An industrial robot anti-collision control system and method

Abstract

The application discloses an industrial robot anti-collision control system and method, and the signal state of a second input signal end is detected in real time by a system controller, and whether the industrial robot contacts a protection object is determined; when the signal state is a high level, it indicates that the protection object contacts the industrial robot, and the system controller immediately sends a pause motion control command to a robot controller, and the robot controller controls the industrial robot to stop motion based on the pause motion control command, so as to ensure the safety of the protection object, remove the safety hidden danger, and realize all-round collision detection and control protection of the industrial robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robot anti-collision, in particular to an industrial robot anti-collision control system and method. BACKGROUND

[0002] Human-robot collaborative industrial robots are widely used in industrial automation assembly, and anti-collision control becomes an important prerequisite for their safe application. The collision detection function of the current industrial robot itself mainly detects the occurrence of collision and makes control decisions according to the increase of the load when colliding, which leads to the increase of the drive current. This way is prone to collision misjudgment when the mechanical arm is accelerating or decelerating. That is, if the collision parameter sensitivity value is set too low, it is easy to be triggered by internal resistance; if the collision parameter sensitivity value is set too high, it is easy to be unable to trigger correctly. In some current collaborative industrial robots, force sensors are used for collision detection, which has problems such as high cost, occupying structural space volume, and introducing additional large weight, and it can not realize omnidirectional collision detection and control protection of the industrial robot. SUMMARY

[0003] The technical problem to be solved by the present application is that the current industrial robot with self-collision detection function or the industrial robot with force sensor configured at the end of the industrial robot often causes collision damage to the workpiece, operator or industrial robot itself when detecting collision, and it is difficult to terminate the movement of the industrial robot immediately when contacting, so as to avoid collision damage, and it is also difficult to achieve omnidirectional collision detection and control protection of the industrial robot. The present application provides an industrial robot anti-collision control system and method, which is based on current loop on-off type, detects the contact between the industrial robot body and the human body or workpiece in real time, forms a weak current loop, and triggers a control signal in the current propagation time period, so as to control the industrial robot to stop moving immediately when contacting, avoid collision damage, eliminate safety hazards, and realize omnidirectional collision detection and control protection of the industrial robot.

[0004] The present application is realized by the following technical solutions:

[0005] An industrial robot anti-collision control system, comprising a system controller, a robot controller, a relay, a direct current power supply, a first navigation plug and a second navigation plug;

[0006] The system controller is provided with a power terminal and a second input signal terminal; the power terminal and the second input signal terminal are connected at both ends of the relay respectively, the relay is connected to the positive electrode of the direct current power supply, and the negative electrode of the direct current power supply is grounded;

[0007] When the protection object contacts the industrial robot, the relay is closed, the second input signal end inputs a high level signal, the system controller sends a pause motion control command to the robot controller based on the high level signal, and the robot controller controls the industrial robot to stop moving.

[0008] Further, the industrial robot anti-collision control system further comprises a key; wherein two ends of the key are connected to the power terminal and the first input signal end, respectively.

[0009] An operator controls whether the key is on or off, and the system controller detects in real time whether the key is on or off through the first input signal end.

[0010] When the key is on, the system controller detects in real time the signal input by the first input signal end, and when the signal input by the first input signal end is a rising edge signal, the system controller sends a pause motion control command to the robot controller, and the robot controller controls the industrial robot to stop moving.

[0011] When the key is off, the system controller detects in real time the signal state of the first input signal end and the second input signal end; when the industrial robot contacts the operator or the protection object, the relay is closed, the second input signal end inputs a high level signal, and the system controller sends a pause motion control command to the robot controller based on the high level signal, and the robot controller controls the industrial robot to stop moving.

[0012] Further, the industrial robot anti-collision control system further comprises a first aviation plug and a second aviation plug.

[0013] The first aviation plug is connected to the negative pole of the DC power supply and grounded, and the second aviation plug is connected to one end of the relay; the operator controls the key through the first aviation plug and the second aviation plug.

[0014] Further, the relay comprises a pair of normally open contacts and a coil; wherein the power terminal and the second input signal end are connected to the pair of normally open contacts of the relay, respectively; and the coil of the relay is connected to the positive pole of the DC power supply.

[0015] When the operator or the protection object contacts the industrial robot, the pair of normally open contacts and the coil of the relay are both closed.

[0016] Further, the industrial robot anti-collision control system further comprises an indicating lamp, which is connected in parallel across the two ends of the coil of the relay.

[0017] The indicator light is on when the protection object is in contact with the industrial robot, and the indicator light is off when the protection object is not in contact with the industrial robot.

[0018] Further, the system controller and the robot controller can be connected by wireless or wired mode.

[0019] Further, the outer surface of the shell of the industrial robot, the operator and the protection object are conductive and grounded.

[0020] Further, the robot controller is also used to control the movement, stop movement and active position of each node of the industrial robot.

[0021] A control method based on the above-mentioned industrial robot anti-collision control system, comprising:

[0022] The system controller, the robot controller, the relay, the DC power supply, the first and second navigation plugs are powered by the DC power supply;

[0023] The system controller detects the signal state of the second input signal terminal in real time;

[0024] When the signal state is high, it indicates that the protection object is in contact with the industrial robot, and the system controller sends a pause movement control command to the robot controller;

[0025] The robot controller controls the industrial robot to stop movement based on the pause movement control command.

[0026] A control method based on the above-mentioned industrial robot anti-collision control system, comprising:

[0027] The system controller detects whether the key is on or off in real time through the first input signal terminal;

[0028] When the key is on, the system controller detects the signal input by the first input signal terminal in real time, and when the signal input by the first input signal terminal is a rising edge signal, the system controller sends a pause movement control command to the robot controller, and the robot controller controls the industrial robot to stop movement;

[0029] When the key is off, the system controller detects the signal state of the first and second input signal terminals in real time;

[0030] When the industrial robot is in contact with the operator or the protection object, the relay is closed, the second input signal terminal inputs a high-level signal, the system controller sends a pause movement control command to the robot controller based on the high-level signal, and the robot controller controls the industrial robot to stop movement.

[0031] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0032] The system controller detects the signal state of the second input signal end in real time to determine whether the industrial robot contacts the protection object. When the signal state is high, it indicates that the protection object contacts the industrial robot. The system controller sends a motion suspension control command to the robot controller. The robot controller controls the industrial robot to stop moving based on the motion suspension control command, so as to ensure the safety of the protection object, eliminate the safety hazard, and realize all-round collision detection and control protection of the industrial robot. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application and constitute a part of the application, illustrate embodiments of the present application and do not limit the present application. In the drawings:

[0034] Figure 1 It is a schematic diagram of the industrial robot anti-collision control system of the present application.

[0035] Figure 2 It is a flowchart of the industrial robot anti-collision control method of the present application.

[0036] Figure 3 It is another flowchart of the industrial robot anti-collision control method of the present application.

[0037] Markings in the drawings and corresponding names of parts:

[0038] 10 - system controller, 20 - robot controller, 11 - power terminal, 12 - first input signal end, 13 - second input signal end, 31 - button, 32 - relay, 33 - indicator light, 34 - DC power supply, 35 - first jack, 36 - second jack, 40 - industrial robot, 50 - operator. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application clearer, further detailed description of the present application will be given below in combination with embodiments and drawings. The illustrative embodiments of the present application and their descriptions are only used to explain the present application and do not limit the present application.

[0040] Embodiment 1

[0041] As shown in Figure 1 The present application provides an industrial robot anti-collision control system, which comprises a system controller (i.e. U1) 10, a robot controller (i.e. U2) 20, a power terminal 11, a first input signal end 12, a second input signal end 13, a button 31, a relay 32, an indicator light 33, a DC power supply 34, a first jack 35, a second jack 36, an industrial robot 40 and an operator 50. Figure 1 Figure 1 ​The relay 32 and the direct current power supply 34. Wherein, A1, A2, B1, B2 and B3 represent the wire connection points.

[0042] Wherein, the system controller 10 is provided with a power terminal (i.e. Figure 1 PS terminal) 11 and a second input signal terminal (i.e. Figure 1 DI2 terminal) 13. The power terminal 11 and the second input signal terminal 13 are respectively connected at both ends of the relay 32, the relay 32 is connected at the positive pole of the direct current power supply 34, and the negative pole of the direct current power supply 34 is grounded. The direct current power supply 34 in the embodiment is preferably 5V.

[0043] Specifically, when the protection object contacts the industrial robot 40, the relay 32 is closed, the second input signal terminal 13 inputs a high level signal, the system controller 10 sends a motion pause control command to the robot controller 20 based on the high level signal, and the robot controller 20 controls the industrial robot 40 to stop moving.

[0044] Further, the industrial robot anti-collision control system further comprises a key 31. Wherein, the two ends of the key 31 are respectively connected to the power terminal 11 and the first input signal terminal (i.e. Figure 1 DI1 terminal) 12.

[0045] Specifically, the operator 50 controls whether the key 31 is turned on or not, and the system controller 10 detects in real time whether the key 31 is turned on or not through the first input signal terminal 12.

[0046] When the key 31 is turned on (i.e. Figure 1 the switch b is at the c point), the system controller 10 detects in real time the signal input by the first input signal terminal 12, and when the signal input by the first input signal terminal 12 is a rising edge signal, the system controller 10 sends a motion pause control command to the robot controller 20, and the robot controller 20 controls the industrial robot 40 to stop moving.

[0047] When the key 31 is turned off (i.e. Figure 1 the switch b is at the a point), the system controller 10 detects in real time the signal state of the first input signal terminal 12 and the second input signal terminal 13. When the industrial robot 40 contacts the operator 50 or the protection object, the relay 32 is closed, the second input signal terminal 13 inputs a high level signal, the system controller 10 sends a motion pause control command to the robot controller 20 based on the high level signal, and the robot controller 20 controls the industrial robot 40 to stop moving.

[0048] Further, the industrial robot anti-collision control system further comprises a first navigation plug (i.e. Figure 1 X1) 35 and a second navigation plug (i.e. Figure 1 X2) 36. Further, the industrial robot anti-collision control system further comprises a first navigation plug (i.e. Figure 1 X1) 35 and a second navigation plug (i.e. Figure 1 X2) 36.

[0049] The first aerial plug 35 is connected to the negative electrode of the DC power supply 34 and is grounded, and the second aerial plug 36 is connected to one end of the relay 32 .

[0050] Specifically, the operator 50 uses the first aerial insertion (ie Figure 1 The middle X1) 35 and the second aviation plug 36 control button 31.

[0051] Furthermore, the relay 32 includes a normally open contact pair and a coil. The power terminal 11 and the second input signal terminal 13 are respectively connected to the normally open contact pair of the relay 32. The coil of the relay 32 is connected to the positive terminal of the DC power supply 34. When the operator 50 or the protected object comes into contact with the industrial robot 40, the normally open contact pair and the coil of the relay 32 are both closed.

[0052] Furthermore, the industrial robot collision avoidance control system also includes an indicator light 33 connected in parallel to both ends of the relay 32 coil. When the protected object 50 is in contact with the industrial robot 40, the indicator light 33 illuminates. When the protected object 50 is no longer in contact with the industrial robot 40, the indicator light 33 turns off. This allows the operator to promptly monitor the industrial robot's operating status and take appropriate measures to avoid collision damage, thereby achieving comprehensive collision detection and control protection for the industrial robot.

[0053] Furthermore, the system controller 10 and the robot controller 20 may be connected wirelessly or by wire.

[0054] Furthermore, in order to protect the safety of the industrial robot anti-collision control system and prevent it from leaking electricity, the outer surface of the housing of the industrial robot 40, the operator 50 and the protected object are conductive and grounded.

[0055] Furthermore, the robot controller 20 is also used to control the movement, stop movement and active position of each node of the industrial robot.

[0056] Example 2

[0057] like Figure 2 As shown, the difference between this embodiment and embodiment 1 is that a control method based on the above-mentioned industrial robot anti-collision control system specifically includes the following steps:

[0058] S11: Power on the system controller, the robot controller, the relay, the first aerial plug, and the second aerial plug through a DC power supply.

[0059] S12: The system controller detects the signal state of the second input signal terminal in real time.

[0060] S13: When the signal state is high, it indicates that the protected object is in contact with the industrial robot, and the system controller sends a pause motion control command to the robot controller.

[0061] S14: The robot controller controls the industrial robot to stop motion based on the pause motion control command.

[0062] Specifically, the system controller detects the signal state of the second input signal terminal in real time to determine whether the industrial robot contacts the protection object. When the signal state is high, it indicates that the protection object contacts the industrial robot. The system controller sends a pause motion control command to the robot controller. The robot controller controls the industrial robot to stop motion based on the pause motion control command to ensure the safety of the protection object, eliminate the safety hazard, and realize all-round collision detection and control protection of the industrial robot.

[0063] Further, the above method is passive control, that is, the industrial robot stops motion when the protection object contacts the industrial robot. The embodiment also includes another control method based on the above industrial robot anti-collision control system as shown in Figure 3 The method is actively controlled by the operator to control the industrial robot to stop motion in advance when the industrial robot contacts the protection object or the operator. Specifically, the method includes the following steps:

[0064] S21: The system controller detects whether the key is turned on through the first input signal terminal in real time.

[0065] S22: When the key is turned on, the system controller detects the signal input by the first input signal terminal in real time. When the signal input by the first input signal terminal is a rising edge signal, the system controller sends a pause motion control command to the robot controller, and the robot controller controls the industrial robot to stop motion.

[0066] S23: When the key is turned off, the system controller detects the signal state of the first input signal terminal and the second input signal terminal in real time.

[0067] S24: When the industrial robot contacts the operator or the protection object, the relay is closed, the second input signal terminal inputs a high-level signal, the system controller sends a pause motion control command to the robot controller based on the high-level signal, and the robot controller controls the industrial robot to stop motion.

[0068] Specifically, the operator controls the on or off of the first and second aviation plug control buttons, the system controller detects the signal state of the first and second input signal terminals in real time, and determines whether the industrial robot is in contact with the protection object. When the signal state is high, it indicates that the protection object is in contact with the industrial robot, and the system controller immediately sends a pause motion control command to the robot controller, and the robot controller controls the industrial robot to stop moving based on the pause motion control command, to ensure the safety of the protection object, eliminate safety hazards, and realize all-round collision detection and control protection of the industrial robot.

[0069] Specifically, the above specific embodiments further detail the objectives, technical solutions and benefits of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An anti-collision control system for an industrial robot, characterized in that, The system controller (10), the robot controller (20), the relay (32) and the direct current power supply (34) are included; The system controller (10) is provided with a power terminal (11) and a second input signal terminal (13); the power terminal (11) and the second input signal terminal (13) are connected at both ends of the relay (32) respectively, the relay (32) is connected at the positive pole of the direct current power supply (34), and the negative pole of the direct current power supply (34) is grounded; When the protection object contacts the industrial robot (40), the relay (32) is closed, the second input signal terminal (13) inputs a high level signal, the system controller (10) sends a pause motion control command to the robot controller (20) based on the high level signal, and the robot controller (20) controls the industrial robot (40) to stop moving; the industrial robot anti-collision control system further comprises a key (31); wherein the two ends of the key (31) are connected with the power terminal (11) and the first input signal terminal (12) respectively; The operator (50) controls whether the key (31) is turned on or not, and the system controller (10) detects in real time whether the key (31) is turned on or not through the first input signal terminal (12); When the key (31) is turned on, the system controller (10) detects in real time the signal input by the first input signal terminal (12); when the signal input by the first input signal terminal (12) is a rising edge signal, the system controller (10) sends a pause motion control command to the robot controller (20), and the robot controller (20) controls the industrial robot (40) to stop moving; When the key (31) is turned off, the system controller (10) detects in real time the signal state of the first input signal terminal (12) and the second input signal terminal (13); when the industrial robot (40) contacts the operator (50) or the protection object, the relay (32) is closed, the second input signal terminal (13) inputs a high level signal, and the system controller (10) sends a pause motion control command to the robot controller (20) based on the high level signal, and the robot controller (20) controls the industrial robot (40) to stop moving; The relay (32) includes a pair of normally open contacts and a coil; wherein the power terminal (11) and the second input signal terminal (13) are connected at the pair of normally open contacts of the relay (32) respectively; and the coil of the relay (32) is connected at the positive pole of the direct current power supply (34); When the operator (50) or the protection object contacts the industrial robot (40), the pair of normally open contacts and the coil of the relay (32) are closed; The industrial robot anti-collision control system further comprises a first fuse (35) and a second fuse (36); The first fuse (35) is connected at the negative pole of the direct current power supply (34) and grounded, and the second fuse (36) is connected at one end of the relay (32); The first connector (35) is connected to the industrial robot (40), and the second connector (36) is connected to the operator (50) or the protection object.

2. The industrial robot anti-collision control system according to claim 1, wherein, The operator (50) controls the key (31) through the first connector (35) and the second connector (36).

3. The anti-collision control system of an industrial robot according to claim 1, characterized in that, The industrial robot anti-collision control system further comprises an indicator light (33) connected in parallel to both ends of the relay (32) coil. When the protection object contacts the industrial robot (40), the indicator light (33) is on; when the protection object does not contact the industrial robot (40), the indicator light (33) is off.

4. The anti-collision control system of an industrial robot according to claim 1, characterized in that, The system controller (10) and the robot controller (20) can be connected by wireless or wired mode.

5. The anti-collision control system of claim 1, wherein, The outer surface of the industrial robot (40), the operator (50) and the protection object is conductive and grounded.

6. The anti-collision control system of claim 1, wherein, The robot controller (20) is further used to control the movement, stop movement and active position of each node of the industrial robot.

7. A control method based on the control system of claim 1, characterized in that, Comprising: The system controller, the robot controller, the relay, the DC power supply, the first connector and the second connector are powered by a DC power supply; The system controller detects the signal state of the second input signal end in real time; When the signal state is high, it indicates that the protection object contacts the industrial robot, and the system controller sends a pause movement control command to the robot controller; The robot controller controls the industrial robot to stop movement based on the pause movement control command; further comprising: The system controller detects whether the key is on through the first input signal end in real time; When the key is on, the system controller detects the signal input by the first input signal end in real time; when the signal input by the first input signal end is a rising edge signal, the system controller sends a pause movement control command to the robot controller, and the robot controller controls the industrial robot to stop movement; When the key is off, the system controller detects the signal state of the first input signal end and the second input signal end in real time; When the industrial robot contacts the operator or the protection object, the relay is closed, the second input signal end inputs a high level signal, the system controller sends a pause movement control command to the robot controller based on the high level signal, and the robot controller controls the industrial robot to stop movement.

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