Collaborative robot with collision detection function and collision detection method of collaborative robot

Abstract

This disclosure provides a collaborative robot with collision detection functionality, comprising: a main robot having multiple articulated arms; an additional axis extending to a predetermined length; an additional axis robot mounted to move linearly on the additional axis and enabling the main robot to move along the additional axis; and a processor unit for sending signals to and receiving signals from the main robot and the additional axis robot, wherein the processor unit includes: a receiving unit for obtaining data signals from the main robot; an external force calculation unit for calculating external force values ​​using the obtained data signals as variables; a collision determination unit for comparing the calculated external force values ​​with predetermined collision detection boundary values ​​to determine whether a collision has occurred; and a control unit for generating different control commands for the main robot and the additional axis robot based on whether a collision has occurred.

Description

Technical Field

[0001] This disclosure relates to a collaborative robot with collision detection functionality and a collision detection method for the collaborative robot, and more specifically, to a collaborative robot and a collision detection method for the collaborative robot that has collision detection functionality for an additional axis based solely on information about the main robot, even without additional information about the additional axis robot. Background Technology

[0002] Collaborative robots (COBOT) are robots designed to work alongside humans to perform tasks, primarily interacting with humans on the production floor. While traditional industrial robots are typically intended to replace human labor in isolated workspaces on the production floor, collaborative robots supplement human labor by working alongside humans to improve work efficiency.

[0003] In recent years, robot-related technologies that provide contactless services have been developing rapidly, and the catering industry has shown increasing interest in adopting collaborative robots. In the catering industry, robots can handle simple, repetitive, and dangerous tasks, allowing people to focus on providing services.

[0004] Six-DOF robotic actuators, classified as collaborative robots, are equipped with collision detection capabilities and initiate an emergency stop if a collision with a worker is detected while performing precise position control. Collision detection is essential for collaborative robots, enabling them to be mounted without fences and to collaborate with human workers.

[0005] However, even when using commercial collaborative robots, if the attached orthogonal axis robot lacks collision detection capabilities, adding extra axes to expand the robot's workspace may not guarantee the overall safety of the robot system against collisions. Furthermore, installing separate devices to provide collision detection for the attached orthogonal axis robot can severely hinder the productivity and economic efficiency of commercial collaborative robots. Summary of the Invention

[0006] Technical issues

[0007] The purpose of this disclosure is to provide a collaborative robot and a collision detection method for the collaborative robot, which, by setting collision detection boundary values, has the function of collision detection for the additional axis even without specific information about the additional axis robot (e.g., position, torque, and speed) and only based on information obtained through the main robot.

[0008] Technical solution

[0009] A collaborative robot with collision detection functionality according to an embodiment of this disclosure includes: a main robot having a plurality of articulated arms; an additional axis extending to a predetermined length; an additional axis robot mounted to move linearly on the additional axis and enabling the main robot to move along the additional axis; and a processor unit that sends signals to and receives signals from the main robot and the additional axis robot, wherein the processor unit includes: a receiving unit that obtains data signals from the main robot; an external force calculation unit that uses the obtained data signals as variables to calculate external force values; a collision determination unit that compares the calculated external force values ​​with predetermined collision detection boundary values ​​to determine whether a collision has occurred; and a control unit that generates different control commands for the main robot and the additional axis robot based on whether a collision has occurred.

[0010] According to one embodiment, the collision determination unit sets multiple modes selected based on the states of the main robot and the auxiliary axis robot, wherein different collision detection boundary values ​​can be applied to the multiple modes.

[0011] According to one embodiment, the collision determination unit sets a first collision detection boundary value for a first mode in which the main robot is in a working state and a second collision detection boundary value for a second mode in which the main robot is in a stationary state and the auxiliary axis robot is in a working state, wherein the second collision detection boundary value is different from the first collision detection boundary value.

[0012] According to one embodiment, when the calculated external force value exceeds the first collision detection boundary value, the control unit generates a stop control command for the main robot.

[0013] According to one embodiment, when the calculated external force value exceeds the second collision detection boundary value, the control unit generates a stop control command for the additional axis robot.

[0014] A collision detection method for a collaborative robot according to another embodiment of the present disclosure includes: a signal receiving step for acquiring data signals; an external force calculation step for calculating external force values ​​using the acquired data signals as variables; a collision determination step for determining that a collision has occurred by comparing the calculated external force values ​​with predetermined collision detection boundary values; and a command control step for generating different control commands based on the occurrence of a collision.

[0015] According to one embodiment, the collision determination step is set to multiple modes that can be selected based on the state of the main robot and the auxiliary axis robot, wherein different collision detection boundary values ​​can be applied to the multiple modes.

[0016] According to one embodiment, the collision determination step sets a first collision detection boundary value for a first mode in which the main robot is in a working state and a second collision detection boundary value for a second mode in which the main robot is in a stationary state and the auxiliary axis robot is in a working state, wherein the second collision detection boundary value is different from the first collision detection boundary value.

[0017] Other specific details of this disclosure are included in the detailed description and accompanying drawings.

[0018] Beneficial effects

[0019] The embodiments disclosed herein provide at least the following effects.

[0020] According to the above embodiments, the collision detection function and collision detection method of the collaborative robot disclosed herein can indirectly perform the collision detection of the additional axis robot without implementing the collision detection algorithm separately for the additional axis robot, using only the collision detection function of the main robot.

[0021] Therefore, when building additional axis robots for collaborative robots, there is no need for additional costs to implement collision detection functions, thereby improving economic efficiency and productivity.

[0022] The technical effects of this disclosure are not limited to those described above, and those skilled in the art to which this disclosure pertains may understand other technical effects not mentioned herein from the following description. Attached Figure Description

[0023] Figure 1 This is a perspective view of a collaborative robot with collision detection functionality according to an embodiment of the present disclosure.

[0024] Figure 2 Observing from different angles Figure 1 A perspective view of a collaborative robot with collision detection capabilities.

[0025] Figure 3 The structure of a collaborative robot with collision detection functionality according to an embodiment of the present disclosure is shown.

[0026] Figure 4 This is a block diagram illustrating the concept of a collision detection function according to an embodiment of the present disclosure.

[0027] Figure 5 This is a flowchart illustrating a collision detection method for a collaborative robot according to an embodiment of the present disclosure, presented in chronological order. Detailed Implementation

[0028] The advantages and features of this disclosure, as well as methods of implementing them, will be clearly understood by referring to the detailed description of the embodiments and the accompanying drawings. However, the technical principles and spirit of this disclosure are not limited to the embodiments disclosed below, but can be implemented in various other forms; rather, the embodiments of this disclosure are provided to complete the disclosure and clearly convey the technical scope of this disclosure to those skilled in the art, and the technical principles and spirit of this disclosure can be limited to the technical scope of the appended claims. Throughout the specification, the same reference numerals refer to the same constituent elements.

[0029] Furthermore, embodiments of the present disclosure will be described with reference to cross-sectional views and / or simplified views representing the ideal illustration of the present disclosure. Therefore, the illustrated structures may be modified depending on the manufacturing techniques and / or tolerances employed. Additionally, for illustrative purposes, each constituent element in the corresponding figures of the present disclosure may have been enlarged or reduced. Specific embodiments of the present disclosure will now be described with reference to the accompanying drawings.

[0030] By reference Figures 1 to 4 The following will describe in detail a collaborative robot with collision detection functionality according to embodiments of the present disclosure.

[0031] Figure 1 This is a perspective view of a collaborative robot with collision detection functionality according to an embodiment of the present disclosure. Figure 2 Observing from different angles Figure 1 A perspective view of a collaborative robot with collision detection capabilities.

[0032] A collaborative robot with collision detection functionality according to an embodiment of the present disclosure may include: a main robot 10 having a plurality of articulated arms; an additional axis 20 extending to a predetermined length; an additional axis robot 30 mounted to move linearly on the additional axis 20 and enabling the main robot 10 to move along the additional axis 20; and a processor unit 40 that sends signals to the main robot 10 and the additional axis robot 30 and receives signals from the main robot 10 and the additional axis robot 30, the main robot 10 and the additional axis robot 30 constituting the basic structure of the present disclosure.

[0033] The main robot 10 has multiple articulated arms to achieve multi-degree-of-freedom movement, and these multiple articulated arms form the hand-like main body of the collaborative robot to perform movements. Each joint, including the articulated arms, is equipped with an actuator that drives the joint to rotate, thereby enabling operations such as movement or tilting relative to the corresponding axis.

[0034] As shown in the figure, a region (A) is formed at one end of the main robot 10, in which a gripper required for a given process is installed. In other words, depending on the type of process of the collaborative robot employing this disclosure, a gripper customized for performing a given task can be selectively installed, and the region (A) can be configured to attach or detach the gripper when the task changes or the process is completed.

[0035] The other end of the main robot 10 can be mounted by attaching it to the additional axis robot 30. Therefore, the main robot 10 can move together with the additional axis robot 30, resulting in an expanded working radius along the longitudinal radius of the additional axis formed by the additional axis 20. In other words, the main robot 10 can move within a movable range of one axis defined by the additional axis 20 and perform work at the corresponding position.

[0036] As described above, the additional axis 20 is additionally mounted to expand the working radius of the main robot 10 and extend it to have a predetermined range of motion. For example, the additional axis 20 may be formed on the upper surface of the base 1 on which the collaborative robot is mounted, either horizontally or vertically. In other words, the additional axis 20 is mounted separately from the main robot 10, and the additional axis 20 guides the main robot 10, which performs multi-degree-of-freedom motion, to an area where linear motion can be additionally performed on a single axis.

[0037] For example, since the main robot 10, which is a multi-jointed robot with 6 degrees of freedom, is mounted on the additional axis 20, the main robot 10 is able to perform motion based on a total of 7 axes formed by adding one axis to the existing axes of the main robot 10. By using the above method, the additional axis 20 can add new single-axis motion to the main robot 10 through simple and flexible installation.

[0038] The additional axis robot 30 is mounted to be able to move linearly along the additional axis 20. In other words, the additional axis robot 30 can move forward and backward along a straight axis within a range guided by the additional axis 20. Furthermore, the additional axis robot 30 is designed to be mounted in conjunction with the main body robot 10, and the main body robot 10 can be moved by moving integrally with the main body robot 10.

[0039] Furthermore, the method for linear movement of the additional axis robot 30 on the additional axis 20 according to this disclosure is not specifically limited to a particular mechanism. For example, the additional axis robot 30 can move linearly using a hydraulic method that receives power from a hydraulic motor mounted on one side of the additional axis 20. In another example, the additional axis 20 can be mounted in the form of a conveyor belt with a predetermined range of motion, and the additional axis robot 30 placed on the upper surface of the conveyor belt can be moved.

[0040] The processor unit 40 is software that sends and receives signals between the main robot 10 and the auxiliary axis robot 30. Based on the received signals, it detects collisions occurring in the main robot 10, generates control commands, and sends these commands. For example, as shown, the processor unit 40 can be embedded in the controller 2, which is a hardware device installed for processing information independently. Alternatively, the processor unit 40 can be embedded software embedded in both the main robot 10 and / or the auxiliary axis robot 30, and can be communicatively connected to enable the sending and receiving of mutual signals.

[0041] According to one embodiment of the present disclosure, the processor unit 40 may include: a receiving unit 41 that receives data signals from the main robot 10; an external force calculation unit 42 that uses the received data signals as variables to calculate external force values; a collision determination unit 43 that compares the calculated external force values ​​with predetermined collision detection boundary values ​​to determine whether a collision has occurred; and a control unit 44 that generates different control commands for the main robot 10 and the auxiliary axis robot 30 based on whether a collision has occurred.

[0042] The processor unit 40 performs the function of controlling the collaborative robot to stop safely by recognizing collisions occurring in the main robot 10 and / or the auxiliary axis robot 30. The following will refer to... Figure 3 and Figure 4 Provide a more detailed description.

[0043] Figure 3 The structure of a processor unit 40 according to an embodiment of the present disclosure is shown. Figure 4 This is a block diagram illustrating the concept of a collision detection function according to an embodiment of the present disclosure.

[0044] The receiving unit 41 receives signals through a communicative connection to the main robot 10, and the external force calculation unit 42 estimates the external force value required for collision detection based on the received signals. In other words, the processor unit contains an algorithm that receives data signals and estimates the external force value by using the received signals as variables.

[0045] At this time, the signal received by the receiving unit 41 may be a data signal from a joint torque sensor attached to the articulated arm of the main robot 10, or a current data signal calculated by a dynamics-based observer applied to each joint of the main robot 10. Furthermore, the received signal may be a single value or multiple values. In this case, all multiple values ​​should be used as indicators for estimating the actual external force applied to the main robot 10.

[0046] The collision determination unit 43 sets collision detection boundary values ​​for determining whether the main robot 10 has collided. The collision determination unit 43 compares the estimated external force value with the predetermined collision detection boundary value. When the estimated external force value exceeds the predetermined collision detection boundary value, a collision is determined to have occurred. When the estimated external force value does not exceed the predetermined collision detection boundary value, no collision is determined to have occurred.

[0047] At this point, the collision detection boundary value should be set appropriately so that the estimated external force value exceeds the collision detection boundary value when the main robot 10 actually collides.

[0048] According to one embodiment of this disclosure, the collision determination unit 43 applies different collision detection boundary values ​​based on the operations of the main robot 10 and the auxiliary axis robot 30. In other words, since the collision detection boundary values ​​are preset to different values ​​based on the operations of the main robot 10 or the auxiliary axis robot 30 compared to the calculated external force values, various types of collisions can be detected according to the specific operating scenario.

[0049] The collision determination unit 43 is configured with multiple modes that can be selected based on whether the main robot 10 and the auxiliary axis robot 30 are in a working state or a stationary state, wherein different collision detection boundary values ​​are applied to the multiple modes.

[0050] In other words, the collision determination unit 43 can select collision determination modes that may include a first mode and a second mode that are different from each other. In addition, the collision determination unit 43 can set a first collision detection boundary value S1 applied to the first mode and a second collision detection boundary value S2 applied to the second mode, wherein the second collision detection boundary value S2 is smaller than the first collision detection boundary value S1.

[0051] The control unit 44 generates different control commands for the main robot 10 and / or the auxiliary axis robot 30 based on the occurrence of a collision. If the collision determination unit 43 determines that a collision has occurred due to the respective movements of the main robot 10 or the auxiliary axis robot 30, the control unit 44 generates a safety stop control command to stop the main robot 10 or the auxiliary axis robot 30 performing the task, respectively. On the other hand, if the collision determination unit 43 determines that no collision has occurred based on the respective movements of the main robot 10 or the auxiliary axis robot 30, the control unit 44 generates motion control commands for the main robot 10 or the auxiliary axis robot 30 to perform the task, respectively.

[0052] In other words, the processor unit determines whether the main robot 10 has collided based on the calculated external force value, and the processor unit is equipped with an algorithm that generates different control commands according to the occurrence of the collision.

[0053] Reference Figure 4The following describes a specific implementation of one embodiment according to the present disclosure.

[0054] First, the collision determination unit 43 determines whether the main robot 10 is in a working state or a stationary state. The working state of the main robot 10 refers to the state in which the articulated arms produce multi-axis motion or tilting due to the application of control torque to the main robot 10, indicating that the main robot 10 is performing a task. On the other hand, the stationary state of the main robot 10 refers to the state in which no motion or tilting occurs due to the absence of control torque applied to the main robot 10, indicating that the main robot 10 is not performing a task.

[0055] Subsequently, the collision determination unit 43 can determine whether the additional axis robot 30 is in a working state or a stationary state. The working state of the additional axis robot 30 refers to the state in which the additional axis robot 30 produces linear forward or backward movement along the additional axis 20 due to the application of control torque. On the other hand, the stationary state of the additional axis robot 30 refers to the state in which the additional axis robot 30 does not produce linear movement due to the absence of control torque applied to it.

[0056] According to one embodiment of this disclosure, the collision determination unit 43 can select a first mode when the main robot 10 is in a working state. The collision determination unit 43 selecting the first mode compares the calculated external force value obtained by applying a predetermined first collision detection boundary value S1. When the calculated external force value is greater than the first collision detection boundary value S1, it is determined that the main robot 10 has collided; when the calculated external force value is less than the first collision detection boundary value S1, it is determined that the main robot 10 has not collided.

[0057] As described above, when the first mode is selected, the collision determination unit 43 determines whether a collision has occurred due to the movement of the main robot 10, and the determination result is shared with the control unit 44. When a collision is detected, the control unit 44 prevents the application of control torque to the main robot 10 by generating a safety stop control command for the main robot 10. On the other hand, when no collision is detected, the control unit 44 generates a motion control command for the main robot 10 to apply control torque to the main robot 10.

[0058] On the other hand, when the main robot 10 is in operation and the auxiliary axis robot 30 is stationary, it is not necessary to perform additional collision detection on the auxiliary axis robot 30. Furthermore, even when both the main robot 10 and the auxiliary axis robot 30 are in operation, that is, even when controlling both the main robot 10 and the auxiliary axis robot 30 simultaneously, if a collision is correctly detected for the main robot 10, safety stop control can be performed on both the main robot and the auxiliary axis robot 30 simultaneously.

[0059] The collision detection unit operating in the first mode can ensure the safe stop control function of the control unit 44 for the entire robot by detecting collisions with the main robot 10 alone.

[0060] Therefore, the collision determination unit 43 operating in the first mode according to an embodiment of the present disclosure may not determine the state of the auxiliary axis robot 30, but instead perform the determination of the occurrence of a collision of the main robot 10.

[0061] According to one embodiment of this disclosure, the collision determination unit 43 determines whether the auxiliary axis robot 30 is in a working state or a stationary state when the main robot 10 is in a stationary state; when the auxiliary axis robot 30 is in a working state, a second mode can be selected. The collision determination unit 43 selecting the second mode compares the calculated external force value obtained by applying the second collision detection boundary value S2.

[0062] At this time, the second collision detection boundary value S2 has a different value from the first collision detection boundary value S1, and can be set to indirectly detect collisions caused by the movement of the auxiliary axis robot 30 using the external force value calculated by the main robot 10.

[0063] Meanwhile, due to the inertia of the main robot 10, the external force of a collision caused by the movement of the auxiliary axis robot 30 can be estimated to be more sensitive than a collision that occurs when the main robot 10 is stationary. Therefore, the second collision detection boundary value S2 according to an embodiment of this disclosure can be considered as an external force value estimated with higher sensitivity, and is set to be greater than the value of the first collision detection boundary value S1.

[0064] As described above, when the second mode is selected, the collision determination unit 43 determines that a collision has occurred due to the movement of the additional axis robot 30, and the determination result is shared with the control unit 44. When a collision is determined to have occurred, the control unit 44 prevents the application of control torque to the additional axis robot 30 by generating a safety stop control command for the additional axis robot 30. On the other hand, when no collision is determined to have occurred, the control unit 44 generates an action control command for the additional axis robot 30 to apply control torque to the main robot 10.

[0065] Below, refer to Figure 5 The following describes in detail a collision detection method for a collaborative robot according to embodiments of the present disclosure. It should be understood that the collision detection method for a collaborative robot described below is intended to apply in the same manner to various embodiments of the collaborative robot having the above-described collision detection function, and repeated descriptions thereof will be omitted.

[0066] Figure 5This is a flowchart illustrating a collision detection method for a collaborative robot according to an embodiment of the present disclosure, presented in chronological order.

[0067] As shown in the figure, a collision detection method for a collaborative robot according to an embodiment of the present disclosure (which is intended for use with an additional axis 20 to detect collisions between a main robot 10 and an additional axis robot 30 mounted on the collaborative robot) may include: a signal receiving step that acquires a data signal; an external force value calculation step that uses the acquired data signal as a variable to calculate an external force value; a collision determination step that determines that a collision has occurred by comparing the calculated external force value with a predetermined collision detection boundary value; and a command control step that generates different control commands based on the occurrence of a collision.

[0068] The signal receiving step receives data signals from the main robot 10, and then the external force value calculation step estimates the external force required to detect the collision based on the received signals.

[0069] At this time, the received signal can be a data signal from a joint torque sensor attached to the articulated arm of the main robot 10, or a current data signal calculated by a dynamics-based observer applied to each joint of the main robot 10. Furthermore, the received signal can be a single value or multiple values. All of these values ​​should be used as indicators to estimate the actual external force applied to the main robot 10.

[0070] The collision determination step compares the estimated external force value with a predetermined collision detection boundary value to determine whether a collision has occurred. In other words, a collision is determined to have occurred when the estimated external force value exceeds the predetermined collision detection boundary value, and a collision is determined not to have occurred when the estimated external force value does not exceed the predetermined collision detection boundary value.

[0071] According to one embodiment of the present disclosure, the collision determination step selects multiple modes based on the states of the main robot 10 and the auxiliary axis robot 30, wherein different collision detection boundary values ​​can be applied to the multiple modes.

[0072] Furthermore, according to an embodiment of the present disclosure, the collision determination step may set a first collision detection boundary value S1 applied to a first mode and a second collision detection boundary value S2 applied to a second mode, wherein the second collision detection boundary value S2 is different from the first collision detection boundary value S1.

[0073] More specifically, first, it is determined whether the main robot 10 is in a working state or a stationary state. When the main robot 10 is in a working state, a first mode is selected, and a collision caused by the movement of the main robot 10 is determined by comparing the external force value calculated by the application-predetermined first collision detection boundary value S1.

[0074] Next, it is determined whether the additional axis robot 30 is in a working state or a stationary state. More specifically, when the main robot 10 is stationary, it is determined whether the additional axis robot 30 is in a working state or a stationary state; when the additional axis robot 30 is in a working state, a second mode can be selected. A collision caused by the movement of the additional axis robot 30 is determined by comparing the external force value calculated by the application-predetermined second collision detection boundary value S2.

[0075] The command control steps generate different control commands for the main robot 10 and / or the auxiliary axis robot 30 based on the occurrence of a collision. If a collision is determined to have occurred due to the respective movements of the main robot 10 or the auxiliary axis robot 30, a safety stop control command is generated for the main robot 10 or the auxiliary axis robot 30 to stop performing the task. On the other hand, if no collision is determined based on the respective movements of the main robot 10 or the auxiliary axis robot 30, motion control commands are generated for the main robot 10 or the auxiliary axis robot 30 to perform the task.

[0076] According to the above embodiments, the collision detection function and collision detection method of the collaborative robot according to the present disclosure can indirectly perform the collision detection of the additional axis robot 30 without implementing a separate collision detection algorithm for the additional axis robot 30, but only using the collision detection function of the main robot 10.

[0077] Therefore, when building an additional axis robot 30 for collaborative robots, no additional cost is required to implement collision detection functionality, thereby improving economic efficiency and productivity.

[0078] As described above, it will be apparent to those skilled in the art that this disclosure can be implemented in other specific forms without altering the technical principles or essential characteristics of this disclosure. Therefore, the above embodiments should be considered exemplary rather than restrictive in all respects. The technical scope of this disclosure should be determined by the appended claims set forth below, rather than the detailed description above, and it should be understood that the meaning and scope of the appended claims, as well as all modifications or alterations derived from equivalent concepts of this disclosure, fall within the technical scope of this disclosure.

[0079] [Supporting National R&D Projects Published in this Publication]

[0080] Project unique number: 1415174184

[0081] Project Number: 20014398

[0082] Department Name: Ministry of Trade, Industry and Resources

[0083] Name of the (professional) project management organization: Korea Institute for Industrial Technology Evaluation

[0084] Research Project Title: Industrial Technology Innovation Project (Core Industrial Technology Development Project - Inter-ministerial Cooperation on Robot Product Technology)

[0085] Research Project Title: Development of a Kinematically Multifunctional, Easy-to-Use, Safety-Supported, Artificial Intelligence-Integratable High-Speed ​​(>5kHz) Robot Controller

[0086] Contribution ratio: 1 / 1

[0087] Project implementing organization: Neuromeka Co., Ltd.

[0088] Project period: April 1, 2021 to December 31, 2024

Claims

1. A collaborative robot with collision detection function, comprising: A main robot, wherein the main robot has multiple articulated arms; An additional shaft, the additional shaft extending to have a predetermined length; An add-on axis robot, which is mounted to move linearly on the add-on axis and enable the main robot to move along the add-on axis; as well as A processor unit that sends signals to and receives signals from the main robot and the additional axis robot. The processor unit includes: A receiving unit receives data signals from the main robot; An external force calculation unit uses the acquired data signal as a variable to calculate the external force value; and The collision determination unit compares the calculated external force value with a predetermined collision detection boundary value to determine whether a collision has occurred. The predetermined collision detection boundary values ​​include: A first collision detection boundary value, wherein the first collision detection boundary value is applied to a first mode in which the main robot is in a working state; and The second collision detection boundary value is applied to a second mode where the main robot is stationary and the additional axis robot is in operation. The second collision detection boundary value is different from the first collision detection boundary value.

2. The robot of claim 1, wherein, The second collision detection boundary value is smaller than the first collision detection boundary value.

3. The robot of claim 1, wherein, The second collision detection boundary value is greater than the first collision detection boundary value.

4. The robot of claim 1, wherein, The processor unit further includes a control unit, which generates control commands for at least one of the main robot and the additional axis robot based on whether a collision has occurred. When the external force value calculated by the control unit in the first mode exceeds the first collision detection boundary value, a work stop control command is generated for the main robot.

5. The robot of claim 1, wherein, The processor unit further includes a control unit, which generates control commands for at least one of the main robot and the additional axis robot based on whether a collision has occurred. When the external force value calculated by the control unit in the second mode exceeds the second collision detection boundary value, a work stop control command is generated for the additional axis robot.

6. The robot of claim 1, wherein, The processor unit further includes a control unit, which generates control commands for at least one of the main robot and the additional axis robot based on whether a collision has occurred. When the external force value calculated by the control unit in the first mode exceeds the first collision detection boundary value, a work stop control command is generated for the main robot and the additional axis robot.

7. A collision detection method for a collaborative robot, the collaborative robot comprising a main robot and an additional axis robot, the method comprising: Signal receiving steps: Acquire data signals; The external force value calculation step uses the acquired data signal as a variable to calculate the external force value; as well as The collision determination step determines whether a collision has occurred by comparing the calculated external force value with a predetermined collision detection boundary value. The predetermined collision detection boundary values ​​include: A first collision detection boundary value is applied to a first mode in which the main robot is in a working state. The second collision detection boundary value is applied to a second mode where the main robot is stationary and the additional axis robot is in operation. The second collision detection boundary value is different from the first collision detection boundary value.

8. The method according to claim 7, wherein, The second collision detection boundary value is smaller than the first collision detection boundary value.

9. The method according to claim 7, wherein, The second collision detection boundary value is greater than the first collision detection boundary value.

10. The method of claim 7, further comprising a command control step of generating a control command for at least one of the main robot and the additional axis robot based on whether a collision has occurred, and in, In the command control step, when the external force value calculated in the first mode exceeds the first collision detection boundary value, a work stop control command is generated for the main robot.

11. The method of claim 7, further comprising a command control step of generating a control command for at least one of the main robot and the additional axis robot based on whether a collision has occurred, and in, In the command control step, when the external force value calculated in the first mode exceeds the first collision detection boundary value, a work stop control command is generated for the main robot and the additional axis robot.

12. The method of claim 7, further comprising a command control step of generating a control command for at least one of the main robot and the additional axis robot based on whether a collision has occurred, and in, In the command control step, when the external force value calculated in the second mode exceeds the second collision detection boundary value, a work stop control command is generated for the additional axis robot.

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