CN201559195U - robot - Google Patents
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- Publication number
- CN201559195U CN201559195U CN2009202666577U CN200920266657U CN201559195U CN 201559195 U CN201559195 U CN 201559195U CN 2009202666577 U CN2009202666577 U CN 2009202666577U CN 200920266657 U CN200920266657 U CN 200920266657U CN 201559195 U CN201559195 U CN 201559195U
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- control module
- mechanical arm
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Abstract
The utility model provides a robot which comprises mechanical arms, a control unit used for controlling the motion of the mechanical arms and a detecting unit, wherein the control unit comprises a processor, a memory connected with the processor, a communication element and a driving element connected with the processor through the communication element; and the processor executes the corresponding treatment according to the detection signal of the detecting unit, thereby protecting the robot against damage even more severe accident. The robot further comprises a demonstrator connected with the control unit, by which the reference values, the reference value ranges and the preset time are set or changed.
Description
Technical field
The utility model relates to robot, more particularly, relates to the motion controller of robot.
Background technology
Robot application is at each industrial circle.In the course of work of robot, some error events can appear, lose or the like such as the motor rotation blockage of the mechanical arm of robot and the collision of other fixtures, mechanical arm and overload and mechanical arm.If these error events of untimely processing can be damaged robot or cause more serious accident.
But the motor rotation blockage of mechanical arm that the motion controller of existing robots can't supervisory-controlled robot and the collision of other fixtures, mechanical arm and overload and mechanical arm are lost or the like.
The utility model content
At above-mentioned technical problem, the utility model provides a kind of robot, comprises mechanical arm, is used to control the control module and the detecting unit of the motion of mechanical arm; Wherein control module also comprises processor, the memory that is connected with processor, communication unit and the driver element that is connected with processor by communication unit, carries out corresponding the processing according to the detection signal processor of detecting unit.Thereby prevent to damage robot or more serious accident.This robot also comprises the teaching machine that is connected with control module, sets or changes above-mentioned reference value and the scope and the scheduled time by teaching machine.
Detecting unit is the current sensor with the electric current coupling of the motor of mechanical arm, is used to detect the moment of motor; If wherein continue to equal maximum reference value at a scheduled time moment of resistance measured value, then control module misjudgment incident takes place.Thereby robot can monitor the generation of overload.
Detecting unit is the motor-operated rotary transformer by mechanical arm, is used to detect the speed of motor; If wherein velocity measurement is higher than speed reference one predetermined difference value, then control module misjudgment incident takes place.Thereby robot can monitor the generation of hypervelocity.
Detecting unit is the motor-operated rotary transformer by mechanical arm, is used to detect the position of motor; If wherein position measurements is higher than reference by location and is worth a predetermined difference value, then control module misjudgment incident takes place.Thereby robot can enter illegal zone by supervisory-controlled robot, such as workman's operating space.
Detecting unit is the current sensor with the electric current coupling of the motor of mechanical arm, is used to detect the moment of motor; If wherein torgue measurement value is higher than the moment reference value, then control module misjudgment incident takes place.
Detecting unit is the current sensor with the electric current coupling of the motor of mechanical arm, is used to detect the moment of motor; If wherein at the absolute value of a scheduled time moment of resistance measured value and the difference of feedforward moment reference value greater than a predetermined reference value, then the control module misjudgment takes place.Whether control module can be monitored mechanical arm and come off.
Feedforward moment reference value is calculated according to model.In addition, when the control module misjudgment took place, processor sent the torque command of counter-rotating respective electrical motivation and with the instruction of this motor brake, so that in time stop the rotation of this motor to driver element.
Description of drawings
Fig. 1 illustrates the robot according to embodiment of the present utility model;
Fig. 2 illustrates the moment-time relationship according to the motion control of embodiment of the present utility model;
Fig. 3 illustrates the Velocity-time relation according to the motion control of another embodiment of the present utility model;
Fig. 4 illustrates the position-time relationship according to the motion control of another embodiment of the present utility model;
Fig. 5 illustrates the moment-time relationship according to the motion control of another embodiment of the present utility model; With
Fig. 6 illustrates the moment-time relationship according to the motion control of embodiment of the present utility model.
The specific embodiment
Fig. 1 illustrates the robot according to embodiment of the present utility model.As shown in Figure 1, robot 1 comprises mechanical arm 10 and is used to control the control module 11 of the motion of mechanical arm 10.Control module 11 comprises processor 110, memory 111, communication unit 112 and driver element 113.The power of the motor of mechanical arm 10 is from the driver element 113 of control module 11.Robot 1 also comprises the teaching machine 12 that is used for teaching or manual operation machine people 1.Teaching machine 12 is by communicating by letter with control module 11 such as cable or the same communication mode of radio.Teaching machine 12 is equipped with display unit 120.
Detect the moment of the motor of mechanical arm 10 by moment detection part 13.As shown in the figure, moment detection part 13 can be installed in the control module 11 and near the power of driver element 113 and import.Moment detection part 13 is given control module 11 with measurement feedback.Memory 111 is stored the measured value of these moments and is handled by processor 110.Replacedly, also the measured value of this moment can be offered outer computer and by the storage of this outer computer and handle.Moment detection part 13 can be a current sensor, its detect from driver element 113 flow through mechanical arm motor electric current and calculate the corresponding moment of this motor based on the detected value of this electric current.The memory 111 of control module 11 can be stored the torgue measurement value continuously, and the torgue measurement value that the processor 110 of control module 11 is stored according to memory 111 is carried out corresponding the processing.
Fig. 2 illustrates the moment-time relationship according to the motion control of embodiment of the present utility model.Control module 11 or outer computer are made comparisons torgue measurement value T and maximum reference value MR.If continue to equal maximum reference value MR at a scheduled time t moment of resistance measured value T, then control module 11 misjudgment incidents take place and notice driver element 113.Specifically, moment detection part 13 detects the moment of motor continuously and the torgue measurement value that it detected is stored in the memory 111.From memory 111, processor 110 synchronously reads in the torgue measurement value that each sampling instant is stored with the sampling beat, and the torgue measurement value and the maximum reference value of each sampling instant are made comparisons.When the torgue measurement value of certain sampling instant equaled maximum reference value, processor 110 started a timer.After timer initiation, timer picks up counting and takes place up to one of following incident: (1) is lower than maximum reference value in a certain sampling instant torgue measurement value, and perhaps (2) time that timer write down reaches scheduled time t.For incident (1), processor 110 resets timer and continues above-mentioned comparison.For incident (2), processor 110 misjudgment incidents take place and notice driver element 113.
Based on said structure, control module can be monitored the load of mechanical arm motor.If the mechanical arm motor overload continues scheduled time t, then incident (2) takes place, and promptly overload takes place.Processor 110 sends the torque command of counter-rotating respective electrical motivation and with the instruction of this motor brake, so that in time stop the rotation of this motor to driver element 113.Then, the short distance of this motor counter-rotating of processor 110 orders is so that eliminate because the residual force that collision or stall cause.After this, robot stops and motor maintenance current state once more.
Consider the various combinations (frictional force of gear-box and the parameter of drive system) and the environmental condition (temperature interval) of hardware, the user of robot can or change the above-mentioned maximum reference value and the scheduled time by teaching machine 12 settings.Simultaneously the user of robot also can set maximum scheduled time t for the stall of the motor of mechanical arm.By the display unit 120 of teaching machine 12, the user of robot can see the above-mentioned maximum reference value and the scheduled time.The display unit 120 of teaching machine 12 also can presented event (1) or the generation of incident (2).
Fig. 3 illustrates the Velocity-time relation according to the motion control of another embodiment of the present utility model.Detect the speed of the motor of mechanical arm 10 by the speed detection part.As shown in the figure, the speed detection part can be installed on the motor of mechanical arm 10, for example by motor-operated rotary transformer 14.Rotary transformer provides the position of motor, just obtains the speed of motor by time differential.Control module 11 or outer computer are made comparisons velocity measurement S and speed reference RS.If velocity measurement S is higher than speed reference RS one predetermined difference value DS, then control module 11 misjudgment incidents take place and notice driver element 113.Specifically, the speed detection part detects the speed of motor continuously and the velocity amplitude that it detected is stored in the memory 111.From memory 111, processor 110 synchronously reads in the velocity measurement that each sampling instant is stored with the sampling beat, and the velocity measurement and the speed reference of each sampling instant are made comparisons.When the velocity amplitude of certain sampling instant outpaces reference value one predetermined difference value DS, processor 110 misjudgment incidents take place and send the torque command of counter-rotating respective electrical motivation and with the instruction of this motor brake, so that in time stop the rotation of this motor to driver element 113.Then, the short distance of this motor counter-rotating of processor 110 orders is so that eliminate because the residual force that collision or stall cause.After this, robot stops and motor maintenance current state once more.
Fig. 4 illustrates the position-time relationship according to the motion control of another embodiment of the present utility model.Detect the position of mechanical arm 10 by position detection component.Position detection component can be installed on the motor of mechanical arm 10, for example by motor-operated rotary transformer 14.Control module 11 or outer computer are made comparisons position measurements P and reference by location value RP.If position measurements P is higher than reference by location value RP one predetermined difference value DP, then control module 11 misjudgment incidents take place and notice driver element 113.Specifically, position detection component detects the position of mechanical arm continuously and the positional value that it detected is stored in the memory 111.From memory 111, processor 110 synchronously reads in the position measurements that each sampling instant is stored with the sampling beat, and the position measurements and the reference by location value of each sampling instant are made comparisons.When the position measurements setover reference value one predetermined difference value DP of certain sampling instant, processor 110 misjudgment incidents take place and send the torque command of counter-rotating respective electrical motivation and with the instruction of this motor brake, so that in time stop the rotation of this motor to driver element 113.Then, the short distance of this motor counter-rotating of processor 110 orders is so that eliminate because the residual force that collision or stall cause.After this, robot stops and motor maintenance current state once more.
Thereby robot can enter illegal zone by supervisory-controlled robot, such as workman's operating space.
Fig. 5 illustrates the moment-time relationship according to the motion control of another embodiment of the present utility model.Control module 11 or outer computer are made comparisons torgue measurement value T and moment reference value RT.If torgue measurement value T is higher than moment reference value RT, then control module 11 misjudgment incidents take place and notice driver element 113.Specifically, moment detection part 13 detects the moment of motor continuously and the torgue measurement value that it detected is stored in the memory 111.From memory 111, processor 110 synchronously reads in the torgue measurement value that each sampling instant is stored with the sampling beat, and the torgue measurement value and the moment reference value of each sampling instant are made comparisons.When the torgue measurement value of certain sampling instant was higher than the moment reference value, processor 110 misjudgment incidents took place and notice driver element 113.
Consider the various combinations (frictional force of gear-box and the parameter of drive system) and the environmental condition (temperature interval) of hardware, the user of robot can or change above-mentioned moment reference value by teaching machine 12 settings.For example, can select also to set moment reference value RT, for example RT1 and RT2 between by maximum moment reference value MT and feedforward moment reference value ffw.Feedforward moment reference value ffw calculates according to model usually, and is promptly just given before robot work.
Fig. 6 illustrates the moment-time relationship according to the motion control of embodiment of the present utility model.Control module 11 or outer computer are made comparisons torgue measurement value T and feedforward moment reference value ffw.If greater than a predetermined reference value DT, then control module 11 is judged and is lost mechanical arm and notify driver element 113 at the absolute value of a scheduled time t moment of resistance measured value T and the difference of feedforward moment reference value ffw.Specifically, moment detection part 13 detect continuously mechanical arm motor moment and the torgue measurement value that it detected stored in the memory 111.From memory 111, processor 110 synchronously reads in the torgue measurement value that each sampling instant is stored with the sampling beat, and the torgue measurement value and the feedforward moment reference value of each sampling instant are made comparisons.When the absolute value of the torgue measurement value T of certain sampling instant and the difference of feedforward moment reference value ffw during greater than a predetermined reference value DT, processor 110 starts a timer.After timer initiation, timer picks up counting and takes place up to one of following incident: (1) is less than or equal to a predetermined reference value DT at the absolute value of the difference of a certain sampling instant torgue measurement value T and feedforward moment reference value ffw, and perhaps (2) time that timer write down reaches scheduled time t.For incident (1), processor 110 resets timer and continues above-mentioned comparison.For incident (2), mechanical arm and notice driver element 113 are lost in processor 110 judgements.
Based on said structure, whether control module can be monitored mechanical arm and come off.If greater than a predetermined reference value DT, then detect and mechanical arm takes place lose at the absolute value of a scheduled time t moment of resistance measured value T and the difference of feedforward moment reference value ffw.Simultaneously can judge also whether the motor of robot transships.Thereby can take measures necessary to prevent the generation of accident as early as possible.
Though illustrate and described the utility model with reference to some preferred embodiment of the present utility model, but it will be appreciated by those skilled in the art that, do not deviating under the situation of the spirit and scope of the present utility model that limit by appended claims, can make various variations to it in the form and details.
Claims (10)
1. a robot (1) comprises mechanical arm (10), detecting unit (13,14) and according to the control module (11) from the motion of the detection Data Control mechanical arm (10) of described detecting unit (10).
2. robot as claimed in claim 1, described detecting unit (13) are the current sensor with the electric current coupling of the motor of described mechanical arm (10), are used to detect the moment (T) of motor; If wherein continue to equal maximum moment reference value (MR) at reference time (t) moment of resistance measured value, then described control module (13) misjudgment incident takes place.
3. robot as claimed in claim 1, described detecting unit (14) is the motor-operated rotary transformer by described mechanical arm (10), is used to detect the speed (S) of described motor; If wherein velocity measurement departs from speed reference (RS) predetermined reference scope (DS), then described control module (14) misjudgment incident takes place.
4. robot as claimed in claim 1, described detecting unit (14) are the motor-operated rotary transformer (10) by described mechanical arm, are used to detect the position (P) of described motor; If position measurements deviation position reference value (RP) predetermined reference difference (DP) wherein, then described control module (14) misjudgment incident takes place.
5. robot as claimed in claim 1, described detecting unit (13) are the current sensor with the electric current coupling of the motor of described mechanical arm (10), are used to detect the moment (T) of motor; (RT1, RT2), then described control module (13) misjudgment incident takes place if wherein torgue measurement value is higher than the moment reference value.
6. robot as claimed in claim 1, described detecting unit (13) are the current sensor with the electric current coupling of the motor of described mechanical arm (10), are used to detect the moment (T) of motor; If wherein at the absolute value of difference of predetermined reference time (t) moment of resistance measured value and feedforward moment reference value (ffw) greater than a predetermined reference value (DT), then described control module misjudgment takes place.
7. as claim 6 or 7 described robots, wherein said feedforward moment reference value is calculated according to model.
8. as the described robot of one of claim 2 to 6, wherein when described control module misjudgment takes place, described processor (11) sends the torque command of counter-rotating respective electrical motivation and with the instruction of this motor brake, so that in time stop the rotation of this motor to described driver element.
9. as the described robot of one of claim 2 to 6, also comprise the teaching machine that is connected with described control module, set or change above-mentioned reference value and the scope and the scheduled time by teaching machine.
10. as ROBOT CONTROL unit as described in one of claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202666577U CN201559195U (en) | 2009-12-11 | 2009-12-11 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202666577U CN201559195U (en) | 2009-12-11 | 2009-12-11 | robot |
Publications (1)
| Publication Number | Publication Date |
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| CN201559195U true CN201559195U (en) | 2010-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202666577U Expired - Lifetime CN201559195U (en) | 2009-12-11 | 2009-12-11 | robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102527580A (en) * | 2012-03-09 | 2012-07-04 | 深圳市轴心自控技术有限公司 | Full-automatic high-speed online non-contact bottom filling machine |
| CN103240743A (en) * | 2013-05-14 | 2013-08-14 | 中国科学院自动化研究所 | System and method for improving performance of incremental code disc |
| CN103302679A (en) * | 2012-03-07 | 2013-09-18 | 株式会社神户制钢所 | System comprising motor driving structure, program, and method for fabricating weldments |
| CN103846915A (en) * | 2012-11-29 | 2014-06-11 | 株式会社大亨 | Robot system |
| CN104972287A (en) * | 2015-08-06 | 2015-10-14 | 北京航天数控系统有限公司 | Three-degree-of-freedom mechanical arm movement control device |
| CN105835062A (en) * | 2015-01-30 | 2016-08-10 | 库卡罗伯特有限公司 | Method and system for operating and/or monitoring a multi-axle machine |
| CN105835033A (en) * | 2015-01-29 | 2016-08-10 | 株式会社安川电机 | Robot |
| CN106271114A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Laser processing device |
| CN106488832A (en) * | 2014-07-08 | 2017-03-08 | 库卡罗伯特有限公司 | Machine and the method for running machine |
| CN107072862A (en) * | 2014-08-18 | 2017-08-18 | 欧达尔医疗系统有限责任公司 | Hanger device, control device and the method for positioning hanger device responded to power or motion |
| CN107363832A (en) * | 2017-06-15 | 2017-11-21 | 华南理工大学 | A kind of industrial robot feedforward torque real-time computing technique |
| CN107662209A (en) * | 2017-09-21 | 2018-02-06 | 上海新时达机器人有限公司 | A kind of control method and robot |
| CN109571441A (en) * | 2019-01-08 | 2019-04-05 | 崧智智能科技(深圳)有限公司 | The quick teaching method of industrial robot |
| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN111168665A (en) * | 2019-11-29 | 2020-05-19 | 江苏集萃智能制造技术研究所有限公司 | Robot and collision detection method and device thereof |
| CN111633686A (en) * | 2020-05-19 | 2020-09-08 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN111645070A (en) * | 2020-05-19 | 2020-09-11 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN112828887A (en) * | 2020-12-31 | 2021-05-25 | 深圳市大族机器人有限公司 | Industrial robot end interface device and industrial robot |
-
2009
- 2009-12-11 CN CN2009202666577U patent/CN201559195U/en not_active Expired - Lifetime
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103302679A (en) * | 2012-03-07 | 2013-09-18 | 株式会社神户制钢所 | System comprising motor driving structure, program, and method for fabricating weldments |
| CN103302679B (en) * | 2012-03-07 | 2015-08-26 | 株式会社神户制钢所 | Possess system and welding thing manufacture method that motor drives structure |
| CN102527580A (en) * | 2012-03-09 | 2012-07-04 | 深圳市轴心自控技术有限公司 | Full-automatic high-speed online non-contact bottom filling machine |
| CN103846915B (en) * | 2012-11-29 | 2017-05-10 | 株式会社大亨 | Robot system |
| CN103846915A (en) * | 2012-11-29 | 2014-06-11 | 株式会社大亨 | Robot system |
| CN103240743A (en) * | 2013-05-14 | 2013-08-14 | 中国科学院自动化研究所 | System and method for improving performance of incremental code disc |
| CN103240743B (en) * | 2013-05-14 | 2015-04-22 | 中国科学院自动化研究所 | System and method for improving performance of incremental code disc |
| CN106488832A (en) * | 2014-07-08 | 2017-03-08 | 库卡罗伯特有限公司 | Machine and the method for running machine |
| CN107072862A (en) * | 2014-08-18 | 2017-08-18 | 欧达尔医疗系统有限责任公司 | Hanger device, control device and the method for positioning hanger device responded to power or motion |
| CN105835033A (en) * | 2015-01-29 | 2016-08-10 | 株式会社安川电机 | Robot |
| CN105835062A (en) * | 2015-01-30 | 2016-08-10 | 库卡罗伯特有限公司 | Method and system for operating and/or monitoring a multi-axle machine |
| CN104972287A (en) * | 2015-08-06 | 2015-10-14 | 北京航天数控系统有限公司 | Three-degree-of-freedom mechanical arm movement control device |
| CN106271114A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Laser processing device |
| CN107363832A (en) * | 2017-06-15 | 2017-11-21 | 华南理工大学 | A kind of industrial robot feedforward torque real-time computing technique |
| CN107662209A (en) * | 2017-09-21 | 2018-02-06 | 上海新时达机器人有限公司 | A kind of control method and robot |
| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN109571441A (en) * | 2019-01-08 | 2019-04-05 | 崧智智能科技(深圳)有限公司 | The quick teaching method of industrial robot |
| CN111168665B (en) * | 2019-11-29 | 2022-08-23 | 江苏集萃智能制造技术研究所有限公司 | Robot and collision detection method and device thereof |
| CN111168665A (en) * | 2019-11-29 | 2020-05-19 | 江苏集萃智能制造技术研究所有限公司 | Robot and collision detection method and device thereof |
| CN111633686A (en) * | 2020-05-19 | 2020-09-08 | 华为技术有限公司 | Robot safety protection method and device and robot |
| WO2021232921A1 (en) * | 2020-05-19 | 2021-11-25 | 华为技术有限公司 | Safety protection method and apparatus for robot, and robot |
| WO2021232933A1 (en) * | 2020-05-19 | 2021-11-25 | 华为技术有限公司 | Safety protection method and apparatus for robot, and robot |
| CN111633686B (en) * | 2020-05-19 | 2022-04-12 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN111645070A (en) * | 2020-05-19 | 2020-09-11 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN112828887A (en) * | 2020-12-31 | 2021-05-25 | 深圳市大族机器人有限公司 | Industrial robot end interface device and industrial robot |
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Effective date of registration: 20120620 Address after: Zurich Patentee after: ABB T & D Technology Ltd. Address before: Sweden Westrm J Patentee before: ABB T & D Technology Ltd. |
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Effective date of registration: 20180523 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |
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