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Method and device capable of automatically identifying and preventing collision for industrial robot

An industrial robot and collision avoidance technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as damage to the robot, affecting the normal operation of the robot, and loss

Active Publication Date: 2014-10-01
CHINA GREEN AGRI DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, in the process of executing the instruction signal of the industrial robot, its actuator may collide with other external objects. This kind of collision accident not only affects the normal operation of the robot, but also damages the robot in severe cases. loss

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  • Method and device capable of automatically identifying and preventing collision for industrial robot
  • Method and device capable of automatically identifying and preventing collision for industrial robot
  • Method and device capable of automatically identifying and preventing collision for industrial robot

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] refer to figure 1 As shown, the present invention discloses a device for automatic identification and collision avoidance for industrial robots, which includes a servo motor driver and an industrial robot driver, wherein the servo motor driver has a command interface A, a real-time torque interface A and an encoder Interface A; the industrial robot controller has a motion learning module and a motion processing module, and the motion processing module is connected with a command interface B, a real-time torque interface B and an encoder interface B.

[0040] The command interface B is signal-connected with the command interface A of the servo motor driver, and is used for sending motion control commands to the servo motor driver, so that the servo motor driver executes the motion commands while driving the servo motor. The real-time torque inter...

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Abstract

The invention discloses a method and a device capable of automatically identifying and preventing collision for an industrial robot. The device comprises a servo motor drive and an industrial robot controller, wherein the controller has a motion learning module and a motion processing module connected with each other; and the servo motor drive is connected with the motion processing module. The method comprises the following steps: (S1) a system is started; (S2) the motion learning module emits a motion instruction; (S3) the motion processing module receives real-time moment data and encoder data returned by the servo motor drive, and calculates an early warning value and a boundary value; and the present moment is compared with the early warning value and the boundary value to obtain a collision occurrence; and (S4) parameters of the motion instruction are modified according to the collision occurrence, so that the robot is not collided, or the collision intensity is relieved. The method and the device have the following benefits: the robot is prevented from being collided in the operating process, or the collision degree is reduced to the greatest extent, so that an accident caused by the collision is relieved, and the loss caused by the collision is reduced.

Description

【Technical field】 [0001] The invention relates to the technical field of industrial robot control, in particular to a method and device for automatic identification and collision avoidance for industrial robots. 【Background technique】 [0002] Industrial robots are multi-joint manipulators or robots with multiple degrees of freedom for the industrial field. An industrial robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology. [0003] Generally, an industrial robot consists of three basic parts: a main body, a drive system and a control system. The main body is the base and the actuator, including the arm, wrist and hand, and some robots also have a walking mechanism. Most indus...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/16B25J13/08
Inventor 杨昊龙
Owner CHINA GREEN AGRI DEV CO LTD