Control method of cooperative six-axis robot and cooperative six-axis robot

Abstract

The invention discloses a control method of a cooperative six-axis robot and the cooperative six-axis robot, and relates to the technical field of six-axis robotics.The control method of the cooperative six-axis robot comprises the following steps that S1, a main control unit is started, system self-inspection and initialization setting are conducted, the position and angle of each joint of the robot are calibrated, and precision is ensured; the environment sensing module is used for acquiring data of the surrounding environment and obstacles of the cooperative six-axis robot in real time, so that the situation that the cooperative six-axis robot collides with the obstacles or other equipment in the using process is avoided, and through arrangement of the task planning module, the real-time control module, the feedback adjustment module and the safety monitoring module, the safety of the cooperative six-axis robot is improved. And according to the real-time change of the obstacles in the surrounding environment, the planned path is adjusted, and the use safety and the working efficiency of the cooperative six-axis robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of six-axis robots, and in particular to a control method for a collaborative six-axis robot and a collaborative six-axis robot. Background Art

[0002] A six-axis robot is a highly flexible industrial robot that is widely used in various fields of manufacturing. A six-axis robot refers to an industrial robot with six joints, each of which is driven by a motor to achieve various complex motion trajectories, enabling the robot to perform complex and precise movements in three-dimensional space.

[0003] The defects of existing six-axis robots are:

[0004] 1. Patent document US09248572B2 discloses a method for determining the axis angle of a six-axis robot and a control device for a six-axis robot. However, the above document lacks or only uses a visual sensor to measure the environmental data of the six-axis machine. Therefore, during use, obstacles cannot be identified and the only way to install the program is to move it. There are low technical problems in terms of safety and work efficiency.

[0005] 2. Patent document JP2012035329A discloses the main position of the six-axis robot and the control device of the six-axis robot in the six-axis calibration method, and the main position of the seven-axis robot and the control device of the seven-axis robot in the seven-axis calibration method. However, the above documents cannot generate a path with obstacle avoidance effect, and the generated path is single, and it is impossible to select the path with the shortest distance and the least energy consumption;

[0006] 3. Patent document KR1020130066250A discloses a device and method for controlling a 6-axis robot handle and a human ARM configuration. However, in the above document, when the 6-axis robot moves, the generated path cannot be optimized in real time, especially when encountering a movable obstacle, which easily causes a technical problem of collision between the 6-axis robot and the obstacle;

[0007] 4. Patent document CN103786155B discloses a method for programming and controlling the motion trajectory of a six-axis serial robot. However, the above document fails to optimize and adjust the set motion trajectory of the six-axis serial robot. When encountering an obstacle, the robot cannot quickly enter a safe shutdown or safety mode. Moving the six-axis serial robot will increase the collision force. Summary of the invention

[0008] The purpose of the present invention is to provide a control method of a collaborative six-axis robot and a collaborative six-axis robot to solve the technical problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solution: a control method for a collaborative six-axis robot, wherein the control steps of the collaborative six-axis robot are as follows:

[0010] Step S1, start the main control unit, perform system self-check and initialization settings, and calibrate the position and angle of each joint of the robot to ensure accuracy;

[0011] Step S2: Use the environment perception module to obtain the environmental information of the working area, including the location and shape of obstacles, the location of the starting point of the collaborative six-axis robot, and the location data of the target point, and perform real-time monitoring in the subsequent working process;

[0012] Step S3, using the task planning module to complete path planning and trajectory generation by using an algorithm according to the position shape of the obstacle, the position of the starting point of the collaborative six-axis robot and the position data of the target point obtained from step S2;

[0013] Step S4, using the real-time control module to control the collaborative six-axis robot to move along the planned path according to the real-time path obtained by the task planning module in step S2;

[0014] Step S5: When the six-axis robot moves along the planned path, the feedback adjustment module receives the environmental data changes detected by the environmental perception module in real time, determines whether it is safe for the collaborative six-axis robot to move along the planned path, and sends optimization adjustment instructions to the real-time control module in real time, thereby adjusting the planned path.

[0015] Step S6: The safety monitoring module is used to monitor and display the operating status, fault information, power supply and working environment parameter information of the collaborative six-axis robot in real time, and take emergency measures and data transmission when a fault is detected.

[0016] Preferably, the environmental perception module in step S2 includes a visual sensor, a lidar sensor and a position sensor. The lidar sensor is used to obtain accurate distance and three-dimensional information, the visual sensor is used to obtain rich image information such as color and texture, and the position sensor is used to obtain the position information of each joint of the collaborative six-axis robot in real time. The three complement each other to construct a complete environmental data model.

[0017] Preferably, the task planning module in step S3 includes an inverse kinematics algorithm and a path planning algorithm. The inverse kinematics algorithm is used to call the inverse kinematics algorithm to calculate the target angle of each joint according to the target position and posture of the end effector, and control the robot to move to the corresponding position. The inverse kinematics algorithm formula is as follows:

[0018]

[0019] Among them, τ i is the i-th joint torque vector, M(q i ) represents the i-th mass matrix, represents the angular acceleration vector of the i-th joint, represents the i-th Coriolis force and centrifugal force term, represents the angular velocity vector of the i-th joint, G(q i ) represents the i-th gravity vector, J T (q i ) represents the transpose of the i-th Jacobian matrix, F ext Represents the external force vector.

[0020] Preferably, the path planning algorithm generates a path from the starting point to the target point based on the acquired environmental data model, and determines whether the planned path meets the obstacle avoidance requirements based on the position and shape of the obstacles in the environmental data model, and selects the path with the shortest distance and the least energy consumption on the premise of meeting the obstacle avoidance requirements.

[0021] Preferably, the real-time control module in step S4 includes a drive processor, a PLC controller, an actuator and a force sensor. The drive processor sends a control instruction to the PLC controller according to the acquired path data. The PLC controller regulates the actuator to drive the collaborative six-axis robot to move according to the control instruction. The force sensor is used to sense the contact force between the end effector of the collaborative six-axis robot and the external environment to ensure that no harm is caused to humans or the environment during the collaboration process.

[0022] Preferably, the feedback adjustment module in step S5 includes a risk prediction module and an optimization adjustment module. In the process of acquiring the real-time environmental data model, the risk prediction module detects that there are obstacles in the environmental data model that are constantly moving, and predicts multiple moving trajectories of the obstacle based on the movement law of the obstacle, and determines whether the moving trajectory of the obstacle collides with the planned path.

[0023] Preferably, the optimization adjustment module is used to optimize and adjust the paths at the positions and angles where the risk prediction module predicts that a collision will occur, obtain multiple groups of optimized adjustment paths, and send the optimized adjustment paths to the real-time control module, and adjust and select the optimized paths in real time according to the real-time movement data of subsequent obstacles after receiving the data sent by the risk prediction module.

[0024] When it is detected that the distance between the moving obstacle and the joint of the collaborative six-axis robot reaches the threshold, that is, when the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path to ensure that it can achieve the obstacle avoidance effect for movable objects while reducing the path distance and energy consumption.

[0025] Preferably, the safety monitoring module in step S6 includes a system data display module, a fault warning module, an emergency processing module and a communication module. The system data display module is used to display the operating status, fault information and key parameter information of the power supply of the collaborative six-axis robot. The fault warning module is used to immediately issue a warning signal when a system failure or potential risk is detected. The emergency processing module is used to ensure that the collaborative six-axis robot can be safely shut down or enter a safe mode. The communication module is used to communicate with the remote monitoring center in real time to ensure the rapid transmission of information and the accurate execution of instructions.

[0026] Preferably, a collaborative six-axis robot comprises a joint axis, a first connecting axis and a second connecting axis, wherein the joint axis comprises a base rotating axis, a shoulder rotating axis, a large arm driving axis, a small arm driving axis, a wrist flip axis and a gripper rotating axis, wherein the base rotating axis is used to provide the robot with a function of 360-degree rotation around the base, the shoulder rotating axis is used to adjust the angle and orientation of the robot arm, the large arm driving axis is used to adjust the angle and orientation of the large arm, the small arm driving axis is used to adjust the angle and orientation of the small arm, the wrist flip axis is used to adjust the angle and orientation of the wrist, the gripper rotating axis is used to drive the gripper to rotate, and one side of the base rotating axis is connected to a control cabinet via a cable;

[0027] The arm includes a first connecting axis, a large arm driving axis, a second connecting axis, a small arm driving axis, a wrist turning axis and a gripper rotating axis;

[0028] The boom comprises a boom drive shaft and a second connecting shaft.

[0029] Preferably, the joint shafts are driven by a servo motor, a reducer is installed at the output end of the servo motor, and the reducer is installed between the servo motor and the joint shaft. The reducer is used to reduce the no-load of the servo motor, thereby stabilizing the operating performance of the machine and reducing vibration and noise.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention uses an environmental perception module to obtain data about the surrounding environment and obstacles of the collaborative six-axis robot in real time, thereby avoiding collisions with obstacles or other equipment during the use of the collaborative six-axis robot. Through the settings of a task planning module, a real-time control module, a feedback adjustment module, and a safety monitoring module, the planned path is adjusted according to the real-time changes of obstacles in the surrounding environment, thereby improving the safety and work efficiency of the collaborative six-axis robot.

[0032] 2. The present invention generates a path that satisfies the obstacle avoidance effect according to the real-time acquired environmental data model, the starting point position and the target point position through the setting of the path planning algorithm, and selects the path with the shortest distance and the least energy consumption among the generated paths. Through the setting of the inverse kinematics algorithm, the corresponding joint adjustment angle is calculated according to the required position and posture of the end effector of the collaborative six-axis robot, thereby achieving the effect of improving work efficiency and reducing energy consumption;

[0033] 3. In the process of the collaborative six-axis robot working, the present invention uses the environment perception module to monitor the movement of obstacles through the setting of the risk prediction module, predicts the movement of obstacles through the risk prediction module, and determines the position where the continuously moving obstacle overlaps and collides with the planned path. The prediction data of the risk prediction module is received in real time through the optimization and adjustment module, and the planned path is optimized and adjusted according to the prediction data, and the original path is maintained for movement. When the distance between the obstacle and the joint of the collaborative six-axis robot reaches a threshold, that is, when the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path, so as to ensure that it can achieve the obstacle avoidance effect for movable objects while reducing the path distance and reducing energy consumption;

[0034] 4. The present invention uses a data display module to display various types of data in real time, a fault warning module to immediately issue a warning signal when a system failure or potential risk is detected, and an emergency processing module to safely shut down the collaborative six-axis robot or enter a safe mode when the collaborative six-axis robot is about to collide with an obstacle and the optimized and adjusted rear path will also collide, so as to prevent the movement of the collaborative six-axis robot from increasing the collision force. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the workflow of the present invention;

[0036] Figure 2 It is a schematic diagram of the module structure flow of the present invention;

[0037] Figure 3 This is a schematic diagram of an environment perception module of the present invention;

[0038] Figure 4 It is a schematic diagram of a task planning module of the present invention;

[0039] Figure 5 It is a schematic diagram of a feedback adjustment module of the present invention;

[0040] Figure 6 It is a schematic diagram of the three-dimensional structure of the collaborative six-axis robot of the present invention.

[0041] In the figure: 1. base rotation axis; 2. shoulder rotation axis; 3. arm drive axis; 4. wrist drive axis; 5. wrist flip axis; 6. gripper rotation axis; 7. first connecting axis; 8. second connecting axis; 9. control cabinet. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments 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.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example 1: Please refer to Figure 1 , Figure 2 and Figure 3 , an embodiment provided by the present invention: a control method for a collaborative six-axis robot, the control steps of the collaborative six-axis robot are as follows:

[0046] Step S1, start the main control unit, perform system self-check and initialization settings, and calibrate the position and angle of each joint of the robot to ensure accuracy;

[0047] Step S2: Use the environment perception module to obtain the environmental information of the working area, including the location and shape of obstacles, the location of the starting point of the collaborative six-axis robot, and the location data of the target point, and perform real-time monitoring in the subsequent working process;

[0048] Step S3, using the task planning module to complete path planning and trajectory generation by using an algorithm according to the position shape of the obstacle, the position of the starting point of the collaborative six-axis robot and the position data of the target point obtained from step S2;

[0049] Step S4, using the real-time control module to control the collaborative six-axis robot to move along the planned path according to the real-time path obtained by the task planning module in step S2;

[0050] Step S5: When the six-axis robot moves along the planned path, the feedback adjustment module receives the environmental data changes detected by the environmental perception module in real time, determines whether it is safe for the collaborative six-axis robot to move along the planned path, and sends optimization adjustment instructions to the real-time control module in real time, thereby adjusting the planned path.

[0051] Step S6: The safety monitoring module is used to monitor and display the operating status, fault information, power supply quantity and working environment parameter information of the collaborative six-axis robot in real time, and take emergency treatment and data transmission when a fault is detected;

[0052] In step S2, the environment perception module includes a visual sensor, a laser radar sensor and a position sensor. The laser radar sensor is used to obtain accurate distance and three-dimensional information, and the visual sensor is used to obtain rich image information such as color and texture. The two complement each other to build a complete environment data model. The position sensor is used to obtain the position information of each joint of the collaborative six-axis robot in real time. The three complement each other to build a complete environment data model.

[0053] Furthermore, by using the environmental perception module to obtain data on the surrounding environment and obstacles of the collaborative six-axis robot in real time, collisions with obstacles or other equipment during the use of the collaborative six-axis robot can be avoided. Through the setting of the task planning module, real-time control module, feedback adjustment module, and safety monitoring module, the planned path can be adjusted according to the real-time changes of obstacles in the surrounding environment, thereby improving the safety of use and work efficiency of the collaborative six-axis robot.

[0054] Example 2: Please refer to Figure 1 , Figure 2 and Figure 4 , an embodiment provided by the present invention: in step S3, the task planning module includes an inverse kinematics algorithm and a path planning algorithm. The inverse kinematics algorithm is used to call the inverse kinematics algorithm to calculate the target angle of each joint according to the target position and posture of the end effector, and control the robot to move to the corresponding position. The inverse kinematics algorithm formula is as follows:

[0055]

[0056] Among them, τ i is the i-th joint torque vector, M(q i ) represents the i-th mass matrix, represents the angular acceleration vector of the i-th joint, represents the i-th Coriolis force and centrifugal force term, represents the angular velocity vector of the i-th joint, G(q i ) represents the i-th gravity vector, J T (q i ) represents the transpose of the i-th Jacobian matrix, F ext represents the external force vector;

[0057] The path planning algorithm generates a path from the starting point to the target point based on the acquired environmental data model, and determines whether the planned path meets the obstacle avoidance requirements based on the position and shape of the obstacles in the environmental data model. On the premise of meeting the obstacle avoidance requirements, the path with the shortest distance and the least energy consumption is selected;

[0058] Furthermore, through the setting of the path planning algorithm, a path that meets the obstacle avoidance effect is generated according to the real-time acquired environmental data model, the starting point position and the target point position, and the path with the shortest distance and the least energy consumption among the generated paths is selected. Through the setting of the inverse kinematics algorithm, the corresponding joint adjustment angle is calculated according to the required position and posture of the end effector of the collaborative six-axis robot, thereby achieving the effect of improving work efficiency while reducing energy consumption.

[0059] Example 3: Please refer to Figure 1 and Figure 2 , an embodiment provided by the present invention: in step S4, the real-time control module includes a drive processor, a PLC controller, an actuator and a force sensor, the drive processor sends a control instruction to the PLC controller according to the acquired path data, the PLC controller controls the actuator to drive the collaborative six-axis robot to move according to the control instruction, and the force sensor is used to sense the contact force between the end effector of the collaborative six-axis robot and the external environment to ensure that no harm is caused to humans or the environment during the collaboration process;

[0060] Furthermore, the relevant path data and the corresponding joint adjustment angles are obtained through the drive processor, and the adjustment force is sent to the PLC controller. The PLC controller controls the actuator to complete the movement trajectory operation of the collaborative six-axis robot. The force sensor is used to monitor the contact force between the end effector of the six-axis robot and the external environment in real time to avoid damage caused by excessive contact force.

[0061] Example 4: Please refer to Figure 1 , Figure 2 and Figure 5, an embodiment provided by the present invention: in step S5, the feedback adjustment module includes a risk prediction module and an optimization adjustment module. In the process of acquiring the real-time environment data model, the risk prediction module detects that there is an obstacle in the environment data model that is constantly moving, and predicts multiple movement trajectories of the obstacle according to the movement law of the obstacle, and determines whether the movement trajectory of the obstacle collides with the planned path;

[0062] The optimization and adjustment module is used to optimize and adjust the paths at the positions and angles where the risk prediction module predicts that a collision will occur, obtain multiple groups of optimized adjustment paths, and send the optimized adjustment paths to the real-time control module, and adjust and select the optimized paths in real time according to the real-time movement data of subsequent obstacles after receiving the data sent by the risk prediction module.

[0063] When it is detected that the distance between the moving obstacle and the joint of the collaborative six-axis robot reaches the threshold, that is, when the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path to ensure that it can achieve the obstacle avoidance effect for movable objects while reducing the path distance and energy consumption;

[0064] Furthermore, through the setting of the risk prediction module, during the operation of the collaborative six-axis robot, the environmental perception module is used to monitor the movement of obstacles, the movement of the obstacle is predicted through the risk prediction module, and it is determined that the continuously moving obstacle and the planned path have an overlapping and colliding position, the risk prediction module prediction data is received in real time through the optimization and adjustment module, the planned path is optimized and adjusted according to the prediction data, and the original path is maintained for movement. When the distance between the obstacle and the joint of the collaborative six-axis robot reaches the threshold, that is, the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path, to ensure that it achieves the obstacle avoidance effect for movable objects while reducing the path distance and reducing energy consumption.

[0065] Example 5: Please refer to Figure 1 and Figure 2 , an embodiment provided by the present invention: in step S6, the safety monitoring module includes a system data display module, a fault warning module, an emergency processing module and a communication module, the system data display module is used to display the operation status, fault information and key parameter information of the power supply of the collaborative six-axis robot, the fault warning module is used to immediately send out a warning signal when a system fault or potential risk is detected, the emergency processing module is used to ensure that the collaborative six-axis robot can be safely shut down or enter a safe mode, and the communication module is used to communicate with the remote monitoring center in real time to ensure the rapid transmission of information and the accurate execution of instructions;

[0066] Furthermore, the data display module is used to display various data in real time, the fault warning module is used to immediately send out a warning signal when a system fault or potential risk is detected, and the emergency processing module is used to safely shut down the collaborative six-axis robot or enter a safe mode when the collaborative six-axis robot is about to collide with an obstacle and the optimized and adjusted rear path will also collide, so as to prevent the movement of the collaborative six-axis robot from increasing the collision force;

[0067] Example 6: Please refer to Figure 6 , an embodiment provided by the present invention: a collaborative six-axis robot, including a joint axis, a first connecting axis 7 and a second connecting axis 8, the joint axis including a base rotating axis 1, a shoulder rotating axis 2, a large arm driving axis 3, a small arm driving axis 4, a wrist flip axis 5 and a gripper rotating axis 6, the base rotating axis 1 is used to provide the robot with a function of 360-degree rotation around the base, the shoulder rotating axis 2 is used to adjust the angle and orientation of the robot arm, the large arm driving axis 3 is used to adjust the angle and orientation of the large arm, the small arm driving axis 4 is used to adjust the angle and orientation of the small arm, the wrist flip axis 5 is used to adjust the angle and orientation of the wrist, the gripper rotating axis 6 is used to drive the gripper to rotate, and one side of the base rotating axis 1 is connected to a control cabinet 9 through a cable;

[0068] The arm includes a first connecting axis 7, an upper arm driving axis 3, a second connecting axis 8, a lower arm driving axis 4, a wrist turning axis 5 and a gripper rotating axis 6;

[0069] The boom includes a boom drive shaft 3 and a second connecting shaft 8;

[0070] The joint shafts are driven by servo motors. A reducer is installed at the output end of the servo motor, and the reducer is installed between the servo motor and the joint shaft. The reducer is used to reduce the no-load of the servo motor, thereby stabilizing the operating performance of the machine and reducing vibration and noise.

[0071] Furthermore, by setting up servo motors and reducers, the working range and moving speed of each joint axis are improved, thereby ensuring the working efficiency and moving flexibility of the collaborative six-axis robot.

[0072]

[0073]

[0074] Working principle: By using the environmental perception module to obtain the data of the surrounding environment and obstacles of the collaborative six-axis robot in real time, it can avoid collisions with obstacles or other equipment during the use of the collaborative six-axis robot. Through the settings of the task planning module, real-time control module, feedback adjustment module, and safety monitoring module, the planned path is adjusted according to the real-time changes of obstacles in the surrounding environment to improve the safety and work efficiency of the collaborative six-axis robot. Through the setting of the path planning algorithm, according to the real-time acquired environmental data model, starting point position and target point position, a path that meets the obstacle avoidance effect is generated, and the path with the shortest distance and the least energy consumption in the generated path is selected. Through the setting of the inverse kinematics algorithm, according to the required position and posture of the end effector of the collaborative six-axis robot, the corresponding joint adjustment angle is calculated, so as to achieve the effect of improving work efficiency and reducing energy consumption. The relevant path data and the corresponding joint adjustment angle are obtained by the drive processor, and the adjustment force is sent to the PLC controller. The actuator is controlled by the PLC controller to complete the movement trajectory operation of the collaborative six-axis robot. The force sensor is used to monitor the contact force between the end effector of the six-axis robot and the external environment in real time to avoid damage caused by excessive contact force. The risk prediction module is set in the collaborative During the operation of the six-axis robot, the environment perception module is used to monitor the movement of obstacles, the movement of obstacles is predicted through the risk prediction module, and the position where the continuously moving obstacles overlap and collide with the planned path is determined. The prediction data of the risk prediction module is received in real time through the optimization and adjustment module, and the planned path is optimized and adjusted according to the prediction data, and the original path is maintained for movement. When the distance between the obstacle and the joint of the collaborative six-axis robot reaches the threshold, that is, when the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path, ensuring that it can achieve the obstacle avoidance effect for movable objects while reducing the path. The data display module is used to display various data in real time. The fault warning module is used to immediately issue a warning signal when a system fault or potential risk is detected. The emergency processing module is used to safely shut down the collaborative six-axis robot or enter a safe mode when the collaborative six-axis robot is about to collide with an obstacle and the optimized and adjusted rear path will also collide, so as to prevent the movement of the collaborative six-axis robot from increasing the collision force. The servo motor 9 and the reducer 10 are set to improve the working range and moving speed of each joint axis, thereby ensuring the working efficiency and mobile flexibility of the collaborative six-axis robot.

[0075] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A control method for a collaborative six-axis robot, characterized in that: The control steps of the collaborative six-axis robot are as follows: Step S1, start the main control unit, perform system self-check and initialization settings, and calibrate the position and angle of each joint of the robot to ensure accuracy; Step S2: Use the environment perception module to obtain the environmental information of the working area, including the location and shape of obstacles, the location of the starting point of the collaborative six-axis robot, and the location data of the target point, and perform real-time monitoring in the subsequent working process; Step S3, using the task planning module to complete path planning and trajectory generation by using an algorithm according to the position shape of the obstacle, the position of the starting point of the collaborative six-axis robot and the position data of the target point obtained from step S2; Step S4, using the real-time control module to control the collaborative six-axis robot to move along the planned path according to the real-time path obtained by the task planning module in step S2; Step S5: When the six-axis robot moves along the planned path, the feedback adjustment module receives the environmental data changes detected by the environmental perception module in real time, determines whether it is safe for the collaborative six-axis robot to move along the planned path, and sends optimization adjustment instructions to the real-time control module in real time, thereby adjusting the planned path. Step S6: The safety monitoring module is used to monitor and display the operating status, fault information, power supply and working environment parameter information of the collaborative six-axis robot in real time, and take emergency measures and data transmission when a fault is detected.

2. The control method of a collaborative six-axis robot according to claim 1, characterized in that: The environmental perception module in step S2 includes a visual sensor, a lidar sensor and a position sensor. The lidar sensor is used to obtain accurate distance and three-dimensional information, the visual sensor is used to obtain rich image information such as color and texture, and the position sensor is used to obtain the position information of each joint of the collaborative six-axis robot in real time. The three complement each other to construct a complete environmental data model.

3. The control method of a collaborative six-axis robot according to claim 1, characterized in that: The task planning module in step S3 includes an inverse kinematics algorithm and a path planning algorithm. The inverse kinematics algorithm is used to call the inverse kinematics algorithm to calculate the target angle of each joint according to the target position and posture of the end effector, and control the robot to move to the corresponding position. The inverse kinematics algorithm formula is as follows: Among them, τ i is the i-th joint torque vector, M(q i ) represents the i-th mass matrix, represents the angular acceleration vector of the i-th joint, represents the i-th Coriolis force and centrifugal force term, represents the angular velocity vector of the i-th joint, G(q i ) represents the i-th gravity vector, J T (q i ) represents the transpose of the i-th Jacobian matrix, F ext Represents the external force vector.

4. The control method of a collaborative six-axis robot according to claim 3, characterized in that: The path planning algorithm generates a path from the starting point to the target point based on the acquired environmental data model, and determines whether the planned path meets the obstacle avoidance requirements based on the position and shape of the obstacles in the environmental data model, and selects the path with the shortest distance and the least energy consumption on the premise of meeting the obstacle avoidance requirements.

5. The control method of a collaborative six-axis robot according to claim 1, characterized in that: The real-time control module in step S4 includes a drive processor, a PLC controller, an actuator and a force sensor. The drive processor sends a control instruction to the PLC controller according to the acquired path data. The PLC controller regulates the actuator according to the control instruction to drive the collaborative six-axis robot to move. The force sensor is used to sense the contact force between the end effector of the collaborative six-axis robot and the external environment to ensure that no harm is caused to humans or the environment during the collaboration process.

6. The control method of a collaborative six-axis robot according to claim 1, characterized in that: The feedback adjustment module in step S5 includes a risk prediction module and an optimization adjustment module. In the process of acquiring the real-time environmental data model, the risk prediction module detects that there are obstacles in the environmental data model that are constantly moving, and predicts multiple moving trajectories of the obstacle based on the movement law of the obstacle, and determines whether the moving trajectory of the obstacle collides with the planned path.

7. The control method of a collaborative six-axis robot according to claim 6, characterized in that: The optimization and adjustment module is used to optimize and adjust the paths at the positions and angles where the risk prediction module predicts that a collision will occur, obtain multiple groups of optimized and adjusted paths, and send the optimized and adjusted paths to the real-time control module, and adjust and select the optimized paths in real time according to the real-time movement data of subsequent obstacles after receiving the data sent by the risk prediction module. When it is detected that the distance between the moving obstacle and the joint of the collaborative six-axis robot reaches the threshold, that is, when the distance is less than or equal to 50 cm, the collaborative six-axis robot is driven to move according to the optimized and adjusted planned path to ensure that it can achieve the obstacle avoidance effect for movable objects while reducing the path distance and energy consumption.

8. The control method of a collaborative six-axis robot according to claim 1, characterized in that: The safety monitoring module in step S6 includes a system data display module, a fault warning module, an emergency processing module and a communication module. The system data display module is used to display the operating status, fault information and key parameter information of the power supply of the collaborative six-axis robot. The fault warning module is used to immediately issue a warning signal when a system fault or potential risk is detected. The emergency processing module is used to ensure that the collaborative six-axis robot can be safely shut down or enter a safe mode. The communication module is used to communicate with the remote monitoring center in real time to ensure the rapid transmission of information and the accurate execution of instructions.

9. A collaborative six-axis robot, applicable to the control method of a collaborative six-axis robot according to claims 1 to 8, comprising a joint axis, a first connecting axis (7) and a second connecting axis (8), characterized in that: The joint axis comprises a base rotation axis (1), a shoulder rotation axis (2), an upper arm drive axis (3), a lower arm drive axis (4), a wrist flip axis (5) and a gripper rotation axis (6); the base rotation axis (1) is used to provide the robot with a function of rotating 360 degrees around the base; the shoulder rotation axis (2) is used to adjust the angle and orientation of the robot arm; the upper arm drive axis (3) is used to adjust the angle and orientation of the upper arm; the lower arm drive axis (4) is used to adjust the angle and orientation of the lower arm; the wrist flip axis (5) is used to adjust the angle and orientation of the wrist; the gripper rotation axis (6) is used to drive the gripper to rotate; one side of the base rotation axis (1) is connected to a control cabinet (9) via a cable; The arm comprises a first connecting shaft (7), a large arm driving shaft (3), a second connecting shaft (8), a small arm driving shaft (4), a wrist turning shaft (5) and a clamping claw rotating shaft (6); The boom comprises a boom drive shaft (3) and a second connecting shaft (8).

10. The control method of a collaborative six-axis robot and the collaborative six-axis robot according to claim 9, characterized in that: The joint shafts are driven by a servo motor, a reducer is installed at the output end of the servo motor, and the reducer is installed between the servo motor and the joint shaft. The reducer is used to reduce the no-load of the servo motor, thereby stabilizing the operating performance of the machine and reducing vibration and noise.

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