Multi-joint robot with distance measurement stopping function and distance measurement stopping method

Abstract

The invention discloses a multi-joint robot with a distance measurement stopping function. The multi-joint robot with the distance measurement stopping function comprises a plurality of joints which are connected in sequence, moving parts used for driving the joints to move and a movement controlling part used for driving the moving parts to move. The multi-joint robot with the distance measurement stopping function further comprises a distance measurement sensor which is used for measuring the spacing distance L' between the multi-joint robot and a nearby object in real time. A control waveform generating part is used for generating a group of PWM waveform data capable of making the moving parts slow down and stop when the spacing distance L' reaches a threshold distance L0. The control waveform generating part is further used for driving the moving parts to slow down until the multi-joint robot stops moving according to the PWM waveform data capable of making the moving parts slow down and stop. According to the multi-joint robot, not only the crash between the robot and the nearby object but also the damage to the robot can be avoided, so that the anti-collision effect is great.

Description

technical field [0001] The invention relates to the field of multi-joint robots, in particular to a multi-joint robot with a distance measurement stop function, and a distance measurement stop method. Background technique [0002] In the field of motion control, moving parts such as motors are the core components to realize motion control. For example, the operation of robots requires motors to cooperate with lead screws or reducers as motion execution components to drive the robot to move. [0003] Taking the motor with the reducer as an example, the motor with the reducer is the main motion execution component of the multi-joint robot (or called the multi-joint manipulator, the multi-axis robot, the mechanical arm, etc.). The multi-joint robot is mainly based on a predetermined route. The position grips the target object to the target position, which is suitable for mechanical automation operations in many industrial fields. [0004] The multi-joint robots on the market n...

AI Technical Summary

Problems solved by technology

[0011] The robot 100 has a definite working range. As the collaborative relationship between the robot and the user becomes closer and closer, the user will put the robot 100 in a non-confined space for work (such as in a laboratory), and the working environment of the robot 100 will change. More and more complicated, the robot 100 may touch people or other objects during the movement, which will cause damage to the robot 100, people or other objects, which is what the robot needs to try its best to avoid

[0012] Most of the existing technologies realize the control of the robot through the teaching pendant, etc., and the emergency stop button on the teaching pendant makes the robot 100 emergency stop or power off, but this usually can only be controlled manually after the user sees it, and usually Will damage the parts such as machinery, circuit of robot 100 again, can not accord with the development trend of present robot

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