WO2021249379A1 - Industrial robot having improved safety control performance, and control method therefor - Google Patents

Industrial robot having improved safety control performance, and control method therefor Download PDF

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Publication number
WO2021249379A1
WO2021249379A1 PCT/CN2021/098849 CN2021098849W WO2021249379A1 WO 2021249379 A1 WO2021249379 A1 WO 2021249379A1 CN 2021098849 W CN2021098849 W CN 2021098849W WO 2021249379 A1 WO2021249379 A1 WO 2021249379A1
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WIPO (PCT)
Prior art keywords
joint
robot
information
safety information
control module
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PCT/CN2021/098849
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French (fr)
Chinese (zh)
Inventor
孙恺
Original Assignee
苏州艾利特机器人有限公司
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Publication date
Priority claimed from CN202021060878.1U external-priority patent/CN212421307U/en
Priority claimed from CN202010522986.4A external-priority patent/CN113771026A/en
Application filed by 苏州艾利特机器人有限公司 filed Critical 苏州艾利特机器人有限公司
Publication of WO2021249379A1 publication Critical patent/WO2021249379A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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

Definitions

  • the invention relates to the field of industrial robots, in particular to an industrial robot that improves safety control performance and a control method thereof.
  • robots have begun to be widely used in various fields, including household robots, industrial robots and many other fields.
  • collaborative robots can assist people in completing tasks efficiently, and can complete tasks in hazardous environments with high precision and efficiency, so they are widely favored.
  • Collaborative robots may need to interact with humans at close range at work.
  • the safety performance of collaborative robots is an important indicator.
  • the conventional robot system has the function of collision detection, which detects the collision between the robot and its environment through the abnormal torque generated at the parts of the manipulator, and when the collision is detected, the robot system performs control to stop the operation of the robot or otherwise reduce the collision.
  • the collision of the environment In this collision detection method, the sensitivity of collision detection is very important. However, it is very difficult to detect the collision between human and robot based on the torque of the robot's manipulator. The collision between is not reliable enough.
  • the purpose of the present invention is to provide an industrial robot with good safety performance and a control method thereof.
  • an industrial robot including: a base frame for carrying the industrial robot; a mechanical arm connected to the base frame, the mechanical arm including two or more mechanical arm parts; joints, For connecting adjacent parts of the robotic arm, the joint includes a transmission device; the execution end, one end is connected to the robotic arm, and the other end can be connected to a tool to drive the tool to perform work tasks through the robotic arm; characterized in that, the industrial robot It also includes a posture sensor, which is arranged at the joint, or at the joint and the execution end, for detecting at least one of the position and speed of the joint; a motor encoder, which is arranged at the transmission device, For detecting at least one of the position and speed of the industrial robot joint; the control module includes a first control module and a second control module, the first control module is electrically connected to the attitude sensor, and is used to obtain first safety information; The second control module is electrically connected to the motor encoder for obtaining second safety information; the control module compares the first safety information with the second safety information
  • the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint, and the first safety information includes the torque information.
  • control module controls the industrial robot to perform safe actions.
  • the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  • first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  • the joint includes an elbow joint
  • the elbow joint is used to connect two adjacent parts of the robot arm that are relatively long
  • the first safety information and the second safety information further include Information obtained from at least one of joint position and joint torque, which includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, Robot momentum, robot stopping distance, robot stopping time, emergency stop, protective stop, robot moving digital output, robot not stopping digital output, mode area reduction.
  • a control method of an industrial robot includes: a base support for carrying the industrial robot; a mechanical arm connected to the base support, the mechanical arm includes two and The above part of the robot arm; a joint for connecting adjacent parts of the robot arm, the joint including a transmission device; an execution end, one end is connected to the robot arm, and the other end can be connected to a tool to drive the tool through the robot arm to perform work tasks;
  • the attitude sensor is arranged at the joint, or at the joint and the execution end;
  • the motor encoder is arranged at the transmission device;
  • the control module includes a first control module and a second control Module, the first control module is electrically connected to the attitude sensor, and the second control module is electrically connected to the motor encoder;
  • the control method includes: the attitude sensor detects the joint position and speed of the industrial robot At least one; the motor encoder detects at least one of the joint position and speed of the industrial robot; the first control module obtains the first safety information;
  • the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  • first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  • the joint includes an elbow joint, and the elbow joint is used to connect the relatively long adjacent two mechanical arm parts, and the first safety information and the second safety information further include the joint speed and joint position respectively.
  • the information obtained from at least one of the joint torque, the information includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, Robot stopping distance, robot stopping time, emergency stop, protection stop, robot moving digital output, robot not stopping digital output, mode area reduced.
  • control method includes: acquiring the initial position of the industrial robot, and the first control module acquires the position of the joint according to the initial position.
  • the industrial robot includes a plurality of joints connected in sequence, the plurality of joints including a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the robot is configured
  • the method includes: determining that the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to perform a safe action.
  • the industrial robot is a tandem robot, the robot includes six joints, the head joint is a first joint, the end joint is a sixth joint, and the robot is configured as a second to sixth joint
  • a posture sensor is installed to obtain at least one of the position and speed of the previous joint, and the execution end of the robot is installed with a posture sensor to obtain at least one of the position and speed of the sixth joint.
  • the method includes: the first control module obtains the first safety information according to the attitude sensor and the motor encoder; the second control module obtains the second safety information of the same joint according to the attitude sensor and the motor encoder; and compares the first safety information When it is inconsistent with the second safety information, control the industrial robot to perform safe actions.
  • the method includes: the first control module obtains the first safety information according to the attitude sensor; the second control module obtains the second safety information of the same joint according to the motor encoder; and compares when the first safety information and the second safety information are inconsistent , Control industrial robots to perform safe actions.
  • the present invention protects an industrial robot.
  • Fig. 1 exemplarily shows a perspective view of an industrial robot 100 according to an embodiment of the present invention
  • Fig. 2 exemplarily shows an industrial robot 100 according to an embodiment of the present invention.
  • FIG. 3 shows a cross-sectional view of the joint 130 according to an embodiment of the present invention.
  • the industrial robot 100 includes a base support 110, which is used to carry the industrial robot 100. The user can install the industrial robot 100 to a work platform through the base support 110 to perform work; a mechanical arm is connected to the base The support 110 can be moved to perform the tasks of the robot 100.
  • the execution end 140 includes an execution end, one end is fixedly connected to the robot arm, and the other end can be installed with a tool 200 to perform work.
  • the above-mentioned industrial robot 100 further includes an attitude sensor 133, which is arranged at the joint 130, or arranged at the joint 130 and the execution end 140, for detecting at least one of the position and speed of the robot joint 130, specifically ,
  • the information detected by the posture sensor 133 of the execution end 140 is used to obtain the position and speed information of the joint 130 before the execution end 140.
  • the attitude sensor is used to detect at least one of the position and speed of the robot joint, and the "detection" includes information directly detected by the attitude sensor, and also includes information obtained after processing based on the information directly detected by the attitude sensor.
  • the first safety information and the second safety information are respectively obtained through the first control module and the second control module, and the first safety information, the second safety information and the second safety information respectively pass through different channels, that is, through different sensors and different
  • the control module of the industrial robot performs detection to make the detection result independent, unsafe factors can be discovered in time, and the industrial robot 100 has good safety performance.
  • the first safety information and the second safety information respectively include multiple pieces of information. Comparing the inconsistency between the first safety information and the second safety information includes comparing each item of information to determine whether they are consistent. When the first safety information and the second safety information are inconsistent, When a certain item of information in is inconsistent, the robot 100 is controlled to perform a safe operation. It should be noted that there may be necessary errors in the acquisition of the first safety information and the second safety information. This should not be included in the comparison of the first safety information and the second safety information. The so-called inconsistency judgment, Allow the existence of necessary errors. The so-called inconsistent judgment indicates that the first safety information and the second safety information are substantially inconsistent, rather than the inconsistency caused by necessary detection or calculation errors.
  • the industrial robot 100 includes many types.
  • the collaborative robot is one of the rapid developments in recent years.
  • the control module of the collaborative robot includes at least two parts, namely the control box of the collaborative robot and the control unit at the joint 130 of the collaborative robot.
  • the control of the collaborative robot The box is its master control center, which can process the work information of the collaborative robots and generate appropriate work instructions according to the current working conditions.
  • the industrial robot 100 also includes a user interface device for programming the industrial robot 100 to control it to perform preset operations.
  • the user interface device includes a teach pendant, which is arranged outside the main body of the industrial robot 100 and can be connected to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.
  • the attitude sensor 133 can obtain the position and speed of the joint 130, and the motor encoder 132 can also obtain the position and torque of the joint 130.
  • Speed the two work independently to obtain the position and speed information of the joint 130 in the first safety information and the position and speed information of the joint 130 in the second safety information respectively.
  • the above-mentioned attitude sensor 133 can obtain the position and speed information of the joint 130.
  • the first control module can calculate the torque information of the joint 130 based on the position and speed information of the joint 130 detected by the attitude sensor 133.
  • the above-mentioned first safety information includes the first control module.
  • the position and velocity information of the joint 130 obtained by the attitude sensor 133 also includes the joint 130 position and velocity information detected by the first control module through the aforementioned velocity or acceleration information, and the torque of the joint 130 calculated. Further, the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint. That is, the posture sensor directly detects the output of the joint relative to itself. For the relative posture, the angle difference is obtained from the difference in the projection of the relative posture on the rotating vertical plane, that is, the position and speed of the joint can be determined, combined with the mass distribution of the manipulator and the friction model to finally obtain the joint torque.
  • the above-mentioned attitude sensor is also provided on the execution end to detect the joint position and speed information of the previous joint on the execution end, and the first control module calculates the position and speed information of the previous joint on the execution end.
  • Joint torque information The industrial robot 100 further includes a current sensor 134.
  • the second control module obtains torque information of the joint 130 according to the current sensor 134.
  • the second safety information includes the torque information of the joint 130 detected by the current sensor 134.
  • the above-mentioned second safety information includes the position and speed information of the joint 130 obtained by the second control module through the motor encoder 132, and the torque information of the joint 130 obtained by the second control module through the current sensor 134.
  • the joint 130 of the industrial robot 100 includes a motor encoder 132 and a posture sensor 133.
  • the first control module obtains the position and speed information of the joint 130 through the motor encoder 132
  • the second control module obtains the joint 130 through the posture sensor 133. 130.
  • the position and speed information of the joint 130 on the joint 130 because the data information detected by the posture sensor 133 at the joint 130 actually reflects the output of the joint 130 on the joint 130. Therefore, the data detected by the posture sensor of the joint 130 , The position and speed information of a joint 130 on the joint 130 can be obtained.
  • the execution end 140 of the industrial robot 100 includes speed and acceleration sensors, that is, the execution end of the industrial robot 100 includes a posture sensor.
  • the information detected by the posture sensor 133 at the execution end is used to obtain the execution.
  • the joint speed and position of a joint 130 are listed.
  • the industrial robot 100 is a six-axis robot 100.
  • the execution end is provided with speed and acceleration sensors, and the posture sensor 133 at the execution end is used to obtain the position and speed information of the sixth joint of the industrial robot 100, and Together with the motor encoder 132 at the sixth joint, the position and speed information of the joint are obtained, the position and speed information of the joint 130 of the first safety information, and the shutdown position and speed information of the second safety information are obtained.
  • the first safety information includes the information obtained by the first control module through the attitude sensor 133 and the information obtained by calculating the information obtained by the speed or acceleration;
  • the second safety information includes the information obtained by the second control module through the motor encoder The information obtained by 132 and the information obtained by the current sensor 134. So far, the joint position, speed, and torque of the first safety information can be obtained through the first control module and the second control module, and the joint position, speed, and torque of the second safety information can be obtained by comparing the corresponding items of the two. Determine whether to perform a safe action.
  • the joints of the industrial robot 100 are provided with a posture sensor 133 and a current sensor 134, and the executive end of the industrial robot is provided with a posture sensor 133.
  • the joint 130 is connected to the adjacent mechanical arm part 121, and the joint is manipulated. 130 to control the movement of the robotic arm part 121 connected to it.
  • the joint 130 and the mechanical arm part 121 are connected in an easily detachable manner, such as a threaded connection.
  • the attitude sensor 133 and the current sensor 134 By arranging the attitude sensor 133 and the current sensor 134 mainly at the joint 130, the electronic components of the main body of the industrial robot 100 are concentrated on the joint 130.
  • the joint 130 and the mechanical arm part 121 can be designed and installed in a modular manner. Part of the failure is easy to replace and install.
  • the industrial robot 100 includes a control module.
  • the control module includes a control machine located outside the mainframe of the industrial robot 100 and a control unit located at the joints of the industrial robot 100.
  • the control unit By setting the control unit at the joints 130, the control part of the main body of the industrial robot 100 It is generally concentrated at the joint 130, which facilitates the modular design and installation of the robot 100, and makes the use experience of the industrial robot 100 better.
  • control module when the control module compares the first security information and the second security information to be inconsistent, execute a security action. Further, when at least one of the first safety information and the second safety information cannot meet the preset safety condition, the control module controls the industrial robot 100 to perform a safe action. That is, when the first safety information and the second safety information are consistent, a certain item of detection information in the first safety information and the second safety information may not meet the preset safety requirements. At this time, the control module controls the industrial robot 100 to perform safety action.
  • the attitude sensor includes at least one of an inertial measurement unit (I MU), a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speedometer.
  • I MU inertial measurement unit
  • Two or more, for example, most of the attitude sensors used in common mobile phones are nine-axis sensors, including three-axis accelerometers, inertial measurement units, and three-axis magnetometers.
  • the attitude sensor is used to obtain at least one of joint position and joint speed information of the industrial robot 100.
  • the industrial robot 100 acquiring joint position information through the attitude sensor 133 also includes acquiring the initial position of the joints of the industrial robot 100 before the industrial robot 100 starts working.
  • the first safety information and the second safety information of the present invention respectively include joint position information, joint speed information, and joint torque information.
  • the first safety information and the second safety information also include The information obtained according to at least one of the above-mentioned joint position information, joint speed information, and joint torque information specifically includes at least part of the following:
  • Tool speed that is, limit the maximum speed of the tool of the robot 100.
  • the speed of the tool of the robot 100 is calculated through the first control module and the second control module.
  • the first safety information and the second safety information respectively include the tool speed. Compare the first When the tool speeds of the safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safe operation.
  • the industrial robot 100 usually has multiple joints, and its robotic arm is usually composed of multiple robotic arm parts 121.
  • the robotic arm part 121 includes two relatively long parts, and other relatively short ones.
  • a joint connecting two relatively long adjacent manipulator parts 121 is defined as an elbow joint.
  • the elbow joint is one joint, that is, the two relatively long parts of the robot arm are connected by one joint.
  • the elbow joint may also include two joints, that is, through The two joints are connected to the two relatively long robotic arm parts 121.
  • the position of the elbow joint that is, the position range of the elbow joint is restricted. Similar to the above, the first control module and the second control module respectively calculate the position of the elbow joint, and perform safe actions when the two are inconsistent.
  • Robot momentum that is, limit the maximum robot momentum. Similar to the above, the first control module and the second control module calculate the robot momentum separately, and perform safe actions when the two are inconsistent.
  • Robot stopping distance which limits the maximum distance that the robot tool or elbow can move when stopping the robot. Similar to the above, the first control module and the second control module calculate the stopping distance of the robot 100 respectively, and perform safe actions when the two are inconsistent .
  • the robot stop time is to limit the maximum time it takes to stop the robot. For example, when the emergency stop is activated, similar to the above, the first control module and the second control module calculate the stop time of the robot 100 separately, and calculate the stop time of the robot 100. Perform safety actions when inconsistent.
  • Robot protection stop that is, the protection stop is executed when the input pin is low and the robot is in automatic mode. Similar to the above, the first control module and the second control module obtain the robot protection stop information respectively, and execute safety when the two are inconsistent action.
  • the digital output of robot movement is to obtain the digital output information of the robot movement. Similar to the above, the first control module and the second control module respectively obtain the digital output information of the robot movement, and perform safe actions when the two are inconsistent.
  • the digital output of the robot is not stopped, that is, the digital output is obtained when the robot is not stopped.
  • the first control module and the second control module respectively obtain the digital output of the robot not stopped, and perform safe actions when the two are inconsistent.
  • the robot includes a plurality of joints connected in sequence, the plurality of joints includes a head joint and an end joint, the head joint is connected to a base frame, and the end joint Connected to the execution end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and obtain at least one of the position and speed of the current joint according to the motor encoder, and the control module is used to determine When the first safety information and the second safety information of the same joint are inconsistent, the industrial robot is controlled to perform safe actions.
  • the attitude sensor can usually directly obtain the relative attitude of the output end of the previous joint of its component with respect to the joint itself.
  • the angle difference can be obtained, and then the attitude sensor can obtain the relative attitude.
  • the position and speed of the joints are at least one of them.
  • the attitude sensor is used to detect at least one of the position and speed of the previous joint.
  • the attitude sensor is set on the actuator, and the actuator is connected to the end joint of the robot.
  • the attitude sensor on the actuator is used to obtain the end joint of the robot. At least one of position and speed.
  • the attitude sensor detects at least one of the position and speed of the previous joint, and the fault between the attitude sensor and the previous joint can also be reflected by the detection result of the attitude sensor, so that when there is a fault between the attitude sensor and the previous joint
  • the robot will also perform safe actions because the first safety information and the second safety information are inconsistent.
  • the robot monitors safety more extensively, and the overall safety performance of the robot is better.
  • the robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the The robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the control module is used to determine that the first safety information and the second safety information of the same joint are inconsistent, to control the industrial robot to perform a safe action .
  • the industrial robot has a first control module and a second control module to obtain the first safety information and the second safety information respectively, and uses independent sensors such as the attitude sensor 133 and the motor encoder 132, so that on the one hand
  • the detection of safety information is relatively independent, and the processing actions of the control module are relatively independent, so that the safety of industrial robots can be guaranteed.
  • the motor encoder 132 and the attitude sensor 133 can both be functionally multiplexed, thereby reducing the number of components of the industrial robot, reducing the manufacturing cost of the whole machine, and simplifying the composition of the industrial robot.
  • the present invention also provides a control method of an industrial robot. Referring to FIG. 4, the components of the industrial robot have been described above, and will not be repeated here.
  • the control method includes:
  • the attitude sensor detects at least one of the position and speed of the joint of the industrial robot 100;
  • the attitude sensor is set at the joint 130, or at the joint 130 and the execution end 140, the attitude sensor is used to detect the joint position and speed information of the joint before the joint where it is located, and the attitude sensor on the execution end is used to detect the execution end.
  • the execution end 140 includes an execution end.
  • the posture sensor 133 detects one of the position and the speed, and preferably, detects both the joint position and the speed.
  • the motor encoder detects at least one of the position and speed of the joints of the industrial robot
  • the motor encoder is provided on the joint transmission device 131, and is used to detect at least one of the position and speed of the joint of the industrial robot 100. Preferably, it detects both the position and speed of the joint.
  • the first control module obtains the first safety information
  • the first control module is electrically connected to the above-mentioned attitude sensor, and can obtain the information directly detected by the above-mentioned speed or acceleration, that is, at least one of the position and speed information of the joints, and the first control module can also obtain the information indirectly through the above-mentioned attitude sensor 133.
  • the information obtained includes information calculated based on the position and speed information of the joints.
  • the second control module is electrically connected to the motor encoder 132, and can obtain joint speed and position information that can be directly detected by the motor encoder, and the second safety information obtained by the second control module further includes: Information obtained indirectly from joint speed and position information, for example, information calculated from joint position and speed information.
  • control module compares the first safety information and the second safety information to be inconsistent, it controls the industrial robot 100 to perform a safe action.
  • the control method further includes the first control module calculating the torque information of the joint 130 according to the detection of the attitude sensor 133, and the first safety information includes the torque information. That is, the first safety information includes joint position and speed information detected by the attitude sensor 133, and joint torque information calculated by combining the position and speed information of the joint 130 with the mass distribution of the industrial robot 100, and the position, speed, Other information obtained by calculation based on torque information.
  • step S1 and S2 of the control method described above is not limited to one of performing S1 first and then S2, or performing S2 first and then S1.
  • steps S1 and S2 The execution sequence of step S2 includes the above two cases at the same time, and the execution sequence cannot be limited to only one of them.
  • the industrial robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, and the end joint is connected to the execution At the end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the method includes: when the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to execute Safe action.

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Abstract

An industrial robot having improved safety control performance, comprising: a base support (110); a mechanical arm; joints (130), each of which connects two adjacent mechanical arm sections (121); an actuator (140), having one end connected to the mechanical arm and the other end adapted to be connected to a tool (200); attitude sensors (133), provided on the joints, or on the joints and the actuator; motor encoders (132), each of which is provided on a transmission device (131) of a joint; and control modules, a first control module and a second control module among the control modules obtaining first safety information and second safety information respectively, and when the first safety information and second safety information are found to be inconsistent by comparison, controlling the robot to perform a safe action. Also disclosed is a control method for the industrial robot. The industrial robot is high in safety and low in cost.

Description

一种提升安全控制性能的工业机器人及其控制方法Industrial robot for improving safety control performance and control method thereof 技术领域Technical field
本发明涉及一种工业机器人领域，特别是涉及一种提升安全控制性能的工业机器人及其控制方法。The invention relates to the field of industrial robots, in particular to an industrial robot that improves safety control performance and a control method thereof.
背景技术Background technique
随着社会的发展，机器人开始广泛应用于各个领域，包括家用机器人、工业机器人等多个领域。其中，协作机器人作为工业机器人中的轻型机器人可以协助人们高效的完成工作，可以高精度和高效率的完成危险环境的工作，因此受到广泛的青睐。With the development of society, robots have begun to be widely used in various fields, including household robots, industrial robots and many other fields. Among them, as a light robot among industrial robots, collaborative robots can assist people in completing tasks efficiently, and can complete tasks in hazardous environments with high precision and efficiency, so they are widely favored.
协作机器人在工作中，可能需要与人类近距离互动，为了更好的实现人机协作，同时能够保障使用者的人身安全，协作机器人的安全性能是一重要的指标。Collaborative robots may need to interact with humans at close range at work. In order to better realize human-machine collaboration and at the same time ensure the personal safety of users, the safety performance of collaborative robots is an important indicator.
常规的机器人***具有碰撞检测的功能，通过机械手部件处生成的不正常力矩来检测机器人与其环境的碰撞，并且当在检测到碰撞时，机器人***执行控制以便停止机器人的操作或者以其他方式减轻与环境的碰撞。在这种碰撞检测的方法中，碰撞检测的灵敏度至关重要，但是，高精度的根据机器人的机械手部件力矩检测人类与机器人之间的碰撞是很困难的，因此该种方法检测人类与机器人之间的碰撞不够可靠。The conventional robot system has the function of collision detection, which detects the collision between the robot and its environment through the abnormal torque generated at the parts of the manipulator, and when the collision is detected, the robot system performs control to stop the operation of the robot or otherwise reduce the collision. The collision of the environment. In this collision detection method, the sensitivity of collision detection is very important. However, it is very difficult to detect the collision between human and robot based on the torque of the robot's manipulator. The collision between is not reliable enough.
现有技术中，也有人采用增加电容传感器的方式来检测物体和人类的接近而产生的电容变化，以判断机器人和物体或人类的接近，但电容传感器检测的方式可靠性较低，受空气环境影响较大，因此其实现的安全性能也非常有限。In the prior art, some people use capacitive sensors to detect changes in capacitance caused by the proximity of objects and humans to determine the proximity of robots to objects or humans. However, the detection methods of capacitive sensors are less reliable and are affected by the air environment. The impact is greater, so the safety performance it achieves is also very limited.
因此，有必要设计一种安全性能好的工业机器人及其控制方法。Therefore, it is necessary to design an industrial robot with good safety performance and its control method.
发明内容Summary of the invention
鉴于此，本发明的目的在于提供一种安全性能好的工业机器人及其控制方法。In view of this, the purpose of the present invention is to provide an industrial robot with good safety performance and a control method thereof.
本发明可采用如下技术方案：一种工业机器人，包括：底座支架，用于承载所述工业机器人；机械臂，连接于底座支架，所述机械臂包括两个及以上机械臂部分；关节，用于连接相邻的所述机械臂部分，所述关节包括传动 装置；执行端，一端连接于机械臂，另一端可连接工具以通过机械臂带动工具执行工作任务；其特征在于，所述工业机器人还包括：姿态传感器，设置于所述关节处，或者设置于所述关节处和执行端，用于检测关节的位置和速度的至少其中之一；电机编码器，设置于所述传动装置，用于检测工业机器人关节的位置和速度至少其一；控制模块，包括第一控制模块和第二控制模块，所述第一控制模块电连接于所述姿态传感器，用于获取第一安全信息；所述第二控制模块电连接于所述电机编码器，用于获取第二安全信息；控制模块比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The present invention can adopt the following technical solutions: an industrial robot, including: a base frame for carrying the industrial robot; a mechanical arm connected to the base frame, the mechanical arm including two or more mechanical arm parts; joints, For connecting adjacent parts of the robotic arm, the joint includes a transmission device; the execution end, one end is connected to the robotic arm, and the other end can be connected to a tool to drive the tool to perform work tasks through the robotic arm; characterized in that, the industrial robot It also includes a posture sensor, which is arranged at the joint, or at the joint and the execution end, for detecting at least one of the position and speed of the joint; a motor encoder, which is arranged at the transmission device, For detecting at least one of the position and speed of the industrial robot joint; the control module includes a first control module and a second control module, the first control module is electrically connected to the attitude sensor, and is used to obtain first safety information; The second control module is electrically connected to the motor encoder for obtaining second safety information; the control module compares the first safety information with the second safety information to control the industrial robot to perform safe actions.
进一步的，所述第一控制模块根据所述姿态传感器的检测获取关节的相对姿态，基于关节的相对姿态获取关节位置进而计算关节的力矩信息，所述第一安全信息包括所述力矩信息。Further, the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint, and the first safety information includes the torque information.
进一步的，所述工业机器人包括电流传感器，所述第二控制模块根据电流传感器获取关节力矩信息，所述第二安全信息包括根据电流传感器获取的关节力矩信息。Further, the industrial robot includes a current sensor, the second control module obtains joint torque information according to the current sensor, and the second safety information includes joint torque information obtained according to the current sensor.
进一步的，所述第一安全信息或第二安全信息中至少其中之一不能满足预设安全要求时，控制模块控制工业机器人执行安全动作。Further, when at least one of the first safety information or the second safety information fails to meet the preset safety requirements, the control module controls the industrial robot to perform safe actions.
进一步的，所述姿态传感器包括惯性测量单元、三轴加速度计、三轴磁力计、三轴陀螺仪、三轴速度传感器的其中至少一种。Further, the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
进一步的，所述第一安全信息和第二安全信息分别包括关节位置信息、关节速度信息、关节力矩信息。Further, the first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
进一步的，所述关节包括肘部关节，所述肘部关节用于连接机械臂相对较长的俩相邻机械臂部分，所述第一安全信息和第二安全信息还分别包括根据关节速度、关节位置、关节力矩的至少其一得到的信息，该信息包括以下至少部分：工具位置、工具取向、工具速度、工具力、肘部关节位置、肘部关节速度、肘部关节力，机器人功率、机器人动量、机器人停止距离、机器人停止时间、紧急停止、保护停止、机器人移动数字输出、机器人未停止数字输出、模式区减小。Further, the joint includes an elbow joint, the elbow joint is used to connect two adjacent parts of the robot arm that are relatively long, and the first safety information and the second safety information further include Information obtained from at least one of joint position and joint torque, which includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, Robot momentum, robot stopping distance, robot stopping time, emergency stop, protective stop, robot moving digital output, robot not stopping digital output, mode area reduction.
进一步的，所述机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其中 之一，所述控制模块用于判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。Further, the robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the robot is configured to According to at least one of the position and speed of the previous joint obtained by the attitude sensor, the control module is used to determine that the first safety information and the second safety information of the same joint are inconsistent, and control the industrial robot to perform a safe action.
进一步的，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。Further, the industrial robot is a tandem robot, the robot includes six joints, the head joint is a first joint, the end joint is a sixth joint, and the robot is configured as a second to sixth joint A posture sensor is installed to obtain at least one of the position and speed of the previous joint, and the execution end of the robot is installed with a posture sensor to obtain at least one of the position and speed of the sixth joint.
本发明还可采用如下技术方案：一种工业机器人的控制方法，所述工业机器人包括：底座支架，用于承载所述工业机器人；机械臂，连接于底座支架，所述机械臂包括两个及以上机械臂部分；关节，用于连接相邻的所述机械臂部分，所述关节包括传动装置；执行端，一端连接于机械臂，另一端可连接工具以通过机械臂带动工具执行工作任务；姿态传感器，设置于所述关节处，或者设置于所述关节处和所述执行端；电机编码器，设置于所述传动装置；控制模块，所述控制模块包括第一控制模块和第二控制模块，所述第一控制模块电连接于所述姿态传感器，所述第二控制模块电连接于所述电机编码器；其特征在于，所述控制方法包括：姿态传感器检测工业机器人关节位置和速度至少其一；电机编码器检测工业机器人关节位置和速度至少其一；第一控制模块获取第一安全信息；第二控制模块获取第二安全信息；控制模块比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The present invention can also adopt the following technical solutions: a control method of an industrial robot, the industrial robot includes: a base support for carrying the industrial robot; a mechanical arm connected to the base support, the mechanical arm includes two and The above part of the robot arm; a joint for connecting adjacent parts of the robot arm, the joint including a transmission device; an execution end, one end is connected to the robot arm, and the other end can be connected to a tool to drive the tool through the robot arm to perform work tasks; The attitude sensor is arranged at the joint, or at the joint and the execution end; the motor encoder is arranged at the transmission device; the control module, the control module includes a first control module and a second control Module, the first control module is electrically connected to the attitude sensor, and the second control module is electrically connected to the motor encoder; characterized in that, the control method includes: the attitude sensor detects the joint position and speed of the industrial robot At least one; the motor encoder detects at least one of the joint position and speed of the industrial robot; the first control module obtains the first safety information; the second control module obtains the second safety information; the control module compares the first safety information with the second safety information When they are inconsistent, control the industrial robot to perform safe actions.
进一步的，所述控制方法包括：所述第一控制模块根据所述姿态传感器的检测获取关节的相对姿态，基于关节的相对姿态获取关节位置进而计算关节的力矩信息，所述第一安全信息包括所述关节力矩信息。Further, the control method includes: the first control module obtains the relative posture of the joint according to the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint, and the first safety information includes The joint torque information.
进一步的，所述工业机器人包括电流传感器，所述控制方法包括：第二控制模块根据电流传感器获取关节力矩信息，所述第二安全信息包括根据电流传感器获取的关节力矩信息。Further, the industrial robot includes a current sensor, and the control method includes: a second control module obtains joint torque information according to the current sensor, and the second safety information includes joint torque information obtained according to the current sensor.
进一步的，所述控制方法包括：当所述第一安全信息或第二安全信息中至少其中之一不能满足预设安全要求时，控制模块控制工业机器人执行安全动作。Further, the control method includes: when at least one of the first safety information or the second safety information cannot meet a preset safety requirement, the control module controls the industrial robot to perform a safety action.
进一步的，所述姿态传感器包括惯性测量单元、三轴加速度计、三轴磁力计、三轴陀螺仪、三轴速度传感器的其中至少一种。Further, the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
进一步的，所述第一安全信息和第二安全信息分别包括关节位置信息、 关节速度信息、关节力矩信息。Further, the first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
进一步的，所述关节包括肘部关节，所述肘部关节用于连接相对较长的相邻俩机械臂部分，所述第一安全信息和第二安全信息还分别包括根据关节速度、关节位置、关节力矩至少其一得到的信息，该信息包括以下至少部分：工具位置、工具取向、工具速度、工具力、肘部关节位置、肘部关节速度、肘部关节力，机器人功率、机器人动量、机器人停止距离、机器人停止时间、紧急停止、保护停止、机器人移动数字输出、机器人未停止数字输出、模式区减小。Further, the joint includes an elbow joint, and the elbow joint is used to connect the relatively long adjacent two mechanical arm parts, and the first safety information and the second safety information further include the joint speed and joint position respectively. , The information obtained from at least one of the joint torque, the information includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, Robot stopping distance, robot stopping time, emergency stop, protection stop, robot moving digital output, robot not stopping digital output, mode area reduced.
进一步的，所述控制方法包括：获取工业机器人的初始位置，第一控制模块根据所述初始位置获取关节的位置。Further, the control method includes: acquiring the initial position of the industrial robot, and the first control module acquires the position of the joint according to the initial position.
进一步的，所述工业机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其中之一，所述方法包括：判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。Further, the industrial robot includes a plurality of joints connected in sequence, the plurality of joints including a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the robot is configured In order to acquire at least one of the position and speed of the previous joint according to the attitude sensor, the method includes: determining that the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to perform a safe action.
进一步的，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。Further, the industrial robot is a tandem robot, the robot includes six joints, the head joint is a first joint, the end joint is a sixth joint, and the robot is configured as a second to sixth joint A posture sensor is installed to obtain at least one of the position and speed of the previous joint, and the execution end of the robot is installed with a posture sensor to obtain at least one of the position and speed of the sixth joint.
进一步的，所述方法包括：第一控制模块根据姿态传感器和电机编码器获取第一安全信息；第二控制模块根据姿态传感器和电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。Further, the method includes: the first control module obtains the first safety information according to the attitude sensor and the motor encoder; the second control module obtains the second safety information of the same joint according to the attitude sensor and the motor encoder; and compares the first safety information When it is inconsistent with the second safety information, control the industrial robot to perform safe actions.
进一步的，所述方法包括：第一控制模块根据姿态传感器获取第一安全信息；第二控制模块根据电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。Further, the method includes: the first control module obtains the first safety information according to the attitude sensor; the second control module obtains the second safety information of the same joint according to the motor encoder; and compares when the first safety information and the second safety information are inconsistent , Control industrial robots to perform safe actions.
与现有技术相比，本发明具体实施方式的有益效果为：工业机器人通过第一检测模块和第二检测模块得到第一安全信息和第二安全信息，并通过姿态传感器以及电机编码器分别检测关的速度和位置信息，使得对安全信息的检测和获取均保持独立，使得工业机器人安全性好。以及，通过设置姿态传感器获取上一关节的位置和/或速度信息，姿态传感器的检测能够反映出电机 编码器和姿态传感器之间的结构的故障情况，检测安全性范围更广泛。Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are: the industrial robot obtains the first safety information and the second safety information through the first detection module and the second detection module, and detects the first safety information and the second safety information through the attitude sensor and the motor encoder respectively. The speed and position information of the switch keeps the detection and acquisition of safety information independent, making the industrial robot safer. And, by setting the attitude sensor to obtain the position and/or speed information of the previous joint, the detection of the attitude sensor can reflect the failure of the structure between the motor encoder and the attitude sensor, and the detection safety range is wider.
附图说明Description of the drawings
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following drawings:
图1是本发明的一个实施例的工业机器人的立体图Figure 1 is a perspective view of an industrial robot according to an embodiment of the present invention
图2是本发明的一个实施例的工业机器人执行端连接工具的示意图Figure 2 is a schematic diagram of an execution end connection tool of an industrial robot according to an embodiment of the present invention
图3是本发明的一个实施例的机器人关节的剖视图Figure 3 is a cross-sectional view of a robot joint according to an embodiment of the present invention
图4是本发明的一个实施例的工业机器人的控制方法的流程图Fig. 4 is a flowchart of a control method of an industrial robot according to an embodiment of the present invention
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的方案进行清楚、完整的描述，显然，所描述的实施例是本发明的一部分实施例而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Part of the embodiments but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
本发明保护一种工业机器人，参图1-3，图1示例性的给出了本发明中一个实施例的工业机器人100的立体图，图2示例性的给出了本发明一实施例的工业机器人100执行端连接工具200的示意图，图3给出了本发明一实施例的关节130剖视图。如图1，工业机器人100包括底座支架110，底座支架110用于承载所述工业机器人100，用户可以通过底座支架110将工业机器人100安装至工作平台以执行工作；机械臂，连接于所述底座支架110，能够移动以执行机器人100的工作任务，机械臂包括两个及以上机械臂部分121；关节130，用于连接相邻的机械臂部分121，上述关节130还包括传动装置131，传动装置131产生动力使得所连接的机械臂部分121发生移动；执行端140，参图2，上述执行端140一端连接于机械臂，另一端可以连接工具200，机械臂移动带动工具200移动以使得工具能够执行工作任务，具体的，工具可以示例性的包括机械爪。两个及以上机械臂部分121能够在关节130作用下发生转动，不同的机械臂部分121可能具有不同的长度，使得工业机器人100能够覆盖较大的工作范围，同时灵活性较好。具体的，执行端140包括执行端，一端固定连接于机械臂，另一端可安装工具200以执行工作。上述工业机器人100还包括，姿态传感器133，设置于所述关节130处，或者设置于所述关节130处和所述执行端140，用于检测机器人关节130的 位置和速度至少其一，具体的，执行端140的姿态传感器133所检测的信息用以获得执行端140前一关节130的位置和速度信息。其中，所述姿态传感器用于检测机器人关节的位置和速度至少其一，所述“检测”包括直接通过姿态传感器检测获取的信息，也包括基于姿态传感器直接检测的信息处理后获得的信息。上述工业机器人100还包括，电机编码器132，设置于所述传动装置131，用于检测工业机器人关节130的位置和速度至少其一；控制模块，包括第一控制模块和第二控制模块，所述第一控制模块电连接于所述姿态传感器133，用于获取第一安全信息，上述获取第一安全信息既包括获取上述姿态传感器133的检测信息，也包括获取其他必要的传感器所检测的信息，还包括根据以上通过传感器获取的信息直接或间接得出的信息，所述直接或间接得出的信息包括第一控制模块计算得出的信息；所述第二控制模块电连接于所述电机编码器132，用于获取第二安全信息，上述获取第二安全信息既包括获取上述电机编码器132的检测信息，也包括获取其他必要传感器检测的信息，还包括根据以上通过传感器检测的信息直接或间接得出的信息，所述直接或间接得出的信息包括第二控制模块计算得出的信息；或者，所述第一控制模块连接于所述姿态传感器和电机编码器，以获取第一安全信息，所述第二控制模块连接于所述姿态传感器和电机编码器，以获取第二安全信息。所述控制模块比较第一安全信息和第二安全信息，当比较两者不一致时，控制工业机器人100执行安全动作。具体的，所述控制模块比较第一安全信息和第二安全信息不一致包括，第一控制模块比较发现第二安全信息与自身获取的第一安全信息不一致，或者，第二控制模块比较发现第一安全信息与自身获取的第二安全信息不一致。上述控制机器人100执行安全动作包括工业机器人100安全规范所定义的各种动作，此处不再赘述。通过第一控制模块和第二控制模块分别获取第一安全信息和第二安全信息，且第一安全信息和第二安全信息和第二安全信息分别通过不同的通道，即通过不同的传感器和不同的控制模块进行检测，使得检测结果独立，不安全因素能够被及时发现，工业机器人100安全性能好。The present invention protects an industrial robot. Refer to Figs. 1-3. Fig. 1 exemplarily shows a perspective view of an industrial robot 100 according to an embodiment of the present invention, and Fig. 2 exemplarily shows an industrial robot 100 according to an embodiment of the present invention. A schematic diagram of the execution end connecting tool 200 of the robot 100. FIG. 3 shows a cross-sectional view of the joint 130 according to an embodiment of the present invention. As shown in Figure 1, the industrial robot 100 includes a base support 110, which is used to carry the industrial robot 100. The user can install the industrial robot 100 to a work platform through the base support 110 to perform work; a mechanical arm is connected to the base The support 110 can be moved to perform the tasks of the robot 100. The robot arm includes two or more robot arm parts 121; a joint 130 for connecting adjacent robot arm parts 121. The joint 130 also includes a transmission device 131, a transmission device 131 generates power to make the connected robotic arm part 121 move; the actuator end 140, refer to FIG. 2, one end of the aforementioned actuator end 140 is connected to the robotic arm, and the other end can be connected to the tool 200. The movement of the robotic arm drives the tool 200 to move so that the tool can be moved. To perform work tasks, specifically, the tool may exemplarily include mechanical claws. Two or more robot arm parts 121 can be rotated under the action of the joint 130, and different robot arm parts 121 may have different lengths, so that the industrial robot 100 can cover a larger working range and has better flexibility. Specifically, the execution end 140 includes an execution end, one end is fixedly connected to the robot arm, and the other end can be installed with a tool 200 to perform work. The above-mentioned industrial robot 100 further includes an attitude sensor 133, which is arranged at the joint 130, or arranged at the joint 130 and the execution end 140, for detecting at least one of the position and speed of the robot joint 130, specifically , The information detected by the posture sensor 133 of the execution end 140 is used to obtain the position and speed information of the joint 130 before the execution end 140. Wherein, the attitude sensor is used to detect at least one of the position and speed of the robot joint, and the "detection" includes information directly detected by the attitude sensor, and also includes information obtained after processing based on the information directly detected by the attitude sensor. The above-mentioned industrial robot 100 also includes a motor encoder 132, which is arranged on the transmission device 131, and is used to detect at least one of the position and speed of the industrial robot joint 130; a control module, including a first control module and a second control module, so The first control module is electrically connected to the attitude sensor 133 for acquiring first safety information. The acquiring of the first safety information includes acquiring the detection information of the attitude sensor 133 as well as acquiring information detected by other necessary sensors. , Also includes information directly or indirectly derived from the above information obtained through the sensor, the directly or indirectly derived information includes information calculated by the first control module; the second control module is electrically connected to the motor The encoder 132 is used to obtain second safety information. The obtaining of the second safety information includes not only obtaining the detection information of the motor encoder 132, but also obtaining other necessary sensor detection information, and also including directly according to the above information detected by the sensor. Or indirectly obtained information, the directly or indirectly obtained information includes information calculated by the second control module; or, the first control module is connected to the attitude sensor and the motor encoder to obtain the first Safety information, the second control module is connected to the attitude sensor and the motor encoder to obtain second safety information. The control module compares the first safety information and the second safety information, and when the comparison between the two is inconsistent, controls the industrial robot 100 to perform a safe action. Specifically, comparing the first security information with the second security information by the control module includes that the first control module compares and finds that the second security information is inconsistent with the first security information obtained by itself, or the second control module compares and finds that the first security information is inconsistent. The safety information is inconsistent with the second safety information obtained by itself. The aforementioned control robot 100 to perform safe actions includes various actions defined by the safety specifications of the industrial robot 100, which will not be repeated here. The first safety information and the second safety information are respectively obtained through the first control module and the second control module, and the first safety information, the second safety information and the second safety information respectively pass through different channels, that is, through different sensors and different The control module of the industrial robot performs detection to make the detection result independent, unsafe factors can be discovered in time, and the industrial robot 100 has good safety performance.
第一安全信息和第二安全信息分别包括多项信息，比较第一安全信息和第二安全信息不一致包括对各项信息分别进行比较以判断其是否一致，当第一安全信息和第二安全信息中的某项信息不一致时，控制机器人100执行安全动作。需要说明的是，对于第一安全信息和第二安全信息的获取可能存在 必有的误差，这不应当包括在比较第一安全信息和第二安全信息不一致的范围内，所谓的不一致的判断，允许必要的误差的存在。所谓的不一致的判断，表征第一安全信息和第二安全信息实质不一致，而非由必要的检测或计算误差而引起的不一致。The first safety information and the second safety information respectively include multiple pieces of information. Comparing the inconsistency between the first safety information and the second safety information includes comparing each item of information to determine whether they are consistent. When the first safety information and the second safety information are inconsistent, When a certain item of information in is inconsistent, the robot 100 is controlled to perform a safe operation. It should be noted that there may be necessary errors in the acquisition of the first safety information and the second safety information. This should not be included in the comparison of the first safety information and the second safety information. The so-called inconsistency judgment, Allow the existence of necessary errors. The so-called inconsistent judgment indicates that the first safety information and the second safety information are substantially inconsistent, rather than the inconsistency caused by necessary detection or calculation errors.
工业机器人100包括多种类型，协作机器人是近年来发展迅猛的其中一种，协作机器人的控制模块至少包括两部分，即协作机器人的控制箱和协作机器人关节130处的控制单元，协作机器人的控制箱是其总控中心，能够处理协作机器人的工作信息以及根据当前的工作状况生成合适的工作指令。The industrial robot 100 includes many types. The collaborative robot is one of the rapid developments in recent years. The control module of the collaborative robot includes at least two parts, namely the control box of the collaborative robot and the control unit at the joint 130 of the collaborative robot. The control of the collaborative robot The box is its master control center, which can process the work information of the collaborative robots and generate appropriate work instructions according to the current working conditions.
工业机器人100还包括用户接口装置，用于对工业机器人100进行编程以控制其执行预设的操作。该用户接口装置包括示教器，设置于工业机器人100主体的外部并可连接至工业机器人100主体，工业机器人100包括该示教器。The industrial robot 100 also includes a user interface device for programming the industrial robot 100 to control it to perform preset operations. The user interface device includes a teach pendant, which is arranged outside the main body of the industrial robot 100 and can be connected to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.
为了保证工业机器人100工作中的安全性，至少需要获取工业机器人100关节130的位置、速度、力矩，姿态传感器133可以获取关节130的位置和速度，电机编码器132也可以获取关节130的位置和速度，两者独立工作，以分别获取第一安全信息的关节130位置和速度信息以及第二安全信息的关节130位置和速度信息。上述姿态传感器133能够获取关节130的位置和速度信息，第一控制模块能够根据该姿态传感器133检测的关节130位置和速度信息，计算关节130的力矩信息，上述第一安全信息包括第一控制模块通过姿态传感器133获取的关节130位置和速度信息，也包括第一控制模块通过上述速度或加速度信息检测的关节130位置和关节130速度信息，计算得出的关节130力矩。进一步的，所述第一控制模块根据所述姿态传感器的检测获取关节的相对姿态，基于关节的相对姿态获取关节位置进而计算关节的力矩信息，即，姿态传感器直接检测得到关节输出相对于自身的相对姿态，通过相对姿态在旋转垂直面上的投影的差值得到角度差值，即能够确定关节的位置和速度，再结合机械臂的质量分布以及摩擦模型最终得到关节的力矩。需要说明的是，上述姿态传感器还设置于执行端，用于检测执行端的上一关节的关节位置和速度信息，以及，第一控制模块根据执行端检测的上一关节位置和速度信息，计算该关节力矩信息。该工业机器人100还包括电流传感器134，第二控制模块根据电流传感器134获取关节130的力矩信息，上述第二安全信息包括上述电流传感器134检测的关节130力矩信息。也就是说， 上述第二安全信息包括第二控制模块通过电机编码器132获取的关节130位置和速度信息，以及第二控制模块通过电流传感器134获取的关节130力矩信息。具体的，工业机器人100的关节130包括电机编码器132，以及姿态传感器133，第一控制模块通过电机编码器132获取该关节130的位置和速度信息，第二控制模块通过姿态传感器133获取该关节130上一关节130的位置和速度信息，因为该关节130处的姿态传感器133检测的数据信息，实际上反映了该关节130上一关节130的输出，因此，通过该关节130姿态传感器的检测数据，可以得到该关节130上一关节130的位置和速度信息。进一步的，工业机器人100的执行端140包括速度及加速度传感器，也就是说，工业机器人100的执行端包括姿态传感器，具体的，该执行端处的姿态传感器133检测到的信息用于得到该执行端上一个关节130的关节速度和位置。在一个示例性实施例中，工业机器人100为六轴机器人100，执行端处设有速度及加速度传感器，执行端处的姿态传感器133用于获取工业机器人100第六关节的位置和速度信息，并与该第六关节处的电机编码器132共同获取该关节的位置和速度信息，得到第一安全信息的关节130位置和速度信息，以及第二安全信息的关机恩位置和速度信息。综上所述，第一安全信息包括第一控制模块通过姿态传感器133获取的信息，以及通过该速度或加速度获取的信息计算而得到的信息；第二安全信息包括第二控制模块通过电机编码器132获取的信息，以及通过电流传感器134获取的信息。至此，能够分别通过第一控制模块和第二控制模块得到第一安全信息的关节位置、速度、力矩，以及第二安全信息的关节位置、速度、力矩，将两者的相应项进行比较，以判断是否执行安全动作。In order to ensure the safety of the industrial robot 100 at work, at least the position, speed, and torque of the joint 130 of the industrial robot 100 need to be obtained. The attitude sensor 133 can obtain the position and speed of the joint 130, and the motor encoder 132 can also obtain the position and torque of the joint 130. Speed, the two work independently to obtain the position and speed information of the joint 130 in the first safety information and the position and speed information of the joint 130 in the second safety information respectively. The above-mentioned attitude sensor 133 can obtain the position and speed information of the joint 130. The first control module can calculate the torque information of the joint 130 based on the position and speed information of the joint 130 detected by the attitude sensor 133. The above-mentioned first safety information includes the first control module. The position and velocity information of the joint 130 obtained by the attitude sensor 133 also includes the joint 130 position and velocity information detected by the first control module through the aforementioned velocity or acceleration information, and the torque of the joint 130 calculated. Further, the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint. That is, the posture sensor directly detects the output of the joint relative to itself. For the relative posture, the angle difference is obtained from the difference in the projection of the relative posture on the rotating vertical plane, that is, the position and speed of the joint can be determined, combined with the mass distribution of the manipulator and the friction model to finally obtain the joint torque. It should be noted that the above-mentioned attitude sensor is also provided on the execution end to detect the joint position and speed information of the previous joint on the execution end, and the first control module calculates the position and speed information of the previous joint on the execution end. Joint torque information. The industrial robot 100 further includes a current sensor 134. The second control module obtains torque information of the joint 130 according to the current sensor 134. The second safety information includes the torque information of the joint 130 detected by the current sensor 134. In other words, the above-mentioned second safety information includes the position and speed information of the joint 130 obtained by the second control module through the motor encoder 132, and the torque information of the joint 130 obtained by the second control module through the current sensor 134. Specifically, the joint 130 of the industrial robot 100 includes a motor encoder 132 and a posture sensor 133. The first control module obtains the position and speed information of the joint 130 through the motor encoder 132, and the second control module obtains the joint 130 through the posture sensor 133. 130. The position and speed information of the joint 130 on the joint 130, because the data information detected by the posture sensor 133 at the joint 130 actually reflects the output of the joint 130 on the joint 130. Therefore, the data detected by the posture sensor of the joint 130 , The position and speed information of a joint 130 on the joint 130 can be obtained. Further, the execution end 140 of the industrial robot 100 includes speed and acceleration sensors, that is, the execution end of the industrial robot 100 includes a posture sensor. Specifically, the information detected by the posture sensor 133 at the execution end is used to obtain the execution. The joint speed and position of a joint 130 are listed. In an exemplary embodiment, the industrial robot 100 is a six-axis robot 100. The execution end is provided with speed and acceleration sensors, and the posture sensor 133 at the execution end is used to obtain the position and speed information of the sixth joint of the industrial robot 100, and Together with the motor encoder 132 at the sixth joint, the position and speed information of the joint are obtained, the position and speed information of the joint 130 of the first safety information, and the shutdown position and speed information of the second safety information are obtained. In summary, the first safety information includes the information obtained by the first control module through the attitude sensor 133 and the information obtained by calculating the information obtained by the speed or acceleration; the second safety information includes the information obtained by the second control module through the motor encoder The information obtained by 132 and the information obtained by the current sensor 134. So far, the joint position, speed, and torque of the first safety information can be obtained through the first control module and the second control module, and the joint position, speed, and torque of the second safety information can be obtained by comparing the corresponding items of the two. Determine whether to perform a safe action.
在本实施例中，工业机器人100的关节处设置有姿态传感器133及电流传感器134，以及，工业机器人的执行端设有姿态传感器133，,关节130连接相邻的机械臂部分121，通过操纵关节130来控制与之连接的机械臂部分121的移动。关节130与机械臂部分121通过易拆卸安装的方式连接，例如螺纹连接。通过将姿态传感器133，以及电流传感器134主要设置于所述关节130处，使得工业机器人100主体的电子器件集中于关节130，关节130和机械臂部分121可以模块化设计及安装，使用中如果某部分出现故障，也方便更换及安装。具体的，工业机器人100包括控制模块，控制模块包括位于工业机器人100主机外部的控制机，以及位于工业机器人100关节的控制 单元，通过将控制单元设置于关节130，使得工业机器人100主体的控制部分大体集中于关节130处，方便机器人100模块化设计及安装，使得工业机器人100的使用体验更好。In this embodiment, the joints of the industrial robot 100 are provided with a posture sensor 133 and a current sensor 134, and the executive end of the industrial robot is provided with a posture sensor 133. The joint 130 is connected to the adjacent mechanical arm part 121, and the joint is manipulated. 130 to control the movement of the robotic arm part 121 connected to it. The joint 130 and the mechanical arm part 121 are connected in an easily detachable manner, such as a threaded connection. By arranging the attitude sensor 133 and the current sensor 134 mainly at the joint 130, the electronic components of the main body of the industrial robot 100 are concentrated on the joint 130. The joint 130 and the mechanical arm part 121 can be designed and installed in a modular manner. Part of the failure is easy to replace and install. Specifically, the industrial robot 100 includes a control module. The control module includes a control machine located outside the mainframe of the industrial robot 100 and a control unit located at the joints of the industrial robot 100. By setting the control unit at the joints 130, the control part of the main body of the industrial robot 100 It is generally concentrated at the joint 130, which facilitates the modular design and installation of the robot 100, and makes the use experience of the industrial robot 100 better.
在本实施例中，控制模块比较第一安全信息和第二安全信息不一致时，执行安全动作。进一步的，第一安全信息和第二安全信息至少其中之一不能满足预设安全条件时，控制模块控制工业机器人100执行安全动作。即，当第一安全信息和第二安全信息一致时，第一安全信息和第二安全信息中的某项检测信息可能不能满足预设的安全要求，此时，控制模块控制工业机器人100执行安全动作。In this embodiment, when the control module compares the first security information and the second security information to be inconsistent, execute a security action. Further, when at least one of the first safety information and the second safety information cannot meet the preset safety condition, the control module controls the industrial robot 100 to perform a safe action. That is, when the first safety information and the second safety information are consistent, a certain item of detection information in the first safety information and the second safety information may not meet the preset safety requirements. At this time, the control module controls the industrial robot 100 to perform safety action.
在本实施例中，姿态传感器包括惯性测量单元(I MU)、三轴加速度计、三轴磁力计、三轴陀螺仪、三轴速度计的其中至少一种，必要时，也可以包括其中的两项或以上，例如，常见的手机中使用的姿态传感器多为九轴传感器，包括三轴加速度计、惯性测量单元以及三轴磁力计。该姿态传感器用于获取工业机器人100的关节位置、关节速度信息的至少其中之一。工业机器人100通过姿态传感器133获取关节位置信息还包括，在工业机器人100开始工作前，获取工业机器人100关节初始位置，具体的，通过工业机器人100的传感器***获取该初始位置，或者，接收用户的设定以获得该初始位置，第一控制模块根据姿态传感器133的检测获取关节130位置信息，进一步的，第一控制模块根据速度或加速度的检测，结合关节130的初始位置，积分计算获取关节130的位置。具体的，姿态传感器133可用于检测工业机器人100的关节位置和关节速度，同时，速度和加速度传感器还可用于确定机器人100的绝对姿态，例如，可用于安装姿态的确定。综上，选择姿态传感器133检测工业机器人100关节的位置信息和速度信息，同时该速度和加速度传感器还具有用以确定机器人100的绝对姿态等功能，实现了功能复用，更加节约元器件，可以减少机器人元器件，因而降低工业机器人的制造成本，以及简化工业机器人的零件构成。In this embodiment, the attitude sensor includes at least one of an inertial measurement unit (I MU), a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speedometer. Two or more, for example, most of the attitude sensors used in common mobile phones are nine-axis sensors, including three-axis accelerometers, inertial measurement units, and three-axis magnetometers. The attitude sensor is used to obtain at least one of joint position and joint speed information of the industrial robot 100. The industrial robot 100 acquiring joint position information through the attitude sensor 133 also includes acquiring the initial position of the joints of the industrial robot 100 before the industrial robot 100 starts working. Specifically, acquiring the initial position through the sensor system of the industrial robot 100, or receiving the user’s After setting to obtain the initial position, the first control module obtains the position information of the joint 130 according to the detection of the attitude sensor 133. Furthermore, the first control module obtains the joint 130 by integral calculation according to the detection of speed or acceleration, combined with the initial position of the joint 130. s position. Specifically, the posture sensor 133 can be used to detect the joint position and joint speed of the industrial robot 100. At the same time, the speed and acceleration sensor can also be used to determine the absolute posture of the robot 100, for example, can be used to determine the installation posture. In summary, the posture sensor 133 is selected to detect the position information and velocity information of the joints of the industrial robot 100. At the same time, the velocity and acceleration sensor also has functions such as determining the absolute posture of the robot 100, which realizes function reuse and saves more components. Reduce robot components, thereby reducing the manufacturing cost of industrial robots, and simplifying the component composition of industrial robots.
本发明所述的第一安全信息和第二安全信息，如前所述，分别包括关节位置信息、关节速度信息、关节力矩信息，除此之外，第一安全信息和第二安全信息还包括根据上述关节位置信息、关节速度信息、关节力矩信息至少其一得到的信息，具体包括以下至少部分：The first safety information and the second safety information of the present invention, as mentioned above, respectively include joint position information, joint speed information, and joint torque information. In addition, the first safety information and the second safety information also include The information obtained according to at least one of the above-mentioned joint position information, joint speed information, and joint torque information specifically includes at least part of the following:
工具位置，即限制机器人100工具的位置，具体的，通过第一控制模块 和第二控制模块分别计算机器人100工具的位置，第一安全信息和第二安全信息分别包括工具位置信息，比较第一安全信息和第二安全信息的工具位置信息不同时，控制工业机器人100执行安全动作；The tool position, that is, the position of the tool of the robot 100 is restricted. Specifically, the position of the tool of the robot 100 is calculated by the first control module and the second control module. The first safety information and the second safety information respectively include the tool position information. When the safety information and the tool position information of the second safety information are different, control the industrial robot 100 to perform safe actions;
工具取向，即限制机器人100工具的最大取向，具体的，通过第一控制模块和第二控制模块分别计算机器人100工具的取向，第一安全信息和第二安全信息分别包括工具取向，比较第一安全信息和第二安全信息的工具取向不同时，控制工业机器人100执行安全动作。The tool orientation is to limit the maximum orientation of the tool of the robot 100. Specifically, the tool orientation of the robot 100 is calculated through the first control module and the second control module. The first safety information and the second safety information respectively include the tool orientation. Compare the first When the tool orientations of the safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safety action.
工具速度，即限制机器人100工具的最大速度，具体的，通过第一控制模块和第二控制模块分别计算机器人100工具的速度，第一安全信息和第二安全信息分别包括工具速度，比较第一安全信息和第二安全信息的工具速度不同时，控制工业机器人100执行安全动作。Tool speed, that is, limit the maximum speed of the tool of the robot 100. Specifically, the speed of the tool of the robot 100 is calculated through the first control module and the second control module. The first safety information and the second safety information respectively include the tool speed. Compare the first When the tool speeds of the safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safe operation.
工具力，即限制机器人100工具在工作具体情况下施加的最大力。例如，当工具为夹紧工具200时，限制机器人100在夹紧情况下施加的最大力。与上文类似的，第一控制模块和第二控制模块分别计算工具力，并在两者不一致时执行安全动作。The tool force is to limit the maximum force applied by the tool of the robot 100 under specific working conditions. For example, when the tool is the clamping tool 200, the maximum force applied by the robot 100 in the clamping situation is limited. Similar to the above, the first control module and the second control module calculate the tool force separately, and perform safe actions when the two are inconsistent.
需要说明的是：工业机器人100通常具有多个关节，以及其机械臂通常由多个机械臂部分121组成，具体的，机械臂部分121包括相对较长的两个部分，以及其他相对较短的部分，具体的，连接两个相对较长的相邻机械臂部分121的关节被定义为肘部关节。具体的，在本实施例中，肘部关节为一个关节，即通过一个关节连接机械臂相对较长的俩机械臂部分，在其他实施例中，肘部关节也可能包括两个关节，即通过两个关节连接机械臂相对较长的俩机械臂部分121。It should be noted that the industrial robot 100 usually has multiple joints, and its robotic arm is usually composed of multiple robotic arm parts 121. Specifically, the robotic arm part 121 includes two relatively long parts, and other relatively short ones. Part, specifically, a joint connecting two relatively long adjacent manipulator parts 121 is defined as an elbow joint. Specifically, in this embodiment, the elbow joint is one joint, that is, the two relatively long parts of the robot arm are connected by one joint. In other embodiments, the elbow joint may also include two joints, that is, through The two joints are connected to the two relatively long robotic arm parts 121.
第一安全信息和第二安全信息具体还包括：The first safety information and the second safety information also specifically include:
肘部关节位置，即限制肘部关节的位置范围，与上文类似的，第一控制模块和第二控制模块分别计算肘部关节位置，并在两者不一致时执行安全动作。The position of the elbow joint, that is, the position range of the elbow joint is restricted. Similar to the above, the first control module and the second control module respectively calculate the position of the elbow joint, and perform safe actions when the two are inconsistent.
肘部关节速度，即限制肘部关节130的最大速度，与上文类似的，第一控制模块和第二控制模块分别计算肘部关节速度，并在两者不一致时执行安全动作。The elbow joint speed, that is, the maximum speed of the elbow joint 130 is limited. Similar to the above, the first control module and the second control module respectively calculate the elbow joint speed, and perform a safe action when the two are inconsistent.
肘部关节力，即限制肘部关节130的最大力，与上文类似的，第一控制模块和第二控制模块分别计算肘部关节力，并在两者不一致时执行安全动作。The elbow joint force is the maximum force that limits the elbow joint 130. Similar to the above, the first control module and the second control module calculate the elbow joint force separately, and perform safe actions when the two are inconsistent.
需要说明的是，工业机器人100具有多个关节130，多个关节130的安全信息不完全相同，因此必要时，需要对每个关节的安全信息的监控进行设定。肘部关节作为比较关键的关节，应该严格设定其安全信息的监控信息。It should be noted that the industrial robot 100 has multiple joints 130, and the security information of the multiple joints 130 is not completely the same. Therefore, if necessary, the monitoring of the security information of each joint needs to be set. As the elbow joint is a more critical joint, the monitoring information of its safety information should be strictly set.
机器人功率，即限制机器人100对环境做的最大机械功，具体的，该限制将有效负载视为机器人100而非环境的一部分，与上文类似的，第一控制模块和第二控制模块分别计算机器人100功率，并在两者不一致时执行安全动作。Robot power, that is, limit the maximum mechanical work that the robot 100 can do to the environment. Specifically, this limit regards the effective load as the robot 100 instead of a part of the environment. Similar to the above, the first control module and the second control module calculate separately The robot 100 powers, and executes a safe action when the two do not match.
机器人动量，即限制最大机器人动量，与上文类似的，第一控制模块和第二控制模块分别计算机器人动量，并在两者不一致时执行安全动作。Robot momentum, that is, limit the maximum robot momentum. Similar to the above, the first control module and the second control module calculate the robot momentum separately, and perform safe actions when the two are inconsistent.
机器人停止距离，即限制当停止机器人工具或肘部可移动的最大距离，与上文类似的，第一控制模块和第二控制模块分别计算机器人100停止距离，并在两者不一致时执行安全动作。Robot stopping distance, which limits the maximum distance that the robot tool or elbow can move when stopping the robot. Similar to the above, the first control module and the second control module calculate the stopping distance of the robot 100 respectively, and perform safe actions when the two are inconsistent .
机器人停止时间，即限制让机器人停止需要花费的最长时间，比如：当紧急停止激活时，与上文类似的，第一控制模块和第二控制模块分别计算机器人100停止时间，并在两者不一致时执行安全动作。The robot stop time is to limit the maximum time it takes to stop the robot. For example, when the emergency stop is activated, similar to the above, the first control module and the second control module calculate the stop time of the robot 100 separately, and calculate the stop time of the robot 100. Perform safety actions when inconsistent.
机器人紧急停止，即检测机器人紧急停止的信息，与上文类似的，第一控制模块和第二控制模块分别获取机器人紧急停止信息，并在两者不一致时执行安全动作。The emergency stop of the robot is to detect the information of the emergency stop of the robot. Similar to the above, the first control module and the second control module obtain the emergency stop information of the robot respectively, and perform safe actions when the two are inconsistent.
机器人保护停止，即在输入引脚低且机器人处于自动模式时执行保护停止，与上文类似的，第一控制模块和第二控制模块分别获取机器人保护停止信息，并在两者不一致时执行安全动作。Robot protection stop, that is, the protection stop is executed when the input pin is low and the robot is in automatic mode. Similar to the above, the first control module and the second control module obtain the robot protection stop information respectively, and execute safety when the two are inconsistent action.
机器人移动数字输出，即获取机器人移动数字输出信息，与上文类似的，第一控制模块和第二控制模块分别获取机器人移动数字输出信息，并在两者不一致时执行安全动作。The digital output of robot movement is to obtain the digital output information of the robot movement. Similar to the above, the first control module and the second control module respectively obtain the digital output information of the robot movement, and perform safe actions when the two are inconsistent.
机器人未停止数字输出，即获取机器人未停止状态下的数字输出，与上文类似的，第一控制模块和第二控制模块分别获取机器人未停止数字输出，并在两者不一致时执行安全动作。The digital output of the robot is not stopped, that is, the digital output is obtained when the robot is not stopped. Similar to the above, the first control module and the second control module respectively obtain the digital output of the robot not stopped, and perform safe actions when the two are inconsistent.
机器人模式区减小，即获取机器人模式区减小信息，与上文类似的，第一控制模块和第二控制模块分别获取机器人模式区减小信息，并在两者不一致时执行安全动作。The robot mode area is reduced, that is, the information about the reduction of the robot mode area is obtained. Similar to the above, the first control module and the second control module obtain the information about the reduction of the robot mode area respectively, and perform safe actions when the two are inconsistent.
以上安全信息是对工业机器人领域通常需要获取及判断以执行安全动作 的常用信息，不是对所有安全信息的列举，本发明的保护范围应该以权利要求书限定的为准。The above safety information is commonly used information that needs to be obtained and judged to perform safe actions in the field of industrial robots, and is not a list of all safety information. The protection scope of the present invention should be defined by the claims.
在一个具体的实施例中，参图1-2，所述机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其一，根据电机编码器获取当前关节的位置和速度的至少其一，所述控制模块用于判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。姿态传感器通常可以直接获得其所处部件的上一个关节的输出端相对于关节自身的相对姿态，根据该相对姿态在旋转垂直面上的投影的差值可以得到角度差值，进而通过姿态传感器得到关节的位置和速度至少其一。其中，姿态传感器用于检测上一个关节的位置和速度至少其一，例如，将姿态传感器设置于执行器上，执行器连接机器人的末关节，执行器上的姿态传感器用于获取机器人末关节的位置和速度至少其一，当末关节的输出出现异常或者执行端出现异常或者姿态传感器自身出现异常时，均会产生第一安全信息和第二安全信息不一致的结果，使得机器人执行安全动作，通过姿态传感器检测上一个关节的位置和速度至少其一，姿态传感器和上一个关节之间发生的故障也可以通过姿态传感器的检测结果体现出来，进而使得在姿态传感器和上一个关节之间存在故障时机器人也会因为第一安全信息和第二安全信息不一致而执行安全动作，机器人对安全性的监测更为广泛，机器人整体的安全性能更好。In a specific embodiment, referring to FIGS. 1-2, the robot includes a plurality of joints connected in sequence, the plurality of joints includes a head joint and an end joint, the head joint is connected to a base frame, and the end joint Connected to the execution end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and obtain at least one of the position and speed of the current joint according to the motor encoder, and the control module is used to determine When the first safety information and the second safety information of the same joint are inconsistent, the industrial robot is controlled to perform safe actions. The attitude sensor can usually directly obtain the relative attitude of the output end of the previous joint of its component with respect to the joint itself. According to the difference of the projection of the relative attitude on the rotating vertical plane, the angle difference can be obtained, and then the attitude sensor can obtain the relative attitude. The position and speed of the joints are at least one of them. Among them, the attitude sensor is used to detect at least one of the position and speed of the previous joint. For example, the attitude sensor is set on the actuator, and the actuator is connected to the end joint of the robot. The attitude sensor on the actuator is used to obtain the end joint of the robot. At least one of position and speed. When the output of the end joint is abnormal or the execution end is abnormal or the attitude sensor itself is abnormal, the result of the first safety information and the second safety information will be inconsistent, so that the robot will perform safe actions. The attitude sensor detects at least one of the position and speed of the previous joint, and the fault between the attitude sensor and the previous joint can also be reflected by the detection result of the attitude sensor, so that when there is a fault between the attitude sensor and the previous joint The robot will also perform safe actions because the first safety information and the second safety information are inconsistent. The robot monitors safety more extensively, and the overall safety performance of the robot is better.
在一个具体的实施例中，所述机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其中之一，所述控制模块用于判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。In a specific embodiment, the robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the The robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the control module is used to determine that the first safety information and the second safety information of the same joint are inconsistent, to control the industrial robot to perform a safe action .
在一个具体的实施例中，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。In a specific embodiment, the industrial robot is a tandem robot, the robot includes six joints, the head joint is the first joint, the end joint is the sixth joint, and the robot is configured as the first joint. The second to sixth joints are equipped with attitude sensors to acquire at least one of the position and speed of the previous joint, and the execution end of the robot is equipped with attitude sensors to acquire at least one of the position and speed of the sixth joint.
以上实施例的有益效果是：工业机器人具有第一控制模块和第二控制模 块分别获取第一安全信息和第二安全信息，并且使用姿态传感器133以及电机编码器132等独立的传感器，使得一方面关于安全信息的检测比较独立，且控制模块的处理动作也比较独立，工业机器人工作的安全性得以保证。同时，电机编码器132和姿态传感器133均可以功能复用，从而减少了工业机器人的组成部件数量，降低整机制造成本，以及简化了工业机器人的构成。The beneficial effects of the above embodiments are: the industrial robot has a first control module and a second control module to obtain the first safety information and the second safety information respectively, and uses independent sensors such as the attitude sensor 133 and the motor encoder 132, so that on the one hand The detection of safety information is relatively independent, and the processing actions of the control module are relatively independent, so that the safety of industrial robots can be guaranteed. At the same time, the motor encoder 132 and the attitude sensor 133 can both be functionally multiplexed, thereby reducing the number of components of the industrial robot, reducing the manufacturing cost of the whole machine, and simplifying the composition of the industrial robot.
本发明还提供了一种工业机器人的控制方法，参图4，所述工业机器人的组成部分在上文中已经进行了说明，此处不再赘述。该控制方法包括：The present invention also provides a control method of an industrial robot. Referring to FIG. 4, the components of the industrial robot have been described above, and will not be repeated here. The control method includes:
S1:姿态传感器检测工业机器人100关节的位置和速度至少其一；S1: The attitude sensor detects at least one of the position and speed of the joint of the industrial robot 100;
即姿态传感器设置于关节130处，或者设置于关节130处和执行端140，姿态传感器用于检测其所位于的关节的前一关节的关节位置和速度信息，执行端的姿态传感器用于检测执行端前一关节的关节位置和速度。具体的，执行端140包括执行端。姿态传感器133检测位置和速度其一，优选的，检测关节位置和速度两者。That is, the attitude sensor is set at the joint 130, or at the joint 130 and the execution end 140, the attitude sensor is used to detect the joint position and speed information of the joint before the joint where it is located, and the attitude sensor on the execution end is used to detect the execution end. The joint position and speed of the previous joint. Specifically, the execution end 140 includes an execution end. The posture sensor 133 detects one of the position and the speed, and preferably, detects both the joint position and the speed.
S2:电机编码器检测工业机器人关节的位置和速度至少其一；S2: The motor encoder detects at least one of the position and speed of the joints of the industrial robot;
即电机编码器设置于关节的传动装置131，用于检测工业机器人100关节的位置和速度至少其一，优选的，检测关节位置和速度两者。That is, the motor encoder is provided on the joint transmission device 131, and is used to detect at least one of the position and speed of the joint of the industrial robot 100. Preferably, it detects both the position and speed of the joint.
S3:第一控制模块获取第一安全信息；S3: The first control module obtains the first safety information;
第一控制模块电连接于上述姿态传感器，能够获取上述速度或加速度直接检测的信息，即，关节的位置和速度信息至少其一，以及，第一控制模块还能够获取通过上述姿态传感器133而间接获得的信息，包括，根据关节的位置和速度信息而计算得到的信息。The first control module is electrically connected to the above-mentioned attitude sensor, and can obtain the information directly detected by the above-mentioned speed or acceleration, that is, at least one of the position and speed information of the joints, and the first control module can also obtain the information indirectly through the above-mentioned attitude sensor 133. The information obtained includes information calculated based on the position and speed information of the joints.
S4：第二控制模块获取第二安全信息；S4: The second control module obtains the second safety information;
第二控制模块电连接于上述电机编码器132，能够获取上述电机编码器可以直接检测的关节速度和位置信息，以及，第二控制模块获取的第二安全信息还包括，根据电机编码器检测的关节速度和位置信息而间接获得的信息，例如，根据关节的位置和速度信息而计算得到的信息。The second control module is electrically connected to the motor encoder 132, and can obtain joint speed and position information that can be directly detected by the motor encoder, and the second safety information obtained by the second control module further includes: Information obtained indirectly from joint speed and position information, for example, information calculated from joint position and speed information.
S5:控制模块比较第一安全信息和第二安全信息不一致时，控制工业机器人100执行安全动作。S5: When the control module compares the first safety information and the second safety information to be inconsistent, it controls the industrial robot 100 to perform a safe action.
即控制模块比较第一安全信息和第二安全信息的对应项不一致的，控制机器人100执行安全动作。具体的，当执行安全动作时，可以选择性的执行安全动作的其中之一，也可以根据需要，同时执行安全动作中的多个。That is, if the corresponding items of the first safety information and the second safety information are inconsistent, the control module controls the robot 100 to perform safe actions. Specifically, when a safe action is executed, one of the safe actions can be selectively executed, or a plurality of the safe actions can be executed at the same time as required.
在本实施例中，控制方法还包括第一控制模块根据所述姿态传感器133的检测计算关节130的力矩信息，所述第一安全信息包括所述力矩信息。即第一安全信息包括姿态传感器133检测的关节位置和速度信息，以及通过该关节130的位置和速度信息结合工业机器人100的质量分布等计算的关节力矩信息，以及根据上述关节的位置、速度、力矩信息而计算获得的其他信息。In this embodiment, the control method further includes the first control module calculating the torque information of the joint 130 according to the detection of the attitude sensor 133, and the first safety information includes the torque information. That is, the first safety information includes joint position and speed information detected by the attitude sensor 133, and joint torque information calculated by combining the position and speed information of the joint 130 with the mass distribution of the industrial robot 100, and the position, speed, Other information obtained by calculation based on torque information.
该工业机器人100还包括电流传感器134，该控制方法包括，第二控制模块根据电流传感器134获取关节中的力矩信息，所述第二安全信息包括根据电流传感器134获取的关节130中的力矩信息。即第二安全信息包括电机编码器132检测的关节的位置和速度信息，以及电流传感器134检测的关节的力矩信息，以及通过该关节的位置、速度、力矩信息而计算获得的其他信息。The industrial robot 100 further includes a current sensor 134, and the control method includes that the second control module obtains torque information in the joint according to the current sensor 134, and the second safety information includes the torque information in the joint 130 obtained according to the current sensor 134. That is, the second safety information includes the position and speed information of the joint detected by the motor encoder 132, the torque information of the joint detected by the current sensor 134, and other information calculated from the position, speed, and torque information of the joint.
具体的，上述控制方法包括：当所述第一安全信息或第二安全信息中至少其中之一不能满足预设安全要求时，控制模块控制工业机器人100执行安全动作。Specifically, the aforementioned control method includes: when at least one of the first safety information or the second safety information cannot meet a preset safety requirement, the control module controls the industrial robot 100 to perform a safety action.
具体的，上述姿态传感器133检测工业机器人100关节的位置和速度信息还包括：获取工业机器人100的初始位置，第二控制模块根据该初始位置获取关节的位置，通过速度或加速度的检测信息，综合关节的初始位置，积分运算得到关节的位置。获取工业机器人100的初始位置包括，工业机器人通过传感器***在工业机器人开始工作前获取其初始位置，或者，工业机器人通过用户的输入信息获取初始位置。Specifically, detecting the position and velocity information of the joints of the industrial robot 100 by the above-mentioned posture sensor 133 also includes: obtaining the initial position of the industrial robot 100, and the second control module obtains the position of the joint according to the initial position. The initial position of the joint is obtained by the integral operation. Obtaining the initial position of the industrial robot 100 includes acquiring the initial position of the industrial robot through a sensor system before the industrial robot starts to work, or acquiring the initial position of the industrial robot through user input information.
需要说明的是，前面所述的控制方法的步骤S1和S2的顺序并不被限制为先执行S1后执行S2，或者先执行S2后执行S1的其中一种，本控制方法中的S1步骤和S2步骤的执行顺序同时包括以上两种情况，不可将执行顺序仅限定为其中一种。It should be noted that the sequence of steps S1 and S2 of the control method described above is not limited to one of performing S1 first and then S2, or performing S2 first and then S1. In this control method, the steps S1 and S2 The execution sequence of step S2 includes the above two cases at the same time, and the execution sequence cannot be limited to only one of them.
在本发明的一个具体实施例中，所述工业机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其中之一，所述方法包括：判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。进一步的，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装 姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。姿态传感器通常可以直接获得其所处部件的上一个关节的输出端相对于关节自身的相对姿态，根据该相对姿态在旋转垂直面上的投影的差值可以得到角度差值，进而通过姿态传感器得到关节的位置和速度至少其一。其中，姿态传感器用于检测上一个关节的位置和速度至少其一，例如，将姿态传感器设置于执行器上，执行器连接机器人的末关节，执行器上的姿态传感器用于获取机器人末关节的位置和速度至少其一，当末关节的输出出现异常或者执行端出现异常或者姿态传感器自身出现异常时，均会产生第一安全信息和第二安全信息不一致的结果，使得机器人执行安全动作，通过姿态传感器检测上一个关节的位置和速度至少其一，姿态传感器和上一个关节之间发生的故障也可以通过姿态传感器的检测结果体现出来，进而使得在姿态传感器和上一个关节之间存在故障时机器人也会因为第一安全信息和第二安全信息不一致而执行安全动作，进而对机器人的安全监测范围更为广泛，机器人的控制方法安全性好。例如，在使用机器人场景中，机械臂部分包括连杆，连杆两端均设置机器人关节，通过机器人关节上设置的姿态传感器检测上一个关节的相对姿态进而获得上一个关节的位置和速度至少其一，同时至少基于姿态传感器的检测得到第一安全信息，将第一安全信息和第二安全信息比较如果不一致，机器人执行安全动作，不一致的可能性将会包括机器人关节自身故障、传感器故障、连杆故障、第一控制模块和第二控制模块其一故障等情况，相比于传统的安全监测的方式，能够监测姿态传感器和上一个关节之间的故障。In a specific embodiment of the present invention, the industrial robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, and the end joint is connected to the execution At the end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the method includes: when the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to execute Safe action. Further, the industrial robot is a tandem robot, the robot includes six joints, the head joint is a first joint, the end joint is a sixth joint, and the robot is configured as a second to sixth joint A posture sensor is installed to obtain at least one of the position and speed of the previous joint, and the execution end of the robot is installed with a posture sensor to obtain at least one of the position and speed of the sixth joint. The attitude sensor can usually directly obtain the relative attitude of the output end of the previous joint of its component with respect to the joint itself. According to the difference of the projection of the relative attitude on the rotating vertical plane, the angle difference can be obtained, and then the attitude sensor can obtain the relative attitude. The position and speed of the joints are at least one of them. Among them, the attitude sensor is used to detect at least one of the position and speed of the previous joint. For example, the attitude sensor is set on the actuator, and the actuator is connected to the end joint of the robot. The attitude sensor on the actuator is used to obtain the end joint of the robot. At least one of position and speed. When the output of the end joint is abnormal or the execution end is abnormal or the attitude sensor itself is abnormal, the result of the first safety information and the second safety information will be inconsistent, so that the robot will perform safe actions. The attitude sensor detects at least one of the position and speed of the previous joint, and the fault between the attitude sensor and the previous joint can also be reflected by the detection result of the attitude sensor, so that when there is a fault between the attitude sensor and the previous joint The robot will also perform safe actions due to the inconsistency of the first safety information and the second safety information, and thus the safety monitoring range of the robot is wider, and the control method of the robot is safe. For example, in the scene of using robots, the robot arm part includes connecting rods, and both ends of the connecting rods are equipped with robot joints. The attitude sensor set on the robot joints detects the relative attitude of the previous joint to obtain the position and speed of the previous joint at least. 1. At the same time, the first safety information is obtained at least based on the detection of the attitude sensor, and the first safety information is compared with the second safety information. Compared with the traditional safety monitoring method, the rod failure, the failure of one of the first control module and the second control module, etc., can monitor the failure between the attitude sensor and the previous joint.
在一个具体的实施例中，所述方法包括：第一控制模块根据姿态传感器和电机编码器获取第一安全信息；第二控制模块根据姿态传感器和电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。在另一个具体的实施例中，所述方法包括：第一控制模块根据姿态传感器获取第一安全信息；第二控制模块根据电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。In a specific embodiment, the method includes: the first control module obtains the first safety information according to the attitude sensor and the motor encoder; the second control module obtains the second safety information of the same joint according to the attitude sensor and the motor encoder; When comparing the first safety information and the second safety information are inconsistent, control the industrial robot to perform safe actions. In another specific embodiment, the method includes: the first control module obtains the first safety information according to the attitude sensor; the second control module obtains the second safety information of the same joint according to the motor encoder; and compares the first safety information with When the second safety information is inconsistent, control the industrial robot to perform safe actions.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干 变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (21)

  1. 一种工业机器人，包括：An industrial robot, including:
    底座支架，用于承载所述工业机器人；The base bracket is used to carry the industrial robot;
    机械臂，连接于底座支架，所述机械臂包括两个及以上机械臂部分；A mechanical arm, connected to the base bracket, the mechanical arm including two or more mechanical arm parts;
    关节，用于连接相邻的所述机械臂部分，所述关节包括传动装置；A joint for connecting adjacent parts of the mechanical arm, and the joint includes a transmission device;
    执行端，一端连接于机械臂，另一端可连接工具以通过机械臂带动工具执行工作任务；The execution end, one end is connected to the robotic arm, and the other end can be connected to a tool to drive the tool to perform work tasks through the robotic arm;
    其特征在于，所述工业机器人还包括：It is characterized in that the industrial robot further includes:
    姿态传感器，设置于所述关节处，或者设置于所述关节处和执行端，用于检测关节的位置和速度的至少其中之一；An attitude sensor, which is arranged at the joint, or at the joint and the execution end, and is used to detect at least one of the position and speed of the joint;
    电机编码器，设置于所述传动装置，用于检测工业机器人关节的位置和速度至少其一；The motor encoder is arranged on the transmission device and is used to detect at least one of the position and the speed of the joint of the industrial robot;
    控制模块，包括第一控制模块和第二控制模块，所述第一控制模块电连接于所述姿态传感器，用于获取第一安全信息；所述第二控制模块电连接于所述电机编码器，用于获取第二安全信息；控制模块比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The control module includes a first control module and a second control module. The first control module is electrically connected to the attitude sensor for obtaining first safety information; the second control module is electrically connected to the motor encoder , Is used to obtain the second safety information; when the control module compares the first safety information and the second safety information is inconsistent, it controls the industrial robot to perform safe actions.
  2. 根据权利要求1所述的工业机器人，其特征在于，所述第一控制模块根据所述姿态传感器的检测获取关节的相对姿态，基于关节的相对姿态获取关节位置进而计算关节的力矩信息，所述第一安全信息包括所述关节的力矩信息。The industrial robot according to claim 1, wherein the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint. The first safety information includes torque information of the joint.
  3. 根据权利要求1所述的工业机器人，其特征在于，所述工业机器人包括电流传感器，所述第二控制模块根据电流传感器获取关节的力矩信息，所述第二安全信息包括根据电流传感器获取的关节的力矩信息。The industrial robot according to claim 1, wherein the industrial robot includes a current sensor, the second control module obtains joint torque information according to the current sensor, and the second safety information includes joint torque information obtained according to the current sensor. The torque information.
  4. 根据权利要求1所述的工业机器人，其特征在于，所述第一安全信息或第二安全信息中至少其中之一不能满足预设安全要求时，控制模块控制工业机器人执行安全动作。The industrial robot according to claim 1, wherein when at least one of the first safety information or the second safety information cannot meet a preset safety requirement, the control module controls the industrial robot to perform safe actions.
  5. 根据权利要求1所述的工业机器人，其特征在于，所述姿态传感器包括惯性测量单元、三轴加速度计、三轴磁力计、三轴陀螺仪、三轴速度传感器的其中至少一种。The industrial robot according to claim 1, wherein the attitude sensor comprises at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  6. 根据权利要求1所述的工业机器人，其特征在于，所述机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取 上一个关节的位置和速度的至少其中之一，所述控制模块用于判断相同关节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The industrial robot according to claim 1, wherein the robot includes a plurality of joints connected in sequence, the plurality of joints includes a head joint and an end joint, the head joint is connected to a base frame, and the end joint Connected to the execution end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the control module is used to determine that the first safety information and the second safety information of the same joint are inconsistent, Control industrial robots to perform safe actions.
  7. 根据权利要求6所述的工业机器人，其特征在于，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。The industrial robot according to claim 6, wherein the industrial robot is a tandem robot, the robot includes six joints, the head joint is the first joint, and the end joint is the sixth joint. The robot is configured to install attitude sensors for the second to sixth joints to acquire at least one of the position and speed of the previous joint, and install attitude sensors on the execution end of the robot to acquire at least one of the position and speed of the sixth joint.
  8. 根据权利要求1-7任一项所述的工业机器人，其特征在于，所述第一安全信息和第二安全信息分别包括关节位置信息、关节速度信息、关节力矩信息。The industrial robot according to any one of claims 1-7, wherein the first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  9. 根据权利要求8所述的工业机器人，其特征在于，所述关节包括肘部关节，所述肘部关节用于连接机械臂相对较长的俩相邻机械臂部分，所述第一安全信息和第二安全信息还分别包括根据关节速度、关节位置、关节力矩的至少其一得到的信息，该信息包括以下至少部分：工具位置、工具取向、工具速度、工具力、肘部关节位置、肘部关节速度、肘部关节力，机器人功率、机器人动量、机器人停止距离、机器人停止时间、紧急停止、保护停止、机器人移动数字输出、机器人未停止数字输出、模式区减小。The industrial robot according to claim 8, wherein the joint comprises an elbow joint, and the elbow joint is used to connect two adjacent parts of the robot arm that are relatively long, and the first safety information and The second safety information also includes information obtained according to at least one of joint speed, joint position, and joint torque. The information includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow Joint speed, elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protective stop, robot moving digital output, robot unstopped digital output, mode area reduced.
  10. 一种工业机器人的控制方法，所述工业机器人包括：A control method of an industrial robot, the industrial robot includes:
    底座支架，用于承载所述工业机器人；The base bracket is used to carry the industrial robot;
    机械臂，连接于底座支架，所述机械臂包括两个及以上机械臂部分；A mechanical arm, connected to the base bracket, the mechanical arm including two or more mechanical arm parts;
    关节，用于连接相邻的所述机械臂部分，所述关节包括传动装置；A joint for connecting adjacent parts of the mechanical arm, and the joint includes a transmission device;
    执行端，一端连接于机械臂，另一端可连接工具以通过机械臂带动工具执行工作任务；The execution end, one end is connected to the robotic arm, and the other end can be connected to a tool to drive the tool to perform work tasks through the robotic arm;
    姿态传感器，设置于所述关节处，或者设置于所述关节处和所述执行端；An attitude sensor, arranged at the joint, or arranged at the joint and the execution end;
    电机编码器，设置于所述传动装置；The motor encoder is arranged on the transmission device;
    控制模块，所述控制模块包括第一控制模块和第二控制模块，所述第一控制模块电连接于所述姿态传感器，所述第二控制模块电连接于所述电机编码器；其特征在于，所述控制方法包括：A control module, the control module includes a first control module and a second control module, the first control module is electrically connected to the attitude sensor, and the second control module is electrically connected to the motor encoder; characterized in , The control method includes:
    根据姿态传感器检测工业机器人关节的位置和速度至少其一；Detect at least one of the position and speed of the joints of the industrial robot according to the attitude sensor;
    电机编码器检测工业机器人关节的位置和速度至少其一；The motor encoder detects at least one of the position and speed of the joints of the industrial robot;
    第一控制模块获取第一安全信息；The first control module obtains the first safety information;
    第二控制模块获取第二安全信息；The second control module obtains the second safety information;
    控制模块比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。When the control module compares the first safety information and the second safety information are inconsistent, it controls the industrial robot to perform safe actions.
  11. 根据权利要求10所述的控制方法，其特征在于，所述控制方法包括：所述第一控制模块根据所述姿态传感器的检测获取关节的相对姿态，基于关节的相对姿态获取关节位置进而计算关节的力矩信息，所述第一安全信息包括所述关节力矩信息。The control method according to claim 10, wherein the control method comprises: the first control module obtains the relative posture of the joint according to the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the joint The first safety information includes the joint torque information.
  12. 根据权利要求10所述的控制方法，其特征在于，所述工业机器人包括电流传感器，所述控制方法包括：第二控制模块根据电流传感器获取关节力矩信息，所述第二安全信息包括根据电流传感器获取的关节力矩信息。The control method according to claim 10, wherein the industrial robot comprises a current sensor, the control method comprises: a second control module obtains joint torque information according to the current sensor, and the second safety information comprises according to the current sensor The obtained joint torque information.
  13. 根据权利要求10所述的控制方法，其特征在于，所述控制方法包括：当所述第一安全信息或第二安全信息中至少其中之一不能满足预设安全要求时，控制模块控制工业机器人执行安全动作。The control method according to claim 10, wherein the control method comprises: when at least one of the first safety information or the second safety information cannot meet a preset safety requirement, the control module controls the industrial robot Perform safe actions.
  14. 根据权利要求10所述的控制方法，其特征在于，所述姿态传感器包括惯性测量单元、三轴加速度计、三轴磁力计、三轴陀螺仪、三轴速度传感器的其中至少一种。The control method according to claim 10, wherein the attitude sensor comprises at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  15. 根据权利要求10-14中任一项所述的控制方法，其特征在于，所述第一安全信息和第二安全信息分别包括关节位置信息、关节速度信息、关节力矩信息。The control method according to any one of claims 10-14, wherein the first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  16. 根据权利要求15所述的控制方法，其特征在于，所述关节包括肘部关节，所述肘部关节用于连接相对较长的相邻俩机械臂部分，所述第一安全信息和第二安全信息还分别包括根据关节速度、关节位置、关节力矩至少其一得到的信息，该信息包括以下至少部分：工具位置、工具取向、工具速度、工具力、肘部关节位置、肘部关节速度、肘部关节力，机器人功率、机器人动量、机器人停止距离、机器人停止时间、紧急停止、保护停止、机器人移动数字输出、机器人未停止数字输出、模式区减小。The control method according to claim 15, wherein the joint comprises an elbow joint, and the elbow joint is used to connect two relatively long adjacent mechanical arm parts, and the first safety information and the second The safety information also includes information obtained according to at least one of joint speed, joint position, and joint torque. The information includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, Elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protective stop, robot moving digital output, robot unstopped digital output, mode area reduced.
  17. 根据权利要求10所述的控制方法，其特征在于，所述控制方法包括：获取工业机器人的初始位置，第一控制模块根据所述初始位置获取关节位置。The control method according to claim 10, wherein the control method comprises: obtaining the initial position of the industrial robot, and the first control module obtains the joint position according to the initial position.
  18. 根据权利要求10所述的控制方法，其特征在于，所述工业机器人包括顺序连接的多个关节，所述多个关节包括首关节和末关节，所述首关节连接于底座支架，所述末关节连接于执行端，所述机器人被配置为根据姿态传感器获取上一个关节的位置和速度的至少其中之一，所述方法包括：判断相同关 节的第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The control method according to claim 10, wherein the industrial robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to a base frame, and the end The joint is connected to the execution end, and the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor. The method includes: judging that the first safety information and the second safety information of the same joint are inconsistent, Control industrial robots to perform safe actions.
  19. 根据权利要求18所述的控制方法，其特征在于，所述工业机器人为串联型机器人，所述机器人包括六个关节，所述首关节为第一关节，所述末关节为第六关节，所述机器人被配置为第二至第六关节安装姿态传感器以获取上一个关节的位置和速度的至少其一，机器人的执行端安装姿态传感器以获取第六关节的位置和速度的至少其一。The control method according to claim 18, wherein the industrial robot is a tandem robot, the robot includes six joints, the head joint is the first joint, and the end joint is the sixth joint. The robot is configured to install attitude sensors for the second to sixth joints to acquire at least one of the position and speed of the previous joint, and install attitude sensors on the execution end of the robot to acquire at least one of the position and speed of the sixth joint.
  20. 根据权利要求10所述的控制方法，其特征在于，所述方法包括：第一控制模块根据姿态传感器和电机编码器获取第一安全信息；第二控制模块根据姿态传感器和电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The control method according to claim 10, wherein the method comprises: the first control module obtains the first safety information according to the attitude sensor and the motor encoder; the second control module obtains the same joint according to the attitude sensor and the motor encoder The second safety information; compare the first safety information and the second safety information is inconsistent, control the industrial robot to perform safe actions.
  21. 根据权利要求10所述的方法，其特征在于，所述方法包括：第一控制模块根据姿态传感器获取第一安全信息；第二控制模块根据电机编码器获取相同关节的第二安全信息；比较第一安全信息和第二安全信息不一致时，控制工业机器人执行安全动作。The method according to claim 10, wherein the method comprises: the first control module obtains the first safety information according to the attitude sensor; the second control module obtains the second safety information of the same joint according to the motor encoder; When the first safety information is inconsistent with the second safety information, the industrial robot is controlled to perform safe actions.
PCT/CN2021/098849 2020-06-10 2021-06-08 Industrial robot having improved safety control performance, and control method therefor WO2021249379A1 (en)

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