A safe controlled industrial robot and control method thereof

Abstract

The present invention relates to a safety-controlled industrial robot and a control method thereof, wherein the industrial robot comprises: a base; a mechanical arm; a joint, connecting two adjacent mechanical arm parts, wherein the joint comprises a transmission device; a first detection module, comprising a motor encoder arranged on the input side of the transmission device, detecting at least one of a joint position, a speed, and a torque; a second detection module, which is a motor Hall sensor arranged on the input side of the transmission device, detecting at least one of a joint position, a joint speed, and a joint torque; and a control module, for comparing the difference between the first safety information and the second safety information, when it is greater than a preset value, controlling the robot to perform a safety action. The invention has the beneficial effects of: the industrial robot has good safety, stable safety detection, and low cost.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to a safety-controlled industrial robot and a control method thereof. Background Art

[0002] With the development of society, robots have been widely used in various fields, including household robots, industrial robots, etc. Among them, collaborative robots, as lightweight robots among industrial robots, can assist people to complete work efficiently and can complete work in dangerous environments with high precision and efficiency, so they are widely favored.

[0003] Collaborative robots may need to interact with humans at close range during work. In order to better achieve human-machine collaboration and at the same time ensure the personal safety of users, the safety performance of collaborative robots is an important indicator.

[0004] Conventional robot systems have a collision detection function, which detects the collision of the robot with its environment through the abnormal torque generated at the robot's manipulator parts, and when a collision is detected, the robot system performs control to stop the operation of the robot or otherwise mitigate the collision with the environment. In this collision detection method, the sensitivity of the collision detection is crucial, but it is difficult to detect the collision between humans and robots based on the torque of the robot's manipulator parts with high accuracy, so this method is not reliable enough to detect the collision between humans and robots.

[0005] In the prior art, some people have adopted the method of adding capacitive sensors to detect the capacitance changes caused by the proximity of objects and humans, so as to judge the proximity of robots and objects or humans. However, the materials detected by capacitive sensors are limited, so the safety performance achieved is also very limited.

[0006] Therefore, it is necessary to design an industrial robot with good safety performance and stability and a control method thereof. Summary of the invention

[0007] In view of this, an object of the present invention is to provide an industrial robot with good safety performance, low cost and good stability and a control method thereof.

[0008] The present invention can adopt the following technical scheme: an industrial robot comprises: a base for carrying the industrial robot; a mechanical arm connected to the base for moving to perform the robot's work task, the mechanical arm comprising two or more mechanical arm parts; a joint for connecting two adjacent mechanical arm parts, the joint comprising a transmission device; the industrial robot further comprises: a first detection module, the first detection module comprises a motor encoder arranged on the input side of the transmission device, and is used to detect at least one of a joint position and a joint speed; a second detection module, the second detection module is a motor Hall sensor arranged on the input side of the transmission device, and is used to detect at least one of a joint position, a joint speed, and a joint torque; a control module, which is used to generate a robot's work instruction and control the robot to perform work, the control module obtains first safety information representing the working safety of the industrial robot according to the first detection module, obtains second safety information representing the working safety of the industrial robot according to the second detection module, and compares the first safety information with the second safety information, and when the difference between the two is greater than a preset value, controls the industrial robot to perform a safety action.

[0009] Furthermore, the preset value is 0, and the control module is used to control the industrial robot to perform a safety action when the first safety information and the second safety information are inconsistent.

[0010] Furthermore, the control module includes a first control module and a second control module, the first control module is used to obtain first security information according to the first detection module, and the second control module is used to obtain second security information according to the second detection module.

[0011] Furthermore, the first detection module includes: a current sensor for measuring the current on the input side of the transmission device to obtain torque information on the input side of the transmission device, and the first safety information includes the torque information on the input side of the joint.

[0012] Furthermore, the control module is used to calculate the joint torque information according to the position and speed information of the second safety information, and the second safety information includes the joint torque information.

[0013] Furthermore, the first safety information and the second safety information respectively include: joint position information, joint speed information, and joint torque information.

[0014] Furthermore, the joint includes an elbow joint, which is used to connect two relatively long adjacent robot arm parts. The first safety information and the second safety information also respectively include information obtained based on at least one of the joint speed, joint position, and joint torque. The information includes: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, and mode area reduction.

[0015] The present invention may also adopt the following technical solution: a control method for an industrial robot, the industrial robot comprising: a base, used to carry the industrial robot; a mechanical arm, connected to the base, used to move to perform the robot's work tasks, the mechanical arm comprising two or more mechanical arm parts;

[0016] A joint for connecting two adjacent mechanical arm parts, wherein the joint includes a transmission device; the industrial robot further includes: a first detection module, wherein the first detection module includes a motor encoder arranged on the input side of the transmission device; a second detection module, wherein the second detection module is a motor Hall sensor arranged on the input side of the transmission device; a control module, which is used to generate a working instruction of the robot and control the robot to perform work; the control method includes: the first detection module detects at least one of the joint position and the joint speed on the input side of the transmission device; the second detection module detects at least one of the joint position, the joint speed and the joint torque on the input side of the transmission device; the control module obtains first safety information and second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module respectively, compares the first safety information and the second safety information, and when the difference between the two is greater than a preset value, controls the industrial robot to perform a safety action.

[0017] Furthermore, the preset value is 0, and the control method includes: when the control module compares the first safety information and the second safety information and finds that they are inconsistent, controlling the industrial robot to perform a safety action.

[0018] Furthermore, the first detection module includes: a current sensor for measuring the current on the input side of the transmission device to obtain torque information on the input side of the transmission device, and the first safety information includes the torque information on the input side of the joint.

[0019] Furthermore, the control method includes: a control module calculates joint torque information according to joint position and speed information of second safety information, and the second safety information includes the joint torque information.

[0020] Further, the control module includes a first control module and a second control module, and the control method includes: the first control module obtains first safety information according to the first detection module, and the second control module obtains second safety information according to the second detection module.

[0021] Furthermore, the first safety information and the second safety information respectively include: joint position information, joint speed information, and joint torque information.

[0022] Furthermore, the joint includes an elbow joint, which is used to connect two relatively long adjacent robot arm parts. The first safety information and the second safety information also respectively include information obtained based on at least one of the joint speed, joint position, and joint torque. The information includes: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, and mode area reduction.

[0023] Compared with the prior art, the beneficial effects of the specific implementation of the present invention are: the control module of the industrial robot obtains the first safety information and the second safety information through the first detection module and the second detection module respectively, and executes a safety action when the difference between the first safety information and the second safety information is greater than a preset value. The first safety information and the second safety information are detected independently of each other, so that the industrial robot has good safety and the stability of the safety detection is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:

[0025] Figure 1 is a three-dimensional diagram of an industrial robot according to an embodiment of the present invention

[0026] Figure 2 is a cross-sectional view of a robot joint according to an embodiment of the present invention

[0027] Figure 3 is a flow chart of a control method for an industrial robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The present invention protects an industrial robot, see Figure 1-Figure 2 , Figure 1 A three-dimensional diagram of an industrial robot 100 according to an embodiment of the present invention is given as an example. Figure 2 A cross-sectional view of a joint according to an embodiment of the present invention is provided. Figure 1 The industrial robot 100 includes a base 110 for carrying the industrial robot 100. The user can install the industrial robot 100 on a work platform through the base 110 to perform work; a mechanical arm connected to the base 110 and used to move to perform the work task of the robot 100. The mechanical arm includes two or more mechanical arm parts 121. One end of the mechanical arm is connected to the base 110 for stability, and the other end can be used to connect a tool to drive the tool to move through the movement of the mechanical arm to perform the work task; a joint 130 is used to connect two adjacent mechanical arm parts 121. The joint 130 includes a transmission device. The transmission device 135 can be in various forms, for example, a transmission gear; Figure 2The transmission device 135 has an input side 131 and an output side 132. In this example, the input side 131 generates power and transmits it to the output side 132 to rotate the joint 130. The industrial robot 100 also includes a first detection module, which includes a motor encoder arranged on the input side of the transmission device, and is used to detect at least one of the joint position and the joint speed; and a second detection module, which is a motor Hall sensor arranged on the input side of the transmission device, and is used to detect at least one of the joint position, the joint speed, and the joint torque; the industrial robot 100 also includes a control module, which is used to generate a work instruction of the robot 100 and control the robot 100 to perform work, the control module obtains the first safety information representing the working safety of the industrial robot according to the first detection module, obtains the second safety information representing the working safety of the industrial robot according to the second detection module, and compares the first safety information with the second safety information, and when the difference between the two is greater than a preset value, controls the robot to perform a safety action. By using different detection methods, two independent systems are used to obtain the first safety information and the second safety information, so that the acquisition of the first safety information and the second safety information is relatively independent, and the interference factors between them are small. Both systems can cut off the power supply of the robot 100 separately, and when the deviation between the two detections is greater than the preset value, the robot 100 is controlled to perform a safety action. The first detection module and the second detection module have different detection methods, and monitor the necessary safety information respectively, so that the safety performance of the robot 100 during operation can be guaranteed.

[0030] Industrial robots 100 include many types, and collaborative robots are one of the types that have developed rapidly in recent years. The control module of the collaborative robot includes at least two parts, namely the control box of the collaborative robot and the control unit at the joint 130 of the collaborative robot. The control box of the collaborative robot is its main control center, which can process the working information of the collaborative robot and generate appropriate working instructions according to the current working conditions.

[0031] The industrial robot 100 further includes a user interface device for programming the industrial robot 100 to control it to perform a preset operation. The user interface device includes a teach pendant, which is arranged outside the main body of the industrial robot 100 and can be connected to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.

[0032] In one embodiment, the preset value is 0, that is, when the difference between the first safety information and the second safety information is greater than or equal to 0, the industrial robot 100 is controlled to perform a safety action. That is to say, when the first safety information and the second safety information are inconsistent, the industrial robot 100 is controlled to perform a safety action. Specifically, the first safety information and the second safety information respectively include multiple parameters, such as joint position, joint speed, joint force, joint torque, etc. The first detection module and the second detection module are respectively used to detect at least one of the position and speed of the joint, that is, the first detection module and the second detection module perform detection independently, and the first safety information and the second safety information respectively include joint position, joint speed, and joint torque. The control module can obtain the first safety information and the second safety information according to the first detection module and the second detection module respectively. Specifically, the control module obtains the first safety information and the second safety information, including directly obtaining the first safety information and the second safety information according to the detection of the first detection module and the second detection module, and calculating or processing the information obtained according to the detection of the first detection module and the second detection module. The first detection module and the second detection module are respectively used to detect part or all of the first safety information and the second safety information. When the first detection module and the second detection module are respectively used to detect all of the first safety information and the second safety information, the first detection module and the second detection module alone can realize the detection of all the required safety information, that is, the first detection module and the second detection module can form two independent systems for safety detection. In this embodiment, the first detection module and the second detection module are respectively used to detect part of the first safety information and the second safety information. The detected part of the information here refers to the information that can be directly detected by the first detection module and the second detection module. The results directly detected by the first detection module and the second detection module can be directly or indirectly processed by the control module to obtain more information. These processed information that can be used to evaluate the safety of the robot 100 also belong to the first and second safety information. In order to ensure the safety of the industrial robot 100 during operation, it is usually necessary to obtain the position, speed, and torque information of the joint 130. That is to say, the first safety information and the second safety information used for comparison by the industrial robot 100 include position, speed, and torque information respectively. In this embodiment, the first detection module includes a motor encoder 133, which is arranged on the input side 131 of the transmission device 135 of the joint 130, and is used to obtain the position and speed information of the input side 131 of the transmission device 135. The second detection module is a motor Hall sensor 134, which is installed on the input side 131 of the device, and is used to obtain the position and speed information of the input side 131 of the transmission device 135.When comparing the first safety information and the second safety information, the similar items of the two are compared respectively, that is, the speed information in the first safety information is compared with the speed information in the second safety information, the position information in the first safety information is compared with the position information in the second safety information, and the torque information in the first safety information is compared with the torque information in the second safety information. Specifically, for example, the speed of the input side 131 of the transmission device 135 detected by the first detection module is compared with the speed of the input side 131 of the transmission device 135 detected by the second detection module to determine whether the difference between the two is greater than a preset value of the difference. In this embodiment, the first safety information and the second safety information are respectively composed of multiple information, that is, the first safety information and the second safety information respectively include joint position, joint speed, and joint torque information. In this embodiment, the industrial robot obtains joint position and speed information through the motor encoder of the first detection module, and obtains joint torque information through the current sensor of the first detection module; the industrial robot obtains joint position and speed information through the second detection module, that is, the motor Hall sensor, and obtains joint torque information through the control module according to the joint position and speed information detected by the motor Hall sensor, so as to obtain the joint position, joint speed, and joint torque information of the first safety information and the second safety information respectively. Specifically, the joint position, joint speed, and joint torque information are the basic information for measuring the safety of the industrial robot. In addition, the first safety information and the second safety information also include the information obtained by the control module according to at least one of the above-mentioned joint position information, joint speed information, and joint torque information, specifically including:

[0033] Tool position, i.e. limiting the position of the tool of the robot 100. Specifically, the positions of the tools of the robot 100 are calculated by the first control module and the second control module respectively. The first safety information and the second safety information respectively include tool position information. When the tool position information of the first safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safety action.

[0034] Tool orientation, i.e. limiting the maximum orientation of the tool of the robot 100. Specifically, the orientation of the tool of the robot 100 is calculated by the first control module and the second control module respectively. The first safety information and the second safety information respectively include the tool orientation. When the tool orientations of the first safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safety action.

[0035] Tool speed, i.e., limiting the maximum speed of the tool of the robot 100. Specifically, the speed of the tool of the robot 100 is calculated by the first control module and the second control module respectively. The first safety information and the second safety information respectively include the tool speed. When the tool speeds of the first safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safety action.

[0036] Tool force is the maximum force applied by the tool of the robot 100 under specific working conditions. For example, when the tool is a clamping tool 200, the maximum force applied by the robot 100 under clamping conditions is limited. Similar to the above, the first control module and the second control module calculate the tool force respectively, and perform safety actions when the two are inconsistent.

[0037] It should be noted that: the industrial robot 100 generally has multiple joints, and its mechanical arm generally consists of multiple mechanical arm parts 121. Specifically, the mechanical arm part 121 includes two relatively long parts and other relatively short parts. Specifically, the joint connecting two relatively long adjacent mechanical arm parts 121 is defined as an elbow joint. Specifically, in this embodiment, the elbow joint is one joint, that is, two relatively long mechanical arm parts of the mechanical arm are connected by one joint. In other embodiments, the elbow joint may also include two joints, that is, two relatively long mechanical arm parts 121 of the mechanical arm are connected by two joints.

[0038] The first security information and the second security information specifically include:

[0039] The elbow joint position, that is, limiting the position range of the elbow joint, is similar to the above. The first control module and the second control module calculate the elbow joint position respectively, and perform safety actions when the two are inconsistent.

[0040] The elbow joint speed, that is, the maximum speed of the elbow joint 130 is limited. Similar to the above, the first control module and the second control module calculate the elbow joint speed respectively, and perform a safety action when the two are inconsistent.

[0041] The elbow joint force, that is, the maximum force limiting the elbow joint 130, is similar to the above. The first control module and the second control module calculate the elbow joint force respectively, and perform a safety action when the two are inconsistent.

[0042] It should be noted that the industrial robot 100 has multiple joints 130, and the safety information of the multiple joints 130 is not completely the same, so when necessary, it is necessary to set the monitoring of the safety information of each joint. As a relatively critical joint, the elbow joint should strictly set the monitoring information of its safety information.

[0043] The robot power is to limit the maximum mechanical work done by the robot 100 on the environment. Specifically, this limit regards the payload as part of the robot 100 rather than the environment. Similar to the above, the first control module and the second control module respectively calculate the power of the robot 100 and perform safety actions when the two are inconsistent.

[0044] The robot momentum, i.e., limiting the maximum robot momentum, is similar to the above, the first control module and the second control module calculate the robot momentum respectively, and perform safety actions when the two are inconsistent.

[0045] The robot stopping distance, i.e., the maximum distance that the robot tool or elbow can move when stopped, is similar to the above. The first control module and the second control module calculate the stopping distance of the robot 100 respectively, and perform safety actions when the two are inconsistent.

[0046] The robot stopping time is the maximum time required to stop the robot. For example, when the emergency stop is activated, similar to the above, the first control module and the second control module calculate the stopping time of the robot 100 respectively, and perform safety actions when the two are inconsistent.

[0047] The robot emergency stop, that is, detecting the robot emergency stop information, is similar to the above, the first control module and the second control module respectively obtain the robot emergency stop information, and perform safety actions when the two are inconsistent.

[0048] The robot protection stop, that is, the protection stop is executed when the input pin is low and the robot is in automatic mode. Similar to the above, the first control module and the second control module respectively obtain the robot protection stop information and perform safety actions when the two are inconsistent.

[0049] The robot moves digital output, that is, obtains the robot moves digital output information. Similar to the above, the first control module and the second control module respectively obtain the robot moves digital output information, and execute safety actions when the two are inconsistent.

[0050] The robot does not stop digital output, that is, obtains the digital output of the robot when it is not stopped. Similar to the above, the first control module and the second control module respectively obtain the robot's non-stop digital output and perform safety actions when the two are inconsistent.

[0051] The robot mode area is reduced, that is, the robot mode area reduction information is obtained. Similar to the above, the first control module and the second control module respectively obtain the robot mode area reduction information, and perform safety actions when the two are inconsistent.

[0052] The above safety information is common information that is usually required to be obtained and judged in the field of industrial robots to perform safety actions. It is not an enumeration of all safety information. The protection scope of the present invention should be based on the definition of the claims.

[0053] In this embodiment, the control module includes a first control module and a second control module, the first control module is electrically connected to the first detection module, the second control module is electrically connected to the second detection module, the first control module obtains the first safety information according to the first detection module, and the second control module obtains the second safety information according to the second detection module. Specifically, the first detection module includes a motor encoder and a current sensor, which detects and obtains the joint position, speed, and torque information of the first safety information, the second detection module is a motor Hall sensor, which detects and obtains the joint position and speed information, the first control module obtains the above-mentioned other first safety information according to the joint position, joint speed, and joint torque information of the first safety information; the second control module obtains the joint speed and position of the second safety information according to the detection of the second detection module, that is, the detection of the motor Hall sensor, the control module calculates the joint torque of the second safety information based on the joint position and speed of the second safety information, combined with information such as the robot mass distribution, and obtains the above-mentioned other second safety information based on the joint position, joint speed, and joint torque information of the second safety information. By obtaining the two sets of safety information, that is, the first safety information and the second safety information, the two sets of safety information are independently detected by different sensors, which can ensure the safety of the industrial robot 100 to avoid possible dangers to humans. Furthermore, the first control module and the second control module are used for independent calculation, so that the detection of the first and second safety information is more independent, and the safety of the industrial robot is better. At the same time, by using the motor encoder and the motor Hall sensor detection method, the motor encoder is a necessary component for the industrial robot to control accurately, and the motor Hall sensor can be obtained by selecting a suitable motor. At the same time, the motor Hall sensor is inexpensive and can effectively reduce the cost of the whole machine.

[0054] Regarding the setting of the preset value, in this embodiment, the industrial robot 100 will set the preset value internally when it leaves the factory. The preset value corresponds to the components of the first and second safety information, and also includes multiple component information. Specifically, the preset value includes multiple information such as preset speed information, preset position information, preset force information, etc. When setting the preset value, each type of information needs to be set separately. When considering the size of the preset value, the error of the robot 100 detecting or calculating these information is mainly considered. In an ideal state, the first safety information and the second safety information should be completely consistent to characterize the safety of the robot 100 working system, that is, when the preset value is 0, it is considered that the first safety information and the second safety information are consistent, and the robot 100 meets the safety requirements; when the preset value is greater than 0, it is considered that the first safety information and the second safety information are inconsistent, and the robot 100 should perform a safe operation. In a specific implementation, a small error is allowed between the first safety information and the second safety information, that is, the preset value is allowed to be a natural number greater than 0. Different robots 100 and different application conditions may have different error sizes. A reasonable preset value is set within the allowable error range, and based on the preset value, it is determined whether the difference between the first safety information and the second safety information is greater than or equal to the preset value, that is, it is determined that the difference between the first safety information and the second safety information meets the requirement of consistency between the two within the allowable error range. The setting of the preset value is determined based on the calculation of those skilled in the art and the possible errors of the specific robot 100, and is not limited in the present invention. The setting of the preset value is determined based on the possible errors of the specific robot 100. When the difference between the first safety information and the second safety information is within the allowable error range, it is determined that the first safety information and the second safety information are consistent, and the robot 100 does not perform a safety action. Otherwise, it is determined that the first safety information and the second safety information are inconsistent, and the robot 100 performs a safety action. In other words, the setting of the preset value should be mainly determined based on the error that must exist in the detection of safety information. The ultimate goal is to control the industrial robot 100 to perform safety actions within the error range when the detection results of the first safety information and the second safety information are essentially inconsistent.

[0055] In this embodiment, the motor encoder 133 and the motor Hall sensor 134 are mainly selected to detect the first safety information and the second safety information of the robot 100. Generally speaking, in order to achieve precise control of the industrial robot 100, a motor encoder 133 is added to the motor to achieve precise control. Taking the collaborative robot as an example, the accuracy of repeated positioning needs to be controlled within plus or minus 0.03mm. It is sometimes not enough to use the motor encoder 133 alone to achieve precise detection. Therefore, the motor Hall sensor 134 is often used in this field for auxiliary detection in order to achieve more accurate detection. By adopting the technical solution of the present invention, no new components are added to the original collaborative robot design, which relatively reduces the manufacturing cost of the collaborative robot. At the same time, by selecting a suitable motor encoder 133 and a motor Hall sensor 134, the detection result has a high accuracy and can stably meet the measurement requirements of safety. By setting the motor encoder and the motor Hall sensor on the input side 131 of the transmission device 135, the position setting is reasonable without destroying the layout of the original collaborative robot. The power of the joint 130 is transmitted from the power generated on the input side 131 of the transmission device 135. The motor encoder and the motor Hall sensor are both arranged on the input side 131 to make the detection result more accurate to prevent possible loss of force during the transmission process from affecting the detection result. The installation method described in the present invention makes the safety detection more stable.

[0056] The control module is also used to compare the first safety information and the second safety information. When the difference between the first safety information and the second safety information is greater than a preset value, the industrial robot 100 performs a safety action. Specifically, the safety actions performed by the robot 100 include various actions defined by the industrial robot safety specification, which will not be repeated here. Specifically, when the difference between the first safety information and the second safety information is greater than a preset value, it indicates that the detection result of one of the first detection module and the second detection module may not meet the accuracy requirement of the detection, or at least one of them detects a possible safety risk of the industrial robot 100. By performing the above-mentioned safety action, the safety of the industrial robot 100 is guaranteed. Specifically, when comparing the first safety information and the second safety information, similar items therein can be compared, so that it is possible to determine separately which information in the position, speed, and force / torque may be abnormal, so as to perform corresponding safety actions.

[0057] The beneficial effects of the above embodiments are: the industrial robot 100 has two detection systems for position, speed, and force, and the two systems work independently, so that the safety of the industrial robot 100 is guaranteed. At the same time, the motor encoder 133, the motor Hall sensor 134, and the current sensor 140 are used to obtain the above parameters, and the results obtained are highly accurate, so that the industrial robot 100 has high safety and good stability; furthermore, the motor encoder 133, the motor Hall sensor 134 and other components selected by the present invention do not add new components to the original industrial robot 100 to realize the safety function, but only develop, design and realize new functions on the original components, thereby reducing the overall cost of the industrial robot 100.

[0058] The present invention also provides a control method for an industrial robot 100, Figure 3 The components of the industrial robot 100 have been described above and will not be repeated here. The control method includes:

[0059] S1: The first detection module detects at least one of the joint position, joint speed, and joint torque;

[0060] That is to say, the first detection module detects at least one of the joint position, joint speed, and joint torque of the input side 131 of the transmission device 135 of the robot joint 130. Specifically, the first detection module includes a motor encoder 133, which is arranged on the input side 131 of the transmission device 135 of the joint 130 to detect at least one of the joint position, joint speed, and joint torque of the input side 131 of the transmission device 135.

[0061] S2: The second detection module detects at least one of the joint position, joint speed, and joint torque;

[0062] That is to say, the second detection module detects at least one of the joint position, joint speed, and joint torque on the input side 131 of the transmission device 135 of the robot joint 130. Specifically, the second detection module is a motor Hall sensor 134, which is arranged on the input side 131 of the transmission device 135 of the joint 130 to detect at least one of the joint position, joint speed, and joint torque on the input side 131 of the transmission device 135.

[0063] S3: The control module obtains the first safety information and the second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module respectively, compares the first safety information and the second safety information, and controls the industrial robot to perform a safety action when the difference between the first safety information and the second safety information is greater than a preset value.

[0064] That is, the control module obtains the first safety information and the second safety information according to the first detection module and the second detection module respectively, and compares the difference between the first safety information and the second safety information. When it is greater than the preset value, the industrial robot 100 is controlled to perform a safety action. Specifically, the first detection module includes a motor encoder 133, which is arranged on the input side 131 of the transmission device 135 of the joint 130 to detect the position and speed information of the input side 131, and the second detection module is a motor Hall sensor 134, which is arranged on the input side 131 of the transmission device 135 of the joint 130 to detect the position and speed information of the input side 131; specifically, the first detection module also includes a current sensor for detecting the joint torque of the first safety information; and the control module calculates the joint torque according to the joint position and joint speed of the second safety information, combined with information such as the robot mass distribution. Other information in the first safety information and the second safety information is obtained respectively according to the joint position, joint speed, and joint torque information of the first safety information and the second safety information. When comparing corresponding items of the first safety information and the second safety information and determining whether the difference between the two is greater than a preset value, the industrial robot 100 is controlled to perform a safety action.

[0065] The preset value mentioned above is preferably 0. When the control module compares the first safety information and the second safety information and finds that they are inconsistent, the control module controls the industrial robot 100 to perform a safety action. The preset value can also be determined by the method described above, which will not be repeated here.

[0066] It should be noted that the order of steps S1 and S2 of the control method described above is not limited to executing S1 first and then S2, or executing S2 first and then S1. The execution order of steps S1 and S2 in the control method includes the above two situations, and the execution order cannot be limited to only one of them. At the same time, the force information mentioned in this article includes information related to the force, including but not limited to the magnitude of the force itself and the magnitude of the torque.

[0067] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An industrial robot, include: A base, used for supporting the industrial robot; A mechanical arm connected to the base, used to move to perform the robot's work tasks, the mechanical arm comprising two or more mechanical arm parts; A joint, used to connect two adjacent mechanical arm parts, wherein the joint includes a transmission device; Characterized in that the industrial robot also includes: A first detection module, the first detection module comprising a motor encoder disposed at an input side of the transmission device, for detecting at least one of a joint position, a joint speed, and a joint torque; A second detection module, which is a motor Hall sensor disposed on the input side of the transmission device and is used to detect at least one of a joint position, a joint speed, and a joint torque; a control module, used to generate a work instruction for the robot and control the robot to perform work, the control module acquiring first safety information representing the working safety of the industrial robot according to the first detection module, acquiring second safety information representing the working safety of the industrial robot according to the second detection module, and comparing the first safety information with the second safety information, and controlling the industrial robot to perform a safety action when a difference between the first safety information and the second safety information is greater than a preset value; The preset value is 0, and the control module is used to control the industrial robot to perform a safety action when the first safety information and the second safety information are inconsistent; The control module includes a first control module and a second control module, the first control module is used to obtain first safety information according to the first detection module, and the second control module is used to obtain second safety information according to the second detection module; The first detection module includes: a current sensor, used to measure the current on the input side of the transmission device to obtain the joint torque information on the input side of the transmission device, and the first safety information includes the joint torque information on the input side of the joint; The control module is used to: calculate joint torque information according to position and speed information of second safety information, wherein the second safety information includes the joint torque information; The first safety information and the second safety information respectively include: joint position information, joint velocity information, and joint torque information; The joint includes an elbow joint, which is used to connect two relatively long adjacent robot arm parts. The first safety information and the second safety information also respectively include information obtained based on at least one of the joint speed, joint position, and joint torque. The information includes: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, and mode area reduction.

2. A control method for an industrial robot, the industrial robot include: A base, used for supporting the industrial robot; A mechanical arm connected to the base, used to move to perform the robot's work tasks, the mechanical arm comprising two or more mechanical arm parts; A joint, used to connect two adjacent mechanical arm parts, wherein the joint includes a transmission device; Characterized in that the industrial robot also includes: A first detection module, the first detection module comprising a motor encoder disposed at an input side of the transmission device; A second detection module, wherein the second detection module is a motor Hall sensor disposed at an input side of the transmission device; A control module, used to generate work instructions for the robot and control the robot to perform work; The control method comprises: The first detection module detects at least one of the joint position, joint speed, and joint torque on the input side of the transmission device; The second detection module detects at least one of the joint position, joint speed, and joint torque on the input side of the transmission device; The control module obtains first safety information and second safety information representing the working safety of the industrial robot according to the first detection module and the second detection module respectively, compares the first safety information and the second safety information, and controls the industrial robot to perform a safety action when a difference between the first safety information and the second safety information is greater than a preset value; The preset value is 0, and the control method includes: when the control module compares the first safety information and the second safety information and finds that they are inconsistent, controlling the industrial robot to perform a safety action; The first detection module includes: a current sensor for measuring the current on the input side of the transmission device to obtain torque information on the input side of the transmission device, and the first safety information includes the joint torque information on the input side; The control method comprises: a control module calculating joint torque information according to joint position and speed information of second safety information, wherein the second safety information comprises the joint torque information; The control module includes a first control module and a second control module, and the control method includes: the first control module obtains first safety information according to the first detection module, and the second control module obtains second safety information according to the second detection module; The first safety information and the second safety information respectively include: joint position information, joint velocity information, and joint torque information; The joint includes an elbow joint, which is used to connect two relatively long adjacent robot arm parts. The first safety information and the second safety information also respectively include information obtained based on at least one of the joint speed, joint position, and joint torque. The information includes: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, robot stopping distance, robot stopping time, emergency stop, protection stop, robot movement digital output, robot non-stop digital output, and mode area reduction.

Images