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Sensorless elastic collision device and method based on industrial robot

An industrial robot, elastic collision technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as collision alarm, overload alarm, etc., to avoid damage, avoid overload alarm, and achieve good real-time effects.

Pending Publication Date: 2019-01-15
GSK CNC EQUIP
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in the actual operation, it is also necessary to consider that when the power is turned on again, the collision alarm or overload alarm will be caused by the rebound or topping of the impactor.

Method used

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  • Sensorless elastic collision device and method based on industrial robot
  • Sensorless elastic collision device and method based on industrial robot
  • Sensorless elastic collision device and method based on industrial robot

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Embodiment Construction

[0032] The present invention will be described in further detail below with reference to specific embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0033] See e.g. figure 2 , The present invention provides a sensorless elastic collision device based on an industrial robot, which includes a system control device 1 , a motor servo drive device 2 and an industrial robot body 17 . The system control device 1 sends a joint position command to the motor servo drive device 2, and the motor servo drive device 2 outputs a power signal to drive the industrial robot body 17 to move.

[0034] See e.g. figure 2The motor servo drive device 2 is composed of a position speed current three-loop control device 3 , a composite control device 14 , a collision detection device 7 , a control device switch 15 and a power amplifier 16 .

[0035] The position speed current three-loop control device 3 receives the position command signal ...

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Abstract

The invention discloses a sensorless elastic collision device and a sensorless elastic collision method based on an industrial robot. The sensorless elastic collision device comprises a system controldevice, a motor servo driving device and an industrial robot body. The sensorless elastic collision method comprises the steps of: performing self-learning on operating speed and current of the servomotor by means of the industrial, acquiring speed and current center curves, acquiring allowable deviation threshold values of speeds and currents corresponding to different stages, and determining whether the industrial robot collides through comparing the speed and current acquired in actual running with the speed and current center curves obtained through offline learning. During the collision, a controller of the motor servo device is switched from a position-speed-current three-loop control device to a composite control device, and a joint servo motor is driven to stop through providinga reverse control current and its rebound distance is controlled by utilizing a position feedback signal, thereby avoiding damage to the industrial robot and a collided object, and avoiding overload alarm generated by the servo driving device after the robot is repowered on since the tail end of the industrial robot is closely attached to the collided object.

Description

technical field [0001] The invention relates to a collision detection and safety control technology based on the essence of an industrial robot servo system, in particular to a sensorless elastic collision device and method based on an industrial robot. Background technique [0002] In the application of industrial robots, due to various reasons, the end of the robot collides with other workpieces rigidly, and the collision force on the end will be coupled to each joint axis, and an impact torque will be loaded on each joint drive motor shaft. When the servo drive detects that the servo motor is overloaded, it will generate an alarm signal and stop, but at this time, the end of the robot is close to the object to be hit, or because other axes that have not generated an overload alarm continue to execute the commands that have been sent, resulting in end impact The hit object damages the robotic arm and the hit object. When the power is turned on again, a collision alarm or ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1676
Inventor 张军袁绍洪凌叶强陈鹏戴朝永黄玄庆张杰
Owner GSK CNC EQUIP
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