CN114012721A - Robot brake control method and device and related equipment - Google Patents
Robot brake control method and device and related equipmentDownload PDFInfo
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- CN114012721A CN114012721ACN202111264155.2ACN202111264155ACN114012721ACN 114012721 ACN114012721 ACN 114012721ACN 202111264155 ACN202111264155 ACN 202111264155ACN 114012721 ACN114012721 ACN 114012721A
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- 238000004590computer programMethods0.000claimsdescription9
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- 208000027418Wounds and injuryDiseases0.000abstractdescription4
- 208000014674injuryDiseases0.000abstractdescription4
- 238000010586diagramMethods0.000description7
- 230000001960triggered effectEffects0.000description5
- 230000006870functionEffects0.000description3
- 230000001681protective effectEffects0.000description3
- 238000006467substitution reactionMethods0.000description3
- 230000004075alterationEffects0.000description1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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Abstract
Description
Technical Field
The invention belongs to the technical field of brake control, and particularly relates to a robot brake control method, a robot brake control device and related equipment.
Background
Due to the rapid development of an automatic control technology, the robot is widely applied to various industries, such as the automobile industry, the medical industry, the education industry and the like. When the robot is taught or worked, the robot body is likely to be impacted due to system errors or misoperation of users, so that the personnel are injured or the robot is damaged.
In the related art, active braking is generally employed to prevent a machine from being hit. The mode of controlling the robot to actively brake in the market is mainly to brake by setting external equipment such as a distance sensor or a grating and controlling the robot through a PLC signal. However, different external devices need to be set in such a control mode, and the external devices are likely to be interfered by uncertain factors, which is likely to cause a problem of untimely control.
Therefore, how to reduce external devices, reduce implementation cost, and improve control accuracy becomes a technical problem to be solved urgently in the prior art.
Disclosure of Invention
The invention provides a robot brake control method, a robot brake control device and related equipment, and aims to solve the technical problems that in the prior art, external equipment needs to be arranged, the external equipment is likely to be interfered by uncertain factors more greatly, and control is likely to be out of time.
The technical scheme provided by the invention is as follows:
in one aspect, a robot brake control method includes:
acquiring coordinate values of the tail end position of the robot target part based on the driving data of the driving device of the robot target part;
judging whether the coordinate value is in a preset coordinate area or not;
and if the coordinate value exceeds the preset coordinate area, triggering the robot to brake.
Optionally, the target portion includes a target axis, and the driving device of the target portion of the robot includes a control motor; the acquiring of the coordinate value of the end position of the robot target part based on the driving data of the driving device of the robot target part includes:
acquiring a rotation angle of a control motor of the target shaft;
and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
Optionally, the coordinate values include cartesian coordinate values in a world coordinate system.
Optionally, the obtaining of the coordinate value of the end position of the target portion of the robot includes:
acquiring Cartesian coordinates of the tail end position of a target part of the robot;
acquiring a plane coordinate according to the Cartesian coordinate;
and respectively extracting coordinate values of the plane coordinates.
Optionally, the method further includes:
determining the activity area condition of the workstation;
and determining the preset coordinate area according to the condition of the activity area.
In still another aspect, a robot brake control apparatus includes: the device comprises an acquisition module, a judgment module and a trigger module;
the acquisition module is used for acquiring coordinate values of the tail end position of the target part of the robot based on the driving data of the driving device of the target part of the robot;
the judging module is used for judging whether the coordinate value is in a preset coordinate area;
and the triggering module is used for triggering the robot to brake when the coordinate value exceeds the preset coordinate area.
Optionally, the target portion includes a target axis, and the driving device of the target portion of the robot includes a control motor; the acquisition module is used for acquiring the rotation angle of the control motor of the target shaft; and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
In still another aspect, a robot brake control apparatus includes: a processor, and a memory coupled to the processor;
the memory is used for storing a computer program, and the computer program is at least used for executing the robot brake control method;
the processor is used for calling and executing the computer program in the memory.
In yet another aspect, a robot includes: the shell and the robot brake control equipment are arranged on the shell; the robot brake control device is arranged in the shell.
In yet another aspect, a workstation includes: a protected area and a robot; the robot operates in the protection area according to any one of the brake control methods.
Optionally, the method further includes: a manual operation area; the manual operation area is arranged outside the protection area.
The invention has the beneficial effects that:
according to the robot brake control method, the robot brake control device and the related equipment provided by the embodiment of the invention, the coordinate value of the position of the target part is obtained in real time through the driving data of the driving device of the target part, and when the coordinate value exceeds the preset coordinate area, the robot brake is triggered. In the judging process, the position is judged according to the coordinate value determined by the driving data of the driving device of the target part, and a sensor or a grating assembly does not need to be arranged outside, so that external equipment is reduced, the cost and the process are reduced, the control precision is improved, the probability of personal injury or robot damage is reduced, the method has high applicability, and can be applied to all-model robots.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a robot brake control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a robot movement area in a workstation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a brake control device of a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a brake control device of a robot according to an embodiment of the present invention;
fig. 5 is a schematic front view of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In the related art, active braking is generally employed to prevent a machine from being hit. The mode of controlling the robot to actively brake in the market is mainly to brake by setting external equipment such as a distance sensor or a grating and controlling the robot through a PLC signal. However, different external devices need to be set in such a control mode, and the external devices are likely to be interfered by uncertain factors, which is likely to cause a problem of untimely control.
Therefore, how to reduce external devices, reduce implementation cost, and improve control accuracy becomes a technical problem to be solved urgently in the prior art.
Based on the above, the embodiment of the invention provides a robot brake control method, a robot brake control device and related equipment.
The first embodiment is as follows:
the embodiment of the invention provides a robot brake control method.
Fig. 1 is a schematic flow chart of a robot brake control method according to an embodiment of the present invention, and referring to fig. 1, the method according to the embodiment of the present invention may include the following steps:
s1, acquiring coordinate values of the tail end position of the robot target part based on the driving data of the driving device of the robot target part;
s2, judging whether the coordinate value is in a preset coordinate area;
and S3, if the coordinate value exceeds the preset coordinate area, triggering the robot to brake.
The robot brake control method can be applied to any robot to control the robot to brake.
Fig. 2 is a schematic diagram of a robot movement area in a workstation according to an embodiment of the present invention, and referring to fig. 2, a robot 1 may work in the workstation, and aprotective area 2 is provided in the workstation, so that the robot 1 operates in theprotective area 2. In the working operation of the robot, a processing assembly can be arranged, and a program of the robot brake control method is embedded in the processing assembly, so that the robot brake is controlled in real time.
The coordinate value of the tail end position of the target position of the robot can be obtained in real time during operation of the robot, and the robot brake is triggered by judging whether the coordinate value is in the preset coordinate area or not so that the coordinate value exceeds the preset coordinate area, the brake set price of the robot is locked, and active braking is performed.
According to the robot brake control method provided by the embodiment of the invention, the coordinate value of the position of the target part is obtained in real time through the driving data of the driving device of the target part, and when the coordinate value exceeds the preset coordinate area, the robot brake is triggered. In the judgment process, the position is judged according to the coordinate value determined by the driving data of the driving device of the target part, and a sensor or a grating assembly is not required to be arranged outside, so that external equipment is reduced, the cost and the working procedure are reduced, and the control precision is improved.
In some embodiments, optionally, the target site comprises a target axis; the driving device of the robot target part comprises a control motor; based on the drive data of the drive device of the robot target part, coordinate values of the terminal position of the robot target part are acquired, including: acquiring a rotation angle of a control motor of a target shaft; and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
The target part of the robot may be a target axis, wherein the target axis may be set according to the respective form and specific of each robot. For example, when the robot is a four-axis robot, each axis is set as a target axis, and coordinate values of the end position of each target axis are acquired. In the prior art, a target shaft of a robot acts by means of rotation of a control motor, and referring to the prior art, in the embodiment of the present invention, a coordinate value of a position of a tail end of the target shaft may be determined by controlling a rotation angle of the motor. For example, the coordinate value corresponding to each rotation angle of the control motor may be pre-stored in advance, so that the coordinate value corresponding to the end position of each target axis is determined by acquiring the rotation angle of each control motor during the operation of the robot.
In some embodiments, optionally, the coordinate values comprise cartesian coordinate values in a world coordinate system.
In some embodiments, optionally, obtaining coordinate values of the end position of the robot target portion includes: acquiring Cartesian coordinates of the tail end position of a target part of the robot; acquiring a plane coordinate according to the Cartesian coordinate; and respectively extracting coordinate values of the plane coordinates.
In this embodiment, cartesian coordinates may be adopted to obtain the coordinate value. The process of obtaining the coordinate values is described by taking a four-axis robot as an example. During the working and running process of the robot, the Cartesian coordinates (x, y) of the tail end position of the target part of the robot can be acquired in real time, wherein the tail end position can be a tail end endpoint. After the cartesian coordinates (x, y) are acquired, coordinate values of the end position of each target axis are extracted, that is, when the robot is a four-axis robot, plane coordinates (x, y) of the respective ends of the four axes are acquired1,y1),(x2,y2)，(x3,y3),(x4,y4) After the plane coordinates are obtained, coordinate values x of the plane coordinates are respectively extracted1，x2，x3，x4，y1，y2，y3，y4After the coordinate value of the plane coordinate is obtained, it is determined whether the coordinate value is in a preset coordinate region, where, referring to fig. 2, the preset coordinate range may be [ x [ ]a，xb]And [ ya，yb]Judging whether the coordinate value of the acquired plane coordinate satisfies xa＜X＜xb，ya＜Y＜ybWherein X comprises1，x2，x3，x4Y includes Y1，y2，y3，y4，When the coordinate value meets the range, the robot always runs normally; when the coordinate value does not meet the range, the robot system is indicated to operate incorrectly, or people teach incorrectly, the coordinate value does not meet the preset coordinate area in the set workstation, the robot feeds back a brake signal to the controller, and the controller controls the driver to lock the motor, so that the robot is actively braked, the robot is stopped in a protection area in the workstation, and the robot is prevented from exceeding the protection area.
In some embodiments, optionally, the method further includes: determining the activity area condition of the workstation; and determining a preset coordinate area according to the condition of the active area.
For example, the size of the protective zone and thus the preset coordinate zone may be determined according to the workstation situation.
Referring to fig. 2, in the workstation, the robot can operate in thearea 3 at the maximum, but in actual work, the working range usually does not reach themaximum operating area 3, and even some robots set a smaller working range as required. In fig. 2, the robot 1 is a robot body, which is connected to arobot arm 5.
According to the robot brake control method provided by the embodiment of the invention, the coordinate value of the position of the target part is obtained in real time through the driving data of the driving device of the target part, and when the coordinate value exceeds the preset coordinate area, the robot brake is triggered. In the judging process, the position is judged according to the coordinate value determined by the driving data of the driving device of the target part, and a sensor or a grating assembly does not need to be arranged outside, so that external equipment is reduced, the cost and the process are reduced, the control precision is improved, the probability of personal injury or robot damage is reduced, the method has high applicability, and can be applied to all-model robots.
Example two:
based on a general inventive concept, the embodiment of the invention also provides a robot brake control device.
Fig. 3 is a schematic structural diagram of a brake control device for a robot according to an embodiment of the present invention, and referring to fig. 3, the brake control device for a robot according to an embodiment of the present invention may include the following structures: anacquisition module 31, ajudgment module 32 and atrigger module 33. The acquiringmodule 31 is configured to acquire coordinate values of a terminal position of a target part of the robot based on driving data of a driving device of the target part of the robot; the judgingmodule 32 is used for judging whether the coordinate values are in a preset coordinate area; and the triggeringmodule 33 is used for triggering the robot to brake when the coordinate value exceeds the preset coordinate area.
Optionally, the target part comprises a target shaft, and the driving device of the target part of the robot comprises a control motor; an obtainingmodule 31, configured to obtain a rotation angle of a control motor of the target shaft; and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
Optionally, the coordinate values include cartesian coordinate values in a world coordinate system.
Optionally, the obtainingmodule 31 is configured to obtain cartesian coordinates of the end position of the target portion of the robot;
acquiring a plane coordinate according to the Cartesian coordinate;
and respectively extracting coordinate values of the plane coordinates.
Optionally, the method further includes: the setting module is used for determining the activity area condition of the workstation; and determining a preset coordinate area according to the condition of the active area.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
According to the robot brake control device provided by the embodiment of the invention, the coordinate value of the position of the target part is obtained in real time through the driving data of the driving device of the target part, and when the coordinate value exceeds the preset coordinate area, the robot brake is triggered. In the judging process, the position is judged according to the coordinate value determined by the driving data of the driving device of the target part, and a sensor or a grating assembly does not need to be arranged outside, so that external equipment is reduced, the cost and the process are reduced, the control precision is improved, the probability of personal injury or robot damage is reduced, the method has high applicability, and can be applied to all-model robots.
Example three:
based on a general inventive concept, embodiments of the present invention also provide a robot brake control apparatus.
Fig. 4 is a schematic structural diagram of a robot brake control device according to an embodiment of the present invention, referring to fig. 4, the robot brake control device according to the embodiment of the present invention includes: aprocessor 41, and amemory 42 coupled to the processor.
Thememory 42 is used for storing a computer program, and the computer program is at least used for the robot brake control method described in any one of the above embodiments;
theprocessor 41 is used to invoke and execute computer programs in memory.
Example five:
based on one general inventive concept, embodiments of the present invention also provide a robot.
The robot provided by the embodiment of the invention comprises: the robot brake control device comprises a shell and any one of the robot brake control devices; the robot brake control device is arranged in the shell.
Fig. 5 is a schematic front view of a robot according to an embodiment of the present invention, and referring to fig. 5, fig. 5 is a front view of a four-axis robot, in which a robot brake control device is disposed in a housing of the four-axis robot.
Example six:
based on one general inventive concept, embodiments of the present invention also provide a workstation.
The workstation provided by the embodiment of the invention comprises: a protected area and a robot; the robot operates in a protection area according to the brake control method described in any of the above embodiments.
In some embodiments, optionally, the method further includes: a manual operation area; the manual operation area is arranged outside the protection area.
It should be noted that in this embodiment, other specific partitions of the workstation may also refer to the schematic diagram of the robot motion area in the workstation in fig. 2 in the above embodiment, which is not described in detail in this embodiment.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A robot brake control method is characterized by comprising the following steps:
acquiring coordinate values of the tail end position of the robot target part based on the driving data of the driving device of the robot target part;
judging whether the coordinate value is in a preset coordinate area or not;
and if the coordinate value exceeds the preset coordinate area, triggering the robot to brake.
2. The method of claim 1, wherein the target site includes a target axis, the drive of the robotic target site includes a control motor; the acquiring of the coordinate value of the end position of the robot target part based on the driving data of the driving device of the robot target part includes:
acquiring a rotation angle of a control motor of the target shaft;
and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
3. The method of claim 1, wherein the coordinate values comprise cartesian coordinate values in a world coordinate system.
4. The method according to claim 3, wherein the obtaining coordinate values of the robot target site end position comprises:
acquiring Cartesian coordinates of the tail end position of a target part of the robot;
acquiring a plane coordinate according to the Cartesian coordinate;
and respectively extracting coordinate values of the plane coordinates.
5. The method of claim 1, further comprising:
determining the activity area condition of the workstation;
and determining the preset coordinate area according to the condition of the activity area.
6. A brake control apparatus for a robot, comprising: the device comprises an acquisition module, a judgment module and a trigger module;
the acquisition module is used for acquiring coordinate values of the tail end position of the target part of the robot based on the driving data of the driving device of the target part of the robot;
the judging module is used for judging whether the coordinate value is in a preset coordinate area;
and the triggering module is used for triggering the robot to brake when the coordinate value exceeds the preset coordinate area.
7. The apparatus of claim 6, wherein the target site comprises a target axis, the drive means for the robotic target site comprising a control motor; the acquisition module is used for acquiring the rotation angle of the control motor of the target shaft; and determining the coordinate value of the tail end position of the robot target shaft according to the rotation angle.
8. A robot brake control apparatus, comprising: a processor, and a memory coupled to the processor;
the memory is used for storing a computer program, and the computer program is at least used for executing the robot brake control method of any one of claims 1-5;
the processor is used for calling and executing the computer program in the memory.
9. A robot, comprising: a housing and the robotic brake control device of claim 8; the robot brake control device is arranged in the shell.
10. A workstation, comprising: a protected area and a robot; the robot operates in the protected area according to the brake control method of any one of claims 1 to 5.
11. The workstation of claim 10, further comprising: a manual operation area; the manual operation area is arranged outside the protection area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111264155.2ACN114012721A (en) | 2021-10-28 | 2021-10-28 | Robot brake control method and device and related equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111264155.2ACN114012721A (en) | 2021-10-28 | 2021-10-28 | Robot brake control method and device and related equipment |
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| CN114012721Atrue CN114012721A (en) | 2022-02-08 |
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