CN212653449U

CN212653449U - Industrial robot capable of ensuring force boundary limitation

Info

Publication number: CN212653449U
Application number: CN202021692265.XU
Authority: CN
Inventors: 王珂; 孙恺
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2021-03-05
Anticipated expiration: 2030-08-14

Abstract

The utility model relates to an ensure industrial robot of power boundary limit, industrial robot includes: a base; a robot arm including a plurality of robot arm portions and joints; a safety control system comprising: the setting module sets a force boundary of the industrial robot so as to limit the range of a target force when the industrial robot safely operates; the detection module detects real-time joint torque of the robot; the control module comprises a first control module and a second control module, the first control module is used for acquiring joint torque according to the force boundary, and controlling the robot to execute a preset action when the real-time joint torque of the robot is judged to exceed the joint torque; and the second control module is used for acquiring a target force according to the real-time joint torque and controlling the robot to execute a preset action when judging that the target force exceeds a force boundary. The utility model has the advantages that: the reliability of safety judgment of the target force of the industrial robot is better.

Description

Industrial robot capable of ensuring force boundary limitation

Technical Field

The utility model relates to an industrial robot field especially relates to an industrial robot.

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 serve as light robots in the industrial robots, can efficiently complete work in cooperation with people, can efficiently complete work in dangerous environments with high precision and high efficiency, and are favored by more and more users.

The cooperative robot needs to be in close-range interactive cooperation with a human 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 cooperative robots have safety detection systems such as detection of an obstacle by abnormal torque and detection of approach of a human body to the cooperative robot by a capacitive sensor, but these detections themselves have limited accuracy and insufficient reliability. Meanwhile, the safety of the cooperative robot needs to be monitored by a plurality of parameters together, and each parameter needs to be ensured to meet the requirement of the safety, so that the safety design of the cooperative robot is challenged in a complex safety environment.

Therefore, it is necessary to design an industrial robot with better reliability of safety detection for target force.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a detect better industrial robot of reliability to target power security.

The utility model discloses can adopt following technical scheme: an industrial robot comprising: a base; a robotic arm having one end connected to the base and another end being a tool end, the robotic arm comprising a plurality of arm portions and joints connecting adjacent arm portions, the joints comprising elbow joints; a safety control system, characterized in that the safety control system comprises: the setting module is used for setting a force boundary of the industrial robot so as to limit the range of the target force when the industrial robot safely operates; the detection module is used for detecting real-time joint torque of the robot; the control module comprises a first control module and a second control module, the first control module is used for acquiring joint torque according to the force boundary, and controlling the robot to execute a preset action when the real-time joint torque of the robot is judged to exceed the joint torque; the second control module is used for acquiring a target force according to the real-time joint torque and controlling the robot to execute a preset action when the target force is judged to exceed a force boundary.

Further, the preset action includes: the robot generates at least one of an alarm signal, stops the robot and operates at a reduced speed.

Further, the control module is used for adjusting the working track of the robot when the target force is close to the force boundary so that the target force works within the range defined by the force boundary.

Further, the target force includes at least one of an elbow force and a tool force, and the force boundary includes at least one of a tool force boundary and an elbow force boundary.

Further, the detection module comprises a first detection module and a second detection module, and the first detection module and the second detection module respectively acquire the real-time joint torque.

Further, the detection module comprises one or two of a current sensor, a motor encoder, a speed/acceleration sensor and a joint torque sensor.

Further, the second control module obtains the target force according to a joint torque and a robot dynamics model.

Compared with the prior art, the utility model discloses embodiment's beneficial effect does: the safety of the target force is judged respectively through the first control module and the second control module in two independent different modes, and the robot can be controlled independently to execute preset actions, so that the reliability of the safety judgment of the target force of the robot is high, and the safety of the robot is good.

Drawings

Above the utility model discloses an aim at, technical scheme and beneficial effect can realize through following attached drawing:

fig. 1 is a schematic view of an industrial robot according to an embodiment of the present invention

Fig. 2 is a block diagram of a safety control system according to an embodiment of the present invention

Fig. 3 is a work flow chart of an industrial robot according to an embodiment of the present invention

Fig. 4 is a work flow diagram of an industrial robot according to yet another 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 clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides an industrial robot, refer to fig. 1, fig. 1 is exemplary gives the utility model discloses an industrial robot 100's of embodiment schematic diagram, more specifically, industrial robot 100 in fig. 1 is six axis cooperation robots, and industrial robot generally includes traditional industrial robot and novel cooperation robot with people's cooperation. The industrial robot 100 includes: a base 110 for supporting the industrial robot 100 and mounting the industrial robot 100 to a predetermined working position; a robot arm which is an integral part of an industrial robot 100, the robot arm having one end connected to a base 110 and the other end being a tool end for connecting a tool 200 to perform a specific work task, for example, connecting a clamping jaw to perform a clamping task, the robot arm comprising a plurality of arm portions 121 and joints 130, the joints 130 being used to connect adjacent arm portions 121, and the arm portions 121 being capable of being rotated based on the joints 130 to have different work attitudes, the industrial robot 100 comprising a plurality of joints 130, such as a base joint 132, an elbow joint 131, etc., as exemplified by a six-axis cooperative robot, a first joint 130 of the robot being the base joint 132 and a third joint 130 of the robot being the elbow joint 131. The last joint 130 of the industrial robot may be connected to a tool flange which is connected as a connection to the tool 200 so that the tool 200 performs a specific work following the movement of the industrial robot. The industrial robot 100 comprises a safety control system 300, the safety control system 300 is used for providing an environment for the industrial robot 100 to safely operate, and referring to fig. 2, the safety control system 300 comprises: a setting module 310 for setting a force boundary of the industrial robot 100 to limit a range of a target force when the industrial robot 100 is safely operated; a detection module 320 for detecting real-time joint torques of the robot 100; the control module 330 is electrically connected to the setting module 310 and the detection module 320, and includes a first control module 331 and a second control module 332, where the first control module 331 is configured to obtain a joint torque according to the force boundary, and control the robot 100 to execute a preset action when determining that the real-time joint torque of the robot 100 exceeds the joint torque; the second control module 332 is configured to obtain a target force according to the real-time joint torque, and control the robot 100 to execute a preset action when it is determined that the target force exceeds a force boundary, and specifically, the second control module 332 obtains the target force according to the joint torque and a robot 100 dynamics model. Wherein the setting module 310 sets the force boundary of the industrial robot 100 by receiving information of external devices of the robot 100, illustratively, the robot 100 teach pendant, smart phone, personal portable device, etc., the setting module 310 receives the setting information of the external devices and sets the force boundary of the robot 100 accordingly, the robot 100 operates within a range limited by the force boundary, and the setting information of the external devices can be set by a user. The first control module 331 calculates a joint torque based on the force boundary set by the setting module 310, and determines whether the real-time joint torque is greater than the joint torque by acquiring the real-time joint torque of the detection module 320, if so, it indicates that the current target force may exceed the range of the target force, and controls the robot 100 to execute a preset action, and if not, controls the robot 100 to normally operate; and the second control module 332 is configured to obtain a target force according to the real-time joint torque detected by the detection module 320, determine whether the target force exceeds a force boundary, control the robot 100 to execute a preset action if the target force exceeds the force boundary, and control the robot 100 to normally operate if the target force does not exceed the force boundary. Specifically, the first control module 331 and the second control module 332 respectively determine, and respectively control the robot 100 to normally operate when the determination condition is not exceeded, and when the determination condition is exceeded, the corresponding control module controls the robot 100 to execute a preset action, which is reflected in the working effect, as long as one of the first control module 331 and the second control module 332 determines that the determination condition is exceeded, the corresponding control module that determines the excess controls the robot 100 to execute the preset action, and the robot 100 stops normally operating to execute the preset action. The advantage of such a design is that the first control module 331 and the second control module 332 can independently control the robot 100 to perform a preset action, and both determine whether the target force meets the safety requirement based on the two different methods as described above, so that the safety determination of the target force is more reliable.

The utility model discloses in, when first control module 331 and second control module 332 exist and surpass the judgement condition, corresponding control robot 100 carries out and predetermines the action. In one embodiment, the preset actions include that the robot 100 generates an alarm signal, that is, the robot 100 sends out an alarm signal such as a sound, a light prompt and the like to remind a user to deal with a safety risk which may exist currently; the robot 100 stops; the robot 100 operates at least one of at a reduced speed. The utility model provides a technical scheme, when first control module 331 and second control module 332 all judge not to exceed the judgement condition, robot 100 keeps normal operating, and wherein robot 100 keeps normal operating to include: when the control module 330 determines that the target force approaches the force boundary, the working trajectory of the robot 100 is adjusted so that the target force works within the range defined by the force boundary, that is, when the target force approaches the force boundary, the control module 330 predicts that the robot 100 runs beyond the force boundary, and then adjusts the working trajectory of the robot 100 in time so that the robot 100 can work within the range defined by the force boundary, thereby ensuring the safety of the robot 100 in working. The target force is a force of a target of the industrial robot 100 that takes safety into consideration, for example, the target force includes at least one of an elbow force and a tool force, and accordingly, a force boundary defining a working range of the target force correspondingly includes at least one of a tool force boundary and an elbow force boundary.

Referring to fig. 3, fig. 3 shows a work flow diagram of an industrial robot according to an embodiment of the present invention, when the industrial robot starts to operate, the setting module sets a force boundary for the industrial robot, the detecting module detects a real-time joint torque, the first control module obtains the joint torque according to the force boundary set by the setting module, and determines whether the real-time joint torque exceeds the joint torque, if so, the robot is controlled to execute a preset action, and if not, the first control module controls the robot to operate normally; and the second control module acquires a target force according to the real-time joint torque, judges whether the target force exceeds the force boundary or not, controls the robot to execute preset work when the target force exceeds the force boundary, and controls the robot to normally operate when the target force does not exceed the force boundary. The first control module and the second control module operate independently, the first control module and the second control module judge independently, when at least one judgment condition is that the judgment condition is exceeded, the corresponding control module controls the robot to decelerate or stop, when both judgment conditions are not exceeded, the robot is controlled to operate normally, namely, the priority of a control instruction for controlling the robot to execute a preset action is higher than the priority of the control robot to operate normally, and only when both judgment conditions are not exceeded, the robot is controlled to operate normally, so that the accuracy of force safety judgment of the robot is guaranteed.

The utility model discloses in, detection module 320 is used for detecting robot 100's real-time joint torque, and the joint torque that detects is used for providing first control module 331 and judges whether this real-time joint torque surpasses the joint torque that reachs via power boundary calculation to and be used for providing second control module 332, calculate the target force according to this real-time joint torque, judge whether this target force surpasses power boundary, consequently, also strives the accuracy to the detection of real-time joint torque. In an embodiment of the present invention, the detecting module 320 includes a first detecting module and a second detecting module, fig. 4 is a flowchart illustrating the working process of an industrial robot according to an embodiment of the present invention, and fig. 4 is different from the embodiment illustrated in fig. 3 in that the detecting module in fig. 4 includes a first detecting module and a second detecting module, the first detecting module and the second detecting module respectively acquire the real-time joint torque, i.e. the first detecting module and the second detecting module work independently, two results are output for the detected real-time joint torque, if the detection of the first detecting module and the detection of the second detecting module are both accurate, the real-time joint torque output by the first detecting module and the real-time joint torque output by the second detecting module are consistent, otherwise, if one of the first detecting module and the second detecting module detects a mistake, the output of the first detecting module and the output of the second detecting module are not consistent, the current detection reliability for the real-time joint torque is low. The first detection module and the second detection module comprise sensors, real-time joint torque is detected through the sensors, the first detection module and the second detection module can adopt the same type of sensors or different types of sensors, and the detection modules comprise one or two types of current sensors, motor encoders, speed/acceleration sensors and joint torque sensors. Preferably, the first detection module and the second detection module use different sensors, that is, the detection modules include two types of current sensors, motor encoders and speed/acceleration sensors, and joint torque sensors.

The beneficial effects of the above embodiment are: the first control module 331 and the second control module 332 of the control modules respectively determine whether the target force exceeds the force boundary to operate through two different methods as described above, and can independently control the robot 100 to execute a preset action to ensure the safety of the operation of the robot 100, and the reliability of the safety judgment of the robot 100 on the force is better.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An industrial robot comprising:

a base; a robotic arm having one end connected to the base and another end being a tool end, the robotic arm comprising a plurality of arm portions and joints connecting adjacent arm portions, the joints comprising elbow joints;

a safety control system, characterized in that the safety control system comprises:

the setting module is used for setting a force boundary of the industrial robot so as to limit the range of the target force when the industrial robot safely operates;

the detection module is used for detecting real-time joint torque of the robot;

the control module comprises a first control module and a second control module, the first control module is used for acquiring joint torque according to the force boundary, and controlling the robot to execute a preset action when the real-time joint torque of the robot is judged to exceed the joint torque; the second control module is used for acquiring a target force according to the real-time joint torque and controlling the robot to execute a preset action when the target force is judged to exceed a force boundary.

2. An industrial robot according to claim 1, characterized in that said preset actions comprise: the robot generates at least one of an alarm signal, stops the robot and operates at a reduced speed.

3. An industrial robot according to claim 1, characterized in that the control module is adapted to adjust the working trajectory of the robot such that the target force works within a range defined by a force boundary when the target force approaches the force boundary.

4. An industrial robot according to claim 1, characterized in that said target force comprises at least one of an elbow force, a tool force, and said force boundary comprises at least one of a tool force boundary, an elbow force boundary, respectively.

5. An industrial robot according to claim 1, characterized in that the detection modules comprise a first and a second detection module, which respectively acquire the real-time joint torques.

6. An industrial robot according to claim 5, characterized in that the detection module comprises one or both of a current sensor, a motor encoder and a speed/acceleration sensor, a joint torque sensor.

7. An industrial robot according to claim 1, characterized in that the second control module obtains the target force from joint torques and a robot dynamics model.