CN107150342B - An industrial robot and its industrial robot obstacle avoidance system - Google Patents
An industrial robot and its industrial robot obstacle avoidance system Download PDFInfo
- Publication number
- CN107150342B CN107150342B CN201710586094.9A CN201710586094A CN107150342B CN 107150342 B CN107150342 B CN 107150342B CN 201710586094 A CN201710586094 A CN 201710586094A CN 107150342 B CN107150342 B CN 107150342B
- Authority
- CN
- China
- Prior art keywords
- robot body
- detection device
- preset range
- alarm
- robot
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot obstacle avoidance system, which comprises: the first detection device is an infrared pyroelectric inductor arranged on the robot body, and the robot body is arranged in the middle of the first preset range; and the alarm is used for giving an alarm when receiving the induction signal, and the alarm is in signal connection with the first detection device. The first detection device and the alarm are arranged to automatically detect the defined safety space in a targeted mode, an alarm is given when a person enters the safety space, the worker is prompted to leave as soon as possible, if special space requirements exist, the robot body is manually controlled to stop working, the space in the defined first preset range can be conveniently used, and therefore the space utilization rate of a workshop is guaranteed while the safety of the robot body is guaranteed. The invention also discloses an industrial robot comprising the industrial robot obstacle avoidance system.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an industrial robot obstacle avoidance system. The invention also relates to an industrial robot comprising the industrial robot obstacle avoidance system.
Background
With the popularization of industrial robots, the safety problem of industrial robots is particularly important. At present, the most common solution is to enclose the working range space of the robot with tools such as fences, etc. to prevent safety accidents caused by the mistaken intrusion of workers.
However, if the working space of the industrial robot is completely closed, a part of the originally safe space is wasted for the workshop, and the workshop space is narrow originally, so that the working space of the industrial robot cannot be completely closed at all, and even if the industrial robot is stopped, the closed space is not convenient to use due to the enclosure of the fence. In addition, if the position of the fence is moved by mistake, the range defined by the fence does not conform to the safety range, and the safety cannot be ensured.
Therefore, how to improve the safety of the industrial robot and the space utilization rate of the workshop is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides an obstacle avoidance system for an industrial robot, which can improve the safety of a robot body and the space utilization rate of a workshop. Another object of the present invention is to provide an industrial robot including the above-mentioned obstacle avoidance system, which has high safety and can ensure the space utilization rate of a workshop.
In order to achieve the purpose, the invention provides the following technical scheme:
an industrial robot obstacle avoidance system comprising:
the first detection device is used for judging whether a person is in a first preset range or not, if so, an induction signal is sent to the alarm, the first detection device is an infrared pyroelectric inductor arranged on a robot body, and the robot body is arranged in the middle of the first preset range;
and the alarm is used for giving an alarm when the sensing signal is received, and the alarm is in signal connection with the first detection device.
Preferably, the method further comprises the following steps:
the second detection device is used for judging whether a person is in a second preset range or not, if so, a pause signal is sent to the single chip microcomputer, and the second preset range is smaller than the first preset range and is within the first preset range;
the single chip microcomputer is arranged in the robot body controller and is in signal connection with the second detection device, the single chip microcomputer receives the pause signal, the P port of the single chip microcomputer can be pulled down to the voltage of the pause IO port of the robot body controller, and therefore the robot body can pause.
Preferably, the second detection device is an ultrasonic sensor and is disposed on the robot body.
Preferably, at least four of the second detection devices are arranged in order around the circumferential direction on the outer circumferential surface of the robot body.
Preferably, the method further comprises the following steps:
the third detection device is used for judging whether a person is in a third preset range or not, if so, sending a circuit breaking signal to the normally closed relay switch, wherein the third preset range is smaller than the second preset range and is within the second preset range;
the normally closed relay switch is connected to a servo power supply of the robot body, is in signal connection with the third detection device, and is used for controlling the servo power supply to be powered off when receiving the circuit breaking signal.
Preferably, the third detection device is an ultrasonic sensor or a limit switch, and is arranged on the robot body.
Preferably, the alarm is an indicator light or a buzzer.
An industrial robot comprises a robot body and further comprises an industrial robot obstacle avoidance system.
The industrial robot obstacle avoidance system provided by the invention comprises a first detection device and an alarm. The first detection device is used for judging whether a person is in a first preset range, if so, sending a sensing signal to the alarm, the first detection device is an infrared pyroelectric sensor arranged on the robot body, and the robot body is arranged in the middle of the first preset range; the alarm is used for giving an alarm when receiving the induction signal, and the alarm is connected with the first detection device through a signal.
The setting of first detection device and alarm can have corresponding ground automated inspection demarcation safety space to carry out the police dispatch newspaper when someone gets into this safety space, the suggestion workman leaves as early as possible, in order to avoid influencing the normal work of robot, if there is special space demand, after manual control robot stops working, the space in this first predetermined scope of demarcation also can conveniently be utilized, guarantee the space utilization in workshop simultaneously at the security of robot, the degree of automation of obstacle is kept away in the improvement.
The industrial robot comprising the industrial robot obstacle avoidance system is high in safety and can ensure the space utilization rate of a workshop.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a front view of an industrial robot obstacle avoidance system provided by the present invention;
fig. 2 is a left side view of an industrial robot obstacle avoidance system provided by the present invention;
fig. 3 is a top view of an industrial robot obstacle avoidance system provided by the invention.
In fig. 1 to 3:
1-a first detection device, 2-a second detection device, 3-a robot body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide an industrial robot obstacle avoidance system which can improve the safety of a robot body and the space utilization rate of a workshop. The other core of the invention is to provide the industrial robot comprising the industrial robot obstacle avoidance system, which has higher safety and can ensure the space utilization rate of a workshop.
Referring to fig. 1 to fig. 3, fig. 1 is a front view of an industrial robot obstacle avoidance system provided by the present invention; fig. 2 is a left side view of an industrial robot obstacle avoidance system provided by the present invention; fig. 3 is a top view of an industrial robot obstacle avoidance system provided by the invention.
The invention provides an industrial robot obstacle avoidance system, which comprises a first detection device 1 and an alarm, wherein the alarm is in signal connection with the first detection device 1. First detection device 1 sets up on robot 3, and first detection device 1 is used for judging whether someone is in first preset range, if, then sends the sensing signal to the alarm, and the alarm is used for reporting to the police when receiving the sensing signal. The robot body 3 is arranged in the middle of a first preset range, and the first preset range refers to a defined space range with the distance between the robot body 3 and the first preset range within a preset value.
The first detection device 1 may be an infrared pyroelectric sensor, and the infrared pyroelectric sensor is disposed on the robot body 3. The first preset range is the sensing range of the infrared pyroelectric sensor, and specific parameters of the infrared pyroelectric sensor can be specifically selected according to the limiting requirement of the first preset range. According to the working principle of the infrared pyroelectric sensor, the interference of the robot in working can be eliminated, workers entering the pyroelectric sensor by mistake can be sensed, and the reliability of detection can be guaranteed.
Further, this industrial robot keeps away barrier system can also include second detection device 2 and singlechip, and the singlechip setting is in the robot body control ware, and singlechip signal connection second detection device 2. The second detection device 2 is used for judging whether a person is in a second preset range, and if yes, a pause signal is sent to the single chip microcomputer. When the single chip microcomputer receives the pause signal, the P port of the single chip microcomputer can pull down the voltage of the pause IO port of the robot body controller, so that the robot body 3 can work in a pause mode, and the robot body 3 is paused through software at the moment. The second preset range is smaller than the first preset range and is within the first preset range.
In this embodiment, the first detection device 1 provides a first line of defense for the robot body 3, and when someone breaks through the first line of defense, the alarm gives an alarm, but the robot body 3 can still work normally; the second detection device 2 provides a second defense line for the robot body 3, when someone breaks through the defense line, the robot body 3 stops working due to the fact that the distance between a worker and the robot is closer, so that safety accidents are prevented from happening, the safety of the robot body 3 is further improved, and the injury to the worker is avoided.
Specifically, the second detection device 2 may be an ultrasonic sensor, and the ultrasonic sensor is provided on the robot body 3. The distance between the ultrasonic sensor and a person is judged by utilizing the principle that the ultrasonic sensor sends and receives ultrasonic waves, the second preset range corresponds to the range defined by one preset distance of the ultrasonic sensor, when the ultrasonic sensor detects that the distance between the person and the ultrasonic sensor is smaller than the preset distance, the person enters the second preset range, the voltage of a pause IO port of the robot body controller is lowered through the P port of the single chip microcomputer, a pause signal is triggered, and the robot pauses.
Adopt ultrasonic sensor to detect, can guarantee sensitivity and the accuracy that detects, and keep away the barrier distance and can adjust as required, under the circumstances of guaranteeing that robot 3 does not collide with the people, allow workman and robot 3 closely contact.
Further, at least four second detection devices 2 may be sequentially disposed on the outer circumferential surface of the robot body 3 in the circumferential direction, and specifically, the number may be four, five or another number. The second detection device 2 is directly arranged on the robot body 3 and is annularly arranged on the periphery of the robot body 3, so that the second detection device 2 can perform comprehensive detection, and the use reliability is improved.
On the basis of the above embodiments, the industrial robot obstacle avoidance system may further include a third detection device and a normally closed relay switch, the normally closed relay switch is connected to the servo power supply of the robot body 3, and the normally closed relay switch is in signal connection with the third detection device. The third detection device is used for judging whether a person is in a third preset range, if so, the circuit breaking signal is sent to the normally closed relay switch, and the normally closed relay switch is used for controlling the servo power supply to be powered off when receiving the circuit breaking signal. The third preset range is smaller than the second preset range and is within the second preset range.
The third detection device can provide the third line of defense for robot body 3, if the third detection device detects someone, then explain that this person has broken through first line of defense and second line of defense to entered into among the third line of defense, this person's safety can't reach the assurance, normally closed relay switch can control robot body 3's servo power supply outage, thereby the motor outage, robot body 3 stop work, robot body 3's the stopping of this moment is hardware stop, with the safety of assurance workman. By arranging three defense lines and different measures of each defense line, the influence on the normal work of the robot body 3 caused by frequent mistaken entering of workers is avoided, and the safety of the workers is ensured.
In addition, the second detection device and the third detection device are arranged at the same time, so that a proper buffer distance can be provided, and the robot body 3 is prevented from colliding with a person under the condition that the robot body control system is invalid. When the person walks into the second preset range but does not walk into the third preset range, the pause signal is sent to the single chip microcomputer to control the servo power supply of the robot body 3 to be powered off, only soft pause is carried out at the moment, the influence on the stability of the system is small, and when the person leaves the outside of the second preset range, the robot body 3 automatically resumes working, so that the influence on the stability of the system caused by frequent power off of the servo power supply of the robot body 3 is avoided. And only when people walk into the third preset range, the circuit breaking signal is sent to the normally closed relay switch to control the servo power supply of the robot body 3 to be powered off, namely, the power off is an emergency measure taken under the condition that the sending of the pause signal fails or the people cannot stop completely after the sending of the pause signal, and the robot body 3 can be recovered to work through manual power on after the power off.
Specifically, the third detection device may be an ultrasonic sensor or a limit switch, and the third detection device is provided on the robot body 3, so that the close-range protection of the robot body 3 is conveniently and reliably achieved.
In each of the above embodiments, the alarm may be an indicator light or a buzzer, and the specific alarm mode may be an indicator light flashing or a buzzer sounding, so that the installation is convenient, the cost is low, and the alarm effect is good.
In addition to the industrial robot obstacle avoidance system, the invention also provides an industrial robot including the industrial robot obstacle avoidance system disclosed in the above embodiment, and the industrial robot has higher safety. The industrial robot includes a robot body 3 and other structures, please refer to the prior art specifically, and the description is omitted here.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The industrial robot and the obstacle avoidance system thereof provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (2)
1. An industrial robot keeps away barrier system, its characterized in that includes:
the first detection device (1) is used for judging whether a person is in a first preset range or not, if so, an induction signal is sent to the alarm, the first detection device (1) is an infrared pyroelectric inductor arranged on the robot body (3), and the robot body (3) is arranged in the middle of the first preset range;
the alarm is used for giving an alarm when the induction signal is received, and the alarm is in signal connection with the first detection device (1);
the second detection device (2) is used for judging whether a person is in a second preset range or not, if so, a pause signal is sent to the single chip microcomputer, the second preset range is smaller than the first preset range, the second preset range is located within the first preset range, the second detection device (2) is an ultrasonic sensor and is arranged on the robot body (3), and at least four second detection devices (2) are sequentially arranged on the outer peripheral surface of the robot body (3) in the circumferential direction;
the single chip microcomputer is arranged in the robot body controller and is in signal connection with the second detection device (2), and when the single chip microcomputer receives the pause signal, the P port of the single chip microcomputer can pull down the voltage of the pause IO port of the robot body controller so as to enable the robot body (3) to pause;
the third detection device is used for judging whether a person is in a third preset range or not, if so, sending a circuit breaking signal to the normally closed relay switch, wherein the third preset range is smaller than the second preset range and is within the second preset range;
the normally closed relay switch is connected to a servo power supply of the robot body (3), is in signal connection with the third detection device and is used for controlling the servo power supply to be powered off when receiving the circuit breaking signal;
the third detection device is an ultrasonic sensor or a limit switch and is arranged on the robot body (3);
the alarm is a buzzer.
2. An industrial robot comprising a robot body (3), characterized in that it further comprises an industrial robot obstacle avoidance system according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586094.9A CN107150342B (en) | 2017-07-18 | 2017-07-18 | An industrial robot and its industrial robot obstacle avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586094.9A CN107150342B (en) | 2017-07-18 | 2017-07-18 | An industrial robot and its industrial robot obstacle avoidance system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107150342A CN107150342A (en) | 2017-09-12 |
| CN107150342B true CN107150342B (en) | 2020-04-28 |
Family
ID=59796795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710586094.9A Expired - Fee Related CN107150342B (en) | 2017-07-18 | 2017-07-18 | An industrial robot and its industrial robot obstacle avoidance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107150342B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262745A (en) * | 2017-12-19 | 2018-07-10 | 国家电网有限公司 | Robot security's monitoring method, apparatus and system |
| CN109333588B (en) * | 2018-12-14 | 2024-02-27 | 埃华路（芜湖）机器人工程有限公司 | Robot tongs collision protection mechanism |
| JP2020189367A (en) * | 2019-05-22 | 2020-11-26 | セイコーエプソン株式会社 | Robot system |
| CN110058195A (en) * | 2019-05-24 | 2019-07-26 | 珠海格力电器股份有限公司 | Method and device for determining working range state of industrial robot |
| CN111730602B (en) * | 2020-07-20 | 2020-12-04 | 季华实验室 | Robotic arm safety protection method, device, storage medium and electronic device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202004020863U1 (en) * | 2004-09-17 | 2006-04-06 | Sick Ag | Safety device used in dangerous work area has upper and lower securing systems that generate signals used in determining position of object within dangerous work area |
| KR20070005784A (en) * | 2005-07-06 | 2007-01-10 | 삼성전자주식회사 | Robot for semiconductor wafer transfer with infrared sensor |
| EP2558886B1 (en) * | 2010-04-16 | 2014-03-05 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for monitoring at least one three-dimensional safety area |
| CN104416581A (en) * | 2013-08-27 | 2015-03-18 | 富泰华工业（深圳）有限公司 | Mechanical arm with warning function |
| CN104870147A (en) * | 2012-08-31 | 2015-08-26 | 睿信科机器人有限公司 | System and method for safe operation of robot |
| CN105983969A (en) * | 2015-03-17 | 2016-10-05 | 发那科株式会社 | Robot control system |
| CN205668279U (en) * | 2016-06-05 | 2016-11-02 | 徐平 | A kind of based on ultrared anti-industrial robot of hurting sb.'s feelings |
| CN205674232U (en) * | 2016-06-05 | 2016-11-09 | 徐平 | The anti-Stacking Robots of hurting sb.'s feelings of a kind of intelligence |
| DE102015224309A1 (en) * | 2015-12-04 | 2017-06-08 | Kuka Roboter Gmbh | Representation of variable protective fields |
| CN106945074A (en) * | 2015-12-29 | 2017-07-14 | 上银科技股份有限公司 | Robot safety device |
-
2017
- 2017-07-18 CN CN201710586094.9A patent/CN107150342B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202004020863U1 (en) * | 2004-09-17 | 2006-04-06 | Sick Ag | Safety device used in dangerous work area has upper and lower securing systems that generate signals used in determining position of object within dangerous work area |
| KR20070005784A (en) * | 2005-07-06 | 2007-01-10 | 삼성전자주식회사 | Robot for semiconductor wafer transfer with infrared sensor |
| EP2558886B1 (en) * | 2010-04-16 | 2014-03-05 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for monitoring at least one three-dimensional safety area |
| CN104870147A (en) * | 2012-08-31 | 2015-08-26 | 睿信科机器人有限公司 | System and method for safe operation of robot |
| CN104416581A (en) * | 2013-08-27 | 2015-03-18 | 富泰华工业（深圳）有限公司 | Mechanical arm with warning function |
| CN105983969A (en) * | 2015-03-17 | 2016-10-05 | 发那科株式会社 | Robot control system |
| DE102015224309A1 (en) * | 2015-12-04 | 2017-06-08 | Kuka Roboter Gmbh | Representation of variable protective fields |
| CN106945074A (en) * | 2015-12-29 | 2017-07-14 | 上银科技股份有限公司 | Robot safety device |
| CN205668279U (en) * | 2016-06-05 | 2016-11-02 | 徐平 | A kind of based on ultrared anti-industrial robot of hurting sb.'s feelings |
| CN205674232U (en) * | 2016-06-05 | 2016-11-09 | 徐平 | The anti-Stacking Robots of hurting sb.'s feelings of a kind of intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107150342A (en) | 2017-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107150342B (en) | An industrial robot and its industrial robot obstacle avoidance system | |
| US10599137B2 (en) | Safety control system and method of operation of a safety control system | |
| CN109114411B (en) | Access sensing system for security incidents | |
| ES2595002T3 (en) | Remote control management of an elevator system | |
| CN106672763B (en) | Monitoring method of the elevator door light curtain to elevator cage door closed state | |
| JP4942676B2 (en) | Mobile robot | |
| US10152043B2 (en) | Robot system | |
| CN102099614A (en) | System for safety protection of human beings against hazardous incidents with robots | |
| EP3862146A1 (en) | Dual use of safety-capable vehicle scanner for collaborative vehicle assembly and driving surveillance | |
| JP4057324B2 (en) | Robot security system | |
| CN114195057B (en) | Anti-collision system for operation platform and operation platform | |
| JP4940160B2 (en) | Mobile robot | |
| CN105269580B (en) | Safety control method of mechanical arm | |
| CN105929828A (en) | Control system and method of grain scraping robot | |
| CN211015135U (en) | Personnel safety protection system for automatic production workshop | |
| EP3490283B1 (en) | Method, apparatus and system for security control | |
| CN111590574B (en) | Anti-theft method and system for high-intelligence robot | |
| CN207352464U (en) | A kind of collision sensing system of intelligent robot | |
| KR20230033279A (en) | Industrial site disaster prevention system and method | |
| CN107082334A (en) | A kind of Load-Carrying Equipment safe early warning guard system and method | |
| CN207973432U (en) | A kind of Multifunctional hoisting safe early warning guard system | |
| CN114195058B (en) | Anti-collision system for aerial working equipment and aerial working equipment | |
| CN216248898U (en) | Protection system | |
| KR20150037317A (en) | Apparatus and method for error recovery of autonomous vehicle | |
| CN203806995U (en) | Anti-collision control system for cranes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200428 Termination date: 20210718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |