Mechanical arm sudden stop control method and device

Abstract

The invention discloses a mechanical arm sudden stop control method and device, a mechanical arm comprises a state monitoring assembly, a controller assembly, a circuit breaker assembly and a brake assembly, and the method comprises the following steps that the real-time operation state of the mechanical arm is obtained based on the state monitoring assembly, and the real-time operation state comprises the load, the speed, the acceleration and the motion range; the real-time operation state of the mechanical arm is received based on the controller assembly, whether parameters in the real-time operation state are larger than corresponding preset sudden stop threshold values or not is judged, and the preset sudden stop threshold values are safety range extreme values of the operation state parameters of the mechanical arm; and when any real-time operation state parameter value of the mechanical arm is larger than the corresponding preset sudden stop threshold value, the controller assembly controls the circuit breaker assembly to cut off a power source of the mechanical arm, and controls the brake assembly to lock the mechanical arm in a preset mode, so that the mechanical arm decelerates to stop. The preset mode comprises software rapid sudden stop, software normal sudden stop, normal braking and / or power supply cutting.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm control, and in particular to a robot arm emergency stop control method and device. Background Art

[0002] Current robotic arm equipment often comes with an emergency stop device to ensure safety during operation. When an emergency stop signal is received, the system will immediately cut off the main power supply, causing the robotic arm to stop moving. Traditionally, the emergency stop circuit of the robotic arm is mainly implemented by physical means, such as using a safety relay or a power-off switch. However, many existing emergency stop devices have their own problems. For example, for an emergency stop device triggered by humans, an accident may occur due to delayed response by the operator; or due to a sudden interruption of the power supply, the robotic arm may not be able to stop in time and cause harm to personnel or equipment; when the power supply is suddenly cut off, it may also cause damage to the electronic equipment inside the robotic arm; this hard stop method will cause the robotic arm to produce motion errors when it stops suddenly, thereby affecting the accuracy and overall performance of the robotic arm. In addition, most of the existing systems cannot automatically trigger the emergency stop circuit according to the real-time status of the robotic arm, resulting in the inability to reduce damage in time in an emergency. Summary of the invention

[0003] The purpose of an embodiment of the present invention is to provide a robot arm emergency stop control method and device, which obtains the real-time state parameters of the robot arm and controls the robot arm to perform an emergency stop according to the type and range of the abnormal state parameters when any state parameter exceeds the normal threshold range, so as to improve the safety and stability of the robot arm's operating state adjustment.

[0004] To solve the above technical problems, a first aspect of an embodiment of the present invention provides a method for controlling an emergency stop of a robot arm, wherein the robot arm comprises: a state monitoring component, a controller component, a breaker component and a brake component, and comprises the following steps:

[0005] Acquire the real-time operation status of the robot arm based on the state detection component, wherein the real-time operation status includes: load, speed, acceleration and motion range;

[0006] Based on the controller component receiving the real-time operating state of the robotic arm, it is determined whether each parameter in the real-time operating state is greater than a corresponding preset emergency stop threshold value, wherein the preset emergency stop threshold value is an extreme value of a safety range of the operating state parameter of the robotic arm;

[0007] When any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, the controller component controls the breaker component to cut off the power supply of the robotic arm, and controls the brake component to lock the robotic arm in a preset mode, so that the robotic arm decelerates to a stop, wherein the preset mode includes: software quick emergency stop, software normal emergency stop, normal braking and / or power cut off.

[0008] Furthermore, the mechanical arm further comprises a manual control switch electrically connected to the controller component, and after the state detection component obtains the real-time operating state of the mechanical arm, it further comprises:

[0009] Acquiring a manual control signal of the manual control switch;

[0010] According to the manual control signal, the brake assembly is controlled to cut off the power supply mode to control the robot arm to stop.

[0011] Furthermore, before the state detection component acquires the real-time operation state of the robotic arm, it also includes:

[0012] Acquiring historical operation status data of the robotic arm based on the controller component;

[0013] Compare each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory;

[0014] If the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the brake assembly is controlled to lock the robotic arm.

[0015] Further, controlling the brake assembly to lock the mechanical arm in a preset mode comprises:

[0016] When the load parameter value exceeds a load threshold, the robot arm is controlled to decelerate to a stop according to a first preset deceleration curve based on the brake assembly;

[0017] When the speed parameter value exceeds the speed threshold, the mechanical arm is controlled to decelerate to a stop according to a second preset deceleration curve based on the brake assembly;

[0018] When the acceleration parameter value exceeds the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a third preset deceleration curve based on the brake assembly;

[0019] When the motion range parameter value exceeds a range threshold, the robot arm is controlled to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly.

[0020] Further, when the load parameter value is greater than a first preset multiple of the load threshold, the mechanical arm is controlled to decelerate to a stop according to a heavy load mode of a first preset deceleration curve based on the brake component; when the load parameter value is greater than the load threshold and less than or equal to the first preset multiple of the load threshold, the mechanical arm is controlled to decelerate to a stop according to a light load mode of a first preset deceleration curve based on the brake component;

[0021] When the speed parameter value is greater than a second preset multiple of the speed threshold, the mechanical arm is controlled to decelerate to a stop in a high-speed mode according to a second preset deceleration curve based on the brake assembly; when the speed parameter value is greater than the speed threshold and less than or equal to the second preset multiple of the speed threshold, the mechanical arm is controlled to decelerate to a stop in a low-speed mode according to a second preset deceleration curve based on the brake assembly;

[0022] When the acceleration parameter value is greater than a third preset multiple of the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a high acceleration mode of a third preset deceleration curve based on the brake assembly; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a low acceleration mode of a third preset deceleration curve based on the brake assembly;

[0023] When the motion range parameter value is greater than a fourth preset multiple of the range threshold, the mechanical arm is controlled to decelerate to a stop in a large-range mode according to a fourth preset deceleration curve based on the brake assembly; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the mechanical arm is controlled to decelerate to a stop in a small-range mode according to a fourth preset deceleration curve based on the brake assembly;

[0024] Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

[0025] Accordingly, a second aspect of an embodiment of the present invention provides a robotic arm emergency stop control system, wherein the robotic arm comprises: a state monitoring component, a controller component, a breaker component and a brake component, including:

[0026] A real-time state acquisition module, which is used to acquire the real-time operation state of the mechanical arm based on the state detection component, and the real-time operation state includes: load, speed, acceleration and motion range;

[0027] A real-time status judgment module, which is used to determine whether each parameter in the real-time operating state is greater than a corresponding preset emergency stop threshold value based on the real-time operating state of the robot arm received by the controller component, and the preset emergency stop threshold value is a safety range extreme value of the operating state parameter of the robot arm;

[0028] An emergency stop control module is used to control the breaker component to cut off the power supply of the robotic arm based on the controller component when any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, and control the brake component to lock the robotic arm in a preset mode to decelerate the robotic arm to stop, wherein the preset mode includes: software rapid emergency stop, software normal emergency stop, normal braking and / or power cut off.

[0029] Furthermore, the robotic arm further comprises a manual control switch electrically connected to the controller assembly, and further comprises:

[0030] The manual switch control module obtains the manual control signal of the manual control switch, and controls the brake assembly according to the manual control signal to cut off the power supply to control the robot arm to stop moving.

[0031] Furthermore, it also includes: a historical data acquisition module, the historical data acquisition module includes:

[0032] A historical data acquisition unit, which is used to acquire historical operating status data of the robotic arm based on the controller component;

[0033] A historical data comparison unit, which is used to compare each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory;

[0034] When the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the emergency stop control module controls the brake assembly to lock the robotic arm.

[0035] Furthermore, the emergency stop control module includes:

[0036] a first emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a first preset deceleration curve based on the brake assembly when the load parameter value exceeds a load threshold;

[0037] a second emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a second preset deceleration curve based on the brake assembly when the speed parameter value exceeds a speed threshold;

[0038] a third emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a third preset deceleration curve based on the brake assembly when the acceleration parameter value exceeds the acceleration threshold;

[0039] A fourth emergency stop control unit is used to control the robot arm to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly when the motion range parameter value exceeds the range threshold.

[0040] Further, when the load parameter value is greater than a first preset multiple of the load threshold, the first emergency stop control unit controls the robot arm to decelerate to a stop according to a first preset deceleration curve heavy load mode based on the brake assembly; when the load parameter value is greater than the load threshold and less than or equal to the first preset multiple of the load threshold, the first emergency stop control unit controls the robot arm to decelerate to a stop according to a first preset deceleration curve light load mode based on the brake assembly;

[0041] When the speed parameter value is greater than a second preset multiple of the speed threshold, the second emergency stop control unit controls the mechanical arm to decelerate to a stop according to a second preset deceleration curve high-speed mode based on the brake assembly; when the speed parameter value is greater than the speed threshold and less than or equal to the second preset multiple of the speed threshold, the second emergency stop control unit controls the mechanical arm to decelerate to a stop according to a second preset deceleration curve low-speed mode based on the brake assembly;

[0042] When the acceleration parameter value is greater than the third preset multiple of the acceleration threshold, the third emergency stop control unit controls the mechanical arm to decelerate to a stop according to a third preset deceleration curve high acceleration mode based on the brake assembly; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the third emergency stop control unit controls the mechanical arm to decelerate to a stop according to a third preset deceleration curve low acceleration mode based on the brake assembly;

[0043] When the motion range parameter value is greater than a fourth preset multiple of the range threshold, the fourth emergency stop control unit controls the mechanical arm to decelerate to a stop in a fourth preset deceleration curve large-range mode based on the brake assembly; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the fourth emergency stop control unit controls the mechanical arm to decelerate to a stop in a fourth preset deceleration curve small-range mode based on the brake assembly;

[0044] Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

[0045] Correspondingly, a third aspect of an embodiment of the present invention provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes the above-mentioned robot arm emergency stop control method.

[0046] Correspondingly, a fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, which implement the above-mentioned robot arm emergency stop control method when executed by a processor.

[0047] The above technical solution of the embodiment of the present invention has the following beneficial technical effects:

[0048] 1. By obtaining the real-time status parameters of the robot arm, and when any status parameter exceeds the normal threshold range, the robot arm is controlled to make an emergency stop according to the type and range of the abnormal status parameter, so as to improve the safety and stability of the robot arm's operating status adjustment;

[0049] 2. Monitor the operating status of the robot arm in real time, and determine whether emergency stop control is needed by judging the numerical range of the robot arm's status parameters, thereby avoiding the reaction delay problem caused by manual emergency stop control and improving the safety of the robot arm system control. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flow chart of a robotic arm emergency stop control method provided by an embodiment of the present invention;

[0051] Figure 2 It is a module block diagram of a robotic arm emergency stop control device provided by an embodiment of the present invention;

[0052] Figure 3 is a block diagram of an emergency stop control module provided by an embodiment of the present invention;

[0053] Figure 4 It is a block diagram of a historical data acquisition module provided by an embodiment of the present invention.

[0054] Reference numerals:

[0055] 1. Real-time status acquisition module, 2. Real-time status judgment module, 3. Emergency stop control module, 31. First emergency stop control unit, 32. Second emergency stop control unit, 33. Third emergency stop control unit, 34. Fourth emergency stop control unit, 4. Manual switch control module, 5. Historical data acquisition module, 51. Historical data acquisition unit, 52. Historical data comparison unit. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0057] Please refer to Figure 1 A first aspect of an embodiment of the present invention provides a method for controlling an emergency stop of a robot arm, wherein the robot arm comprises: a state monitoring component, a controller component, a breaker component and a brake component, and comprises the following steps:

[0058] Step S200, obtaining the real-time operating status of the robot arm based on the status detection component, the real-time operating status includes: load, speed, acceleration and motion range.

[0059] Step S400, based on the controller component receiving the real-time operating status of the robot arm, it is determined whether each parameter in the real-time operating status is greater than the corresponding preset emergency stop threshold value, and the preset emergency stop threshold value is the extreme value of the safety range of the robot arm operating status parameter.

[0060] Step S600, when any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, the controller component controls the breaker component to cut off the power supply of the robotic arm, and controls the brake component to lock the robotic arm in a preset mode, so that the robotic arm slows down to a stop, wherein the preset modes include: software quick emergency stop, software normal emergency stop, normal braking and / or power cut off.

[0061] Below, the preset mode of the specific control method when the robot arm stops suddenly is explained as follows:

[0062] Software fast emergency stop: The control system of the robot arm will immediately send an emergency stop command to the robot arm, so that the robot arm stops moving at the fastest speed; the software emergency stop method does not involve mechanical brakes, but directly cuts off the power of the motor through the control system, so that the robot arm stops quickly. The advantage of this method is that the response speed is fast, and the inertia force caused by the emergency stop has a greater impact on the robot arm or its load.

[0063] Software normal emergency stop: Compared with the fast emergency stop, in the normal emergency stop mode, the control system will stop the movement of the robot in a gentler way; the deceleration process is relatively slow, reducing the impact of the emergency stop on the robot and the load. In this mode, the control system will gradually reduce the speed of the robot until it stops completely, which can reduce the stress on the robot structure and load.

[0064] Normal braking: Stopping is achieved through the robot's braking system (such as electromagnetic brakes or dynamic brakes); in this mode, the control system will instruct the brake to intervene and mechanically lock or slow down the movement of the robot. This method is usually used to ensure that the robot stops safely before the power is disconnected, and it can keep the position of the robot unchanged after stopping.

[0065] Cut off the power supply: Cutting off the power supply is a more thorough emergency stop method, which is achieved by disconnecting the power supply of the robot arm. In this mode, the control system will cut off the power supply to the robot arm, causing all motors and drivers to lose power immediately, and the movement of the robot arm will also stop. This method is suitable for emergency situations and can quickly stop the robot arm. All control and monitoring functions may also fail.

[0066] Through the above-mentioned emergency stop detection and processing method, the robot arm can stop smoothly and quickly when necessary, thereby avoiding potential damage to equipment and personnel. By recording the state parameters of the robot arm, it is easy to quickly locate and solve the problem when a fault occurs, greatly improving the efficiency of fault handling. In addition, based on the detection value of the state parameter, an early warning can be issued when the equipment may have an emergency stop risk, which helps to take preventive measures in advance and reduce possible losses.

[0067] Furthermore, the robotic arm further includes a manual control switch electrically connected to the controller component. After obtaining the real-time operating state of the robotic arm based on the state detection component in step S200, the method further includes:

[0068] Step S310, obtaining a manual control signal of a manual control switch.

[0069] Step S320, according to the manual control signal, the brake assembly is controlled to cut off the power mode to control the robot arm to stop.

[0070] Furthermore, before step S200, obtaining the real-time operation status of the robot arm based on the status detection component, it also includes:

[0071] Step S110, obtaining historical operating status data of the robot arm based on the controller component.

[0072] Step S120 , comparing each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory.

[0073] Step S130: If the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the brake assembly is controlled to lock the robot arm.

[0074] In a specific implementation of the embodiment of the present invention, controlling the brake assembly to lock the mechanical arm in a preset mode specifically includes:

[0075] Step S610: When the load parameter value exceeds the load threshold, the robot arm is controlled to decelerate to a stop according to a first preset deceleration curve based on the brake assembly.

[0076] Furthermore, when the load parameter value is greater than a first preset multiple of the load threshold, the robot arm is controlled to decelerate to a stop in a heavy load mode according to a first preset deceleration curve based on the brake component; when the load parameter value is greater than the load threshold and less than or equal to the first preset multiple of the load threshold, the robot arm is controlled to decelerate to a stop in a light load mode according to the first preset deceleration curve based on the brake component.

[0077] Specifically, when it is necessary to control the robotic arm to decelerate to a stop according to the heavy load mode of the first preset deceleration curve, the robotic arm can be controlled to stop running with a linear deceleration curve; when the first preset deceleration curve is used to control the robotic arm to decelerate to a stop in the light load mode, the robotic arm can be controlled to stop running with an S deceleration curve.

[0078] Step S620: When the speed parameter value exceeds the speed threshold, the robot arm is controlled to decelerate to a stop according to a second preset deceleration curve based on the brake assembly.

[0079] Furthermore, when the speed parameter value is greater than a second preset multiple of the speed threshold, the robot arm is controlled to decelerate to a stop in a high-speed mode according to a second preset deceleration curve based on the brake component; when the speed parameter value is greater than the speed threshold and less than or equal to the second preset multiple of the speed threshold, the robot arm is controlled to decelerate to a stop in a low-speed mode according to the second preset deceleration curve based on the brake component.

[0080] Step S630: When the acceleration parameter value exceeds the acceleration threshold, the robot arm is controlled to decelerate to a stop according to a third preset deceleration curve based on the brake assembly.

[0081] Further, when the acceleration parameter value is greater than a third preset multiple of the acceleration threshold, the brake component controls the robotic arm to decelerate to a stop in a high acceleration mode according to a third preset deceleration curve; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the brake component controls the robotic arm to decelerate to a stop in a low acceleration mode according to the third preset deceleration curve.

[0082] Step S640: When the motion range parameter value exceeds the range threshold, the robot arm is controlled to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly.

[0083] Further, when the motion range parameter value is greater than a fourth preset multiple of the range threshold, the robot arm is controlled to decelerate to a stop in a large-range mode according to a fourth preset deceleration curve based on the brake component; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the robot arm is controlled to decelerate to a stop in a small-range mode according to the fourth preset deceleration curve based on the brake component.

[0084] For the various real-time status parameters of the above-mentioned robotic arm, when an emergency stop is made under a large load and at a high speed, it is necessary to consider the bearing capacity of the structure, the braking capacity of the motor, and the power of the power supply, and stop at the fastest acceleration; if an emergency stop is made due to excessive temperature, a gentler deceleration curve can be used to reduce the impact on the structure; if an emergency stop is made due to exceeding the range of motion, an emergency stop with maximum acceleration is required for safety reasons.

[0085] For example, when the load on the robot arm is heavy, it can take a longer time to decelerate and stop; when the load is light, it can take a shorter time to decelerate and stop. In this way, the overall operating efficiency of the equipment can be improved while ensuring safety.

[0086] Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

[0087] Depending on the type of state parameters, the robot arm can be controlled to stop running by using software fast emergency stop, software normal emergency stop, normal brake or power cut off; in addition, the robot arm can also be controlled in a combined manner to stop quickly to improve the safety of the robot arm and its load, for example: software fast emergency stop only; software normal emergency stop only; software fast emergency stop + brake device; software normal emergency stop + brake device; software fast emergency stop + brake device + power cut off; software normal emergency stop + brake device + power cut off.

[0088] Accordingly, please refer to Figure 2 The second aspect of the embodiment of the present invention provides a robot arm emergency stop control system, the robot arm comprises: a state monitoring component, a controller component, a breaker component and a brake component, including:

[0089] A real-time state acquisition module 1 is used to acquire the real-time operation state of the robot arm based on the state detection component, and the real-time operation state includes: load, speed, acceleration and motion range;

[0090] A real-time state judgment module 2 is used to receive the real-time operation state of the robot arm based on the controller component, and judge whether each parameter in the real-time operation state is greater than the corresponding preset emergency stop threshold value, and the preset emergency stop threshold value is the extreme value of the safety range of the robot arm operation state parameter;

[0091] The emergency stop control module 3 is used to control the breaker component to cut off the power supply of the robotic arm based on the controller component when any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, and control the brake component to lock the robotic arm in a preset mode to slow down the robotic arm to a stop, wherein the preset modes include: software quick emergency stop, software normal emergency stop, normal braking and / or power cut off.

[0092] For further information, please refer to Figure 3 , the emergency stop control module 3 includes:

[0093] A first emergency stop control unit 31, which is used to control the robot arm to decelerate to a stop according to a first preset deceleration curve based on the brake assembly when the load parameter value exceeds the load threshold;

[0094] A second emergency stop control unit 32, which is used to control the robot arm to decelerate to a stop according to a second preset deceleration curve based on the brake assembly when the speed parameter value exceeds the speed threshold;

[0095] A third emergency stop control unit 33, which is used to control the robot arm to decelerate to a stop according to a third preset deceleration curve based on the brake component when the acceleration parameter value exceeds the acceleration threshold;

[0096] The fourth emergency stop control unit 34 is used to control the robot arm to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly when the motion range parameter value exceeds the range threshold.

[0097] Further, when the load parameter value is greater than a first preset multiple of the load threshold, the first emergency stop control unit 31 controls the robot arm to decelerate to a stop in a heavy load mode according to a first preset deceleration curve based on the brake component; when the load parameter value is greater than the load threshold and less than or equal to the first preset multiple of the load threshold, the first emergency stop control unit 31 controls the robot arm to decelerate to a stop in a light load mode according to a first preset deceleration curve based on the brake component;

[0098] When the speed parameter value is greater than the second preset multiple of the speed threshold, the second emergency stop control unit 32 controls the mechanical arm to decelerate to a stop in a high-speed mode according to a second preset deceleration curve based on the brake assembly; when the speed parameter value is greater than the speed threshold and less than or equal to the second preset multiple of the speed threshold, the second emergency stop control unit 32 controls the mechanical arm to decelerate to a stop in a low-speed mode according to a second preset deceleration curve based on the brake assembly;

[0099] When the acceleration parameter value is greater than the third preset multiple of the acceleration threshold, the third emergency stop control unit 33 controls the mechanical arm to decelerate to a stop according to the third preset deceleration curve high acceleration mode based on the brake assembly; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the third emergency stop control unit 33 controls the mechanical arm to decelerate to a stop according to the third preset deceleration curve low acceleration mode based on the brake assembly;

[0100] When the motion range parameter value is greater than the fourth preset multiple of the range threshold, the fourth emergency stop control unit 34 controls the robotic arm to decelerate to a stop in a large-range mode according to the fourth preset deceleration curve based on the brake component; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the fourth emergency stop control unit 34 controls the robotic arm to decelerate to a stop in a small-range mode according to the fourth preset deceleration curve based on the brake component.

[0101] Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

[0102] Further, the robotic arm also includes a manual control switch electrically connected to the controller assembly, and further includes:

[0103] The manual switch control module 4 obtains the manual control signal of the manual control switch, and controls the brake assembly according to the manual control signal to cut off the power supply to control the robot arm to stop moving.

[0104] For further information, please refer to Figure 4 , further comprising: a historical data acquisition module 5, the historical data acquisition module 5 comprising:

[0105] A historical data acquisition unit 51, which is used to acquire historical operating status data of the robot arm based on the controller component;

[0106] A historical data comparison unit 52, which is used to compare each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory;

[0107] When the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the emergency stop control module 3 controls the brake assembly to lock the mechanical arm.

[0108] Accordingly, a third aspect of an embodiment of the present invention provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes the above-mentioned robotic arm emergency stop control method.

[0109] Correspondingly, a fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, which implement the above-mentioned robot arm emergency stop control method when executed by a processor.

[0110] The embodiment of the present invention aims to protect a method and device for emergency stop control of a robotic arm, wherein the robotic arm comprises: a state monitoring component, a controller component, a breaker component and a brake component, wherein the method comprises the following steps: obtaining the real-time operating state of the robotic arm based on the state detection component, wherein the real-time operating state comprises: load, speed, acceleration and range of motion; receiving the real-time operating state of the robotic arm based on the controller component, determining whether each parameter in the real-time operating state is respectively greater than the corresponding preset emergency stop threshold, wherein the preset emergency stop threshold is the extreme value of the safety range of the robotic arm operating state parameter; when any real-time operating state parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, the controller component controls the breaker component to cut off the power supply of the robotic arm, and controls the brake component to lock the robotic arm in a preset mode, so that the robotic arm decelerates to a stop, wherein the preset modes comprise: software rapid emergency stop, software normal emergency stop, normal braking and / or power off. The above technical scheme has the following effects:

[0111] 1. By obtaining the real-time status parameters of the robot arm, and when any status parameter exceeds the normal threshold range, the robot arm is controlled to make an emergency stop according to the type and range of the abnormal status parameter, so as to improve the safety and stability of the robot arm's operating status adjustment;

[0112] 2. Monitor the operating status of the robot arm in real time, and determine whether emergency stop control is needed by judging the numerical range of the robot arm's status parameters, thereby avoiding the reaction delay problem caused by manual emergency stop control and improving the safety of the robot arm system control.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A robotic arm emergency stop control method, characterized in that: The robot arm includes: a state monitoring component, a controller component, a breaker component and a brake component, including the following steps: Acquire the real-time operation status of the robot arm based on the state detection component, wherein the real-time operation status includes: load, speed, acceleration and motion range; Based on the controller component receiving the real-time operating state of the robotic arm, it is determined whether each parameter in the real-time operating state is greater than a corresponding preset emergency stop threshold value, wherein the preset emergency stop threshold value is an extreme value of a safety range of the operating state parameter of the robotic arm; When any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, the controller component controls the breaker component to cut off the power supply of the robotic arm, and controls the brake component to lock the robotic arm in a preset mode, so that the robotic arm decelerates to a stop, wherein the preset mode includes: software quick emergency stop, software normal emergency stop, normal braking and / or power cut off.

2. The robot arm emergency stop control method according to claim 1, characterized in that: The mechanical arm further includes a manual control switch electrically connected to the controller component. After the state detection component obtains the real-time operating state of the mechanical arm, the mechanical arm further includes: Acquiring a manual control signal of the manual control switch; According to the manual control signal, the brake assembly is controlled to cut off the power supply mode to control the robot arm to stop.

3. The robot arm emergency stop control method according to claim 1, characterized in that: Before the state detection component is used to obtain the real-time operation state of the mechanical arm, the method further includes: Acquiring historical operation status data of the robotic arm based on the controller component; Compare each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory; If the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the brake assembly is controlled to lock the robotic arm.

4. The robot arm emergency stop control method according to claim 1, characterized in that: The controlling the brake assembly to lock the mechanical arm in a preset mode comprises: When the load parameter value exceeds a load threshold, the robot arm is controlled to decelerate to a stop according to a first preset deceleration curve based on the brake assembly; When the speed parameter value exceeds the speed threshold, the mechanical arm is controlled to decelerate to a stop according to a second preset deceleration curve based on the brake assembly; When the acceleration parameter value exceeds the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a third preset deceleration curve based on the brake assembly; When the motion range parameter value exceeds a range threshold, the robot arm is controlled to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly.

5. The robot arm emergency stop control method according to claim 4, characterized in that: When the load parameter value is greater than a first preset multiple of the load threshold, the robot arm is controlled to decelerate to a stop according to a first preset deceleration curve heavy load mode based on the brake assembly; When the load parameter value is greater than the load threshold and less than or equal to a first preset multiple of the load threshold, the mechanical arm is controlled to decelerate to a stop in a light load mode according to a first preset deceleration curve based on the brake assembly; When the speed parameter value is greater than a second preset multiple of the speed threshold, the mechanical arm is controlled to decelerate to a stop in a high-speed mode according to a second preset deceleration curve based on the brake assembly; When the speed parameter value is greater than the speed threshold and less than or equal to a second preset multiple of the speed threshold, the mechanical arm is controlled to decelerate to a stop in a low-speed mode according to a second preset deceleration curve based on the brake assembly; When the acceleration parameter value is greater than a third preset multiple of the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a high acceleration mode of a third preset deceleration curve based on the brake assembly; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the mechanical arm is controlled to decelerate to a stop according to a low acceleration mode of a third preset deceleration curve based on the brake assembly; When the motion range parameter value is greater than a fourth preset multiple of the range threshold, the mechanical arm is controlled to decelerate to a stop in a large-range mode according to a fourth preset deceleration curve based on the brake assembly; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the mechanical arm is controlled to decelerate to a stop in a small-range mode according to a fourth preset deceleration curve based on the brake assembly; Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

6. A robotic arm emergency stop control system, characterized in that: The robot arm includes: a state monitoring component, a controller component, a breaker component and a brake component, including: A real-time state acquisition module, which is used to acquire the real-time operation state of the mechanical arm based on the state detection component, and the real-time operation state includes: load, speed, acceleration and motion range; A real-time status judgment module, which is used to determine whether each parameter in the real-time operating state is greater than a corresponding preset emergency stop threshold value based on the real-time operating state of the robot arm received by the controller component, and the preset emergency stop threshold value is a safety range extreme value of the operating state parameter of the robot arm; The emergency stop control module is used to control the breaker component to cut off the power supply of the robotic arm based on the controller component when any real-time operating status parameter value of the robotic arm is greater than the corresponding preset emergency stop threshold, and control the brake component to lock the robotic arm in a preset mode to decelerate the robotic arm to stop.

7. The robotic arm emergency stop control system according to claim 6, characterized in that: The robotic arm also includes an emergency stop switch electrically connected to the controller assembly, and further includes: The manual switch control module obtains the manual control signal of the manual control switch, and controls the brake assembly according to the manual control signal to cut off the power supply to control the robot arm to stop moving.

8. The robotic arm emergency stop control system according to claim 6, characterized in that: Also includes: A historical data acquisition module, wherein the historical data acquisition module comprises: A historical data acquisition unit, which is used to acquire historical operating status data of the robotic arm based on the controller component; A historical data comparison unit, which is used to compare each parameter value of the real-time operating state of the robot arm with the maximum value of the corresponding parameter historical value of the same moving trajectory; When the value of any parameter in the real-time operating state is greater than the maximum value of its historical value, the emergency stop control module controls the brake assembly to lock the robotic arm.

9. The robotic arm emergency stop control system according to claim 6, characterized in that: The emergency stop control module comprises: a first emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a first preset deceleration curve based on the brake assembly when the load parameter value exceeds a load threshold; a second emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a second preset deceleration curve based on the brake assembly when the speed parameter value exceeds a speed threshold; a third emergency stop control unit, configured to control the robot arm to decelerate to a stop according to a third preset deceleration curve based on the brake assembly when the acceleration parameter value exceeds the acceleration threshold; A fourth emergency stop control unit is used to control the robot arm to decelerate to a stop according to a fourth preset deceleration curve based on the brake assembly when the motion range parameter value exceeds the range threshold.

10. The robotic arm emergency stop control system according to claim 9, characterized in that: When the load parameter value is greater than a first preset multiple of the load threshold, the first emergency stop control unit controls the robot arm to decelerate to a stop according to a first preset deceleration curve heavy load mode based on the brake assembly; When the load parameter value is greater than the load threshold and less than or equal to a first preset multiple of the load threshold, the first emergency stop control unit controls the robot arm to decelerate to a stop in a light load mode according to a first preset deceleration curve based on the brake assembly; When the speed parameter value is greater than a second preset multiple of the speed threshold, the second emergency stop control unit controls the robot arm to decelerate to a stop according to a second preset deceleration curve high speed mode based on the brake assembly; When the speed parameter value is greater than the speed threshold and less than or equal to a second preset multiple of the speed threshold, the second emergency stop control unit controls the robot arm to decelerate to a stop in a low-speed mode according to a second preset deceleration curve based on the brake assembly; When the acceleration parameter value is greater than the third preset multiple of the acceleration threshold, the third emergency stop control unit controls the mechanical arm to decelerate to a stop according to a third preset deceleration curve high acceleration mode based on the brake assembly; when the acceleration parameter value is greater than the acceleration threshold and less than or equal to the third preset multiple of the acceleration threshold, the third emergency stop control unit controls the mechanical arm to decelerate to a stop according to a third preset deceleration curve low acceleration mode based on the brake assembly; When the motion range parameter value is greater than a fourth preset multiple of the range threshold, the fourth emergency stop control unit controls the mechanical arm to decelerate to a stop in a fourth preset deceleration curve large-range mode based on the brake assembly; when the motion range parameter value is greater than the range threshold and less than or equal to the fourth preset multiple of the range threshold, the fourth emergency stop control unit controls the mechanical arm to decelerate to a stop in a fourth preset deceleration curve small-range mode based on the brake assembly; Among them, the first preset deceleration curve heavy load mode is the normal braking mode, the first preset deceleration curve light load mode is the software normal emergency stop mode, the second preset deceleration curve high speed mode is the software fast emergency stop mode, the second preset deceleration curve low speed mode is the software normal emergency stop mode, the third preset deceleration curve high acceleration mode is the normal braking mode, the third preset deceleration curve low acceleration mode is the software normal emergency stop mode, the fourth preset deceleration curve large range mode is the normal braking mode, and the fourth preset deceleration curve small range mode is the software normal emergency stop mode.

Images