CN109676635A - A kind of Dual-encoder for the robot collision detection that cooperates - Google Patents
A kind of Dual-encoder for the robot collision detection that cooperates Download PDFInfo
- Publication number
- CN109676635A CN109676635A CN201811571029.XA CN201811571029A CN109676635A CN 109676635 A CN109676635 A CN 109676635A CN 201811571029 A CN201811571029 A CN 201811571029A CN 109676635 A CN109676635 A CN 109676635A
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- Prior art keywords
- encoder
- collision detection
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- robot
- hollow
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 230000009977 dual effect Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a kind of Dual-encoders for the robot collision detection that cooperates, belong to robotic technology field, including articular shell and the output flange being arranged at the bottom end opening of articular shell, harmonic wave speed reducing machine is successively arranged on output flange from the bottom to top, brake gear, driver and absolute type magnetic coder code-disc, hollow rimless motor stator is equipped between harmonic wave speed reducing machine and brake gear, hollow rimless rotor is equipped in hollow rimless motor stator, increment type raster encoder code wheel and increment type grating encoder reading head are equipped between brake gear and driver, the top of output flange is arranged in absolute type magnetic coder code-disc.The present invention realizes the collision detection in robot kinematics by the hollow rimless motor of modularization, hollow decelerator and Dual-encoder, and modularized joint light weight can low cost detection External force interference.
Description
Technical field
The present invention relates to a kind of Dual-encoders, more particularly to a kind of dual coding for the robot collision detection that cooperates
Device belongs to robotic technology field.
Background technique
Currently, conventional industrial robot's speed is fast, inertia is big, precision is high, not enough safety can only use in fence, touch
It hits there is also huge potentiality in detection technique, Collision Detection is a kind of couple of conventional industrial robot in terms of safety
Important improvement makes it possible to cooperate together with people, is a kind of comparatively safe industrial robot, in order to reach safe mesh
Need to reach following three standards: 1, need to limit speed, rigidity, this weight；2, having collision detection, (electric current/power passes
Sensor) function and dragging tutorial function；3, meet the safety standard of dependent coordination robot.
Currently, the structure type of cooperation robot is all not specified by all standard or definition, as long as meeting related mark
Quasi-, it is construed as cooperation robot, cooperation robot market has so several major sects, their structure type phase not to the utmost
Together, but cooperation robot can be referred to as, more advanced is flexible robot, and the cooperation robot of the prior art exists as follows
Defect and deficiency:
1, it is based on conventional industrial robot's upgrade version, is passed in conventional industrial robot's pedestal or end flange addition six-dimensional force
Sensor is known as cooperation robot, this type machine person joint structure and ordinary robot's structure after software algorithm improvement
Equally, any big change is not made in structure, overall weight is still relatively bulky.
2, it is based on the joint series elastic driver SEA, elastic change can occur for the flexible joint of this kind of joint natural imitation circle
Shape, inherently higher safety, but load capacity is limited, is unable to reach the other requirement of technical grade.
3, based on flexible robot's modularized joint containing moment inspecting, this kind of joint is current most complicated most advanced cost
Highest joint, its feature are the more torque sensors in each joint, safer sensitiveer, it can be achieved that more advanced power control, still
Robot cost is too high, can not be promoted and applied on a large scale in field of industrial manufacturing, and subsequent torque sensor cost is substantially
It is expected to obtain large-scale application under the premise of decline.
4, the parallel axis joint based on DC brushless motor, this kind of joint is using male gram of robot and ABB yumi as generation
Table is all driven by Brush-Less DC motor retarder, realizes collision detection and dragging teaching by detection electric current.This joint power
Small, light weight, substantially just relatively safety, but detection accuracy is relatively limited, load can not also accomplish general industry robot that
Sample.
Summary of the invention
The main object of the present invention is to provide for a kind of Dual-encoder for the robot collision detection that cooperates, and passes through mould
The hollow rimless motor of blockization, hollow decelerator and Dual-encoder realize that the collision detection in robot kinematics, modularization are closed
Light weight is saved, it can low cost detection External force interference.
The purpose of the present invention can reach by using following technical solution:
A kind of Dual-encoder for the robot collision detection that cooperates, the articular shell including top closure, bottom end opening
And the output flange at the bottom end opening of the articular shell is set, it is successively arranged with from the bottom to top on the output flange humorous
Wave speed reducer, brake gear, driver and absolute type magnetic coder code-disc, the harmonic wave speed reducing machine and the brake gear it
Between be equipped with hollow rimless motor stator, hollow rimless rotor is equipped in the hollow rimless motor stator, in the brake
Increment type raster encoder code wheel and increment type grating encoder reading head are equipped between device and the driver, it is described absolute
The top of the output flange is arranged in formula magnetic coder code-disc.
Preferably, absolute type magnetic code read head is installed at the top of the absolute type magnetic coder code-disc, described
The mounting bracket being installed in the articular shell top is installed at the top of absolute type magnetic code read head.
Preferably, the absolute type magnetic code read head is mounted in the mounting bracket, by detecting the absolute type
The angle of magnetic coder code-disc rotation carrys out the angle of read machine person joint's output end rotation.
Preferably, the bottom of the output flange is plate-like, and the center of the bottom of the plate-like is equipped with a circular shaft, the circle
Axis injects in the articular shell.
Preferably, the upper surface of the bottom of the output flange plate-like is connected with the harmonic wave speed reducing machine, the top of the circular shaft
End end face is connected with the absolute type magnetic coder code-disc.
Preferably, the articular shell leans to one side to be equipped with joint interface, which makes the articular shell both can be with
Shell for joint of robot can be used for the shell of the hollow rimless motor stator again.
Preferably, the hollow rimless rotor is connected with the input terminal of the harmonic wave speed reducing machine, described hollow rimless
The input terminal of rotor and the harmonic wave speed reducing machine is coaxial.
Preferably, the increment type raster encoder code wheel is connected with the hollow rimless rotor, the increment type
Raster encoder code wheel is consistent with the revolving speed of the hollow rimless rotor.
Preferably, the increment type grating encoder reading head is mounted on the driver, by detecting the increment
The angle of formula raster encoder code wheel rotation carrys out the angle of read machine person joint's input terminal rotation.
Advantageous effects of the invention:
1, provided by the present invention for the Dual-encoder for the robot collision detection that cooperates, it is mainly used for realizing robot motion
Collision detection in the process, each joint of designed robot is mainly by the hollow rimless motor of modularization, hollow decelerator and double
The contextures such as encoder, this modularized joint light weight, can low cost detection External force interference, avoid operator by
The danger of mechanical collision reduces risk in operating process, improves production safety, to reach the ideal shape of man-machine collaboration
State.
2, provided by the present invention for the Dual-encoder for the robot collision detection that cooperates, Dual-encoder location error has been used
The mode of detection substantially reduces the complexity of collision detection in conventional method, does not use six-dimension force sensor, moment sensing
The detection collision of the methods of device, acceleration transducer, elastic driver, thus greatly reduces the overall cost of robot, so that
Cooperation robot easier can obtain wide popularization and application.
Detailed description of the invention
Fig. 1 is the entirety of a preferred embodiment of the Dual-encoder according to the invention for the robot collision detection that cooperates
Structural schematic diagram；
Fig. 2 is the output of a preferred embodiment of the Dual-encoder according to the invention for the robot collision detection that cooperates
Flange arrangement schematic diagram.
In figure: 1- output flange, 2- harmonic wave speed reducing machine, 3- articular shell, the hollow rimless motor stator of 4-, 5- are hollow rimless
Rotor, 6- brake gear, 7- increment type raster encoder code wheel, 8- increment type grating encoder reading head, 9- driver,
10- absolute type magnetic coder code-disc, 11- absolute type magnetic code read head, 12- mounting bracket.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, the Dual-encoder provided in this embodiment for the robot collision detection that cooperates, including top envelope
Close, the articular shell 3 of bottom end opening and the output flange 1 being arranged at the bottom end opening of articular shell 3, on output flange 1 by
Under it is supreme be successively arranged with harmonic wave speed reducing machine 2, brake gear 6, driver 9 and absolute type magnetic coder code-disc 10, subtract in harmonic wave
It is equipped with hollow rimless motor stator 4 between fast machine 2 and brake gear 6, is equipped with hollow rimless motor in hollow rimless motor stator 4
Rotor 5, is equipped with increment type raster encoder code wheel 7 between brake gear 6 and driver 9 and increment type grating encoder is read
First 8, the top of output flange 1 is arranged in absolute type magnetic coder code-disc 10.
In the present embodiment, as shown in Figure 1, being equipped with absolute type magnetic coding at the top of absolute type magnetic coder code-disc 10
Reading head 11 is equipped with the installation branch being installed in 3 top of articular shell at the top of absolute type magnetic code read head 11
Frame 12, absolute type magnetic code read head 11 are mounted in mounting bracket 12, are rotated by detection absolute type magnetic coder code-disc 10
Angle come read machine person joint's output end rotation angle.
In the present embodiment, as depicted in figs. 1 and 2, the bottom of output flange 1 is plate-like, the center of the bottom of the plate-like
Position is equipped with a circular shaft, which injects in articular shell 3, the upper surface of the bottom of 1 plate-like of output flange and harmonic wave speed reducing machine 2
It is connected, the top end face of the circular shaft is connected with absolute type magnetic coder code-disc 10, and articular shell 3 is leaned to one side equipped with joint interface,
The joint interface, which makes articular shell 3 not only, can be used for the shell of joint of robot but also can be used for the outer of hollow rimless motor stator 4
Shell.
In the present embodiment, as shown in Figure 1, hollow rimless rotor 5 is connected with the input terminal of harmonic wave speed reducing machine 2, in
The input terminal of empty rimless rotor 5 and harmonic wave speed reducing machine 2 is coaxial, increment type raster encoder code wheel 7 and hollow rimless motor
Rotor 5 is connected, and increment type raster encoder code wheel 7 is consistent with the revolving speed of hollow rimless rotor 5, increment type grating encoder
Reading head 8 is mounted on driver 9, is closed by the angle that detection increment type raster encoder code wheel 7 rotates come read machine people
Save the angle of input terminal rotation.
In the present embodiment, as shown in Fig. 2, the bottom of output flange 1 is plate-like, the centre bit of the bottom of the plate-like is installed
There is a circular shaft, which injects in articular shell 3, and the upper surface of the bottom of 1 plate-like of output flange is connected with harmonic wave speed reducing machine 2,
The top end face of the circular shaft is connected with absolute type magnetic coder code-disc 10, to realize absolute type magnetic coder code-disc 10 and joint
End exports the consistent condition of revolving speed.Size design of the structure size according to harmonic wave speed reducing machine 2 and hollow rimless motor 4.
In the present embodiment, as shown in Figure 1, the shell that articular shell 3 is both joint of robot can be considered hollow rimless again
The shell of motor 4, to greatly reduce joint size and quality.
In the present embodiment, fixed as shown in Figure 1, hollow rimless rotor 5 is connected with the input terminal of harmonic wave speed reducing machine 2
The input terminal of harmonic wave processed needs to meet enough concentricity requirements in processing and installation process, can so make hollow rimless electricity
Machine plays maximum performance.
In the present embodiment, as shown in Figure 1, increment type raster encoder code wheel 7 is connected with hollow rimless rotor 5,
To realize increment type raster encoder code wheel 7 and the hollow rimless consistent condition of motor speed, convenient for two encoders of detection
Error amount come judge collision occur whether.
In the present embodiment, as shown in Figure 1, increment type grating encoder reading head 8 is installed on driver 9, pass through inspection
Survey the angle that the angle that Increament type magnetic coder code-disc 7 rotates carrys out the rotation of read machine person joint's input terminal.
In the present embodiment, as shown in Figure 1, absolute type magnetic coder reading head 11 is installed in mounting bracket 12, pass through
The angle that detection absolute type magnetic coder code-disc 10 rotates carrys out the angle of read machine person joint's output end rotation.
In the present embodiment, as shown in Figure 1, the dual coding provided in this embodiment for the robot collision detection that cooperates
Device, its working principles are as follows:
The realization of collision checking function mainly passes through increment type grating encoder and absolute type magnetic coder and makees in collision
Changed with position signal detected when occurring inconsistent realized.Harmonic wave speed reducing machine 2 has certain flexibility, at it
In assume that the absolute type magnetic coder reading for a spring, connecting when a collision occurs with 2 output end of harmonic wave speed reducing machine
First 11 first it is detected that collision, due to being rigid contact, the change in location of joint end can embody in real time.With in
The increment type grating encoder that empty rimless rotor 5 connects can also detect collision, but since harmonic wave speed reducing machine 2 has one
Fixed flexibility makes its change in location have certain time delay.By position signal detected by absolute type encoder reading head 11
Multiplied by the reduction ratio of harmonic wave speed reducing machine 2, it is poor then to make with the position signal detected of increment type grating encoder reading head 8.Institute
The difference acquired is the error amount collided when occurring.Whether by setting collision threshold come decision errors generation, to realize
Collision detection.
In conclusion in the present embodiment, the Dual-encoder provided in this embodiment for the robot collision detection that cooperates,
The mode for having used Dual-encoder position error detection substantially reduces the complexity of collision detection in conventional method, does not use
The detection collision of the methods of six-dimension force sensor, torque sensor, acceleration transducer, elastic driver, thus greatly reduces
The overall cost of robot, enabling cooperation, robot is easier obtains wide popularization and application.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811571029.XA CN109676635A (en) | 2018-12-21 | 2018-12-21 | A kind of Dual-encoder for the robot collision detection that cooperates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811571029.XA CN109676635A (en) | 2018-12-21 | 2018-12-21 | A kind of Dual-encoder for the robot collision detection that cooperates |
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| Publication Number | Publication Date |
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| CN109676635A true CN109676635A (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811571029.XA Pending CN109676635A (en) | 2018-12-21 | 2018-12-21 | A kind of Dual-encoder for the robot collision detection that cooperates |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110744585A (en) * | 2019-12-03 | 2020-02-04 | 敬科(深圳)机器人科技有限公司 | A flexible collaborative robot modular joint |
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | A mechanical module and its installation method |
| CN111890370A (en) * | 2020-08-15 | 2020-11-06 | 前元运立(北京)机器人智能科技有限公司 | Robot power control method and device applying double encoders |
| CN112706156A (en) * | 2020-12-23 | 2021-04-27 | 德鲁动力科技(成都)有限公司 | Robot joint motor and joint |
| CN114199284A (en) * | 2021-12-10 | 2022-03-18 | 江苏集萃智能制造技术研究所有限公司 | Position absolute encoder for mechanical arm |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
| WO2023060423A1 (en) * | 2021-10-12 | 2023-04-20 | Shanghai Flexiv Robotics Technology Co., Ltd. | Safety system, joint assembly with safety system, and robot having joint assembly |
| CN117961975A (en) * | 2024-03-28 | 2024-05-03 | 法奥意威(苏州)机器人系统有限公司 | Collision detection method and device, storage medium and electronic equipment |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110744585A (en) * | 2019-12-03 | 2020-02-04 | 敬科(深圳)机器人科技有限公司 | A flexible collaborative robot modular joint |
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | A mechanical module and its installation method |
| CN111745630B (en) * | 2020-06-04 | 2023-12-15 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111890370A (en) * | 2020-08-15 | 2020-11-06 | 前元运立(北京)机器人智能科技有限公司 | Robot power control method and device applying double encoders |
| CN112706156A (en) * | 2020-12-23 | 2021-04-27 | 德鲁动力科技(成都)有限公司 | Robot joint motor and joint |
| WO2023060423A1 (en) * | 2021-10-12 | 2023-04-20 | Shanghai Flexiv Robotics Technology Co., Ltd. | Safety system, joint assembly with safety system, and robot having joint assembly |
| US12318920B2 (en) | 2021-10-12 | 2025-06-03 | Shanghai Flexiv Robotics Technology Co., Ltd. | Safety system, joint assembly with safety system, and robot having joint assembly |
| CN114199284A (en) * | 2021-12-10 | 2022-03-18 | 江苏集萃智能制造技术研究所有限公司 | Position absolute encoder for mechanical arm |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
| CN117961975A (en) * | 2024-03-28 | 2024-05-03 | 法奥意威(苏州)机器人系统有限公司 | Collision detection method and device, storage medium and electronic equipment |
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Application publication date: 20190426 |