Safety control method and system based on automatic assembly of industrial robot

Abstract

The invention provides a safety control method and system based on automatic assembly of an industrial robot, and the method and system are particularly applied to low-speed, large-load man-machine cooperation, high-precision and high-safety-reliability assembly scenes, and system safety protection control over products and personnel in the automatic assembly process is achieved. Namely, whether the motion function of the industrial robot is normal or not is quickly checked before assembly, product assembly under the condition that a control system has problems is avoided, and safety risks caused by out-of-control motion are prevented; in the assembling process, an over-speed motion limiting strategy is adopted, an operator holds a key by hand to carry out safety confirmation on a key assembling link, and multi-stage safety control protection in the automatic assembling process is achieved; and the position and the posture of the industrial robot are adjusted through external measurement feedback, the problem that the positioning precision of the industrial robot is insufficient is solved, the high-precision sleeving requirement is met, closed-loop monitoring of the position and the posture is achieved in the sleeving process, and it is ensured that the sleeving process meets the assembling precision requirement and does not generate interference collision.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a safety control method and system based on automatic assembly of industrial robots. Background technique [0002] In the modern manufacturing industry, industrial robots are gradually being applied to the automatic production and assembly of products, realizing the replacement of humans by machines, improving the working conditions of humans, realizing the standardization of production processes, improving production efficiency, reducing costs, and ensuring the consistency of product quality. [0003] In the field of assembly of certain special products, such as precision automatic assembly of special material products and ultra-precision instruments, the use of industrial robots to replace manual automatic assembly can reduce the hazards to human health in certain special environments and reduce the dependence on personnel skills. And achieve high requirem...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to strictly eliminate collisions between industrial robots and product parts and personnel during the assembly process. Based on this, a safety control method and system based on automatic assembly of industrial robots is provided to prevent product damage and personnel injury , avoid causing high cost consumption and even lead to safety accidents and more hazards

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