundary limit of robot pose, comprising: industrial robot and safety control system, the safety control system includes: the acquisition module is used for acquiring the current position of the robot and the pose boundary information of the robot; the calculation module is used for calculating the safe distance from the current position to the pose boundary and calculating the necessary braking torque/braking force of the robot braking within the safe distance based on the safe distance; and the control module is used for judging whether the maximum braking torque/braking force provided by the current position of the robot is larger than the necessary braking torque/braking force or not and judging whether the estimated braking distance of the maximum braking torque and/or braking force provided by the robot at present is smaller than the safety distance or not, and when at least any one of the judgments is not satisfied, the control module controls the robot to decelerate or stop. The invention has the beneficial effects that: the safety judgment reliability of the industrial robot system is high.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a safety system for ensuring the boundary limit of a robot posture.
Background
With the development of society, robots are beginning to be widely used in various fields, such as home robots, industrial robots, service robots, and the like. Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots mainly oriented to the industrial field, the industrial robots comprise traditional industrial robots and cooperative robots, the cooperative robots can efficiently complete work in cooperation with people, dangerous environments can be efficiently completed with high precision, and accordingly the industrial robots are favored by more and more users.
The cooperative robot needs to interact and cooperate with human beings in a close range in work, in order to better realize human-computer cooperation and guarantee personal safety of a user, the safety performance of the cooperative robot is a core index.
Conventional robot systems have safety detection systems, such as detection of an obstacle by abnormal moment and detection of a human body approaching a cooperative robot by a capacitive sensor, but these detection methods are themselves effective in accuracy and insufficient in reliability.
Therefore, it is necessary to design a safety control system for an industrial robot with good reliability.
Disclosure of Invention
In view of this, the present invention aims to provide a safety control system for an industrial robot with good reliability and a control method thereof.
The invention can adopt the following technical scheme: an industrial robot system comprising: industrial robot and safety control system, the industrial robot includes: a base; the mechanical arm comprises a plurality of mechanical arm parts, one end of the mechanical arm is connected to the base, and the other end of the mechanical arm is used for connecting a tool; the joints are used for connecting two adjacent mechanical arm parts; the safety control system is used for controlling the industrial robot to operate safely, and is characterized by comprising: the acquisition module is used for acquiring the current position of the robot and the pose boundary information of the robot; the calculation module is used for calculating the safe distance from the current position to the pose boundary and calculating the necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance; and the control module is used for judging whether the maximum braking torque and/or the braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or the braking force, judging whether the estimated braking distance of the maximum braking torque and/or the braking force which can be provided by the robot at present is smaller than the safe distance, and controlling the robot to decelerate or stop when at least one of the two groups of judgment is not met.
Further, the pose boundaries include an elbow position boundary, a joint angle boundary, a robotic tool pose boundary, and a robotic tool orientation boundary.
Further, the acquisition module is used for acquiring the pose boundary information from the human-computer interaction equipment.
Further, the industrial robot system comprises a human-machine interaction device comprising a robot teach pendant.
Further, the calculation module is configured to dynamically calculate the safe distance according to the current position, and dynamically calculate the necessary braking torque and/or braking force based on the safe distance.
Further, the control module comprises a first control module and a second control module, the first control module and the second control module work independently, the first control module is used for judging whether the maximum braking torque and/or the braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or the braking force, and the second control module is used for judging whether the estimated braking distance of the maximum braking torque and/or the braking force which can be provided by the robot at present is smaller than the safety distance.
Further, when the first control module judges that the condition cannot be met, the robot is controlled to decelerate or stop, or when the second control module judges that the condition cannot be met, the robot is controlled to decelerate or stop.
The invention can also adopt the following technical scheme: a safety control method of an industrial robot system, characterized in that the industrial robot system comprises an industrial robot and a safety control system, the industrial robot comprising: a base; the mechanical arm comprises a plurality of mechanical arm parts, one end of the mechanical arm is connected to the base, and the other end of the mechanical arm is used for connecting a tool; the joints are used for connecting two adjacent mechanical arm parts; the safety control system is used for controlling the industrial robot to safely operate; the safety control method comprises the following steps: acquiring the current position of the robot and the pose boundary information of the robot; calculating a safe distance from the current position to the pose boundary, and calculating necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance; judging whether the maximum braking torque and/or braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or braking force, judging whether the estimated braking distance of the maximum braking torque and/or braking force which can be provided by the robot at present is smaller than the safety distance, and controlling the industrial robot to decelerate or stop when at least one of the two groups of judgment is not met.
Further, the pose boundaries include an elbow position boundary, a joint angle boundary, a robotic tool pose boundary, and a robotic tool orientation boundary.
And further, acquiring the pose boundary information through a human-computer interaction device.
Further, the safety control method includes: and dynamically calculating the safe distance according to the current position, and dynamically calculating the necessary braking torque and/or braking force based on the safe distance.
Further, whether the maximum braking torque and/or braking force which can be provided by the current position of the robot is larger than the necessary torque and/or braking force and whether the estimated braking distance of the maximum braking torque and/or braking force which can be provided by the robot at present is smaller than the safety distance are judged, and the two judgments are independently carried out and can independently control the industrial robot to decelerate or stop the industrial robot based on the judgment result.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the robot can confirm the safety of the working state in real time through two judgment methods by dynamically acquiring the current position of the robot, calculating the safe distance and the necessary braking torque and/or braking force based on the current position and judging whether the robot possibly runs beyond the pose boundary through two independent and different judgment methods, so that the safety judgment reliability is good.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
fig. 1 is a schematic view of an industrial robot of an embodiment of the present invention
FIG. 2 is a block schematic diagram of a safety control system of one embodiment of the present invention
FIG. 3 is a schematic diagram of a safety control method according to an embodiment of the present invention
FIG. 4 is a schematic diagram of a safety control method according to another embodiment of the present invention
FIG. 5 is a flow chart of a safety control method of an embodiment of the 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.
The invention protects an industrial robot system comprising an industrial robot and a safety control system, fig. 1 exemplarily presenting a schematic view of an industrial robot 100 according to an embodiment of the invention, said industrial robot 100 comprising: a base 110 for supporting the industrial robot 100 and for mounting the industrial robot 100 to a predetermined working position; a robot arm including a plurality of robot arm parts 121, one end of the robot arm being connected to the base 110, and the other end thereof being used for connecting the tool 200; and joints 130 for connecting adjacent robot arm portions 121. A robot arm is one of the core components of the industrial robot 100, and each arm portion 121 of the robot arm can generate mutual motion based on the joint 130, so that the robot arm has various motion postures to perform work tasks, and the robot arm can be connected with various tools, for example, a clamp, a vacuum chuck, and the like to realize functions of grabbing, stacking, and the like. The industrial robot system comprises a safety control system, and referring to fig. 2, fig. 2 shows a block schematic diagram of a safety control system 300 according to an embodiment of the present invention, the safety control system 300 is used for controlling the industrial robot 100 to safely operate, for example, the industrial robot 100 comprises a cooperative robot, and the cooperative robot is controlled to maintain a safe working state so as to avoid possible injury to people in working, the safety control system 300 comprises: an obtaining module 310, configured to obtain a current position of the robot and pose boundary information of the robot; a calculation module 320, configured to calculate a safe distance from the current position to the pose boundary, and calculate a necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance, where the pose boundary is a boundary that the robot cannot exceed during operation, and therefore the exceeding of the boundary may cause the robot to have an unsafe factor, and the pose boundary is generated at least partially based on the definition, and the necessary torque and/or braking force is a minimum braking torque and/or braking force required to enable the robot to brake within the safe distance, or the necessary torque and/or braking force is an average braking torque and/or braking force required to enable the robot to brake within the safe distance, that is, the necessary braking torque and/or braking force may enable the robot to complete braking within the known safe distance, when the robot brakes, the robot can complete braking within a safe distance, and the working safety of the robot can be ensured; a control module 330, wherein the control module 330 is configured to determine whether the maximum braking torque and/or braking force that can be provided by the current position of the robot is greater than the necessary braking torque and/or braking force, determine whether the estimated braking distance of the maximum braking torque and/or braking force that can be currently provided by the robot is less than the safety distance, and control the robot to slow down or stop when at least one of the above two sets of determinations is not satisfied. The maximum braking torque and/or braking force provided by the current position of the robot is the maximum braking torque and/or braking force provided by the robot at a certain moment, the maximum braking torque and/or braking force represents the braking capacity of the robot at the moment, and the maximum braking torque and/or braking force is judged to be larger than the necessary braking torque and/or braking force, namely the braking capacity of the robot at the moment exceeds the necessary braking capacity, namely the robot is within a safe distance, and the braking torque and/or braking force can enable the robot to complete braking; and judging the estimated braking distance of the maximum braking torque and/or the maximum braking force, if the distance is greater than the safety distance, it is indicated that the current braking capacity of the robot is not enough to brake the robot within the safety distance, namely the robot has unsafe factors, if the distance is less than the safety distance, it is indicated that the current braking capacity of the robot can brake the robot within the safety distance, namely the robot can meet the safety requirement, and when at least one of the two judgments cannot meet the requirement, the robot is controlled to decelerate or stop to ensure the running safety of the robot. The method comprises the steps of judging whether the maximum braking torque and/or braking force which can be provided by the robot can meet the requirement of the necessary braking torque and/or braking force through the maximum braking torque and/or braking force which can be provided by the robot, judging whether the braking distance is smaller than the safety distance through different calculation logics, namely respectively judging whether the current position of the robot can meet the safety requirement, namely whether the robot possibly runs beyond a pose boundary, controlling the robot to decelerate or stop when unsafe factors exist, so as to ensure the safety of the robot, and judging the safety of the robot through two different calculation logics, so that the reliability of safety judgment is higher.
In this embodiment, the control module includes a first control module and a second control module, the first control module and the second control module work independently, that is, the first control module and the second control module can respectively perform their own judgment work, and make a control action according to their own judgment, that is, judge whether to slow down or stop the industrial robot. The first control module is used for judging whether the maximum braking torque and/or the braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or the braking force, the second control module is used for judging whether the estimated braking distance of the maximum braking torque and/or the braking force which can be provided by the robot at present is smaller than the safety distance, the first control module and the second control module work in parallel, when the first control module judges that the condition is not met, the first control module controls the industrial robot to decelerate or stop, and when the second control module judges that the condition is not met, the second control module controls the industrial robot to decelerate or stop. In this embodiment, the first control module and the second control module have different judgment methods and different hardware carriers, so that the working independence of the first control module and the second control module is ensured. The invention ensures that the judgment on the safety is more reliable by designing different judgment methods. In some embodiments, the industrial robot may also adopt two or more different hardware carriers when acquiring the position information, or adopt different combinations of the hardware and software carriers to ensure the independence of the acquired information, when the information acquired by different acquisition modes is consistent, the reliability of the acquired information is higher, and by acquiring the information with better reliability, the judgment basis of the control module is more accurate when judging.
In the present embodiment, it is determined whether it is possible to cross the pose boundaries including the elbow position boundary, the joint angle boundary, the robot tool pose boundary, the robot tool direction boundary, etc. at the time of robot braking to measure the safety of the industrial robot 100. The elbow position boundary of the robot refers to a working range in which the elbow of the robot can operate, for example, a six-axis cooperative robot is used, the third joint of the robot is the elbow, the robot can only work inside the elbow position boundary, the safety of the robot in operation cannot be guaranteed when the elbow position boundary is exceeded, the joint can rotate and transmit driving force to the mechanical arm part 121 connected with the robot, the working range of the robot can be affected by the joint angle, and therefore the joint angle boundary needs to be limited to guarantee the safety of the robot to people. The mechanical arm can be connected with various tools to execute specific work tasks, the position and the direction of the tools of the robot need to be monitored, the position and the direction of the tools are limited within a certain range, namely, the movement of the robot tools is limited to exceed the position and the direction boundary of the robot tools, so that the safety of the robot to people is ensured.
In this embodiment, the industrial robot system comprises an obtaining module, wherein the obtaining module 310 is capable of obtaining a current position of the robot and obtaining pose boundary information of the robot, and in particular, the obtaining module 310 is configured to obtain the pose boundary information from the human-computer interaction device. Illustratively, as mentioned above, the pose boundary information includes an elbow position boundary, a joint angle boundary, a robot tool pose boundary, a robot tool direction boundary, etc., and the obtaining module 310 is configured to obtain the pose boundary information at least partially from a human-machine interaction device, including a teach pendant, a smart phone, a tablet computer, etc., which can be operated by a user to define the pose boundary information of the robot.
As mentioned above, the calculation module 320 is configured to calculate a safe distance to the pose boundary according to the current position, and calculate a necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance. Specifically, when the robot is in operation, the safety distance to the pose boundary needs to be calculated in real time based on the current position, and the necessary braking torque and/or braking force needs to be calculated in real time based on the calculated safety distance. During the operation of the robot, the position of the robot may change, but a certain parameter obtained by the pose boundary obtaining module 310 may also change the safety distance from the pose boundary to the current position of the robot at a certain moment when the position of the robot changes, i.e. the safety distance itself is a changed parameter and changes according to the current position of the robot, so that real-time calculation of the safety position is required for different positions of the robot to ensure the safety of the robot, and it is understandable that the calculating module 320 is configured to dynamically calculate the safety distance according to the current position and dynamically calculate the necessary braking torque and/or braking force based on the safety distance, i.e. determine the safety distance in real time according to the position of the robot at a certain moment and calculate the necessary braking torque and/or braking force in real time based on the safety distance, so as to determine whether the current position of the robot at a certain moment can meet the safety requirement, and when the safety requirement cannot be met, the robot is controlled to decelerate or stop.
In summary, whether the robot possibly exceeds the pose boundary is judged through different calculation methods, so that misjudgment possibly caused by inaccuracy of one calculation method is avoided, and the reliability of safety judgment of the robot is good. It should be noted that the industrial robot 100 may have a plurality of safety judgment criteria according to different configurations, and the robot needs to satisfy the plurality of safety judgment criteria at the same time so as to meet the safety criteria.
The beneficial effects of the above embodiment are: the industrial robot 100 dynamically calculates the safety distance, namely the necessary braking torque and/or braking force, through the acquired boundary information, and judges the safety of the robot work through two different judgment methods, when any judgment is interfered or the calculation is wrong to cause inaccuracy, the other judgment can still be independently carried out, the industrial robot system can still ensure the safety of the robot, and meanwhile, various pose boundary information is set, so that the safety judgment of the robot is more reliable.
The invention also provides a safety control method of an industrial robot system, as described above with reference to fig. 3, comprising an industrial robot 100 and a safety control system 300, said industrial robot 100 comprising: a base 110; a mechanical arm; a joint. The components and connections of the industrial robot 100 are described above and will not be described in detail here. The safety control system is used for controlling the industrial robot to safely operate, and the safety control method comprises the following steps:
s1, acquiring the current position and pose boundary information of the robot;
the method comprises the steps of acquiring pose boundary information through a human-computer interaction device, for example, acquiring pose boundary information of a robot through a robot demonstrator, a smart phone, a tablet personal computer and the like; and, for example, the current position of the robot is acquired through each sensor arranged in the robot. When the robot performs work, the position of the robot may change, and therefore, the current position of the robot at a certain time needs to be dynamically acquired to perform calculation and judgment based on the current position at the certain time. The pose boundary includes: elbow position boundaries, joint angle boundaries, robotic tool pose boundaries, robotic tool direction boundaries. The related information of each pose boundary forms pose boundary information, and the robot needs to execute work within the range limited by the pose boundaries to ensure the safety of the robot work.
S2, calculating a safe distance from the current position to the pose boundary, and calculating necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance;
according to the current position of the robot at a certain moment, calculating a safe distance from the current position to the pose boundary, wherein the safe distance represents the distance from the current position of the robot to the pose boundary, and when the robot brakes, the robot needs to brake within the distance to meet the safety requirement; and calculating a necessary braking torque and/or braking force required by the robot to brake within the safe distance, wherein the necessary braking torque and/or braking force represents the minimum braking torque and/or braking force required by the robot to brake within the safe distance or represents the average braking torque and/or braking force required by the robot to brake within the safe distance, and the necessary braking torque and/or braking force can enable the robot to brake within the safe distance. According to S1, the current position of the robot at a certain moment is dynamically obtained, and based on the current position at the certain moment, the safety distance is calculated in real time, and the necessary braking torque and/or braking force is determined based on the safety distance, i.e. the safety distance is dynamically calculated, and the necessary braking torque and/or braking force is determined based on the dynamically calculated safety distance. Specifically, in yet another embodiment of the present invention, referring to fig. 4, after acquiring the current position of the robot and the robot pose boundary information, S2 includes S21 and S22, i.e. in methods S21 and S22, respectively, a safe distance from the current position to the pose boundary is calculated, and a necessary braking torque and/or braking force required for the robot to brake within the safe distance is calculated based on the safe distance. And the results calculated in S2 are respectively passed to S3.
S3, judging whether the maximum braking torque and/or braking force provided by the current position of the robot is larger than the necessary braking torque and/or braking force, judging whether the estimated braking distance of the maximum braking torque and/or braking force provided by the robot is smaller than the safe distance,
judging whether the maximum braking torque and/or braking force can be provided based on the current position of the robot, and if so, representing that the braking torque and/or braking force of the current robot can meet the requirement of braking within a safe distance; and calculating whether the estimated braking distance based on the maximum braking torque and/or the maximum braking force which can be currently provided by the robot is smaller than the safe distance or not, and if so, indicating that the robot can brake within the safe distance currently. And judging whether the maximum braking torque and/or braking force provided by the current position of the robot is larger than the necessary braking torque and/or braking force and judging whether the estimated braking distance of the maximum braking torque and/or braking force provided by the robot is smaller than the safety distance, wherein the two judgments are independently carried out and the industrial robot can be independently controlled to decelerate or stop based on the judgment result.
In another embodiment of the present invention, the determining whether the maximum braking torque and/or braking force that can be provided by the current position of the robot is greater than the necessary braking torque and/or braking force, and the determining whether the estimated braking distance of the maximum braking torque and/or braking force that can be provided by the robot is smaller than the safety distance, are performed independently, that is, optionally, the two determinations may be performed by different software and hardware, and the two determinations may be performed simultaneously, wherein when any one of the determinations does not satisfy the determination condition, the determination branch that does not satisfy the condition may control the industrial robot to slow down or stop. Referring to fig. 4, S3 includes S31: determining whether the maximum braking torque and/or braking force that can be provided by the current position of the robot is greater than the necessary braking torque and/or braking force, and S32: and judging whether the estimated braking distance of the maximum braking torque and/or the braking force which can be currently provided by the robot is less than the safe distance. The S21 transmits the calculation result to S31, and the S22 transmits the calculation result to S32. Namely, the safety control method is carried out together by two paths of calculation and judgment, wherein any path does not meet the condition, and the robot is controlled to decelerate or stop so as to ensure the working safety of the robot.
S4, when at least one of the above two groups is judged not to be satisfied, controlling the industrial robot 100 to decelerate or stop.
Based on the two judgment strategies in S3, when both of the two judgments are satisfied, the robot satisfies the safety requirement, and when at least one of the two judgments cannot be satisfied, the robot may have a potential safety hazard, and the robot is controlled to slow down or stop. Namely, redundant judgment is carried out on whether the robot possibly crosses the pose boundary, and a safety control method of the industrial robot 100 is provided through two different and independent judgment modes, and the reliability of the judgment of the safety of the control method is good. Specifically, as described above, in still another embodiment of the present invention, S3 includes S31 and S32, the above-mentioned S31 and S32 perform the work in parallel, i.e., the judgment of both is performed together, and correspondingly, S4 includes S41 and S42, and when the execution of S31 does not satisfy the judgment requirement, S41 performs the control of the robot deceleration or stop, and when the execution of S32 does not satisfy the judgment requirement, S42 performs the control of the robot deceleration or stop. That is, when either of S31 or S32 does not satisfy the judgment requirement, the robot is controlled to decelerate or stop based on the judgment result. Further, fig. 5 shows an exemplary flowchart according to the above-described safety control method. The work flow of the safety control method comprises the following steps: acquiring the current position and pose boundary information of the robot; calculating the safe distance between the current position and the posture boundary; and calculating the necessary braking torque and/or braking force required by the robot to brake within the safe distance. Based on the information, executing a judgment action, namely judging whether the maximum braking torque and/or braking force which can be provided by the robot is larger than the necessary braking torque and/or braking force, when the judgment does not meet the condition, controlling the industrial robot to decelerate or stop, and when the judgment meets the condition, keeping the robot to normally operate based on the judgment; and judging whether the estimated braking distance of the maximum braking torque and/or braking force of the robot at the current position is smaller than the safe distance, if the judgment does not meet the condition, controlling the industrial robot to decelerate or stop, and if the judgment meets the condition, keeping the normal operation of the robot based on the judgment. The two judgments are independently carried out, the robot can normally run only when the two judgments both meet the conditions, and when any judgment does not meet the conditions, the industrial robot is controlled to decelerate or stop. The two judgments are independently carried out, so that the two judgments are not influenced mutually, and the safety control method is used for judging the safety and has better reliability. And further, after the current position information and the pose boundary information of the robot are obtained, when the safety distance and the necessary braking torque and/or braking force are calculated, whether the maximum braking torque and/or braking force of the robot reach the standard or not is judged, and whether the braking distance of the robot reaches the standard or not is judged, two different sets of logics which are synchronously and independently carried out are adopted, so that the reliability of safety judgment is further improved.
Based on the above information, a determination action is performed. The method comprises the steps of judging whether the maximum braking torque and/or the braking force which can be provided by the robot is larger than the necessary braking torque and/or the necessary braking force, if not, controlling the robot to decelerate or stop, if yes, continuously executing the next judgment, namely judging whether the estimated braking distance of the robot at the current position is smaller than the safety distance, if not, controlling the robot to decelerate or stop, and if yes, enabling the robot to normally run. In the present invention, the safety control system 300 is a safety control system including the modules described in the present invention, and includes a hardware and a software component, and, in some embodiments, the safety control system 300 includes a hardware and a software component. The industrial robot system comprises a safety control system 300, said safety control system 300 being at least partly comprised by said industrial robot 100, i.e. said safety control system 300 is not a separate component from said industrial robot 100, said safety control system 300 partly, or entirely, belonging to a component of said industrial robot, said industrial robot system comprising said industrial robot 100 and said safety control system 300.
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 (10)
1. An industrial robot system comprising:
industrial robot and safety control system, the industrial robot includes: a base; the mechanical arm comprises a plurality of mechanical arm parts, one end of the mechanical arm is connected to the base, and the other end of the mechanical arm is used for connecting a tool; the joints are used for connecting two adjacent mechanical arm parts;
the safety control system is used for controlling the industrial robot to operate safely, and is characterized by comprising:
the acquisition module is used for acquiring the current position of the robot and the pose boundary information of the robot;
the calculation module is used for calculating the safe distance from the current position to the pose boundary and calculating the necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance; and the control module is used for judging whether the maximum braking torque and/or the braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or the braking force, judging whether the estimated braking distance of the maximum braking torque and/or the braking force which can be provided by the robot at present is smaller than the safe distance, and controlling the robot to decelerate or stop when at least one of the two groups of judgment is not met.
2. The industrial robot system of claim 1, wherein the pose boundaries include elbow position boundaries, joint angle boundaries, robot tool pose boundaries, robot tool orientation boundaries.
3. The industrial robot system of claim 1, wherein the acquisition module is configured to acquire the pose boundary information from a human interaction device.
4. An industrial robot system according to claim 3, characterized in that the industrial robot system comprises a human-machine interaction device comprising a robot teach pendant.
5. An industrial robot system according to claim 1, characterized in that the calculation module is adapted to dynamically calculate the safety distance from the current position and to dynamically calculate the necessary brake torque and/or brake force based on the safety distance.
6. The industrial robot system according to claim 1, wherein the control module comprises a first control module and a second control module, the first control module and the second control module operating independently, the first control module being configured to determine whether a maximum braking torque and/or braking force that can be provided by the robot at the current position is greater than the necessary braking torque and/or braking force, the second control module being configured to determine whether an estimated braking distance of the maximum braking torque and/or braking force that can be currently provided by the robot is less than the safety distance.
7. The industrial robot system according to claim 6, wherein the first control module controls the robot to decelerate or stop when it is judged that the condition cannot be satisfied, or controls the robot to decelerate or stop when it is judged that the condition cannot be satisfied.
8. A safety control method of an industrial robot system, characterized in that the industrial robot system comprises an industrial robot and a safety control system, the industrial robot comprising: a base; the mechanical arm comprises a plurality of mechanical arm parts, one end of the mechanical arm is connected to the base, and the other end of the mechanical arm is used for connecting a tool; the joints are used for connecting two adjacent mechanical arm parts; the safety control system is used for controlling the industrial robot to safely operate;
the safety control method comprises the following steps:
acquiring the current position of the robot and the pose boundary information of the robot;
calculating a safe distance from the current position to the pose boundary, and calculating necessary braking torque and/or braking force required by the robot to brake within the safe distance based on the safe distance;
judging whether the maximum braking torque and/or braking force which can be provided by the current position of the robot is larger than the necessary braking torque and/or braking force, judging whether the estimated braking distance of the maximum braking torque and/or braking force which can be provided by the robot at present is smaller than the safety distance, and controlling the industrial robot to decelerate or stop when at least one of the two groups of judgment is not met.
9. The safety control method of claim 8, wherein the pose boundaries include elbow position boundaries, joint angle boundaries, robotic tool pose boundaries, robotic tool orientation boundaries. A pose boundary.
10. The safety control method according to claim 8, characterized by determining whether the maximum braking torque and/or braking force that can be provided by the robot at the current position is greater than the necessary braking torque and/or braking force, and determining whether the estimated braking distance of the maximum braking torque and/or braking force that can be currently provided by the robot is less than the safety distance, the two determinations being performed independently and each being capable of controlling the industrial robot to decelerate or stop based on the determination result.
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