CN212660126U - Industrial robot's safety control system and industrial robot - Google Patents

Abstract

The utility model relates to an industrial robot's safety control system and industrial robot. The utility model is characterized in that: the safety control system includes: a setting module for setting a safe torque; the first torque acquisition module acquires motor phase current through a current sensor, acquires a rotor position through a motor position sensor, and accordingly acquires a first motor torque; the second torque acquisition module acquires total current of the motor through a motor bus current sensor, acquires motor bus voltage through a motor bus voltage sensor, acquires motor rotating speed through a motor rotating speed sensor, and accordingly acquires second motor torque; and the control module comprises two control units which respectively compare whether the first motor torque and the second motor torque exceed the safe torque and control the motor to decelerate or stop when any one of the first motor torque and the second motor torque exceeds the safe torque. The beneficial effects of the utility model reside in that: the motor torque judgment accuracy is high, and the safety of the industrial robot is good.

Description

Industrial robot's safety control system and industrial robot

Technical Field

The utility model relates to an industrial robot field especially relates to a safety control system and use its industrial robot.

Background

With the development of society, robots are beginning to be widely used in various fields, such as home robots, industrial robots, service robots, and the like. Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots mainly facing industrial fields, and include conventional industrial robots as well as cooperative robots. The cooperative robot is a light robot in an industrial robot, can efficiently complete work in cooperation with a human, and can complete work in a dangerous environment with high precision and high efficiency, so that the cooperative robot is favored by more and more users.

The cooperative robot needs to interact and cooperate with a human in a short distance during work, so that the work safety is a core performance index for the cooperative robot. The conventional cooperative robot has a plurality of safety detection mechanisms, such as speed monitoring, moment monitoring and the like, a servo drive system is a power source of the cooperative robot and can generate torque to drive the cooperative robot to move to perform various kinds of work, but the generated torque needs to be accurately monitored, and if the generated torque cannot be accurately detected, a great safety risk is brought to a user.

Therefore, it is necessary to design a safety control system capable of accurately detecting the torque of the servo drive system of the industrial robot and the industrial robot including the same.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a safety control system and industrial robot that the security detection accuracy is high to the torque.

The utility model discloses can adopt following technical scheme: a safety control system of an industrial robot, characterized in that the safety control system comprises: the setting module is used for setting a safe torque of the industrial robot, and the safe torque limits the maximum torque of the industrial robot for safe operation; the first torque acquisition module acquires motor phase current through a current sensor, acquires a rotor position through a motor position sensor, and acquires first motor torque according to the motor phase current and the rotor position; the second torque acquisition module acquires total current of the motor through a motor bus current sensor, acquires motor bus voltage through a motor bus voltage sensor, acquires motor rotating speed through a motor rotating speed sensor, and acquires second motor torque according to the total current of the motor, the motor bus voltage and the motor rotating speed; and the control module is electrically connected with the first torque acquisition module and the second torque acquisition module, comprises two control units, and respectively compares whether the first motor torque and the second motor torque exceed the safe torque, and controls the motor to decelerate or stop when any one of the first motor torque and the second motor torque exceeds the safe torque.

Further, the first torque acquisition module includes: and acquiring a current-torque coefficient, and acquiring a first motor torque according to the motor phase current, the rotor position and the current-torque coefficient.

Further, the second torque acquisition module includes: and acquiring the motor efficiency, and acquiring the second motor torque according to the motor bus voltage, the motor total current, the motor rotating speed and the motor efficiency.

Further, the current-torque coefficient is obtained through a plurality of experiments or is preset.

Further, the motor efficiency is obtained by table look-up after multiple experiments or is preset.

The utility model discloses still can adopt following technical scheme: an industrial robot comprising a safety control system according to any of the preceding claims.

Further, industrial robot includes a plurality of motors, when the motor torque of a plurality of motors does not exceed the safe torque, industrial robot normally operates.

Compared with the prior art, the utility model discloses embodiment's beneficial effect does: the safety control system acquires joint torque through different ways through the first torque acquisition module and the second torque acquisition module respectively and compares the joint torque with the safety torque respectively, the independence of data processing and judgment is better, the monitoring result of the motor torque is more accurate, and the safety of the industrial robot is improved.

Drawings

Above the utility model discloses an aim at, technical scheme and beneficial effect can realize through following attached drawing:

fig. 1 is a block diagram of a safety control system according to an embodiment of the present invention

Fig. 2 is a schematic view of an industrial robot according to an embodiment of the present invention

Fig. 3 is a schematic diagram of the operation of the safety control system according to an embodiment of the present invention

FIG. 4 is a schematic diagram of the safety control system according to another embodiment of the present invention

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a safety control system, refer to fig. 1, fig. 1 shows the utility model discloses a safety control system 1's of an embodiment module schematic diagram, the utility model provides a safety control system 1 is used for ensuring industrial robot's safe operation to and control its speed reduction or shut down when industrial robot has the security risk. The safety control system 1 comprises a setting module 11 for setting a safety torque of the industrial robot, which limits a maximum torque at which the industrial robot safely operates, which is normally set by a user, but without excluding the setting of the robot itself or the user selecting a safety torque applicable to the industrial robot according to the setting of the robot itself, e.g. the user may set the safety torque by a robot teach pendant, a portable device, etc., whereupon the setting module 11 can set the safety torque for the industrial robot; the safety control system 1 can respectively acquire a first motor torque and a second motor torque of the motor, specifically, the safety control system 1 comprises a first torque acquisition module 12 and a second torque acquisition module 13, the first torque acquisition module 12 comprises a current sensor and a motor position sensor, the current sensor acquires a phase current of the motor, the motor position sensor acquires a rotor position, and the first motor torque is acquired according to the phase current of the motor and the rotor position; the second torque module 13 comprises a motor bus current sensor, a motor bus voltage sensor and a motor speed sensor, wherein the motor bus current sensor is used for acquiring the total current of the motor, the motor bus voltage sensor is used for acquiring the bus voltage of the motor, the speed sensor is used for acquiring the rotating speed of the motor, and the second motor torque is acquired according to the total current of the motor, the bus voltage of the motor and the rotating speed of the motor; the safety control system 1 includes a control module configured to process the first motor torque acquired by the first torque acquisition module 12 and process the second motor torque acquired by the second torque acquisition module 13, and accordingly execute corresponding control. The control module comprises two control units, for example, in this embodiment, the control module comprises a first control unit 14 and a second control unit 15, the two control units are respectively used for processing the first motor torque and the second motor torque, and the two control units of the control module are respectively used for comparing whether the first motor torque and the second motor torque exceed safe torques or not and controlling the industrial robot to decelerate or stop when either one of the first motor torque and the second motor torque exceeds the safe torque. And when the two control units of the control module respectively judge that the first motor torque and the second motor torque do not exceed the safe torque, controlling the robot to normally operate. The control module comprises two control units, such as a first control unit 14 and a second control unit 15, the first control unit 14 is used for judging whether the first motor torque exceeds a safe torque, the second control unit 15 is used for judging whether the second motor torque exceeds the safe torque, furthermore, the first control unit 14 and the second control unit 15 can cross monitor respective processing information, and when any one of the first control unit 14 and the second control unit 15 judges that the motor torque exceeds the safe torque, the robot is controlled to decelerate or stop. In one embodiment, the motor position sensor and the motor speed sensor are independent from each other to ensure the accuracy and the independence of the first torque acquisition module and the second torque acquisition module for acquiring the first motor torque and the second motor torque respectively. The motor phase current is obtained through the current sensor, and the two-phase or three-phase motor phase current is obtained through the current sensor. Further, the motor speed sensor is used for acquiring the motor speed, including directly acquiring the motor speed through the motor speed sensor, and also including indirectly acquiring the motor speed through the motor speed sensor capable of acquiring the motor speed information, for example, the motor speed sensor may be a sensor for acquiring the rotor position, and the information acquired through the sensor may also be calculated to acquire the motor speed. Optionally, the control module may further control the robot to send an alarm signal to remind a user of processing when it is determined that the motor torque exceeds the safe torque. The first motor torque and the second motor torque are respectively acquired by the first torque acquisition module and the second torque acquisition module, the first motor torque and the second motor torque are acquired twice aiming at the same motor, so that the same motor is monitored twice, the first motor torque and the second motor torque respectively use different ways, and the control modules respectively execute respective judgment by the two control units, so that the judgment accuracy of the motor torque is good, and the working safety of the industrial robot is more reliable.

Further, the first torque obtaining module obtains a first motor torque according to a motor phase current, a rotor position, and a current-torque coefficient of the motor, wherein the current-torque coefficient is obtained through a plurality of experiments or is preset, the current-torque coefficient represents a relationship between the phase current and the motor torque, and is generally an available parameter value, the first torque obtaining module obtains the first motor torque by integrating the motor phase current, the rotor position, and the current-torque coefficient, and the obtained current-torque coefficient is obtained through the plurality of experiments or is preset. The second torque acquisition module includes: and acquiring the motor efficiency, and acquiring the second motor torque according to the motor bus voltage, the motor total current, the motor rotating speed and the motor efficiency. The motor efficiency of the different motors is different, and the motor efficiency can be obtained by looking up the table after multiple experiments, or can be preset, and as above, the motor efficiency obtaining module, that is, the second torque obtaining module obtains the motor efficiency obtained by looking up the table after multiple experiments, or obtains the motor efficiency through the preset motor efficiency. Specifically, the manner of acquiring the second motor torque by the second torque acquisition module includes: and acquiring input power of the motor according to the total current of the motor and the bus voltage of the motor, acquiring approximate output power by combining the input power with the motor efficiency, and acquiring second motor torque of the motor by combining the motor rotating speed.

After the first motor torque and the second motor torque are respectively acquired by the first torque acquisition module and the second torque acquisition module, the safety control system comprises a control module, the control module is electrically connected with the first torque acquisition module and the second torque acquisition module, and the safety control system comprises two control units which respectively compare whether the first motor torque and the second motor torque exceed the safety torque and control the motor to decelerate or stop when any one of the first motor torque and the second motor torque exceeds the safety torque. Wherein, in an embodiment, the safety control system includes a servo driving system 3, the servo driving system 3 includes a motor 31, and a control module of the safety control system, refer to fig. 3, fig. 3 shows a working schematic diagram of the safety control system according to an embodiment of the present invention, the servo driving system 3 includes a driving circuit, a current sensor 36, a motor 31, a position sensor 32, a rotation speed sensor 33, a motor bus current sensor 34, a motor bus voltage sensor 35, and a control module, a connection relationship of each component refers to fig. 3, the first torque obtaining module includes the current sensor 36 to obtain a motor phase current, the position sensor 32 obtains a rotor position, a first motor torque is obtained according to the motor phase current and the rotor position, the second torque obtaining module includes the motor bus voltage sensor 35 to obtain a motor bus voltage, the motor bus current sensor 34 obtains the total current of the motor, the rotating speed sensor 33 obtains the rotating speed of the motor, the second motor torque is obtained according to the bus voltage of the motor, the total current of the motor and the rotating speed of the motor, and the control module of the servo driving system respectively judges whether the first motor torque and the second motor torque exceed the safe torque, and controls the motor 31 of the servo driving system to decelerate or stop when any one of the first motor torque and the second motor torque exceeds the safe torque. Further, industrial robot includes a plurality of servo drive systems, it is corresponding, industrial robot includes a plurality of motors, industrial robot can communicate with these a plurality of servo drive systems, when there is a certain servo drive system to judge that motor torque exceeds safe torque, after industrial robot acquires this information through communication, the equal speed reduction of motor of other servo drive systems (not shown) of control industrial robot or shut down to guarantee industrial robot's security, promptly, only when industrial robot's all motor torque all do not exceed the safe torque, industrial robot keeps normal operating.

In the above embodiment, the servo driving system includes a control module, that is, a control module including a safety control system, the control module of the servo driving system respectively determines whether the first motor torque and the second motor torque exceed the safety torques, and when any one of the first motor torque and the second motor torque exceeds the safety torque, the control module controls the motor 31 of the servo driving system to decelerate or stop, and after the industrial robot obtains the information, the industrial robot controls the other motors of the industrial robot to decelerate or stop, so as to ensure the safety of the work of the industrial robot. In another embodiment of the present invention, referring to fig. 4, the safety control system includes a servo driving system, the servo driving system includes a first torque obtaining module, that is, the current sensor 36 and the position sensor 32, the servo driving system includes a second torque obtaining module, that is, the motor bus current sensor 34, the motor bus voltage sensor 35, the rotation speed sensor 33, further, the servo driving system further includes a servo driving module 37, further, the safety control system includes a control module, the control module compares whether the first motor torque and the second motor torque exceed the safety torque respectively, and when any one of them exceeds the safety torque, the control motor decelerates or stops. In this embodiment, the servo drive system does not include the control module, the control module is a control module of the robot, when the servo drive system of the safety control system respectively obtains the first motor torque and the second motor torque through the first torque obtaining module and the second torque obtaining module, the servo drive module 37 of the servo drive system transmits the information to the control module of the robot, the control module of the robot respectively judges whether the first torque obtaining module and the second torque obtaining module exceed the safety torque, and when either one of the first torque obtaining module and the second torque obtaining module exceeds the safety torque, the control module controls the motor 31 of the servo drive system to decelerate or stop, and at the same time, the control module controls the motors of other servo drive systems of the industrial robot to decelerate or stop, even if the motor torques of other servo drive systems do not exceed the safety torque, that is, the industrial robot controls the robot to normally operate only when the motor torques of all the motors of the industrial robot do not exceed the safety torque.

The beneficial effects of the above preferred embodiment are: the utility model provides a safety control system can acquire first motor torque and second motor torque respectively through foretell two kinds of modes to judge respectively whether surpassing safe torque, make the judgement of motor torque comparatively accurate, reduce or even avoid the industrial robot insecurity that motor torque erroneous judgement arouses, promoted industrial robot safe operation's reliability.

The utility model discloses still be suitable for and provide an industrial robot, refer to fig. 2, industrial robot 2 includes base 21, arm 22, but arm connecting tool is in order to carry out concrete work, industrial robot 2 includes foretell arbitrary any safety control system 1, wherein, industrial robot includes a plurality of motors, the motor torque of a plurality of motors does not all exceed during the safety torque, industrial robot normal operating. Further, the industrial robot includes a cooperative robot, which is a lightweight robot capable of performing work in cooperation with a human.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (7)

1. A safety control system of an industrial robot, characterized in that the safety control system comprises: the setting module is used for setting a safe torque of the industrial robot, and the safe torque limits the maximum torque of the industrial robot for safe operation;

the first torque acquisition module acquires motor phase current through a current sensor, acquires a rotor position through a motor position sensor, and acquires first motor torque according to the motor phase current and the rotor position;

the second torque acquisition module acquires total current of the motor through a motor bus current sensor, acquires motor bus voltage through a motor bus voltage sensor, acquires motor rotating speed through a motor rotating speed sensor, and acquires second motor torque according to the total current of the motor, the motor bus voltage and the motor rotating speed;

and the control module is electrically connected with the first torque acquisition module and the second torque acquisition module, comprises two control units, and respectively compares whether the first motor torque and the second motor torque exceed the safe torque, and controls the motor to decelerate or stop when any one of the first motor torque and the second motor torque exceeds the safe torque.

2. The safety control system of claim 1, wherein the first torque acquisition module comprises: and acquiring a current-torque coefficient, and acquiring a first motor torque according to the motor phase current, the rotor position and the current-torque coefficient.

3. The safety control system of claim 1, wherein the second torque acquisition module comprises: and acquiring the motor efficiency, and acquiring the second motor torque according to the motor bus voltage, the motor total current, the motor rotating speed and the motor efficiency.

4. The safety control system according to claim 2, wherein the current-torque coefficient is obtained through a plurality of experiments or is set in advance.

5. The safety control system of claim 3, wherein the motor efficiency is obtained by table look-up after multiple experiments or by presetting.

6. An industrial robot characterized by comprising a safety control system according to any of claims 1-5.

7. An industrial robot according to claim 6, characterized in that it comprises a plurality of motors, and that it operates normally when none of the motor torques of the plurality of motors exceeds the safety torque.

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