Extendable safety system for robot system
The safety system for robotic arms allows users to configure safety parameters and features, ensuring safe operation by monitoring and responding to unsafe conditions, enhancing safety compliance and flexibility without re-certification.
Patent Information
- Application Number
- JP2024161906
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2019-12-23
- Filing Date
- 2024-09-19
- Publication Date
- 2025-01-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing safety systems for robotic arms are limited in their ability to monitor and respond to unsafe operating conditions independently of the end effector, often requiring re-certification and are not easily customizable by users.
A safety system that allows users to configure safety parameters and features, monitoring the robotic arm's motion and placing it in a safe state if unsafe conditions are detected, without the need for re-certification, and can integrate with third-party components.
Enables user-configurable safety features that enhance safety compliance and flexibility, allowing seamless integration of proprietary components while maintaining safety standards without additional certification processes.
Smart Images
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Abstract
Description
[Technical field]
[0001] The present invention relates to a safety system for a robot arm, the safety system comprising: Monitors the robot arm during arm movement to detect if the robot arm is in an unsafe operating mode When this occurs, the robot arm is configured to be put into a safe state. [Background technology]
[0002] A robot arm containing multiple robot joints and robot links is a branch of robotics. In this case, actuators move parts of a robot arm in relation to each other. The robot arm can be rotated or translated by using a rotary joint. and the actuator rotates a portion of the robot arm and / or a linear joint. and the actuator is configured to translate a portion of the robot arm. Typically, the robot arm is configured to have a mounting base for the robot arm. The robot base includes a robot tool flange that can be attached to various tools. a plurality of robot joints and robot links are connected to a robot base and a robot tool; The robot controller controls the robot tool flange relative to the base. For example, the robot may be configured to control a robot joint to move the robot. To command the arm to perform multiple motion commands.
[0003] Typically, a robot controller maps the robot joints to a dynamic model of the robot arm. The dynamic model is configured to control the robot arm based on the forces acting on the robot arm and the results of the forces acting on the robot arm. The dynamic model defines the relationship between the acceleration of the robot arm and the Model of robot arm motion, knowledge of robot arm inertia, and robot arm The motion model includes the motion of the robot arm and other parameters that affect its motion. Robot arm information such as the length and size of joints and links, specifying the relationships between parts may include, for example, Denavit-Hartenberg parameters or other The dynamic model allows the controller to adjust the robot joints to, for example, a specific To move the robot arm at a certain speed or acceleration, or to hold the robot arm in a stationary position, It is then possible to specify how much torque the joint motor should provide.
[0004] Typically, a robot tool flange can be fitted with a variety of end effectors. This can be used in, for example, grippers, vacuum grippers, magnetic grippers, screw machines, welding equipment, splitters, etc. These include the alignment device, vision system, and force / torque sensors, which are used together with the robot arm. The robot arm can be used to perform a variety of tasks. Various commands for robot arms such as robots, as well as commands for gripping, waiting, releasing, inspecting, and screwing The robot must be programmed by a robot integrator who defines the work instructions, etc. A software extension to the robot control software is installed on the robot arm. A programmable end effector may be provided, Suppliers may provide such software extensions together with the end effector. For example, The robot arm is described in WO 2017 / 0052, which is incorporated herein by reference. As disclosed in Brochure No. 72, third-party products are used for industrial configured to execute a method for enhancing end-user programming of a robot, good.
[0005] In addition, the commands can be based on various sensor or input signals, which are typically Providing a trigger signal that is used to stop or start an instruction. The trigger signal is: Various indication methods such as safety curtains, vision systems, position indicators, etc. Cut.
[0006] Robotic arms are increasingly being used alongside and near the human body, In order to further diversify work processes that can assist people, Therefore, robots are required to place more emphasis on quality and flexibility. The arm is equipped with a system that monitors the movement of the robot arm and detects any risk of injury to a person. A safety system is provided that is configured to bring the robot arm to a safe stop in a dangerous situation. This safety system is provided on hardware separate from the robot controller. The robot arm monitors various sensor signals related to the robot arm and controls multiple bases of the robot arm. 1 and 2, which are configured to perform the safety functions of the present invention (e.g., On the basis of this, If an unsafe state is registered, the safety system puts the robot into a safe state. The system monitors the motion of the robot arm independently of the final end effector. As a result, the safety system can, for example, keep the robot moving even if the end effector is in an unsafe state. The arm cannot be put into a safe state. In addition, the safety function is The safety function is provided by the robot arm manufacturer. The scope of application is limited to those that can be applied. Summary of the Invention [Means for solving the problem]
[0007] The object of the present invention is to address the above-mentioned limitations of the prior art or other problems of the prior art. This is achieved by the robot and the method according to the independent claims. The controller is Specify at least one user-defined safety parameter range; Provides user-defined safety parameter ranges to the safety system; - At least one user-defined safety parameter based on at least one user-defined safety function Generate the meter, -Provides user-defined safety parameters to the safety system It is configured as follows: The safety system is At least one user-defined safety parameter is within the user-defined safety parameter range Evaluate whether or not - The robot is stopped when the user-defined safety parameters are outside the range of the user-defined safety parameters. Put the arm in the safe state a safety range monitor configured to monitor the robot controller by Includes all features.
[0008] This allows for the identification of user actions that can be performed by non-safety compliant systems such as robot controllers. The safety function can be set up and configured by the user. Monitors the results of safety functions and ensures that user-defined safety parameters are within the user-defined safety parameter ranges The robot arm can be configured to go to a safe state if the safety Extending the safety capabilities of a robotic system without requiring modifications to compatible safety systems As a result, there is no need to recertify a safety compliant safety system. This allows third-party providers to add their own safety features, e.g. end effectors or User-defined safety components that can be associated with external components such as other safety components For example, a user-defined safety function can be provided to a non-safety compliant robot control. may be provided as a safety-compliant user-defined safety function implemented in the controller, The safety system monitors user-defined safety parameters to ensure the safety of the entire robot system. The dependent claims relate to a robot and a method according to the invention. The advantages and benefits of the present invention will be described in the detailed description of the present invention. It is listed. [Brief description of the drawings]
[0009] [Figure 1] 1 illustrates a robotic system according to the present invention. [Diagram 2] 1 shows a simplified structural diagram of a robot system according to the present invention; [Diagram 3] FIG. 1 shows a simplified structural diagram of another embodiment of a robot system according to the present invention. [Figure 4] 1 shows a flow diagram of a method for monitoring a robotic system according to the present invention. [Diagram 5] The robot system of FIG. 2 is shown with a safety signal path. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to exemplary embodiments which are merely illustrative of the principles of the invention. A person skilled in the art can provide several embodiments within the scope of the claims. Throughout the description, reference numbers for like elements serving like effect may be used interchangeably. In addition, if an embodiment includes multiple identical features, It should be understood that in some cases, only some of the features may be numbered.
[0011] FIG. 1 shows a robot base 105 and a number of robots connected to a robot tool flange 107. Including bot joints 103a, 103b, 103c, 103d, 103e, 103f The robot arm 101 is shown. The base joint 103a is used to connect the robot arm to the base. Rotate around axis 111a (shown in dashed line) as shown by rotation arrow 113a. The shoulder joint 103b is configured to rotate the robot arm along the shoulder axis 111b ( 113b) as shown by the rotation arrow 113b. The elbow joint 103c is configured to rotate the robot arm along the elbow axis 111c ( 113c) as shown by the rotation arrow 113c. The first wrist joint 103d is configured to rotate along a first wrist axis 111d (this axis is 113d) as shown by the rotation arrow 113d. The second wrist joint 103e is configured to rotate the robot arm along the second wrist axis 111. 113e (shown in dashed line) as shown by the rotation arrow 113e. The robot joint 103f includes a robot tool flange 107. A tool joint, which rotates about a tool axis 111f (shown in dashed line). The robot arm of the figure can therefore rotate as shown by arrow 113f. Axial robotic arms have six degrees of freedom, but the present invention may have fewer or more. It should be noted that the present invention can also be applied to a robot arm including a robot joint. 2. Robot joints can also be linear joints or rotary joints and linear joints. It should be understood that the present invention may include a combination of both.
[0012] In the illustrated embodiment, the joint has an output that is rotatable with respect to the robot joint body. The output flange may be connected to an adjacent robot jit as known in the art. The robot joint is connected to the joint directly or through the arm part. a motor configured to rotate an output flange, e.g., via a gearbox; In an embodiment having a linear joint, the actuator is connected to the motor shaft or directly to the motor shaft. The output flange is the robot joint body and the robot output flange is connected to the robot joint. A joint motor configured to translate the joint body. In addition, the robot joint includes at least one joint sensor. , which provides a sensor signal indicative of at least one of the following parameters: output flange Angular position of the motor shaft of the joint motor, angular position of the motor shaft of the joint motor Electric current or external forces tending to rotate the output flange or motor shaft. For example: The angular position of the output flange indicates the angular position of the output flange with respect to the robot joint. The output of the encoder can be represented by an optical encoder, a magnetic encoder, or the like. Similarly, the angular position of the joint motor shaft is the motor position relative to the robot joint. An input encoder, such as an optical or magnetic encoder, that can indicate the angular position of the motor shaft. The output encoder provides the angular position of the output flange and the motor shaft. Note that it is possible to provide both an input encoder that indicates the angular position of the In embodiments where a transmission is provided, the relationship between the input and output sides of the transmission may be specified. The joint sensors also indicate the current through the joint motors. It can also serve as a current sensor and therefore be used to obtain the torque provided by the motor. For example, for a polyphase motor, Multiple current sensors can be provided.
[0013] The robot arm includes at least one robot controller, which controls the robot. The motor torque provided to the joint motor is controlled by the control box 109. The arm is controlled based on the dynamic model, the weight acting direction 112, and the joint sensor signals. The robot controller is configured to control the robot joints by allows the user to communicate with the robot, for example to control and program the robot arm. The computer may include an interface device 104 that enables the computer to The controller is disposed in the robot control box 109 as shown in FIG. It can be provided as an external device, as a device built into the robot arm, or as a combination of both. The interface device can be, for example, a teach device known in the field of industrial robots. It can be provided as a pendant that communicates with the robot controller via wired or wireless communication protocols. The interface device may include, for example, a display 106, buttons, Slider, touchpad, joystick, trackball, posture recognition device, keyboard The display may include a display and a plurality of input devices 108 such as a keyboard. It may also be provided as a touch screen that functions as both an input device and an output device.
[0014] FIG. 2 shows a simplified structural diagram of the robot arm shown in FIG. 3a, 103b, and 103f are shown in structural form, and the robot joints 103 c, 103d, and 103e are omitted to simplify the drawing. Although the points are shown as separate elements, they are interconnected as shown in Figure 1. It should be understood that the robot joint includes output flanges 216a, 216b, and 216c. f and joint motors 217a, 217b, 217f, and output flanges 216a, 216b, 216f are rotatable with respect to the robot joint body, and the joint mode The output axles 217a, 217b, and 217f are connected to the output axles 218a, 218b, and 218f. In this embodiment, the tool joint is configured to rotate the output flange. The output flange 216f of the joint 103f includes a tool flange 107. At least one joint sensor parameter J sensor,a , J sensor ,b , J sensor,f providing sensor signals 222a, 222b, 222f indicative of At least one joint sensor 219a, 219b, 219f. The meter should at least indicate, for example, the position and orientation of the output flange with respect to the robot joint, The angular position of the force flange, the angular position of the shaft of the joint motor, At least one of the attitude parameters indicative of the motor current, e.g., the angular position of the output flange The device is equipped with an optical encoder that can indicate the angular position of the output flange with respect to the robot joint. The output of the joystick can be represented by an output encoder, such as a joystick, ... The angular position of the motor shaft is the angle of the motor shaft with respect to the robot joint body. By using an input encoder such as an optical encoder or a magnetic encoder that can indicate the degree of position. We can provide it.
[0015] The robot controller 202 includes a processor 220 and a memory 221, and controls the motors. The robot is controlled by providing signals 223a, 223b, and 223f to the joint motors. A motor control signal 223a is configured to control a joint motor of the joint. 223b, 223f are the motor torques T that each joint motor should provide to the output flange. motor,a , T motor,b , and T motor,f Indicates the robot controller As is known in the prior art, the motor torque is calculated based on a dynamic model of the robot arm. The dynamic model allows the controller to determine the joint motors that are The torque to be provided to each of the joint motors to cause the desired motion of the joint arm is The dynamic model of the robot arm can be stored in memory 221 and the job can be calculated. Int Sensor Parameter J sensor,a , J sensor,b , J sensor,f For example, the joint motors can be provided as polyphase electric motors, The bot controller, as known in the motor regulation art, regulates the phases of a polyphase motor. By adjusting the current through the joint motor, the motor torque provided by the joint motor can be adjusted. It can be configured to adjust.
[0016] The robotic system includes a safety system 225 that monitors the robot arm. The safety system includes a processor 227 and a safety memory 228. The robot arm is configured to enter a safe state 226 based on at least one basic safety function that is The safe state is indicated by a STOP symbol, which means that one safety mode is: Activating a braking system configured to brake moving parts of, for example, a robot arm. By turning off the power to the robot arm, etc. However, the safety mode indicates that the robot controller may be in a mode where the robot controller is stopped. It should be understood that the system may be in any mode of operation that is considered safe for humans. For example, the robot may move more slowly and display a warning to the human that an error has occurred. Instructed to provide an indication (visual, audible, tactile, etc., or a combination thereof) to the The basic safety function is the safety function provided to the safety controller, which is programmed. The data is programmed and stored in secure memory and cannot be edited or altered by the end user. Generally, basic safety features are coded by the robot safety system provider. In some embodiments, a user may decide when a basic safety feature is to be applied during installation of the robotic system. This provides a safety margin that may be modified.
[0017] The robot controller 202 and the safety system 225 may be implemented on different hardware, e.g. Different computer motherboards, microcontrollers, processors, computer servers The present invention may be provided in the form of a server and / or integrated circuit.
[0018] The robot controller provides at least one user-defined safety parameter range. The robot arm is configured to ensure that user-defined safety parameter ranges are met during operation of the robot arm. User defined safe parameter ranges, for example: The robot arm is in safe mode of operation with user-defined safety parameters. An interval of values that must be included, User-defined safety parameters that must not be exceeded; - the checksums that must be met for the robot arm to be in a safe mode of operation, The robot arm is in safety mode and the user-defined safety parameters are within Any other time intervals that must be provided It can be defined as follows.
[0019] User-defined safety parameter ranges can be set, for example, by the robot controller processor. The user-defined safety software code 229 may be provided to execute the The user-defined safety software code is installed in the robot controller software. The robot controller can set the user-defined safety parameter range to the user-defined safety range. The parameter range signal 230 is configured to provide the parameter range signal to a safety system. In an embodiment, the safety system is optionally configured to provide a confirmation signal 231. This indicates that the safety system has received and configured user-defined safety parameter ranges. The user-defined safety parameter ranges are used to determine the range of Role in configuring safety systems by informing them about the nature of the parameters required The safety system is configured to ensure that it receives the user-defined safety parameters. , it can provide confirmation to the robot controller that it is ready to be monitored.
[0020] The robot controller is configured to provide at least one user-defined safety parameter. and user-defined safety parameters are provided based on the user-defined safety functions. The user-defined safety function controls the safety state of the robot arm or any external device that cooperates with the robot arm. A value or parameter indicating whether the robot arm is operating in a safe mode, for example This can be any function that the meter can provide. User-defined safety parameters The controller may be, for example, a robot arm or an environment, an end effector, and / or a robot system. Based on a plurality of sensor values indicating various characteristics of any other external device connected to the stem. The user-defined safety parameters can also be set to the values provided by the robot arm. Can also provide trigger / pulse signals to indicate operating conditions. User-defined safety parameter ranges For example, a user program configured to be executed by a robot controller processor User-defined safety software code 229 can be provided. can be installed in the robot controller software. The robot controller The user-defined safety parameters are then transmitted to the safety system via the user-defined safety parameters signal 232. In one embodiment, the safety system is optionally configured to provide and can be configured to provide a confirmation signal 233, which is a user-defined safety signal by the safety system. Verify receipt and configuration of all parameters.
[0021] The safety system includes a safety range monitor safety function that is based on at least one user-configured The robot controller is then programmed to operate by evaluating whether safety parameters are within user-defined safety limits. This is configured to monitor the user-defined safety parameters. This is achieved through multiple logical tests that are compared to the user-defined safe parameter ranges. If all parameters are outside the user-defined safety parameter range, the safety system will The arm is put into a safe mode, which is described in paragraph
[0015] .
[0022] For example, in one embodiment, the user-defined safe parameter ranges may be set to a range that is within the range where the robot arm is The interval of values within which the user-defined safety parameters must be in order to be in safe mode. A logical test is performed to determine whether a user-defined safety parameter is within an interval of that value. and provide an indication of whether the robot is operating in safe mode. The safety system then checks that a logical test has confirmed that the robot arm is not operating in safe mode. If it indicates this, the robot arm can be put into a safe state.
[0023] In another embodiment, the user-defined safe parameter ranges are set to 0 when the robot arm is in safe mode. The user-defined safety parameters may not be updated within or otherwise affecting the safety system. The time interval at which the signal must be transmitted can be specified and the logic tests are performed according to the user-defined safety parameters. It tests whether the data is received within a given time interval to ensure that the robot is operating in safe mode. The safety system can then provide an indication of whether the logic test is If the robot arm indicates that it is not operating in safe mode, put the robot arm into a safe state. It can be.
[0024] In another embodiment, the user-defined safe parameter ranges are set to 0 when the robot arm is in safe mode. You can specify the checksum that a user-defined safety parameter must meet to be valid. A logical test checks whether the user-defined safety parameters meet this checksum. to provide an indication of whether the robot arm is operating in a safe mode. The safety system then checks that a logical test has confirmed that the robot arm is not operating in safe mode. If it indicates this, the robot arm can be put into a safe state.
[0025] In one embodiment, the safety system is configured to provide confirmation to the robot controller. and confirmation that the safety system has received the user-defined safety parameter ranges. This makes it possible to provide control functions as part of the robot controller. This allows the safety system to properly configure user-defined safety parameter ranges. For example, the robot controller can ensure that user-defined safety functions are correctly configured. An indication can be provided to the user that the device is not functioning properly.
[0026] In one embodiment, the safety system monitors receipt of user-defined safety parameters. If user-defined safety parameters are not received, the robot arm will be put into safety mode. This allows user-defined safety parameters to be passed to the robot controller. If not provided by the controller, the safety system will put the robot arm into a safe operating mode. This further increases safety.
[0027] In one embodiment, the robot controller comprises: - The state of at least a part of the robot arm The status of at least one external device and configured to receive at least one sensor signal indicative of at least one of the following: The bot controller determines at least one user-defined safety parameter based on the sensor signal. This allows, for example, the built-in sensor of a robot arm or based on a sensor signal based on one or more external sensors provided to the robot arm; It is possible to provide user-defined safety features for the robot arm. This allows many It is now possible to provide user-defined safety features for the robot system, which can be used in a variety of security situations. For example, the supplier of the external safety device may provide a user-configurable This can provide a constant safety function that is then installed in the robot controller and The safety system of the system can be monitored.
[0028] In one embodiment, the robotic system allows a user to communicate with the robotic system. a user interface for enabling the user to set a safety feature, and / or a user interface for defining at least one of the user-defined safety parameters. The user interface may be, for example, a graphical user interface. where the user can enter and program custom safety features and Safe parameter ranges can be defined.
[0029] In one embodiment, a user-defined safety feature and a low number of user-defined safety parameter ranges are provided. The user interface for specifying at least one of the user-configured safety software code A means for providing user-defined code to the robot controller and a means for providing user-defined code to the robot controller. and means for installing the safety software code, The wear code is in the robot controller: Specify at least one user-defined safety parameter range; Provides user-defined safety parameter ranges to the safety system; At least one user-defined safety parameter must be connected to at least one user-defined safety function. Based on -Provides user-defined safety parameters to the safety system This includes an order to This allows user-defined safety features to be provided via software, This can be provided with a memory device containing software code, which the user can then configure. You can install software code.
[0030] For example, user-defined safety software code may be used to control the process for a robot arm. It may be provided as part of the software or basic control software. The software allows the robot controller to control the motion of the robot arm, i.e., the individual joints. Therefore, it controls the movement of the robot flange and any robot tools attached to it. Basic control software should be understood as the software used to control the Typically, it is developed based on a mathematical model of the robot arm and delivered together with the robot arm. Therefore, the user of the robot arm does not need any special programming skills. The robot arm can then be moved by the process control software. Such process control software is stored or developed on a data processing unit, server, The software provided to the robot system from an external source such as a server, computer, or tablet. Process control software should also be understood as software that is used to control robotic systems. It may also be programmed directly on the system, for example using a user interface device. The process control software uses 3D coordinates to define the waypoints for the robot arm’s movements. Simple coordinates in the Cartesian coordinate system, the motion of the robot tool attached to the robot flange The program code can be used to specify a point in a Cartesian coordinate system. This allows for optimizing the accuracy of, for example, movements, sensor systems, etc. The robot controller controls the movement of the robot arm and the tool in a process and basic control manner. The process control software is based on a combination of user-defined safety parameters. at least one user-defined parameter and / or a user-defined safe parameter range; Provides constant safety features.
[0031] In one embodiment, the robot controller is a non-safety compliant robot control system. This is provided as a safety standard for robotic systems, This means that the robot controller software is not fully operational. It can be provided as an open system where users can add custom software components. It has the advantage of being installable.
[0032] In one embodiment, the safety system is provided as a safety compliant robot safety system. This is because the safety system meets the safety standards for robotic systems and therefore This can be used to monitor robotic systems in a safe and reliable manner. This means:
[0033] FIG. 3 shows another embodiment of a robot system according to the present invention. 2, and like elements and features are designated by the same reference numerals as in FIG. In this embodiment, the safety system 325 is It contains two independent safety controllers, each containing a safety processor and a safety memory.
[0034] The first safety controller includes a first safety processor 327a and a first safety memory 32 8a, which includes a first user-defined safe range signal 330a, a user-defined safe parameter a first confirmation signal 331a confirming receipt of the range; a first user-defined safety parameter signal 3 32a, and a first confirmation signal 333a that confirms receipt of the user-defined safety parameters. It communicates with and monitors the robot controller via the
[0035] The second safety controller includes a second safety processor 327b and a second safety memory 32 8b, which includes a second user-defined safe range signal 330b, a user-defined safe parameter a second confirmation signal 331b confirming receipt of the range, a second user-defined safety parameter signal 3 32b, and a second confirmation signal 333b that confirms receipt of the user-defined safety parameters. It communicates with and monitors the robot controller via the
[0036] The safety controller, in an exemplary embodiment, is an authenticated safety controller. This means that its safety level is higher than the safety level of the robot controller 220. References to safety levels refer to the average probability of failure of the hardware, i.e. the controller. Therefore, the high-level safety controller can be considered to be more efficient than the robot controller. A low average probability of failure. A high level of reliability that may include both hardware and software. The safety system is classified into Safety Integrity Levels (SIL) They may be classified according to levels 1 to 4, with 4 being the highest.
[0037] Both the first safety controller and the second safety controller are the same as those described in FIG. It monitors the robot controller so that it can be used with different hardware. This ensures redundant monitoring of the robot controller by an independent safety controller. Two independent safety controllers may be provided by two independent teams, for example. This ensures different implementations of the safety functions of the safety system. The two safety controllers monitor each other to ensure that both safety controllers are operating properly. The safety controller may be configured to ensure that the If this is not true for one, the other safety controller will stabilize the robot arm. Make it full state.
[0038] FIG. 5 shows another embodiment of a robot system according to the present invention. 2, and like elements and features are designated by the same reference numerals as in FIG. In this embodiment, the user-defined safety parameter ranges are denoted by the symbol 0x0 ... As mentioned above, the robot controller is configured as part of the safety software code. In addition, user-configurable safety software code may be provided to the robot. Further, in the form of a safety signal path 534 between the controller 220 and the safety controller 227. A safety mechanism may be further provided comprising: a safety signal path including a wire connection between the controllers and This allows the physical connection between the robot controller and the safety controller to be In this and other exemplary embodiments described herein, The user-configured safety software code is The basic control software may be included as part of the robot controller. of the robot arm, i.e. of the individual joints, and thereby of the robot flange and The software used to control the movement of the robot and any robotic tools attached to it. The basic control software typically consists of the mathematics and control The robot arm is developed based on a prototype and delivered together with the robot arm. The user of the robot can move the robot arm without any special programming skills. It is worth noting that the basic control software uses default values for different safety limits. The default value may also be called the normal value and is the value that is set when the robot arm is turned off. The process control software can then be modified to the extent necessary. A data processing unit on which such process control software is stored or developed. Provided to the robotic system from an external source such as a server, computer, or tablet Process control software should also be understood as software for robotics systems. It is also possible to program directly on the system, for example using a user interface. The process control software creates a 3D design that defines the waypoints for the robot arm's movements. The simple coordinates in the Cartesian coordinate system, the motion of the robot tool attached to the robot flange, The program code may be a higher level of mathematics that specifies a point in a Cartesian coordinate system. , for example, to optimize accuracy in motion, sensor systems, etc. The robot controller controls the motion of the robot arm and the tool in accordance with the process and basic control software. The process control software controls the process based on a combination of user-defined safety parameters. At least one user setting that defines a meter and / or user-defined safety parameter range Provides a safety function. In an exemplary embodiment, the process value is set according to a user-defined safety parameter. The data range is adjustable during run-time, i.e. the user-defined safety parameter. Do not turn off the robot arm while modifying the data range.
[0039] At least one of the robot controller and / or the safety controller is a transmitting controller. and at least one other of the robot controller and / or the safety controller. One is configured as the receiving controller. The sending controller transmits the safety signal via the safety signal The received data is configured for transmission over a path to one or more receiving controllers.
[0040] The safety signal path is connected between the robot controller and multiple safety controllers (or only one The purpose of this system is to facilitate the communication of safety signals between the They may be used and implemented as part of the process or basic control software. In its simplest form, the signal is sent from the robot controller to each of the safety controllers. A signal that is transmitted and whose failure to be received within a specified time from the initiation point results in a stable All controllers put the robot arm into stop mode. As a result, a signal can also be sent from the safety controller to the robot controller. .
[0041] In one embodiment, the transmit controller is a robot controller, and one or At least one of the plurality of receiving controllers is a safety controller. All controllers monitor the robot controller to ensure that safety signals pass through the safety signal path. If the data is not received through the robot controller, this may indicate an anomaly in the robot controller. This allows the robot arm to be put into a safe mode.
[0042] In an exemplary embodiment, a safety signal is transmitted so that in a predetermined pattern or The predetermined patterns are expected to be received as predetermined values, separated by predetermined time intervals. A signal may be determined as a sequence of signals that, if not received as expected, The roller puts the robot arm into stop mode. Of particular note is the unexpected release of the safety signal. Reception may also include premature reception, i.e., the expected reception of the safety signal is 2 The range may be defined by two endpoints, the lower endpoint being millimeters. It may be measured in seconds, e.g. 10 ms, with an upper limit of seconds, e.g. 5 seconds, or even minutes. may be measured.
[0043] The receiving controller may specify which stop mode the robot arm should be in. For example: For example, a defensive shutdown, where only the robot arm is shut down but the power remains on, and a robot The latter is a limit over stop where the arm power is also turned off. the controller needs to be reset, which is not the case in the former case.
[0044] The safety signal can detect any failure, either hardware or software, and then This further improves the robot control system in that the control arm can be stopped / put into a safe mode. Make it safer.
[0045] As shown in FIG. 5 and described in paragraphs
[0036] to
[0042] , An additional safety mechanism in the form of a safety signal path between the controller 220 and the safety controller. Further providing user-configured safety software code also allows the safety system to, for example, 3 and described in paragraphs
[0031] to
[0035] . It should be noted that the present invention may also be provided in an embodiment where the roller is included. In the embodiment, the first safety signal path is between the robot controller 220 and the first safety processor 32. 7a, and a second safety signal path can be established between the robot controller 220 and the second safety A communication link can be established between the processor 327b and the processor 327c.
[0046] FIG. 4 shows a flow diagram of a method for monitoring a robot system according to the present invention. The system may be provided as a robot system as described above, and the flow diagram shows the robot control on the left side. On the right is the flow for the troller 440 and on the right is the flow for the safety system 460.
[0047] The method includes steps 441 of specifying a user-defined safety parameter range and specifying a user-defined safety parameter range. Step 442 includes providing the parameter ranges to the safety system. configures the Safe Range Monitor safety function and sends a confirmation to the robot controller in step 461. The robot controller evaluates whether or not an acknowledgement has been received from the safety system. If confirmation is received, indicated by a thumbs up icon, the robot controller Continue the flow. If confirmation is not received as indicated by a thumbs down icon The robot controller then resumes the flow or aborts the method. It ensures that the safe range monitor safety features of the bot controller are properly configured.
[0048] The method includes a step 444 of specifying a user-defined safety parameter and a step 445 of specifying the user-defined safety parameter. Step 445 includes providing the meter to the safety system. Steps 444 and 445 include: This can be achieved by user-defined safety functions executed by the robot controller. The system then starts the Safe Range Monitor safety function in step 462 and , and sends a confirmation to the robot controller that the user-set safety parameters have been received. Safety Range Monitor safety function monitors the safety parameters to ensure that the user-defined safety parameters are within the user-defined safety parameter range. If the evaluation is positive (indicated by a thumbs up icon), this This means that the robot arm is operating in safe mode and the robot arm can continue to operate. The robot controller generates new user-defined safety parameters (step 4) 44. If the rating is negative (indicated by a thumbs down icon), this This means that the robot arm is operating in an unsafe mode and the robot arm movement A safe operating state 226 is entered.
[0049] In addition, the robot controller also reads user-defined safety signals received from the safety system. Evaluate whether confirmation of the parameters has been received 446, indicated by a thumbs up icon. If confirmation is received, the robot controller resumes the flow. If no confirmation is received, as indicated by the icon, the robot controller Puts the bot arm into a safe operating mode 226. This disables user-set safety parameters If communication is not performed or the safety system fails, the robot arm will not operate safely. It is certain that the situation will be put into a [Explanation of symbols]
[0050] 101 Robot System 202 Robot Controller 103a~103f Robot joint 104 Interface device 105 Robot Base 106 Display 107 Robot Tool Flange 108 Input Devices 109 Robot Control Box 111a~111f Robot joint axis 112 Direction of Gravity 113a~113f Robot joint rotation arrows 314 Output side of robot tool joint 216a;216b;216f output flange 217a;217b;217f joint motor 218a;218b,218f output axle 219a;219b;219f joint sensor 220 Processor 221 Memory 222a;222b;222f joint sensor signal 223a, 223b, 223f Motor control signals 225, 325 Safety System 226 Safe Mode 227, 327a, 327b Safety Processor 228, 328a, 328b Secure Memory 229 User-defined safety software code 230, 330a, 330b User-defined safety parameter range signals 231, 331a, 331b Acknowledgement signal confirming receipt of user-defined safety parameter ranges issue 232, 332a, 332b User-defined safety parameter signals 233, 333a, 333b Acknowledgement signal confirming receipt of user-defined safety parameters 534 Safety Signal Path 440 Robot Controller Flow 441 Step to specify user-defined safety parameter range 442 Steps for providing user-defined safety parameter ranges 443 Evaluate the Verification of Safety Systems 444 Steps for generating user-defined safety parameters 445 Steps for Providing User-Defined Safety Parameter Ranges 446 Evaluate the acceptance of user-defined safety parameters by the safety system 460 Safety System Flow 461 Steps to confirm receipt and configuration Steps to monitor 462 robot controller 463 Steps for confirming receipt of user-defined safety parameters 464 Testing User-Defined Safety Parameters
Claims
1. 1. A robot system comprising: A plurality of robots connected to a robot base (105) and a robot tool flange (107) A robot arm (101) including robot joints (103a to 103f); a robot controller (202) configured to control the robot arm; A safety system (225, 325) for monitoring the robot arm, the safety The robot arm is then adapted to perform a safety check based on at least one basic safety function evaluated by the system. a safety system configured to place the system in a safe mode; Including, The robot controller and the safety system are provided on different hardware, The robot controller is Specifying at least one user-defined safety parameter range; providing said user-defined safety parameter ranges to said safety system; - setting at least one user-defined safety parameter based on at least one user-defined safety function Generate the meter, providing said user-defined safety parameters to said safety system; It is configured as follows: The safety system comprises: The at least one user-defined safety parameter is within the user-defined safety parameter range. Evaluate whether it is within If the user-defined safety parameter is outside the user-defined safety parameter range Put the robot arm into safe mode a safety range monitor configured to monitor the robot controller by A full-featured robot system.
2. The safety range monitor function is configured to provide a confirmation to the robot controller. 、 The confirmation indicates that the safety system has received the user-set safety parameter ranges. The robot system according to claim 1 .
3. The safety range monitor function monitors receipt of the user-defined safety parameters and If the setting safety parameters have not yet been received, the robot arm is put into a safety mode. The robot system according to claim 1 , configured to:
4. The safety system includes at least two independent safety components implemented on different hardware. Including Troller Any one of claims 1 to 3, wherein each of the independent safety controllers includes the safety range monitor function.
2. The robot system according to claim 1.
5. The robot controller - the state of at least a part of the robot arm; - the state of at least one external device and configured to receive at least one sensor signal indicative of at least one of: The at least one user-defined safety function is based on the at least one sensor signal. and generating the at least one user-defined safety parameter by using the The robot system according to any one of claims 1 to 4.
6. The robotic system includes a user interface that allows a user to communicate with the robotic system. Includes an interface, The user interface includes a user-configured safety feature and the at least one user-configured and a user interface means for displaying at least one of the constant safety parameters. Item 6. The robot system according to any one of items 1 to 5.
7. At least one of the user-defined safety function and the at least one user-defined safety parameter The user interface, which also reveals the user-defined secure software code, a means for providing said user-defined safety software code to said robot controller; and means for installing said robot controller in said robot system. Stem.
8. The user-defined secure software code comprises: - specifying said at least one user-defined safe parameter range; providing said user-defined safety parameter ranges to said safety system; - determining whether the at least one user-defined safety feature is enabled based on the at least one user-defined safety feature; Generate safety parameters; providing said user-defined safety parameters to said safety system; 8. The robotic system of claim 7, further comprising instructions to instruct the robot controller to: Tem.
9. The robot controller is provided as a non-safety compliant robot control system.
9. A robot system according to any one of claims 1 to 8.
10. The safety system is provided as a safety-compliant robot safety system according to any one of claims 1 to 9.
13. The robot system according to claim 1 .
11. A safety signal path is established between the robot controller and one or more safety controllers. It was established, A transmitting controller transmits a safety signal via the safety signal path to one or more receiving controllers. The robot system according to any one of claims 1 to 10, configured to transmit the Hmm.
12. the transmitting controller is the robot controller, the one or more receiving controllers being at least one of the safety controllers; The robotic system of claim 11.
13. The receiving controller may then determine whether or not the robot is safe if the safety signal is not received as expected. The robot according to any one of claims 11 to 12, configured to put the arm into a stop mode. Bot system.
14. The expected receipt of the safety signal is counted from the time the safety signal is transmitted. If the safety signal is received within a predetermined time period, or if the safety signal is received within an expected The robotic system of claim 13, wherein the signal is received by a mobile terminal.
15. 1. A method for monitoring a robotic system, comprising: The robot system includes: A plurality of robots connected to a robot base (105) and a robot tool flange (107) A robot arm (101) including robot joints (103a to 103f); a robot controller (202) configured to control the robot arm; A safety system (225, 325) for monitoring the robot arm, the safety The robot arm is then adapted to perform a safety check based on at least one basic safety function evaluated by the system. a safety system configured to place the system in a safe mode; Including, The robot controller and the safety system are provided on different hardware; The method comprises: - specifying (441) at least one user-defined safety parameter range; Providing the user-defined safety parameter ranges to the safety system (442). and, Using the robot controller to perform at least one user-defined safety function generating (444) at least one user-defined safety parameter; - providing (445) said user-defined safety parameters to said safety system; The robot is controlled by using a safety range monitor function provided in the safety system. and monitoring the network system (462). Including, The step of monitoring the robotic system includes: whether the at least one user-defined safety parameter is within the user-defined safety range; and evaluating (464) When the user-defined safety parameter is outside the user-defined safety range, the robot placing the lock arm in a safe mode (226); A method comprising:
16. The step of monitoring the robotic system includes providing a confirmation to the robotic controller. (461) The confirmation indicates that the safety system has received the user-set safety parameter ranges. The method according to claim 15 .
17. The safety system monitors receipt of the user-defined safety parameters and To put the robot arm into a safe mode if parameters have not yet been received The method according to any one of claims 15 to 16, characterized in that
18. - the state of at least a part of the robot arm; - the state of at least one external device receiving at least one sensor signal indicative of at least one of: At least one user-defined safety parameter is determined based on the at least one user-defined safety function. generating a parameter based on the sensor signal; The method according to any one of claims 15 to 17.
19. Specifying at least one of the user-defined safety features and the user-defined safety parameters. The method according to any one of claims 15 to 18, further comprising the steps of:
20. specifying said at least one user-defined safety function and said user-defined safety parameters; The steps include installing user-defined safety software code into the robot controller. installing the The user-defined secure software code comprises: - specifying said at least one user-defined safe parameter range; providing said user-defined safety parameter ranges to said safety system; - determining whether the at least one user-defined safety feature is enabled based on the at least one user-defined safety feature; Generate safety parameters; providing said user-defined safety parameters to said safety system; 20. The method of claim 19, further comprising instructions to instruct the robot controller to: