WO2022057730A1 - Procédé de détection d'anomalie de freinage de robot et robot à articulations multiples - Google Patents

Procédé de détection d'anomalie de freinage de robot et robot à articulations multiples Download PDF

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Publication number
WO2022057730A1
WO2022057730A1 PCT/CN2021/117626 CN2021117626W WO2022057730A1 WO 2022057730 A1 WO2022057730 A1 WO 2022057730A1 CN 2021117626 W CN2021117626 W CN 2021117626W WO 2022057730 A1 WO2022057730 A1 WO 2022057730A1
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WIPO (PCT)
Prior art keywords
robot
braking
current
instruction
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/117626
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English (en)
Chinese (zh)
Inventor
孙恺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Elite Robot Co Ltd
Original Assignee
Suzhou Elite Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010995117.3A external-priority patent/CN114248260B/zh
Priority claimed from CN202011123026.7A external-priority patent/CN114378798B/zh
Priority claimed from CN202022345135.5U external-priority patent/CN213562593U/zh
Application filed by Suzhou Elite Robot Co Ltd filed Critical Suzhou Elite Robot Co Ltd
Publication of WO2022057730A1 publication Critical patent/WO2022057730A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • 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
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/26—Devices for measuring efficiency, i.e. the ratio of power output to power input
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/28—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes

Definitions

  • the invention relates to the field of industrial robots, in particular to a method for detecting abnormality of robot braking and a multi-joint robot.
  • Industrial robots include robotic arms and multiple joints, which are often used to replace or assist human work in industrial environments.
  • Industrial robots include traditional industrial robots and new types of collaborative robots.
  • Collaborative robots are often used to work with humans, so , Collaborative robot is a kind of robot with higher safety requirements in industrial robots.
  • the joint of an industrial robot includes a brake and a motor, wherein the motor provides the joint driving force, and the brake is used to limit the rotation of the motor to stop the movement of the corresponding joint.
  • the performance of the brake is very important. If the brake is abnormal, the robot may be in danger of smashing the arm or falling.
  • CN109760035A discloses a robot modular joint redundant brake device.
  • the device adopts the redundant braking design of the first stop lever and the second stop lever, and judges the resistance value of the first pressure sensor and the second pressure sensor respectively by detecting the resistance value. Whether the blocking lever is braked in place, the normally open brake assembly is used to ensure that the arm is not smashed, but the structure design is complex, the realization is difficult, and the cost is high.
  • the purpose of the present invention is to provide a robot braking abnormality detection method and a multi-joint robot with good braking performance, high reliability and easy implementation, so as to at least solve the complex structure and cost of robot braking abnormality detection in the related art. high problem, and the robot has a small end displacement when performing brake abnormality detection.
  • the present invention can adopt the following technical solutions: a method for detecting abnormal braking of a robot, the robot includes a base, a connector and a joint, and the joint includes a motor and a brake, and the method includes: setting the rotation center point of the robot; Before powering on and releasing the brake and/or before powering off the robot after braking, apply a current to make the motor rotate against the braking force/torque, and control the robot to move around the center of rotation when the motor rotates; detect the current at the moment when the motor rotates; Compare the current with a preset preset parameter, the preset parameter is the current required for the motor to rotate when the brake is normally braking, if the current is less than the preset parameter, it is determined that the braking is abnormal, Exception command is output. Further, the method includes: determining that the braking is abnormal, keeping the motor in an excitation state and waiting for user intervention.
  • the method includes: if the current is greater than the preset parameter, controlling the robot to release the brake to perform work or controlling the robot to power off, and generating a prompt signal that the braking force/torque is too large.
  • the method includes: if the current meets preset parameter requirements, it is determined that the braking is normal, and controlling the robot to release the braking to perform work or controlling the robot to power off.
  • the robot includes an end connector, and the end connector is used for connecting a work tool, and the rotation center point is located on the work tool.
  • rotation center point is the tool center point of the working tool.
  • the abnormal instruction includes at least one of the following: a warning instruction, an instruction to reduce the working speed of the robot, an instruction to remind the user to process the instruction, and an instruction to remind the user to select a working mode.
  • a multi-joint robot including a base, a connector and a joint, the joint includes a motor and a brake, and the robot includes: a setting unit for setting the rotation center point of the robot;
  • the motion control unit is used to apply current before the robot is powered on to release the brake and/or before the robot stops after braking, so that the motor can overcome the braking force/torque to rotate, and when the motor rotates, it controls the robot to move around the center of rotation; detection a unit for detecting the current at the moment when the motor rotates; an abnormality judging unit for comparing the current with a preset preset parameter, the preset parameter being the current required for the motor to rotate when the brake is normally braked , if the current is less than the preset parameter, it is determined that the braking is abnormal, and an abnormal command is output.
  • the abnormality judging unit is used for: determining the braking abnormality, keeping the motor in the excitation state and waiting for user intervention.
  • the abnormality judging unit is used for: if the current is greater than the preset parameter, control the robot to release the brake to perform work or control the robot to power off, and generate a prompt signal that the braking force/torque is too large.
  • the abnormality judging unit is used for: if the current meets the preset parameter requirements, it is determined that the braking is normal, and the robot is controlled to release the braking to perform work or the robot is powered off.
  • the robot includes an end connector, and the end connector is used for connecting a work tool, and the rotation center point is located on the work tool.
  • rotation center point is the tool center point of the working tool.
  • the abnormal instruction includes at least one of the following: a warning instruction, an instruction to reduce the working speed of the robot, an instruction to remind the user to process the instruction, and an instruction to remind the user to select a working mode.
  • the beneficial effect of the specific embodiment of the present invention is that: by the way that the motor rotates against the braking force, the current at the moment when the motor rotates is measured to determine whether the braking is abnormal, and the method can be applied to brakes of various structures. , good versatility; when the robot motor rotates, it controls the robot to move around the rotation center point, the robot moves into a system, and the end displacement of the robot is small, which improves the safety of the robot. Further, when the robot has a braking abnormality, the motor is kept excited, so that the robot will not lose control and fall or smash the arm when the brake is abnormal.
  • FIG. 1 is a schematic diagram of a robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a method for detecting abnormality of robot braking according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a method for detecting abnormality of robot braking according to another embodiment of the present invention
  • FIG. 4 is a schematic diagram of a method for detecting abnormality of robot braking according to another embodiment of the present invention
  • Fig. 5 is a block diagram of a robot according to an embodiment of the present invention.
  • FIG. 1 shows a schematic diagram of a robot 100 according to an embodiment of the present invention.
  • the robot 100 includes a base 10 , a connector 20 and a joint 30 , and the connector 20 includes a connector. Parts such as rods are jointed to connect adjacent parts of the robot, and the joints include motors and brakes.
  • the method includes:
  • the rotation center point is the rotation center for the robot to perform movement.
  • the robot 100 includes an end connector 40, and the end connector 40 is used to connect the work tool 200.
  • the rotation center The point is located on the working tool 200.
  • the rotation center point is used as the motion origin of the robot 100, and the robot moves around the rotation center point, but during the robot movement, the position of the rotation center point does not change.
  • the rotation center point is set on the working tool 200, so that the working tool 200 does not produce translational displacement during the movement of the robot, the working tool only rotates, and the motion range of the tool end of the robot is small.
  • the rotation center point can also be set at other positions in the direction of the robot end.
  • the base of the robot is the head end, and the end of the robot connecting tool is the end point.
  • the rotation center point can be set in the direction of the robot end, and the position of the rotation center point does not change when the robot moves. , to ensure that the displacement of the robot end is small.
  • the rotation center point is the tool center point of the working tool, and when the robot moves around the rotation center point, the tip of the working tool only rotates and the position does not change.
  • the end connector is formed as a tool flange, and the tool flange is connected to a working tool, and the working tool can be formed in various forms, such as welding tools, clamping jaws, glue dispensing tools, and the like.
  • the robot is in the braking state, and the robot needs to release the braking before performing the work; before the robot is powered off, the robot finishes performing the work, and the robot is powered off after the robot brakes.
  • the brake fails to brake successfully
  • the subsequent operation is performed directly, such as releasing the brake, or powering off the robot
  • the robot may be in danger of smashing the arm, or even damage the robot. Therefore, before the robot is powered on to release the brake and/or before the robot is powered off after braking, the abnormal braking of the robot is detected.
  • the motor is rotated by applying a current to overcome the braking, and at the same time, the motor rotates.
  • the braking state of the robot 100 may be normal or abnormal.
  • the joint 30 may rotate greatly. If the joint 30 rotates disorderly, It may cause a large displacement of the end of the robot.
  • the end of the robot is the tool end.
  • the robot may be connected to a variety of tools, some of which are longer in length and larger in size.
  • the robot includes safety functions to monitor the robot's The range of motion and collision detection function to avoid collisions in time.
  • the tool end of the robot it is usually mainly designed to perform work. The shapes of different tools connected to it are quite different, so it is difficult to design a general safety monitoring function.
  • the robot 100 moves around the rotation center point, and by selecting the position of the rotation center point, no displacement or less displacement of the end can occur.
  • the robot includes an end connector 40, which is used to connect the work tool 200.
  • the rotation center point can be set on the work tool 200, or at other positions in the direction of the robot end, and the rotation center point can be set on the work tool. It can also be set close to the working tool.
  • the robot By reducing the displacement of the robot end movement, the possibility of collision at the robot end is greatly reduced, and the safety of the robot operation is ensured.
  • the robot runs according to the preset working trajectory, and the running trajectory of the robot end is controllable. If the robot rotates freely after moving and before lowering. The displacement of the tool end is unplanned, and the safety risk of the robot is high.
  • the displacement of the end is planned, and the tool end of the robot can be prevented from being displaced by selecting the rotation center point reasonably. Understandably, the robot can obtain the setting of the rotation center point by the robot through the user interaction device.
  • each joint of the robot should be in a braking state in a theoretical state.
  • the robot When the robot is in the braking state, apply current to make the motor rotate against the braking force/torque, record the current at the moment when the motor is just able to rotate, and confirm whether there is a braking abnormality based on the current.
  • the preset parameter is the current required for the motor to rotate when the brake is normally braking. If the current is smaller than the preset parameter, it is determined that the braking is abnormal. , output an exception command.
  • a preset parameter is preset
  • the preset parameter is the current required for the motor to rotate when the brake is normally braked, and the actually detected current at the moment when the motor rotates is compared with the preset parameter, if the current If it is less than the preset parameter, it means that the braking force/torque of the robot is small at this time, and the motor only needs a small current to drive to overcome the braking force/torque.
  • the robot brakes abnormally, and an abnormal command is output at this time.
  • the abnormal instruction includes at least one of: a warning instruction, an instruction to reduce the working speed of the robot, an instruction to remind the user to process the instruction, and an instruction to remind the user to select a working mode.
  • the warning instruction can, for example, attract people's attention by means of vision, sound, etc.; the instruction to reduce the working speed of the robot, that is, to control the robot to continue to perform work after reducing the speed; the instruction to remind the user to select a working mode. , for example, reminding the user that he can choose to force power off at present, or power off after falling slowly, that is, to ensure that the operation of the robot is under the control of the user and avoid the safety risk caused by the abnormal brake.
  • the robot detects abnormal braking before powering on and starting to perform work, and before powering off after finishing the work, so as to ensure the reliable state of the brakes and improve the reliability of the robot.
  • This method has good versatility and is easy to implement.
  • the robot moves around the rotation center point, which ensures the displacement of the end of the robot and avoids the collision of the end.
  • the current when the motor rotates is compared with the preset parameters, and when it is determined that the braking is abnormal, that is, when the current is less than the preset parameters, the motor is kept in the excitation state and waits for user intervention.
  • the robot when it is determined that the braking is abnormal, if the robot is in the state before power-on and the braking is released, the robot is controlled not to release the braking, and the normally braking joint 30 remains in the braking state. Excited state without the risk of smashing the arm until the user intervenes to ensure a safe state of the robot.
  • the motor is powered off after braking, when the robot 100 has a braking abnormality, keep the motor in the excitation state to avoid the robot being powered off directly, and the brake failure will cause the robot to smash the arm and other risks.
  • the method further includes: S5, if the current is greater than a preset parameter, control the robot 100 to release the brake to perform work or control the robot to power off, and generate a prompt signal that the braking force/torque is too large .
  • the current is greater than the preset parameter, it means that the force required to make the motor rotate is greater than the force/torque required for the robot to brake normally. At this time, it indicates that the brake is working normally, and the brake effect is good, but the braking force is relatively low. Large is also the object that the robot needs to monitor. In this case, a prompt signal is generated to remind the user that the current braking force/torque is large to wait for the user's processing.
  • the method further includes: S6. If the current meets the preset parameter requirements, it is determined that the braking is normal, and the robot is controlled to release the braking to perform work or the robot is powered off.
  • the preset parameter is a parameter interval, and the parameter interval includes a certain margin, that is, the parameter interval includes the standard current when braking is normal, and a certain reasonable margin interval.
  • the robot is controlled to run according to the normal operation process, that is, the robot is controlled to release the brake to perform work or the robot is powered off.
  • the present invention is also used to provide a multi-joint robot 100, which includes a base 10, a connector 20 and a joint 30, the joint 30 includes a motor and a brake.
  • a multi-joint robot 100 which includes a base 10, a connector 20 and a joint 30, the joint 30 includes a motor and a brake.
  • FIG. 5 is an embodiment of the multi-joint robot of the present invention. Block diagram, the robot includes:
  • the setting unit 110 is used to set the rotation center point of the robot; wherein, the rotation center point is set by means of human-computer interaction.
  • the robot 100 includes an end connector 40 to connect the working tool 200, and the rotation center point can be set On the working tool 200, when the robot 100 moves around the rotation center point, the position of the rotation center point does not change, and the displacement of the tool end of the robot can be made smaller by selecting the rotation center point reasonably.
  • the point is set in the tool end direction of the robot 100.
  • the rotation center point may be the tool center point of the working tool.
  • the motion control unit 120 is used to apply current to the robot 100 before power-on and release the brake and/or before the robot goes down after braking, to make the motor rotate against the braking force/torque, and control the robot to move around the center of rotation when the motor rotates ;
  • This method can be applied to brakes of various structures and has good versatility.
  • the movement and displacement of the parts attached to the position of the rotation center point can be effectively ensured to be small.
  • the detection unit 130 is used to detect the current at the moment when the motor rotates
  • Abnormality judgment unit 140 for comparing the current with a preset preset parameter, the preset parameter is the current required for the motor to rotate when the brake is normally braked, if the current is less than the preset parameter , it is determined that the brake is abnormal, and the abnormal command is output.
  • the abnormality judging unit 140 is used for determining that the braking is abnormal, keeping the motor in the excitation state and waiting for user intervention, and keeping the motor in the excitation state, so as to prevent the danger of arm smashing when the robot brake fails.
  • the abnormal instruction includes at least one of the following: a warning instruction, an instruction to reduce the working speed of the robot, an instruction to remind the user to process the instruction, and an instruction to remind the user to select a working mode.
  • the command for reminding the user to select the working mode may be, for example, reminding the user that he can choose to force power off at present, or power off after falling slowly, that is, to ensure that the operation of the robot is under the control of the user and avoid safety risks caused by abnormal brakes.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de détection d'anomalie de freinage de robot et un robot à articulations multiples (100). Le procédé comprend les étapes consistant à : définir un point central de rotation d'un robot (100) ; avant que le robot (100) ne soit mis sous tension et ne soit soumis à une élimination de freinage et/ou après que le robot (100) a été freiné, et avant que le robot ne soit mis hors tension, appliquer un courant pour amener un moteur électrique à surmonter une force/un couple de freinage à des fins de rotation, et quand le moteur électrique tourne, commander le robot (100) à des fins de déplacement autour du point central de rotation ; détecter un courant au moment où le moteur électrique tourne ; et comparer le courant et un paramètre prédéfini, le paramètre prédéfini étant un courant nécessaire pour provoquer la rotation du moteur électrique quand un frein freine normalement, et si le courant est inférieur au paramètre prédéfini, déterminer que le freinage est anormal, et émettre en sortie une instruction d'anomalie. Les effets bénéfiques résident dans le fait qu'un robot (100) détecte s'il y a une anomalie de freinage, pour ainsi réduire le risque de sécurité du robot (100), et que le déplacement de l'extrémité arrière du robot (100) est faible pendant le processus de détection d'une anomalie.
PCT/CN2021/117626 2020-09-21 2021-09-10 Procédé de détection d'anomalie de freinage de robot et robot à articulations multiples Ceased WO2022057730A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN202022080827 2020-09-21
CN202022080827.1 2020-09-21
CN202010995117.3A CN114248260B (zh) 2020-09-21 2020-09-21 一种多关节机器人制动器释放管理方法
CN202010995117.3 2020-09-21
CN202022345135.5 2020-10-20
CN202011123026.7A CN114378798B (zh) 2020-10-20 2020-10-20 一种多关节机器人制动器异常检测方法
CN202022345135.5U CN213562593U (zh) 2020-10-20 2020-10-20 一种包括制动器异常检测的多关节机器人
CN202011123026.7 2020-10-20

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WO2022057730A1 true WO2022057730A1 (fr) 2022-03-24

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PCT/CN2021/117626 Ceased WO2022057730A1 (fr) 2020-09-21 2021-09-10 Procédé de détection d'anomalie de freinage de robot et robot à articulations multiples

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115816514A (zh) * 2023-02-16 2023-03-21 极限人工智能有限公司 基于测量电变量的机器人关节制动器故障检测方法及系统
CN115901068A (zh) * 2022-11-12 2023-04-04 埃夫特智能装备股份有限公司 一种机器人抱闸制动力循环自检测方法
CN116898587A (zh) * 2023-07-21 2023-10-20 哈尔滨思哲睿智能医疗设备股份有限公司 被动关节制动器的检测方法、装置、电子设备及存储介质
CN117484512A (zh) * 2023-12-29 2024-02-02 苏州钧舵机器人有限公司 一种电动夹爪控制方法及电动夹爪

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JPH06246674A (ja) * 1993-02-26 1994-09-06 Yaskawa Electric Corp 産業用ロボットのブレーキ異常検出方法
US20020069697A1 (en) * 2000-12-13 2002-06-13 Joseph Hofmann Method for testing the brake of an electric motor
DE102014207072A1 (de) * 2014-04-11 2015-10-15 Kuka Roboter Gmbh Verfahren zum Betreiben einer Bremse und zugehörige Maschine, insbesondere Roboter
CN105651499A (zh) * 2014-11-28 2016-06-08 株式会社安川电机 制动器诊断装置、制动器诊断方法、制动器诊断系统
CN111037605A (zh) * 2019-12-26 2020-04-21 中科新松有限公司 一种机器人关节电磁制动器的磨损检测方法

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US20020069697A1 (en) * 2000-12-13 2002-06-13 Joseph Hofmann Method for testing the brake of an electric motor
DE102014207072A1 (de) * 2014-04-11 2015-10-15 Kuka Roboter Gmbh Verfahren zum Betreiben einer Bremse und zugehörige Maschine, insbesondere Roboter
CN105651499A (zh) * 2014-11-28 2016-06-08 株式会社安川电机 制动器诊断装置、制动器诊断方法、制动器诊断系统
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Publication number Priority date Publication date Assignee Title
CN115901068A (zh) * 2022-11-12 2023-04-04 埃夫特智能装备股份有限公司 一种机器人抱闸制动力循环自检测方法
CN115816514A (zh) * 2023-02-16 2023-03-21 极限人工智能有限公司 基于测量电变量的机器人关节制动器故障检测方法及系统
CN116898587A (zh) * 2023-07-21 2023-10-20 哈尔滨思哲睿智能医疗设备股份有限公司 被动关节制动器的检测方法、装置、电子设备及存储介质
CN117484512A (zh) * 2023-12-29 2024-02-02 苏州钧舵机器人有限公司 一种电动夹爪控制方法及电动夹爪
CN117484512B (zh) * 2023-12-29 2024-04-05 苏州钧舵机器人有限公司 一种电动夹爪控制方法及电动夹爪

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