CN212887620U - Industrial robot with enhanced safety - Google Patents
Industrial robot with enhanced safety Download PDFInfo
- Publication number
- CN212887620U CN212887620U CN202021060320.3U CN202021060320U CN212887620U CN 212887620 U CN212887620 U CN 212887620U CN 202021060320 U CN202021060320 U CN 202021060320U CN 212887620 U CN212887620 U CN 212887620U
- Authority
- CN
- China
- Prior art keywords
- information
- safety information
- robot
- safety
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an industrial robot of reinforcing security, industrial robot includes: a base; a mechanical arm; a joint connecting adjacent two machine arm portions; one end of the execution end is connected with the tail end of the mechanical arm, and the other end of the execution end can be connected with a tool; the motor comprises a motor encoder and a current sensor to detect joint information; the execution end comprises a speed/acceleration sensor and a six-dimensional force/moment sensor to detect the information of the execution end; the control module respectively acquires the first safety information and the second safety information through the joint information and the execution end information, and controls the robot to execute safety actions when the first safety information and the second safety information are inconsistent. The utility model has the advantages that: the industrial robot has good safety and high detection precision.
Description
Technical Field
The utility model relates to an industrial robot field especially relates to an industrial robot of reinforcing security.
Background
With the development of society, robots are beginning to be widely used in various fields including home robots, industrial robots, and the like. The cooperative robot can assist people to efficiently complete work as a light robot in an industrial robot, and can complete work in a dangerous environment with high precision and high efficiency, so that the cooperative robot is widely favored.
In the working process of the cooperative robot, the cooperative robot may need to interact with human beings in a close distance, in order to better realize human-computer cooperation and guarantee the personal safety of a user, the safety performance of the cooperative robot is an important index.
A conventional robot system has a function of collision detection, which detects a collision of the robot with its environment by an abnormal moment generated at a manipulator part, and when the collision is detected, the robot system performs control so as to stop the operation of the robot or otherwise mitigate the collision with the environment. In this method of collision detection, the sensitivity of collision detection is crucial, but it is difficult to detect a collision between a human being and a robot from the moment of a robot hand part of the robot with high accuracy, and thus this method is not reliable enough to detect a collision between a human being and a robot.
In the prior art, a capacitance sensor is additionally arranged to detect capacitance change generated by the approach of an object and a human so as to judge the approach of the robot and the object or the human, but the capacitance sensor has limited detection materials, so that the realization safety performance is very limited.
Therefore, it is necessary to design an industrial robot with good safety.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an industrial robot that security performance is good.
The utility model discloses can adopt following technical scheme: an industrial robot comprising: a base for carrying the industrial robot; a robot arm connected to the base, the robot arm including two or more robot arm portions; a joint for connecting adjacent said arm portions; one end of the execution end is connected to the tail end of the mechanical arm, and the other end of the execution end can be connected with a tool so as to drive the tool to execute a work task through the mechanical arm; the joint comprises a motor encoder and a current sensor, and is used for detecting joint information; the execution end comprises a speed/acceleration sensor and a six-dimensional force/moment sensor and is used for detecting the information of the execution end; the industrial robot further comprises: a control module electrically connected to the joint and the execution end, the control module being configured to: acquiring first safety information according to the joint information, wherein the first safety information comprises safety information of an execution end; acquiring second safety information according to the execution end information, wherein the second safety information comprises the safety information of the execution end; and controlling the industrial robot to execute a safety action when the first safety information and the second safety information are compared to be inconsistent, wherein the first safety information and the second safety information are respectively used for representing the running safety of the robot.
Further, the control module is configured to: acquiring first safety information according to joint information, wherein the first safety information comprises safety information of a joint; and acquiring second safety information according to the execution end information, wherein the second safety information comprises safety information of the joint.
Further, the control module includes a first control module and a second control module, and the first control module and the second control module are respectively used for independently acquiring the first safety information and the second safety information.
Further, the speed/acceleration sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a gyroscope, and a three-axis speed sensor.
Further, the execution end comprises a tool flange for mounting a tool to the industrial robot.
Further, the first safety information and the second safety information respectively comprise tool position, speed and torque.
Further, the first safety information and the second safety information respectively comprise joint positions, speeds and moments.
Further, the first security information and the second security information further include: robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, mode zone reduction.
Compared with the prior art, the utility model discloses embodiment's beneficial effect does: the industrial robot respectively detects the joint information and the execution end information to acquire the first safety information and the second safety information through the control module, so that the first safety information and the second safety information are acquired independently, and the safety performance of the robot is good; a force/torque sensor is arranged at the execution end, so that the robot can detect more accurately; and a speed/acceleration sensor is arranged at the execution end, so that the robot is low in cost.
Drawings
Above the utility model discloses an aim at, technical scheme and beneficial effect can realize through following attached drawing:
fig. 1 is a perspective view of an industrial robot according to an embodiment of the present invention
Fig. 2 is a schematic diagram of an industrial robot execution end connection tool according to an embodiment of the present invention
Fig. 3 is a cross-sectional view of a robot joint according to an embodiment of the present invention
Figure 4 is a cross-sectional view of an actuator end 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 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 work belong to the protection scope of the present invention.
The utility model provides an industrial robot, refer to fig. 1-4, fig. 1 is exemplary gives the utility model discloses an industrial robot 100's of an embodiment stereogram, fig. 2 is exemplary gives the utility model discloses an industrial robot executor 140 connecting tool's of an embodiment schematic diagram, fig. 3 is exemplary gives the utility model discloses a joint 130 cross-sectional view of robot, fig. 4 is exemplary gives the utility model discloses a robot executor 140's cross-sectional view. As shown in fig. 1, the industrial robot comprises a base 110, the base 110 is used for carrying the industrial robot 100, and a user can mount the industrial robot to a working platform through the base 110 to execute work; a robot arm connected to the base 110 and movable to perform a work task of the robot, the robot arm including two or more arm parts 121; a joint 130 for connecting adjacent robot arm portions 121, wherein the joint 130 further includes a transmission device 131, and the transmission device 131 generates power to move the connected robot arm portions 121; the execution end 140, referring to fig. 2, one end of the execution end 140 is connected to the end of the robot arm, and the other end can be connected to the tool 200, so that the robot arm moves to move the tool 200 to perform a work task, specifically, the tool 200 can exemplarily include a gripper. Two or more robot arm sections 121 can be rotated by the joint 130, and different robot arm sections 121 may have different lengths, so that the industrial robot 100 can cover a wide working range and has good flexibility. Specifically, the implement end 140 includes a tool flange 142 that is fixedly attached to the end of the robotic arm at one end and that mounts the tool 200 at the other end for performing work. Referring to fig. 3, the robot joint 130 includes a motor encoder 132 and a current sensor 134 for detecting joint information, the motor encoder 132 may generally detect a joint position and a joint speed, and the current sensor 134 may generally detect a joint torque, that is, the joint information includes, but is not limited to, joint position, joint speed, and joint torque information, the joint information includes joint position, joint speed, and joint torque information that can be directly detected, and information related to the joint position, joint speed, and joint torque information that can be directly detected. Referring to fig. 4, the robot actuator includes a velocity/acceleration sensor 133 and a six-dimensional force/torque sensor 135 for detecting actuator information, the velocity/acceleration sensor 133 can be used for detecting position and velocity information of the actuator 140, and the six-dimensional force/torque sensor 135 is used for detecting torque information of the actuator 140. The robot 100 further includes a control module, configured to process the above information, where the control module is electrically connected to the joint and the execution end 140, and the control module is configured to obtain first safety information according to the joint information, where the first safety information includes safety information of the execution end 140, that is, joint information is detected by the motor encoder 132 and the current sensor 134, the control module processes the joint information to obtain safety information of the execution end 140, where the safety information of the execution end 140 is used to represent safety of a tool connected to the execution end 140, and specifically, the control module calculates to obtain safety information of the execution end 140 according to the joint information; and the control module is configured to obtain second security information according to the information of the execution end 140, where the second security information includes security information of the execution end, that is, the first security information and the second security information respectively include security information of the execution end 140, but the first security information and the second security information have different obtaining manners, and obtain the execution end security information of the first security information and the execution end security information of the second security information respectively through different obtaining manners. That is, the speed/acceleration sensor 133 and the force/torque sensor 135 of the actuator detect actuator information, and the control module processes the actuator information to obtain safety information of the actuator. The control module is further configured to control the industrial robot 100 to execute a safety action when the first safety information and the second safety information are inconsistent. The first safety information and the second safety information respectively include a plurality of pieces of information, and when corresponding items in the first safety information and the second safety information are compared to be inconsistent, the industrial robot 100 is controlled to execute a safety action. It should be noted that there may be a necessary error in the acquisition of the first security information and the second security information, which should not be included in the range of comparing the inconsistency between the first security information and the second security information, so-called inconsistency judgment, allowing the necessary error to exist. The judgment of the so-called inconsistency indicates that the first security information and the second security information are not substantially inconsistent, rather than inconsistent due to necessary detection or calculation errors. Through the independent detection of the joint 130 and the execution end, the first safety information and the second safety information can be acquired independently, and the robot has good safety. By adopting the six-dimensional force/torque sensor 135, the torque information of the actuating end can be detected, the precision of the actuating end can be detected and controlled in work, and the working precision of the tool can be effectively improved.
The industrial robot 100 includes a plurality of types, and the cooperative robot is one of the most advanced in recent years, and the control module of the cooperative robot includes at least two parts, namely a control box of the cooperative robot, which is a general control center thereof, and a control unit at the joint 130 of the cooperative robot, and is capable of processing the work information of the cooperative robot and generating an appropriate work instruction according to the current work condition.
The industrial robot 100 further comprises user interface means for programming the industrial robot 100 to control it to perform preset operations. The user interface device includes a teach pendant provided outside the main body of the industrial robot 100 and connectable to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.
In this embodiment, the control module can respectively obtain the safety information and the second safety information of the execution end through the setting, and controls to execute the safety action by comparing the safety information and the second safety information of the execution end when the safety information and the second safety information are inconsistent, so as to ensure the safety of the industrial robot in the work process. Preferably, in order to achieve better safety performance of the industrial robot, the safety information of the joint of the industrial robot and the second safety information are respectively obtained and compared. Specifically, the joint can acquire joint information, and the control module can acquire safety information of the joint according to the joint information; and the execution end can acquire execution end information, the control module can acquire safety information of the joint according to the execution end information, specifically, the execution end information includes position, speed and moment information of the execution end, and the control module is used for calculating to acquire the safety information of the joint according to the position, speed and moment information of the execution end 140.
The control module comprises a first control module and a second control module, wherein joint information is detected by using a motor encoder 132 and a current sensor 134 of the joint 130, execution end information is detected by using a speed/acceleration sensor 133 and a six-dimensional force/torque sensor 135 of the execution end, so that the detection work is independent, meanwhile, first safety information is obtained by the first control module, and second safety information is obtained by the second control module, so that the first safety information and the second safety information are independently obtained, and particularly, the first control module is used for obtaining the safety information of the joint and the safety information of the execution end according to the joint information; and the second control module acquires the safety information of the joint and the safety information of the execution end according to the execution end information. When comparing whether the first safety information and the second safety information are consistent, comparing whether the safety information of the joint included in the first safety information is consistent with the safety information of the joint 130 included in the second safety information, and comparing whether the safety information of the execution end included in the first safety information is consistent with the safety information of the execution end included in the second safety information. Through independent detection to and acquire first safety information and second safety information respectively according to the detection information is independent, make acquireing of first safety information and second safety information more independent, the utility model provides an industrial robot realizes that the efficiency of security is better.
The above-mentioned execution end 140, which is a main part for connecting the industrial robot 100 and the tool 200, generally includes a tool flange 142, one end of the tool flange 142 is connected to the end of the robot arm to be fixed to the industrial robot 100, and the other end is used for connecting a tool to mount the tool to the industrial robot 100. The velocity/acceleration sensor 133 described above includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a gyroscope, and a three-axis velocity sensor. The velocity/acceleration sensor 133 is disposed at the execution end 140 of the industrial robot, and is capable of detecting execution end information, wherein the execution end information includes position and velocity information of the execution end, the control module processes the position and velocity information of the execution end to obtain safety information of the execution end, and the control module processes the position and velocity information of the execution end to obtain safety information of the joint 130. The speed/acceleration sensor 133 is arranged at the execution end, so that the execution end information can be detected according to the speed/acceleration sensor 133, the execution end safety information and the joint safety information can be respectively obtained through the control module, the speed/acceleration sensor has multiple functions, and parts are saved.
In order to ensure the safety performance of the industrial robot, the joint position, the speed and the moment of the industrial robot 100 generally need to be monitored, in this embodiment, joint information is obtained through the motor encoder 132 and the current sensor 134 of the joint, and the control module obtains safety information of the joint according to the joint information, where the first safety information includes the joint position, the speed and the moment information, the joint information includes information directly or indirectly related to obtaining the first safety information, and the control module can directly obtain the safety information of the joint through the joint information or indirectly obtain the safety information of the joint through processing. And similarly, the executing end obtains executing end information through the speed/acceleration sensor 133 and the six-dimensional force/moment sensor 135, the control module obtains safety information of the joint according to the executing end information, the content of the second safety information is substantially the same as that of the first safety information, the executing end information comprises information directly or indirectly related to the second safety information, and the control module processes the executing end information to obtain the second safety information, wherein the second safety information comprises joint position, joint speed and joint moment.
In the present embodiment, the execution end 140 is coupled to the tool 200 to perform work tasks through the tool. The safety of the tool end is also an important consideration in measuring the operational safety of the industrial robot 100, and therefore, at least the tool position, the tool speed, and the tool torque of the tool end need to be monitored. In this embodiment, joint information is obtained through the motor encoder 132 and the current sensor 134 of the joint, the control module obtains safety information of the execution end 140 according to the joint information, the first safety information includes a tool position, a tool speed and a tool torque, the joint information includes information directly or indirectly related to the obtained first safety information, and the control module obtains the safety information of the execution end through calculation. And similarly, the safety information of the execution end is obtained by the speed/acceleration sensor 133 of the execution end and the force/moment sensor 135, namely the safety information of the execution end is directly or indirectly obtained according to the execution end information.
In this embodiment, the first safety information and the second safety information respectively include safety information of two sets of execution ends, and safety information of two sets of joints, specifically, the first safety information and the second safety information further include other information, for example, information directly or indirectly obtained based on the first safety information and the second safety information of the execution ends, and the first safety information and the second safety information of the joints, and for example, the first safety information and the second safety information respectively further include:
robot power, i.e. the maximum mechanical work the robot 100 is limited to the environment, in particular the limitation considers the payload as a part of the robot 100 and not the environment, similar to the above, the first and second control modules calculate the robot 100 power separately and perform a safety action if the two are not identical.
The robot momentum, i.e. the limiting maximum robot momentum, as above, the first control module and the second control module calculate the robot momentum, respectively, and perform a safety action when the two are not identical.
The robot stopping distance, i.e. the maximum distance that the robot tool or elbow can be moved when stopped, is limited, and similarly to the above, the first control module and the second control module respectively calculate the robot 100 stopping distance and perform a safety action when the two do not coincide.
Robot stop time, i.e. limiting the maximum time it takes to stop the robot, such as: when the emergency stop is activated, the first control module and the second control module respectively calculate the robot 100 stop time, and perform a safety action when the two are not identical, similarly to the above.
The robot emergency stop is to detect information of the robot emergency stop, and the first control module and the second control module respectively acquire the information of the robot emergency stop and execute safety action when the two are not consistent.
The robot protection stops, namely the protection stops are executed when the input pin is low and the robot is in the automatic mode, and similarly to the above, the first control module and the second control module respectively acquire the robot protection stop information and execute the safety action when the two are not consistent.
And similarly to the above, the first control module and the second control module respectively acquire the robot mobile digital output information and execute the safety action when the two are not consistent.
The robot does not stop the digital output, namely, the digital output in the state that the robot does not stop is obtained, and similarly to the above, the first control module and the second control module respectively obtain the digital output which is not stopped by the robot and execute the safety action when the two are not consistent.
The robot mode area is reduced, that is, the robot mode area reduction information is acquired, and similarly to the above, the first control module and the second control module respectively acquire the robot mode area reduction information and perform the safety action when the two are not identical.
The above safety information is the common information that is generally required to be acquired and judged to perform safety actions in the field of industrial robots, and is not the list of all safety information, and the protection scope of the present invention should be subject to the limitation of the claims.
The beneficial effects of the above embodiment are: the industrial robot independently detects joint information and execution end information, independently acquires first safety information and second safety information, and controls and executes safety actions when the first safety information and the second safety information are inconsistent, so that the safety performance of the industrial robot is better. Meanwhile, only the execution end 140 is provided with the speed/acceleration sensor and the six-dimensional force/moment sensor, so that the parts of the industrial robot are reduced, and the robot cost is reduced. Meanwhile, the six-dimensional force/torque sensor is arranged at the execution end, so that the working precision of the tool is effectively improved on the basis of meeting the safety requirement.
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 (7)
1. An industrial robot comprising:
a base for carrying the industrial robot;
a robot arm connected to the base, the robot arm including two or more robot arm portions;
a joint for connecting adjacent said arm portions;
one end of the execution end is connected to the tail end of the mechanical arm, and the other end of the execution end can be connected with a tool so as to drive the tool to execute a work task through the mechanical arm;
the joint comprises a motor encoder and a current sensor, and is used for detecting joint information;
the execution end comprises a speed/acceleration sensor and a six-dimensional force/moment sensor and is used for detecting the information of the execution end;
the industrial robot further comprises: the control module is electrically connected with the joint and the execution end and comprises a first control module and a second control module, the first control module is used for acquiring first safety information according to the joint information, and the first safety information comprises safety information of the execution end;
the second control module is used for acquiring second safety information according to the execution end information, and the second safety information comprises safety information of the execution end; the control module is used for comparing the first safety information and the second safety information and controlling the industrial robot to execute safety actions when the first safety information and the second safety information are inconsistent, wherein the first safety information and the second safety information are respectively used for representing the running safety of the robot.
2. An industrial robot according to claim 1, characterized in that the control module is adapted to: acquiring first safety information according to joint information, wherein the first safety information comprises safety information of a joint; and acquiring second safety information according to the execution end information, wherein the second safety information comprises safety information of the joint.
3. An industrial robot according to claim 1, characterized in that the velocity/acceleration sensor comprises at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a gyroscope, a three-axis velocity sensor.
4. An industrial robot according to claim 1, characterized in that the execution end comprises a tool flange for mounting a tool to the industrial robot.
5. An industrial robot according to claim 1, characterized in that the first safety information and the second safety information comprise respectively tool position, speed, moment.
6. An industrial robot according to claim 2, characterized in that the first safety information and the second safety information comprise joint position, velocity, moment, respectively.
7. An industrial robot according to any of claims 1-6, characterized in that the first and second safety information further comprise: robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, mode zone reduction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021060320.3U CN212887620U (en) | 2020-06-10 | 2020-06-10 | Industrial robot with enhanced safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021060320.3U CN212887620U (en) | 2020-06-10 | 2020-06-10 | Industrial robot with enhanced safety |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212887620U true CN212887620U (en) | 2021-04-06 |
Family
ID=75276800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021060320.3U Active CN212887620U (en) | 2020-06-10 | 2020-06-10 | Industrial robot with enhanced safety |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212887620U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
-
2020
- 2020-06-10 CN CN202021060320.3U patent/CN212887620U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10564635B2 (en) | Human-cooperative robot system | |
| EP3442758B1 (en) | Sprung worm gripper for a robotic device | |
| US20080231221A1 (en) | Arm-equipped mobile robot and method for controlling the same | |
| JP5846479B2 (en) | Robot and its control method | |
| JP6663978B2 (en) | System and method for determining tool offset | |
| CN106891326B (en) | A kind of robot teaching method | |
| CN113263503B (en) | Control unit of robot system, robot system and control method of robot system | |
| CN212421307U (en) | Industrial robot capable of improving safety control performance | |
| CN212887620U (en) | Industrial robot with enhanced safety | |
| CN115502979A (en) | Active flexible and accurate control method and system for moment of mechanical arm | |
| CN213259495U (en) | Industrial robot capable of ensuring limit of speed and momentum boundary | |
| US10906174B2 (en) | Grounded SEA actuator | |
| WO2021249379A1 (en) | Industrial robot having improved safety control performance, and control method therefor | |
| KR20130000496A (en) | Teaching apparatus of robot having acceleration sensor and gyro-sensor and teaching method for robot using the same | |
| CN114074323B (en) | Safety system for ensuring speed and momentum boundary limitation of robot | |
| CN113771026A (en) | Industrial robot capable of improving safety control performance and control method thereof | |
| CN114074325B (en) | Safety system for ensuring boundary limitation of robot | |
| CN212653448U (en) | Industrial robot capable of ensuring limit of speed and momentum boundary | |
| CN113771025A (en) | Safety control industrial robot and control method thereof | |
| CN212421306U (en) | Safety control's industrial robot | |
| CN212653449U (en) | Industrial robot capable of ensuring force boundary limitation | |
| CN114074324B (en) | Novel safety system for ensuring speed and momentum boundary limitation of robot | |
| CN106564048B (en) | A kind of miniature cooperation manipulator | |
| JP6668629B2 (en) | Robot controller and robot system | |
| CN114074326A (en) | Safety system for ensuring boundary limitation of robot posture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |