Robot anti-collision control system

A control system and robot technology, applied in the field of robotics, can solve problems such as robot damage, system errors, and robots touching surrounding objects, and achieve the effect of preventing serious damage

Inactive Publication Date: 2016-09-28
STATE GRID CORP OF CHINA +2
6 Cites 1 Cited by

AI-Extracted Technical Summary

Problems solved by technology

[0002] At present, during the walking process of the robot, although there is a positioning system to control its walking path, sometimes due to problems such as system erro...
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Method used

Robot anti-collision control system provided by the present invention, by setting anti-collision steel beam 6 on robot, this anti-collision steel beam 6 is formed by the strip crossbeam structure of a plurality of parts interconnected by hinge, in anti-collision steel The inside of the beam 6 is provided with an emergency stop control device 7. When the robot is walking, when the anti-collision steel be...
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Abstract

The invention relates to a robot anti-collision control system. The system comprises a driving device arranged on a robot, a storage battery for providing power for the driving device, a walking execution mechanism, an anti-collision steel beam, an emergency stop control device, an alarming device and a master control device. The anti-collision steel beam is of an annular strip structure formed by mutually connecting a plurality of parts through hinges. The anti-collision steel beam is arranged on the surface of the robot, and the emergency stop control device is arranged in the anti-collision steel beam. The master control device is connected with the driving device, the emergency stop control device and the alarming device. The master control device comprises a signal receiving and transmitting module which receives a robot stop signal and sends starting information to the alarming device. The system can well protect the robot, the robot can be prevented from being severely damaged when colliding with external objects, and the service life of the robot is prolonged.

Application Domain

Manipulator

Technology Topic

Hinge angleStop signal +2

Image

  • Robot anti-collision control system

Examples

  • Experimental program(1)

Example Embodiment

[0017] The following is attached figure 1 The present invention will be described in further detail.
[0018] Such as figure 1 A robot collision avoidance control system shown includes: a driving device 4 arranged on the robot 1, a battery 5 that provides power to the driving device 4, a walking actuator, an anti-collision steel beam 6, and an emergency stop control device 7. Alarm device 8 and main control device 9;
[0019] The anti-collision steel beam 6 is a ring-shaped strip structure formed by connecting multiple parts to each other using hinges 6-1. The anti-collision steel beam 6 is installed on the surface of the robot 1, and the emergency stop control device 7 is installed in the The interior of the anti-collision steel beam 6;
[0020] The main control device 9 is connected to the driving device 4, the walking actuator, the emergency stop control device 7, and the alarm device 8. The main control device 9 includes: a signal receiving and transmitting module 9-1, which receives a robot stop signal, And send start information to the alarm device.
[0021] The robot anti-collision control system provided by the present invention provides an anti-collision steel beam 6 on the robot. The anti-collision steel beam 6 is a strip beam structure composed of multiple parts connected to each other by hinges. There is an emergency stop control device 7 inside. When the robot is walking, when the anti-collision steel beam 6 hits an external object, the hinge 6-1 will be recessed inward. At this time, the concave part hits the emergency stop control device 7. The robot stops walking and starts the alarm device. 8. The monitoring personnel receive the alarm signal in time and deal with it in time. The device can protect the robot well, and at the same time can prevent serious damage to the robot when it hits an external object.
[0022] The driving device 4 is preferably a servo motor. The servo motor can make the control speed and position accuracy very accurate, and can convert the voltage signal into torque and speed to drive the control object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. It is used as an actuator in an automatic control system, and has the characteristics of small electromechanical time constant, high linearity, and starting voltage. Converted into angular displacement or angular velocity output on the motor shaft.
[0023] The walking actuator includes a head 2 and two action wheels 3 for driving the robot 1 to walk. The two action wheels 3 are arranged at the bottom of the robot 1, and the head 2 is arranged on the top of the robot 1. 2 and the two action wheels 3 are connected to the main body of the robot 1 through a rotating shaft.
[0024] Preferably, the emergency stop control device 7 is a normally open travel switch, the fixed end of the normally open travel switch is arranged on the surface of the robot, and its movable contact faces the inner wall of the anti-collision steel beam. When the anti-collision steel beam hits an external object, the anti-collision steel beam dents inward at the hinge position, touches the movable contact that forms the switch, the normally open travel switch is closed, and the robot stops walking.
[0025] Preferably, the alarm device 8 is an alarm lamp or an alarm bell, and is provided on the head of the robot. After the robot stops walking, the main control device activates the alarm device, and the alarm lamp or alarm bell located on the head of the robot is activated. The monitoring personnel can learn the current situation of the robot in time and deal with the situation in time.
[0026] The above-mentioned embodiments are only preferred embodiments of the present invention, rather than exhaustive lists of possible implementations of the present invention. For those of ordinary skill in the art, any obvious changes made to the present invention without departing from the principle and spirit of the present invention should be considered to be included in the protection scope of the present invention.

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Classification and recommendation of technical efficacy words

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