Safety system for ensuring speed and momentum boundary limitation of robot

Abstract

The invention relates to a safety system for ensuring the speed and momentum boundary limitation of a robot. The industrial robot comprises: a base; a robot arm. and a safety control system comprises a setting module, a detection module and a control module, wherein the setting module is used for setting a safety boundary of the industrial robot, and the safety boundary limits the range of target position operation parameters of the robot; the detection module is used for detecting a real-time joint speed of the industrial robot; the control module comprises a first control module and a second control module; the first control module is used for calculating the joint speed according to the safety boundary and controlling the robot to execute a preset action when judging that the real-time joint speed exceeds the joint speed; and the second control module is used for calculating a target position operation parameter according to the real-time joint speed, and controlling the robot to execute the preset action when judging that the operation parameter exceeds the safety boundary. The safety system has the beneficial effect that the reliability of safety judgment of the target position operation parameters of the industrial robot is relatively good.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an industrial robot. Background technique [0002] With the development of society, robots have been widely used in many fields, such as household robots, industrial robots, service robots, etc. Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots mainly for the industrial field. Industrial robots include traditional industrial robots and collaborative robots. As a light-duty robot in industrial robots, collaborative robots can cooperate with humans to complete work efficiently and with high precision. And efficient completion of work in dangerous environments, so it is favored by more and more users. [0003] Collaborative robots need to interact and cooperate closely with humans during work. In order to better realize human-machine cooperation and at the same time ensure the personal safety of users, the safety performance of collaborative robots is...

AI Technical Summary

Problems solved by technology

Conventional collaborative robots have safety detection systems, such as the detection of collision obstacles through abnormal torque, and the detection of human body approaching collaborative robots through capacitive sensors, but these detections themselves have limited accuracy and insufficient reliability.

At the same time, the safety of collaborative robots requires the joint monitoring of many parameters, and it is necessary to ensure that each parameter can meet the safety requirements. In a complex security environment, it provides a lot of challenges for the safety design of collaborative robots.

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