Control method, device and equipment of collaborative robot arm and computer storage medium

Abstract

The application discloses a control method of a collaborative robot arm, the collaborative robot arm comprising a joint, the joint being provided with a joint motor and a brake device corresponding to the joint motor, the brake device comprising a rotary limiting disc and a brake striker, the rotary limiting disc being connected with an output shaft of the joint motor, and the brake striker being used for cooperating with the rotary limiting disc to brake the joint, the control method of the collaborative robot arm comprising the following steps: when a control instruction is received, obtaining pre-adjustment operation parameters of the joint motor and controlling the joint motor to operate according to the pre-adjustment operation parameters; controlling the brake striker to move to a rotating path of the rotary limiting disc; judging whether the rotary limiting disc rotates to a stop position of the brake striker; and if yes, controlling the joint motor to close an output torque. Compared with the prior art, the control method of the collaborative robot arm reduces the impact between the rotary limiting disc and the brake striker, improves the stability when the collaborative robot arm brakes, and improves the reliability and stability of the collaborative robot arm.

Description

Technical Field

[0001] This invention relates to the field of collaborative robotic arm control, and particularly to a control method, apparatus, equipment, and computer storage medium for a collaborative robotic arm. Background Technology

[0002] In recent years, collaborative robotic arms have been widely used in industries such as 3C electronics, automotive manufacturing, medical, and industrial automation due to their advantages of being lightweight, fast, low-cost, and safe. Currently, collaborative robotic arms generally adopt an integrated joint design, which integrates core components such as motors, reducers, encoders, braking devices, and servo drivers into one unit, making collaborative robotic arms more integrated and improving their flexible deployment capabilities.

[0003] Currently, the braking devices of collaborative robotic arms are mainly divided into friction plate type, electromagnetic brake type, and "rotary limit disc" + "brake pin" type. Among them, such as Figure 1 As shown, the "rotary limiting disc" + "brake striker" type braking device includes a rotary limiting disc 1 (with multiple brake limiting teeth 1a distributed along its circumference), a brake striker 2, an electromagnet, a C-shaped retaining ring, a wave spring, and a return spring, etc. The rotary limiting disc 1 is fixed on the output shaft of the motor under the pressure of the C-shaped retaining ring and the wave spring. The specific braking action process includes: when the electromagnet is energized, the electromagnet generates a magnetic field, which in turn applies a magnetic force to the brake pin 2. Under the action of this magnetic force, the brake pin 2 is pulled away from the two adjacent brake limiting teeth 1a on the rotating limiting disk 1, and the rotation restriction of the rotating limiting disk 1 is released, allowing it to rotate freely; when the electromagnet is de-energized, the magnetic field of the electromagnet disappears, thus canceling the magnetic force on the brake pin 2. The brake pin 2 then extends under the elastic force of the return spring to enter the two adjacent brake limiting teeth 1a on the rotating limiting disk 1, interfering radially with the brake limiting teeth 1a on the rotating limiting disk 1 to prevent the rotational movement of the rotating limiting disk 1, thereby limiting the fall of the robotic arm.

[0004] However, the moment the collaborative robotic arm is enabled, the brake pin 2 pops out, and the servo system of the collaborative robotic arm immediately shuts off the motor's output torque to make the motor's output torque zero. The joints of the collaborative robotic arm then fall under the influence of gravity, causing the brake limit tooth 1a on the rotating limit plate 1 to directly strike the brake pin 2 (e.g., ...). Figure 1 When the brake limit tooth B moves to position B1, especially under heavy load conditions at the end of the collaborative robotic arm, it causes a significant impact on the entire mechanical system of the collaborative robotic arm, reducing the reliability and stability of the collaborative robotic arm's operation. Summary of the Invention

[0005] The main objective of this invention is to propose a control method for a collaborative robotic arm, which aims to solve the technical problems mentioned in the background section.

[0006] To achieve the above objectives, this invention proposes a control method for a collaborative robotic arm. The collaborative robotic arm includes joints, each joint having a joint motor and a braking device corresponding to the joint motor. The braking device includes a rotary limiting disc and a brake pin. The rotary limiting disc is connected to the output shaft of the joint motor, and the brake pin cooperates with the rotary limiting disc to brake the joint.

[0007] The control methods for collaborative robotic arms include:

[0008] Upon receiving the control command to enable, the system acquires the preset operating parameters of the joint motor and controls the joint motor to operate based on these parameters.

[0009] Control the movement of the brake striker to the rotation path of the rotating limit disc;

[0010] Determine whether the rotating limit plate has rotated to the stop position of the brake striker;

[0011] If so, then control the joint motor to shut off the output torque.

[0012] The steps of acquiring the preset operating parameters of the joint motor and controlling the operation of the joint motor according to the preset operating parameters upon receiving the control command to enable include:

[0013] Obtain the pre-stored output torque of the joint motors in the stationary state of the collaborative robotic arm;

[0014] The pre-set operating parameters of the joint motor are obtained by calculating based on the output torque.

[0015] The pre-adjusted operating parameters include pre-adjusted rotational speed and pre-adjusted output torque. The steps for calculating the pre-adjusted operating parameters of the joint motor based on the output torque include:

[0016] Determine whether the output torque of the joint motor in the pre-stored cooperative robotic arm's stationary state is greater than zero;

[0017] If so, calculate the preset operating parameters of the joint motor using the following formula:

[0018] SpdRef = -SpdRefValue;

[0019] TorqLimt = [0, Te];

[0020] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0021] The step of calculating the pre-set operating parameters of the joint motor based on the output torque also includes:

[0022] If not, calculate the preset operating parameters of the joint motor using the following formula:

[0023] SpdRef = +SpdRefValue;

[0024] TorqLimt = [Te, 0];

[0025] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0026] The steps for determining whether the rotating limit disc has rotated to the stop position value of the brake striker include:

[0027] Monitor whether the joint motor speed drops to the stop threshold;

[0028] If the joint motor speed does not drop to the stop threshold, it is determined that the rotating limit plate and the brake striker have not rotated to the stop position of the brake striker.

[0029] If the speed of the joint motor drops to the stop threshold, it is determined that the rotating limit plate and the brake striker have rotated to the stop position of the brake striker.

[0030] This invention also proposes a control device for a collaborative robotic arm. The collaborative robotic arm includes joints, each joint having a joint motor and a braking device corresponding to the joint motor. The braking device includes a rotary limiting disc and a brake pin. The rotary limiting disc is connected to the output shaft of the joint motor, and the brake pin cooperates with the rotary limiting disc to brake the joint.

[0031] The control device for the collaborative robotic arm includes:

[0032] The execution module is used to obtain the preset operating parameters of the joint motor and control the joint motor to operate according to the preset operating parameters when it receives the control command to enable it.

[0033] The first control module is used to control the movement of the brake striker to the rotation path of the rotating limit disc;

[0034] The judgment module is used to determine whether the rotating limit plate has rotated to the stop position of the brake striker.

[0035] The second control module is used to control the joint motor to shut off the output torque when the rotary limit plate rotates to the stop position of the brake striker.

[0036] The execution module includes:

[0037] The acquisition unit is used to acquire the pre-stored output torque of the joint motors of the collaborative robotic arm in a stationary state.

[0038] The calculation unit is used to calculate based on the output torque to obtain the pre-set operating parameters of the joint motor.

[0039] The present invention also proposes a collaborative robotic arm, which includes a joint, a joint motor and a braking device corresponding to the joint motor, the braking device including a rotary limiting plate and a brake pin, the rotary limiting plate being connected to the output shaft of the joint motor, and the brake pin being used to cooperate with the rotary limiting plate to brake the joint.

[0040] It also includes a controller, which executes the steps of the control method for the collaborative robotic arm as described above.

[0041] The present invention also proposes a control device for a collaborative robotic arm, the control device comprising:

[0042] Memory, used to store computer programs;

[0043] A processor is used to execute computer programs to implement the steps of the control method for the collaborative robotic arm as described above.

[0044] The present invention also proposes a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the collaborative robotic arm as described above.

[0045] The control method for a collaborative robotic arm of this invention is applied to a collaborative robotic arm, which includes joints, a joint motor, and a braking device corresponding to the joint motor. The braking device includes a rotary limiting plate and a brake pin. The rotary limiting plate is connected to the output shaft of the joint motor, and the brake pin cooperates with the rotary limiting plate to brake the joint. Based on this, the control method of this collaborative robotic arm, upon receiving an enable control command, acquires the pre-set operating parameters of the joint motor and controls the joint motor to operate according to the pre-set operating parameters; then controls the brake pin to move onto the rotation path of the rotary limiting plate; next, it determines whether the rotary limiting plate has rotated to the stop position of the brake pin; finally, when the rotary limiting plate rotates to the stop position of the brake pin, it controls the joint motor to shut off its output torque. In other words, when the control method of the collaborative robotic arm of the present invention receives the control command for enabling, it does not immediately shut down the output torque of the joint motor. Instead, it controls the joint motor to run according to the pre-adjusted operating parameters. The joint motor then drives the rotating limit plate to move slowly, so that the collaborative robotic arm slowly performs the enabling action along its gravitational torque direction. When the rotating limit plate slowly hits the brake pin, the joint motor is then controlled to shut down the output torque, so that the output torque of the joint motor becomes zero, realizing the true enabling of the collaborative robotic arm. Compared with the prior art, this reduces the impact between the rotating limit plate and the brake pin, improves the stability of the collaborative robotic arm when braking, and also improves the reliability and stability of the collaborative robotic arm. Attached Figure Description

[0046] Figure 1 A schematic diagram of the working mechanism of the braking device for a collaborative robotic arm;

[0047] Figure 2 This is a flowchart of a control method for a collaborative robotic arm according to an embodiment of the present invention;

[0048] Figure 3 This is a flowchart of a control method for a collaborative robotic arm in another embodiment of the present invention;

[0049] Figure 4 This is a flowchart of a control method for a collaborative robotic arm in another embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of a collaborative robotic arm in one embodiment of the present invention when the output torque of the joint motor is in the counterclockwise direction;

[0051] Figure 6 This is a schematic diagram of a collaborative robotic arm in one embodiment of the present invention when the output torque of the joint motor is in the clockwise direction;

[0052] Figure 7 This is a flowchart of a control method for a collaborative robotic arm in another embodiment of the present invention;

[0053] Figure 8This is a block diagram of the control device for a collaborative robotic arm in one embodiment of the present invention;

[0054] Figure 9 This is a schematic diagram of the architecture of the control device for a collaborative robotic arm in one embodiment of the present invention. Detailed Implementation

[0055] The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0057] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0058] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0059] Reference Figure 1 and Figure 2 , Figure 1 A schematic diagram of the braking device for a collaborative robotic arm. Figure 2 Here is a flowchart of a control method for a collaborative robotic arm according to an embodiment of the present invention:

[0060] The collaborative robotic arm includes joints, each equipped with a joint motor and a corresponding braking device, such as... Figure 1As shown, the braking device includes a rotating limiting disc 1 and a brake striker 2. The rotating limiting disc 1 is connected to the output shaft of the joint motor, and the brake striker 2 is used to cooperate with the rotating limiting disc 1 to brake the joint.

[0061] Specifically, during braking, the brake pin 2 can be controlled to pop out and move onto the rotation path of the rotating limit disk 1 to interfere with the rotating limit disk 1, thereby limiting the rotational movement of the rotating limit disk 1 to brake the joint and prevent the robotic arm from falling. When braking is not required, the brake pin 2 can be controlled to retract and leave the rotation path of the rotating limit disk 1, thereby releasing the rotational restriction on the rotating limit disk 1, allowing the rotating limit disk 1 to rotate freely.

[0062] Optionally, the braking device further includes an electromagnet (not shown in the figure) and a return spring (not shown in the figure) for controlling the movement of the brake pin 2. When the electromagnet is energized, it generates a magnetic force, causing the brake pin 2 to retract and leave the rotation path of the rotating limit disc 1 under the action of this magnetic force. When the electromagnet is de-energized, its magnetic force disappears, and the brake pin 2 is ejected under the elastic force of the return spring to move onto the rotation path of the rotating limit disc 1.

[0063] Based on the aforementioned collaborative robotic arm, this invention proposes a control method for a collaborative robotic arm, such as... Figure 2 As shown, the control method of this collaborative robotic arm includes:

[0064] Step S100: When receiving the control command to enable, obtain the preset operating parameters of the joint motor and control the joint motor to run according to the preset operating parameters;

[0065] Step S200: Control the brake striker 2 to move onto the rotation path of the rotating limit plate 1;

[0066] Step S300: Determine whether the rotating limit plate 1 has rotated to the stop position of the brake pin 2;

[0067] Step S400: If yes, control the joint motor to shut off the output torque.

[0068] The control method for the collaborative robotic arm involved in this embodiment is applied to the collaborative robotic arm. By implementing steps S100 to S400, the collaborative robotic arm is enabled and stopped. Specifically, upon receiving the control command to enable, the collaborative robotic arm enters a braking mode, acquires the pre-adjusted operating parameters of the joint motor, and controls the joint motor to operate according to the pre-adjusted operating parameters. Then, the braking device operates to move the brake pin 2 onto the rotation path of the rotary limiting disk 1. The pre-adjusted operating parameters are those used to control the joint motor operation in the braking mode. When the joint motor operates according to these pre-adjusted operating parameters, it drives the collaborative robotic arm to move slowly in the same direction as its gravitational torque. During braking, the joint motor operates according to these pre-adjusted operating parameters to drive the rotary limiting disk 1 to rotate slowly until it reaches the stop position of the brake pin 2 and makes contact with it. Then, it is determined whether the rotary limiting disk 1 has rotated to the stop position of the brake pin 2. When the rotary limiting disk 1 reaches the stop position of the brake pin 2, the joint motor is controlled to shut off its output torque. The detection method for the rotating limiting disc 1 to rotate to the stop position of the brake striker 2 can be varied. For example, a sensor can be installed on the brake striker 2 to sense the rotation of the limiting disc 1. Optionally, the sensor can be a contact sensor, a pressure sensor, etc., depending on the actual situation. Of course, other detection methods can also be used, and there are no restrictions on this.

[0069] Furthermore, such as Figure 2 As shown, the control method for the collaborative robotic arm may further include step S500: if not, then control the joint motor to continue running. That is, before the rotating limit disk 1 has rotated to the stop position of the brake pin 2, the joint motor is controlled to continue running, and during this process, the joint motor still runs according to the preset operating parameters.

[0070] It should be noted that the robotic arm stops moving in the following two situations:

[0071] First, when the robotic arm is in an enabled state, the joint motor is powered on and outputs torque to balance the mechanical arm's gravitational torque, thereby causing the robotic arm to stop moving.

[0072] Secondly, when the robotic arm is in the unenabled state, the joint motor is de-energized and the output torque is turned off. Under the action of gravity torque, the robotic arm falls to the lowest point or stops moving after passing through the brake pin.

[0073] When the control method of the collaborative robotic arm of the present invention receives the control command to enable the lower limit, it does not control the joint motor to immediately shut off the output torque. Instead, it controls the joint motor to run according to the pre-adjusted operating parameters. The joint motor then drives the rotating limit disk 1 to move slowly, so that the collaborative robotic arm slowly performs the lower limit action along its gravitational torque direction. When the rotating limit disk 1 slowly hits the brake pin 2, the joint motor is then controlled to shut off the output torque, so that the output torque of the joint motor becomes zero, thus realizing the true lower limit of the collaborative robotic arm.

[0074] Compared to existing technologies, this control scheme reduces the impact between the rotary limit plate 1 and the brake striker 2, improving the smoothness of the collaborative robotic arm during braking and, to some extent, enhancing the reliability and stability of the collaborative robotic arm's operation. It is easy to understand that the output shaft of the joint motor is typically equipped with an encoder to detect rotational data; therefore, reducing the impact between the rotary limit plate 1 and the brake striker 2, i.e., reducing the impact on the motor output shaft, also improves the reliability and stability of the encoder system.

[0075] Reference Figures 3 to 6 , Figure 3 This is a flowchart of a control method for a collaborative robotic arm according to another embodiment of the present invention. Figure 4 This is a flowchart of a control method for a collaborative robotic arm in another embodiment of the present invention. Figure 5 This is a schematic diagram of a collaborative robotic arm in one embodiment of the present invention when the output torque of the joint motor is in the counterclockwise direction. Figure 6 This is a schematic diagram of a collaborative robotic arm in one embodiment of the present invention when the output torque of the joint motor is in the clockwise direction:

[0076] In some embodiments, such as Figure 3 As shown, step S100 includes:

[0077] Step S110: Obtain the pre-stored output torque of the joint motor in the stationary state of the collaborative robotic arm;

[0078] Step S120: Calculate based on the output torque to obtain the pre-adjusted operating parameters of the joint motor.

[0079] In this embodiment, optionally, the output torque of the joint motor in the stationary state of the collaborative robotic arm is pre-acquired and stored. Specifically, before executing the enable action, when the collaborative robotic arm is stationary, the output torque of the joint motor is balanced with the mechanical arm's gravitational torque, being of the same magnitude but opposite in direction. Therefore, the output torque of the joint motor can be obtained based on the mechanical arm's gravitational torque in the stationary state. Furthermore, the pre-set operating parameters of the joint motor are calculated based on the pre-stored output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0080] Optionally, the preset operating parameters include preset rotational speed and preset output torque. In practical applications, the operation of the joint motor is controlled based on the preset rotational speed and preset output torque. Specifically, when performing the enabled action of the robotic arm, the servo driver of the joint motor switches the control mode from position control mode to speed control mode, driving the joint motor to operate according to the preset rotational speed and preset output torque.

[0081] In practical applications, the arrangement of articulated motors on collaborative robotic arms varies. For example, when setting up articulated motors, the output shaft of the motor may be horizontally oriented to the left or horizontally. Furthermore, as... Figure 5 and Figure 6 As shown, when the collaborative robotic arm is stationary, the output shaft of the joint motor rotates in either the reverse or forward direction to balance the gravitational torque of the robotic arm through output torque. The output torque of the joint motor is either clockwise or counterclockwise. Here, the output torque of the joint motor is negative in the clockwise direction and positive in the counterclockwise direction. That is, when the output torque of the joint motor is clockwise, the output torque of the joint motor is less than zero; when the output torque of the joint motor is counterclockwise, the output torque of the joint motor is greater than zero.

[0082] like Figure 4 As shown, step 120 includes:

[0083] Step S121: Determine whether the output torque of the joint motor in the pre-stored cooperative robotic arm in a stationary state is greater than zero;

[0084] Step S122: If so, calculate the preset operating parameters of the joint motor according to the following formula:

[0085] SpdRef = -SpdRefValue;

[0086] TorqLimt = [0, Te];

[0087] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0088] like Figure 4 As shown, step S120 further includes:

[0089] Step S123: If not, calculate the preset operating parameters of the joint motor according to the following formula:

[0090] SpdRef = +SpdRefValue;

[0091] T0rqLimt = [Te, 0];

[0092] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0093] Optionally, the preset pre-adjusted rotation speed is pre-set and can be adjusted according to actual conditions.

[0094] Reference Figure 7 , Figure 7 Here is a flowchart of a control method for a collaborative robotic arm in another embodiment of the present invention:

[0095] In some embodiments, step 300 includes:

[0096] Step S310: Monitor whether the speed of the joint motor has dropped to the stop threshold;

[0097] Step S320: If the speed of the joint motor does not drop to the stop threshold, it is determined that the rotating limit plate 1 has not rotated to the stop position of the brake pin 2.

[0098] Step S330: If the speed of the joint motor drops to the stop threshold, it is determined that the rotation limit plate 1 has rotated to the stop position of the brake pin 2.

[0099] When the rotating limit plate 1 rotates to the stop position of the brake pin 2, the brake pin 2 contacts and collides with the rotating limit plate 1, thereby reducing the speed of the joint motor. Therefore, the rotation speed of the joint motor can be monitored to determine whether the rotating limit plate 1 has rotated to the stop position of the brake pin 2. Specifically, the rotation speed of the joint motor is monitored to see if it drops to a stop threshold. If the rotation speed of the joint motor does not drop to the stop threshold, it is determined that the rotating limit plate 1 has not rotated to the stop position of the brake pin 2; if the rotation speed of the joint motor drops to the stop threshold, it is determined that the rotating limit plate 1 has rotated to the stop position of the brake pin 2. Optionally, the stop threshold is zero. In practical applications, the rotation speed of the joint motor can be obtained through an encoder.

[0100] Reference Figure 8 , Figure 8 This is a block diagram of the control device for a collaborative robotic arm according to an embodiment of the present invention:

[0101] This invention also proposes a control device for a collaborative robotic arm. The collaborative robotic arm includes a joint, a joint motor, and a braking device corresponding to the joint motor. The braking device includes a rotary limiting disc 1 and a brake pin 2. The rotary limiting disc 1 is connected to the output shaft of the joint motor, and the brake pin 2 is used to cooperate with the rotary limiting disc 1 to brake the joint. The control device for the collaborative robotic arm includes:

[0102] The execution module is used to obtain the preset operating parameters of the joint motor when it receives the control command to enable it, and to control the operation of the joint motor according to the preset operating parameters.

[0103] The first control module is used to control the brake striker 2 to move onto the rotation path of the rotary limit disk 1;

[0104] The judgment module is used to determine whether the rotating limit plate 1 has rotated to the stop position of the brake pin 2;

[0105] The second control module is used to control the joint motor to shut off the output torque when the rotating limit plate 1 rotates to the stop position of the brake pin 2.

[0106] In some embodiments, the execution module includes:

[0107] The acquisition unit is used to acquire the pre-stored output torque of the joint motors of the collaborative robotic arm in a stationary state.

[0108] The calculation unit is used to calculate based on the output torque to obtain the pre-set operating parameters of the joint motor.

[0109] In some embodiments, the pre-adjusted operating parameters include pre-adjusted rotational speed and pre-adjusted output torque, and the calculation unit includes:

[0110] The judgment subunit is used to determine whether the output torque of the joint motor of the collaborative robotic arm is greater than zero when the arm is stationary.

[0111] The first calculation subunit is used to calculate the pre-set operating parameters of the joint motor according to the following formula when the output torque is greater than zero:

[0112] SpdRef = -SpdRefValue;

[0113] TorqLimt = [0, Te];

[0114] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0115] In some embodiments, the calculation unit further includes:

[0116] The second calculation subunit is used to calculate the pre-adjustment operating parameters of the joint motor according to the following formula when the output torque is less than zero;

[0117] SpdRef = +SpdRefValue;

[0118] TorqLimt = [Te, 0];

[0119] Where SpdRef is the preset rotation speed, SpdRefValue is the preset magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor in the stationary state of the collaborative robotic arm.

[0120] In some embodiments, the determination module includes:

[0121] The monitoring unit is used to monitor whether the speed of the joint motor has dropped to the stop threshold;

[0122] The first determination unit is used to determine that the rotating limit plate 1 and the brake striker 2 have not rotated to the stop position of the brake striker 2 when the speed of the joint motor has not dropped to the stop threshold.

[0123] The second determination unit is used to determine that the rotating limit plate 1 and the brake striker 2 have rotated to the stop position of the brake striker 2 when the speed of the joint motor drops to the stop threshold.

[0124] The present invention also proposes a collaborative robotic arm, which includes a joint, a joint motor and a braking device corresponding to the joint motor. The braking device includes a rotary limiting disk 1 and a brake pin 2. The rotary limiting disk 1 is connected to the output shaft of the joint motor, and the brake pin 2 is used to cooperate with the rotary limiting disk 1 to brake the joint.

[0125] It also includes a controller for executing the steps of the control method for the collaborative robotic arm as described in the foregoing embodiments.

[0126] The present invention also proposes a control device for a collaborative robotic arm, the control device comprising:

[0127] Memory, used to store computer programs;

[0128] A processor is used to execute a computer program to implement the steps of the control method for the collaborative robotic arm as described in the foregoing embodiments.

[0129] The control device for the collaborative robotic arm proposed in this embodiment of the invention can be a robot or a PC. For example... Figure 9As shown, the control device of the collaborative robotic arm may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit, such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0130] Those skilled in the art will understand that Figure 9 The control device structure of the collaborative robotic arm shown does not constitute a limitation on the control device of the collaborative robotic arm, and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0131] like Figure 9 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control program for the robotic arm.

[0132] exist Figure 9 In the control device of the collaborative robotic arm shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the control program of the collaborative robotic arm stored in the memory 1005.

[0133] The present invention also proposes a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the collaborative robotic arm as described in the foregoing embodiments.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.

[0135] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0136] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0137] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer system (which may be a personal computer, server, or network system, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0138] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A control method for a collaborative robotic arm, the collaborative robotic arm including a joint, a joint motor and a braking device corresponding to the joint motor, the braking device including a rotary limiting plate and a brake pin, the rotary limiting plate being connected to the output shaft of the joint motor, and the brake pin being used to cooperate with the rotary limiting plate to brake the joint, characterized in that, The control method for the collaborative robotic arm includes: Upon receiving a control command to enable, the system acquires the preset operating parameters of the joint motor and controls the joint motor to operate according to the preset operating parameters. Control the brake striker to move onto the rotation path of the rotary limiting disc; Determine whether the rotating limiting disc has rotated to the stop position of the brake striker; If so, then control the joint motor to shut off its output torque.

2. The control method for the collaborative robotic arm according to claim 1, characterized in that, The step of acquiring the preset operating parameters of the joint motor and controlling the operation of the joint motor according to the preset operating parameters when receiving the control command to enable includes: Obtain the pre-stored output torque of the joint motor in the stationary state of the collaborative robotic arm; The pre-adjusted operating parameters of the joint motor are obtained by calculating based on the output torque.

3. The control method for the collaborative robotic arm according to claim 2, characterized in that, The pre-adjusted operating parameters include pre-adjusted rotational speed and pre-adjusted output torque. The step of calculating the pre-adjusted operating parameters of the joint motor based on the output torque includes: Determine whether the output torque of the joint motor in the pre-stored state of the cooperative robotic arm at rest is greater than zero; If so, the preset operating parameters of the joint motor are calculated using the following formula: SpdRef = -SpdRefValue; TorqLimt = [0, Te]; Wherein, SpdRef is the preset rotation speed, SpdRefValue is the magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor of the collaborative robotic arm in a stationary state.

4. The control method for the collaborative robotic arm according to claim 3, characterized in that, The step of calculating the pre-adjusted operating parameters of the joint motor based on the output torque further includes: If not, calculate the preset operating parameters of the joint motor using the following formula: SpdRef = +SpdRefValue; TorqLimt = [Te, 0]; Wherein, SpdRef is the preset rotation speed, SpdRefValue is the magnitude of the preset rotation speed, TorqLimt is the preset output torque, and Te is the output torque of the joint motor of the collaborative robotic arm in a stationary state.

5. The control method for the collaborative robotic arm according to claim 1, characterized in that, The step of determining whether the rotating limiting disc has rotated to the stop position of the brake striker includes: Monitor whether the speed of the joint motor drops to the stop threshold; If the speed of the joint motor does not drop to the stop threshold, it is determined that the rotating limit plate and the brake striker have not rotated to the stop position of the brake striker. If the speed of the joint motor drops to the stop threshold, it is determined that the rotating limit plate and the brake striker have rotated to the stop position of the brake striker.

6. A control device for a collaborative robotic arm, the collaborative robotic arm including a joint, a joint motor and a braking device corresponding to the joint motor, the braking device including a rotary limiting plate and a brake pin, the rotary limiting plate being connected to the output shaft of the joint motor, and the brake pin being used to cooperate with the rotary limiting plate to brake the joint, characterized in that, The control device for the collaborative robotic arm includes: The execution module is used to obtain the preset operating parameters of the joint motor and control the joint motor to operate according to the preset operating parameters when it receives the control command to enable it. The first control module is used to control the brake striker to move onto the rotation path of the rotary limiting disc; The judgment module is used to determine whether the rotating limit plate has rotated to the stop position of the brake striker; The second control module is used to control the joint motor to shut off its output torque when the rotating limit disc rotates to the stop position of the brake striker.

7. The control device for the collaborative robotic arm according to claim 6, characterized in that, The execution module includes: The acquisition unit is used to acquire the pre-stored output torque of the joint motor of the collaborative robotic arm in a stationary state; The calculation unit is used to calculate based on the output torque to obtain the pre-adjusted operating parameters of the joint motor.

8. A collaborative robotic arm, characterized in that, The device includes a joint, on which a joint motor and a braking device corresponding to the joint motor are provided. The braking device includes a rotating limiting disc and a brake pin. The rotating limiting disc is connected to the output shaft of the joint motor, and the brake pin is used to cooperate with the rotating limiting disc to brake the joint. It also includes a controller for performing the steps of the control method for the collaborative robotic arm as described in any one of claims 1 to 5.

9. A control device for a collaborative robotic arm, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the control method for the collaborative robotic arm as described in any one of claims 1 to 5.

10. A computer storage medium, characterized in that, The computer medium stores a computer program, which, when executed by a processor, implements the steps of the control method for the collaborative robotic arm as described in any one of claims 1 to 5.

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