CN106826915A - A kind of tactile sensing device of robot's control method and its device - Google Patents

Abstract

The invention provides a robot touch control method and a device thereof. The tactile control device includes: a sensing module, including a sensor, which acquires environmental tactile information; a first communication module, which wirelessly sends the environmental tactile information; a control module, which includes: a second communication module, which wirelessly transmits The environmental haptic information is received; the controller generates a motion control instruction according to the environmental haptic information, and sends the motion control instruction to a driver through an industrial field bus. The device reduces the risk of collision injury in the process of human-machine cooperation, and at the same time avoids additional sensor wiring work and safety problems of entangled wires. Moreover, on the original robot equipment, the expansion of force-tactile perception and control functions is realized in the way of plug-and-play equipment, which significantly saves costs.

Description

Method and device for tactile control of robot

technical field

The invention relates to the field of industrial automation, in particular to a tactile control method and device for an industrial robot.

Background technique

In the field of modern industry, robots have become an important tool for automated production lines, which bring production efficiency, production accuracy, and better flexibility. But rigid metal mechanisms also pose potential dangers, especially in human-machine collaboration scenarios. In addition, for engineers, operating a robot is also a highly skilled job. The corresponding difficulty of controlling robots prevents certain SMEs from adopting robots in their production processes in the absence of experienced technicians. Therefore, for small and medium-sized enterprises, there are high technical barriers to the large-scale application of robots.

Recently, original equipment manufacturers (OEMs) of robots have realized the above problems. By adding force and torque sensors to the system, the robot has the ability to perceive the environment through touch, which is the so-called robot compliance control function. However, from a technical and market point of view, there are still some problems.

Most compliance control component devices are developed or defined by the robot OEM. Therefore, the interface between the expansion plug-in and the robot body lacks standardization and versatility.

Even if the sensor is directly integrated into the robot by the user, additional programming work is still required for the robot to achieve the robot's compliant control and teaching functions, which is very difficult for inexperienced engineers.

In order to increase the flexibility of use, additional sensor devices are usually installed at the end of the robot arm. Since most similar units have their own power and signal wiring, there is a potential for these wiring along the mechanical unit to become tangled.

At present, there is a robot that originally integrates force and torque sensors, and on this basis, the functions of compliant control, target point teaching and path tracking are realized. Under such conditions, users need to purchase a whole set of new equipment to replace the original equipment, which will result in high costs.

Contents of the invention

In view of this, an object of the present invention is to realize the function expansion of robot compliance control, target point teaching and path tracking at low cost through an easy-to-install tactile sensing module.

In order to achieve the above object of the present invention, according to one aspect of the present invention, a robot haptic manipulation device is provided, comprising:

A sensing module, which includes a sensor, which acquires environmental haptic information; a first communication module, which wirelessly sends the environmental haptic information; a control module, which includes: a second communication module, which wirelessly receives the environmental haptic information; A controller generates a motion control command according to the environmental tactile information, and sends the motion control command to a driver through an industrial field bus.

In order to achieve the above object of the present invention, according to another aspect of the present invention, a robot haptic manipulation method includes:

Obtain environmental haptic information through a sensor; send the environmental haptic information wirelessly through the first communication module; receive the environmental haptic information wirelessly through the second communication module; generate a motion control command according to the environmental haptic information by a controller , and send the motion control command to a drive through an industrial field bus.

Through the robot tactile control method and its device according to the embodiment of the present invention, the trouble of additional wiring and the potential safety problems caused by it can be avoided, and the danger existing in manual operation can be solved, and the plug-and-play method can be used in The corresponding functions are realized in an additional way on the device, which significantly saves the cost.

Description of drawings

Other features, characteristics, advantages and benefits of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

Fig. 1 shows a schematic structural diagram of a sensing module according to an embodiment of the present invention;

Fig. 2 shows a schematic structural diagram of a control module according to an embodiment of the present invention;

FIG. 3 shows a schematic flowchart of a tactile manipulation method according to an embodiment of the present invention;

Fig. 4 shows a structural diagram of a robot tactile manipulation device according to an embodiment of the present invention;

Fig. 5 shows a schematic flow chart of a robot driver algorithm according to an embodiment of the present invention;

Fig. 6 shows a schematic flow diagram of implementing compliance control according to an embodiment of the present invention;

Fig. 7 shows a structural diagram of a robot haptic manipulation device according to another embodiment of the present invention;

Fig. 8 shows a schematic flow diagram of realizing target point teaching according to another embodiment of the present invention;

FIG. 9 shows a schematic flow diagram of implementing path tracking according to another embodiment of the present invention;

detailed description

In the following, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 shows a schematic structural diagram of a sensing module 1 according to an embodiment of the present invention. As shown in Figure 1, the sensing module 1 includes:

The 6-DOF force and torque sensor 12 can detect tactile information in three-dimensional space, and output the tactile information as a corresponding tactile signal.

And a wireless transceiver 13 for sending the corresponding tactile signals output by the 6-DOF force and torque sensor 12 according to the tactile information.

A power supply, which provides power to the force and torque sensor 12 and the wireless transceiver 13 .

Fig. 2 shows a schematic structural diagram of a control module 2 according to an embodiment of the present invention. As shown in Figure 2, the control module 2 includes:

The wireless transceiver 23 receives the tactile signal from the sensing module 1 via its wireless transceiver 13 and transmits it to the controller 21 .

The controller 21 receives the tactile signal transmitted by the wireless transceiver 23 to calculate the robot compliance control, target point teaching, and path tracking control commands through a specific algorithm, and transmits the control commands.

The man-machine interface 22 receives the instruction reflecting the operator's intention in a wireless or wired manner, and transmits it to the controller 21 .

The industrial field bus transceiver 24, which transmits the control command sent by the controller 21 to the robot driver through the industrial field bus.

Fig. 3 shows a schematic flowchart of a method for tactile manipulation of a robot according to an embodiment of the present invention, which specifically includes steps:

Obtain environmental tactile information 32 through sensors;

Send the environmental haptic information 33 wirelessly through the wireless communication module;

Receive the environmental haptic information 34 wirelessly through the wireless communication module;

The controller generates motion control instructions 35 according to the environmental haptic information;

The motion control command 36 is sent to the robot driver through the industrial field bus.

Fig. 4 shows a structure diagram of a robot haptic manipulation device according to an embodiment of the present invention, wherein a robot 47 has the ability to adapt to the environment through haptics. Specifically, the sensing module 41 is installed on the end of the robot in a plug-and-play manner, and the sensing module 41 is detachably installed between the robot arm and the robot arm tool 43 . The robot 47 is operated by the operator 44. When the operator applies force or moment to the robot arm, that is, when an external force or moment acts on the end of the robot arm, the sensing module 41 can detect and obtain tactile information, and The tactile information is converted into a digital tactile signal and transmitted to the control module 42 in a wireless manner. The control module 42 receives the tactile signal, calculates the next moving target of the robot, and converts the moving target information into a motion control command and transmits it to the robot driver 46 through the industrial field bus 45 . The robot driver 46 controls the next movement of the robot 47 according to the motion control command, so as to respond to external tactile information. When the operator no longer operates with external force, that is, when the sensing module 41 detects the tactile information that no external force or torque acts, the robot 47 will resume its original work tasks, thereby achieving compliant control.

According to the embodiment of the present invention, the universal interface ensures that the assembly of the sensor module 41 and the control module 42 on the existing robot 47 will not have special limitations. At the same time, no replacement or substantial reconfiguration of the original robotic system is required. The robot driver 46 only needs to follow the motion control instructions sent by the control module 42, the user does not need a large amount of programming work here, the functional calculation method and coding are realized in the control module 42, therefore, the user can easily and safely Operate the robot47.

As shown in FIG. 5 , the robot driver 46 follows the motion control instructions sent by the control module 42 according to a specific algorithm. Specifically, in the state where the control module 42 is connected, the robot driver 46 receives the motion control instruction sent by the control module 42, and controls the robot 47 to move to the target according to the motion control instruction, and continues this step until the connection with the control module 42 is disconnected. .

Fig. 6 shows a schematic flow chart for implementing compliance control. Specifically, the control module 42 stores the original target, that is, the target that the original task of the robot should move to. The controller module 42 judges the received tactile signal from the haptic module 41, and if it is greater than a preset threshold, then generates a It is possible to reduce the generation target for force and torque signal acquisition and send this generation target to the robot driver 46, which controls the robot to move towards the generation target. The controller module 42 continues to judge the received tactile signal from the haptic module 41, and repeats the above steps until the received tactile signal is less than the preset threshold, and the controller module 42 sends the stored original target to the robot driver 46 until Robot 47 reaches the original target.

Fig. 7 shows a structure diagram of a robot haptic manipulation device according to another embodiment of the present invention, wherein a robot 57 has the ability to adapt to the environment through haptics. Specifically, the sensing module 51 is installed on the end of the robot in a plug-and-play manner, and the sensing module 51 is detachably installed between the robot arm and the robot arm tool 53 . The robot 57 is operated by the operator 54. When the operator applies force or moment to the robot arm, that is, when an external force or moment acts on the end of the robot arm, the control module 52 receives the tactile signal sent by the sensor module 51 , calculate the next moving target of the robot, and convert the moving target information into a motion control instruction and transmit it to the driver of the robot driver 56 through the industrial field bus 55 . The robot driver 56 controls the next movement of the robot 57 according to the motion control instruction, so as to respond to external tactile information. A Human-Machine Interface (HMI) module 58 is also provided, and the Human-Machine Interface module 58 is connected to the control module 52 wirelessly or by wire. The human-computer interaction interface module 58 can be implemented in the form of software in a wireless connection, for example, by using an application program of a smart phone, or can be implemented in a wired connection using a hardware controller.

FIG. 8 shows a schematic flow diagram of using the man-machine interaction interface module 58 and the control module 52 to realize the robot target point teaching function. Specifically, the control module 52 judges the received tactile signal from the haptic module 51, if it is greater than a preset threshold, then generates a generation target that can reduce the force and torque signal acquisition, and sends the generation target to the robot driver 56. The robot driver 56 controls the robot to move to the generation target. The controller module 52 continues to judge the received tactile signal from the tactile module 51 , and repeats the above steps until the received tactile signal is smaller than the preset threshold. The control module 52 communicates with the human-computer interaction interface module 58 through its human-computer interaction interface interface, receives the algorithm instruction sent by the user through the human-computer interaction interface module 58, executes the memory robot's current posture according to the algorithm instruction, and stores the current posture in the form of a queue. attitude. The control module 52 judges the completion status of the training process according to the algorithm instruction, and decides that the robot starts to move, and sends the target queue to the robot driver 56 .

FIG. 9 shows a schematic flowchart of implementing the robot path tracking function by using the human-computer interaction interface module 58 and the control module 52 . Specifically, the control module 52 judges the received tactile signal from the haptic module 51, if it is greater than a preset threshold, then generates a generation target that can reduce the force and torque signal acquisition, and sends the generation target to the robot driver 56. The robot driver 56 controls the robot to move to the generation target. The controller module 52 continuously judges the received tactile signals from the tactile module 51 , periodically stores the current posture of the robot, and repeats the above steps until the received tactile signals are smaller than the preset threshold. The control module 52 communicates with the human-computer interaction interface module 58 through its human-computer interaction interface interface, receives the algorithm instruction sent by the user through the human-computer interaction interface module 58, judges the completion state of the training process according to the algorithm instruction, and determines that the robot starts to move, The target queue is sent to the robot driver 56 .

According to the robot tactile control method and the device thereof according to the embodiments of the present invention, the robot has the ability to perceive the environment through tactile sense and adapt to the environment. The sensor module and the control module can be freely assembled on the robot, and the user does not have to worry about the troubles caused by wiring, such as tangled wires. The sensor module works wirelessly and has an independent battery power supply, which further enhances the plug-and-play use convenience.

According to the embodiment of the present invention, the universal interface ensures that there will be no special restrictions on assembling the sensing module and the control module on the existing robot. At the same time, no replacement or substantial reconfiguration of the original robotic system is required. The user does not need a lot of programming work here, and the user can operate the robot easily and safely.

Those skilled in the art should understand that although this description is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description of the description is only for clarity, and those skilled in the art should refer to The description is taken as a whole, and the technical solutions in the various embodiments can also be properly combined to form other implementation modes that can be understood by those skilled in the art.

The above descriptions are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. a kind of tactile sensing device of robot's actuation means, including：

Sensing module, it includes：

Power supply；

Sensor, it obtains environment tactile data；

First communication module, it wirelessly sends the environment tactile data；

Control module, it includes：

Second communication module, it wirelessly receives the environment tactile data；

Controller, it generates a motion control instruction according to the environment tactile data, and by one Industrial field bus send the motion control instruction to a driver.

2. tactile sensing device of robot's actuation means as claimed in claim 1, it is characterised in that the control Device is stored with the information of current kinetic attitude, and the motion control instruction includes：

Specify the instruction of target athletic posture；

Move to the instruction of the target athletic posture.

3. tactile sensing device of robot's actuation means as claimed in claim 1, it is characterised in that the control Module also includes man-machine interface, and it receives user instruction.

4. tactile sensing device of robot's actuation means as claimed in claim 3, it is characterised in that described man-machine Interface wirelessly receives user instruction.

5. tactile sensing device of robot's actuation means as claimed in claim 3, it is characterised in that the user Instruction includes：

Store the instruction of athletic posture；

Specify the instruction of target athletic posture；

Move to the instruction of the target athletic posture.

6. a kind of tactile sensing device of robot's control method, including：

Environment tactile data is obtained by a sensor；

The environment tactile data is wirelessly sent by first communication module；

The environment tactile data is wirelessly received by second communication module；

One controller generates a motion control instruction according to the environment tactile data, and existing by an industry Field bus send the motion control instruction to a driver.

7. tactile sensing device of robot's control method as claimed in claim 6, it is characterised in that the control Device is stored with the information of current kinetic attitude, and the motion control instruction includes：

Specify the instruction of target athletic posture；

Move to the instruction of the target athletic posture.

8. tactile sensing device of robot's control method as claimed in claim 6, it is characterised in that described second Communication module also includes man-machine interface, and it receives user instruction.

9. tactile sensing device of robot's control method as claimed in claim 8, it is characterised in that described man-machine Interface wirelessly receives user instruction.

10. tactile sensing device of robot's control method as claimed in claim 8, it is characterised in that the user Instruction includes：

Store the instruction of athletic posture；

Specify the instruction of target athletic posture；

Move to the instruction of the target athletic posture.