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  • 专利说明
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    • 专利摘要:
    INDUSTRIAL ROBOT AND METHOD TO CONTROL AN INDUSTRIAL ROBOT An industrial robot (1, 15) comprises:? a manipulator (1) with a series of degrees of freedom (A1 - A6); ? a control unit (15) of the manipulator (1); ? a first detection system (19), to detect the possible presence of a foreign body (HO), in particular, a human being; ? a second detection system (21), including one or more inertial sensors installed in the manipulator (1); ? a third detection system (22), including means for measuring the torque applied by electric motors (11? - 14 ') of the manipulator (1). The control unit (15) is pre-arranged in such a way that, with the robot (1, 15) in automatic operation mode, the detection by the first detection system (19) of the presence of a foreign body (HO) inside the predefined working region (20) of the manipulator (1) determines the selection of a safe automatic operating mode of the robot (1, 15), during which the speed of the electric motors (11? - 14?) is reduced , and the second and third detection systems (21, 22) are operational to detect any possible impact of the manipulator (1) against a foreign body (HO). In the case of detecting an impact, the control unit (15) stops the movement of the manipulator (1) and / or governs the reversal of its movement, before stopping it.
    公开号:BR102015027352B1
    申请号:R102015027352-5
    申请日:2015-10-28
    公开日:2020-12-08
    发明作者:Gian Paolo Gerio；Allan Mathias Wiklund；Arturo Baroncelli
    申请人:Comau S.P.A.；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [0001] The present invention relates to industrial robots that include a manipulator and a manipulator control unit. The invention was developed with particular reference to the question of cooperation between a human operator and such an industrial robot. PREVIOUS TECHNIQUE
    [0002] An industrial robot can normally operate in a manual mode and at least an automatic mode, which can usually be selected in the manipulator's control unit. The manual operation mode is selected for the purposes of programming the robot and, in this mode, the manipulator can be manipulated by means of commands transmitted manually by an operator; in automatic operating mode, the manipulator's movement is governed exclusively by its control unit.
    [0003] The programming activity of a robot with a series of degrees of freedom consists, basically, in teaching the robot the way that a point of its manipulator will have to repeat automatically during the normal work steps to perform a certain operation. This point is usually constituted by the so-called “Tool Center Point” (TCP - in Portuguese, “Central Point of the Tool”), which identifies the position of the active part of a manipulator end effector, understood here as a machining tool or as a set consisting of a gripping device and the corresponding moved part. Most of the programming time is dedicated to governing the robot manually to identify the optimum points of the TCP's movement paths and to store the corresponding coordinates of it. For this, a portable programming terminal, also known as a "teach pendant", can be used, or, instead, a manual guiding device, directly mounted on the mobile structure of the manipulator. It is also known to program an industrial robot in an offline mode (offline programming, in English, off-line programming, OLP), using, for this, an appropriate program of a CAD type that allows configuration of the necessary movements for machining. Unlike the previous cases, this type of programming is performed substantially remotely, i.e., not in the immediate vicinity of the manipulator.
    [0004] To manually govern variations in the manipulator's posture, the operator uses specific buttons on the handheld control device, known as rotary buttons or rotary keys, which govern the movement of one or more axes of the robot. By pressing the rotary buttons on the handheld control device, TCP can be moved in a specific direction, either positive or negative, within a reference system selected by the operator from a series of possible reference systems. For example, in an anthropomorphic robot with six degrees of freedom, at least the "Joints", "Base" and "Tool" reference systems are typically provided, in which the Joints system refers to the robot joints (a vector in this system represents the angular positions of each of the joints) and the Base and Tool systems are Cartesian reference systems, the first referring to the base of the robot and the last to the end effector provided on the end flange of the robot.
    [0005] Compared to portable control devices, manual guidance devices allow the robot's programming activity to become more intuitive, since they basically consist of a type of grip associated with the mobile structure of the manipulator in which the programmer acts to make the manipulator itself perform the desired movements at the programming stage. In general, it is associated with the aforementioned grip, a force sensor that allows the control unit to recognize the direction of travel desired by the programmer (see, for example, US 6212443 A). As an alternative or in addition to a force sensor, a joystick can be provided (see, for example, US8412379 B).
    [0006] In most known solutions, a robot's control unit can operate according to three different modes or states, namely: a Programming mode, an Automatic mode, and a Remote mode.
    [0007] In Programming mode, an operator acts in the vicinity of the manipulator, as explained above, to govern the operation of the manipulator, store the programming steps and program the operational activity through the handheld control device of the manual guidance device.
    [0008] The step of programming the robot is clearly the one that involves the greatest risks for an operator, who must follow TCP closely to visually check its position, moving continuously around the manipulator. For this reason, in Programming mode, speed restrictions on the manipulator's movements are normally activated. In the case of the use of a portable control device, the operator then has an emergency stop button and a permission device available in his own hands, both of which are present in the terminal. In practice, if the enabling device is not kept active at the programming stage by the operator, the manipulator cannot perform any movement. In the case of a manual guiding device, the grip itself constitutes a form of permission device, given that its release by the operator causes the robot's movement to stop. However, it is preferable to provide an emergency stop device and a permission device also on hand-guided devices.
    [0009] In Automatic mode, the robot executes its own operating program, obtained as explained above, possibly in combination with another robot or automatic devices, normally within a cell protected from access by the team, but under visual control by an operator.
    [0010] Also in Remote mode, the robot executes its own operating program inside a cell protected against access by the team, but in this case, the start of program execution comes from a cell supervisor, such as a PLC, which , for example, controls both the robot and other automatic devices present in the cell itself.
    [0011] Still in the case of machining operations carried out by means of industrial robots in Automatic and Remote modes, it may prove useful or necessary for an operator to approach the manipulator's working region or move within his range, for example, to visually control the accuracy of effectiveness of certain operations performed by the handler.
    [0012] For these cases, it is known to provide adequate systems designed to detect the presence of an operator within the manipulator's working region or in its vicinity. These systems can, for example, be based on the use of devices for image acquisition and comparison, or they can also use light scanners or light barriers designed to detect the operator's entry into the manipulator's working region. In general, following a detection, the surveillance system suspends the robot's operation. The monitored region can also be divided into regions of different degrees of criticality: in this case, the operator who moves to a region relatively close to the manipulator, but still outside its scope of movement, receives a visual or acoustic warning; if, instead, the operator enters a second region, corresponding to the aforementioned scope of movement, the manipulator's movement is suspended.
    [0013] Such an approach guarantees a high degree of safety for operators, but often causes interruptions in the production flow that would not be strictly necessary. SUMMARY AND OBJECT OF THE INVENTION
    [0014] In view of the above, the object of the present invention is to provide an industrial robot and a control system for an industrial robot that makes possible a high degree of cooperation between a human operator and an industrial robot that operates automatically, but without jeopardizing the necessary security requirements.
    [0015] The objects above and still others, which will emerge clearly from now on, are obtained, according to the present invention, by an industrial robot and by a method to control an industrial robot that has the characteristics specified in the following claims . The characteristics form an integral part of the technical teaching provided here in connection with the invention. BRIEF DESCRIPTION OF THE DRAWINGS
    [0016] Additional objects, features and advantages of the present invention will emerge clearly from the description that follows and from the accompanying drawings, which are provided purely as a form of explanatory and non-limiting examples, and in which: • Figure 1 is a view in schematic and partial view of an industrial robot according to an embodiment of the invention; • Figure 2 is a schematic and partial perspective view of the robot in Figure 1 in a first working condition; • Figure 3 is a schematic and partial perspective view of the robot in Figure 1 in a second working condition; • Figure 4 is a simplified flowchart with the objective of expressing a possible logic to control an industrial robot according to a modality of the invention; • Figures 5, 6 and 7 are schematic and partial perspective views of an industrial robot according to additional modalities of the invention; and • Figure 8 is a schematic and partial perspective view of an industrial robot according to a variant embodiment of the invention. DESCRIPTION OF MODALITIES OF THE INVENTION
    [0017] References to “a modality” within the scope of this description are intended to indicate that a particular configuration, structure or characteristic described in relation to the modality is included in at least one modality. Therefore, phrases such as “in a modality” and the like, which may be present in several parts of the present description, do not necessarily refer, all, to the same modality. Furthermore, the particular configurations, structures or characteristics can be combined in any suitable way in one or more modalities. The references used below are provided merely for convenience and do not define the sphere of protection or the scope of the modalities.
    [0018] It should also be noted that, following this description, only the elements useful for an understanding of the invention will be described, taking for granted, for example, that the industrial robot according to the invention includes all known elements itself for its operation.
    [0019] An industrial robot according to an embodiment of the invention is schematically represented in Figure 1, including a manipulator 1 with a series of degrees of freedom, having a mechanical structure 2 that includes a series of moving parts. In the illustrated example, the robot is an anthropomorphic robot with its degrees of freedom that has a stationary base 3 and a column 4 mounted with freedom of rotation on base 3 around a vertically oriented first axis A1. An arm mounted with freedom of oscillation on the column 4 is designated by 5 around a second horizontally oriented A2 axis. It is designated by 6 a shoulder, mounted on the arm 5 so as to rotate around a third axis A3, which is also horizontally oriented, the shoulder 6 supporting a forearm 7, designed to rotate around its axis A4, which consequently, it constitutes a fourth axis of movement of the manipulator 1. The forearm 7 is equipped, at its end, with a handle 8, mounted to move according to two axes A5 and A6. An end effector, designated 9, is associated with the flange of the handle 8, which, in the example, is represented by a device for grasping a generic component 10. As explained in the introductory part of the present description, the end effector 9 and / or the piece 10 he carries identifies the so-called “Tool Center Point” (TCP - in Portuguese, “Central Point of the Tool”).
    [0020] The end effector 9 can be of any type and be able to perform any other function known in the industry, for example, a soldering torch or soldering pliers, a spray gun or a spray gun for the application of a sealant, a drilling or friction spindle, etc.
    [0021] The moving parts 4 - 8 are connected by means of joints 11, 12, 13 and 14, associated with which are the respective electric motors 11 ', 12', 13 'and 14', with corresponding gear reduction transmission. The joints and motors for the handle 8 are not shown in the figures for reasons of clarity. In one embodiment, such as the one exemplified, the end effector 9 also has respective driving means, which are also not represented for reasons of clarity. They are associated with the aforementioned joints, that is, with the corresponding motors, corresponding transducers, for position control. Some of these transducers are designated by S in Figure 1.
    [0022] The movements of the manipulator 1 and the operations that can be performed by the end effector 9 are managed by a control unit 15, which is located in a remote position in relation to the structure 2 and which is connected to the electrical / electronic parts of the latter by means of a cable 16. The practical hardware and software modalities that concern unit 15, which is provided with a respective microprocessor control system, are independent of the purposes of the present description, apart from some aspects referred to hereinafter on that concern the invention.
    [0023] The control unit 15 is configured to control the manipulator 1 in a series of different operating modes, including at least one automatic operating mode and preferably also a manual operating mode. For this purpose, unit 15 includes selection means 17, which can be operated by a user to select a desired mode of operation among those possible. In a preferred mode, the robot is capable of operating in three selectable modes, that is, a Programming mode, an Automatic mode, and a Remote mode, as indicated in the introductory part of this description. In Figure 1, reference 17 then designates a device for manual selection of the desired operating mode among those indicated.
    [0024] The program or software that supervises the operation of the manipulator 1 is implemented in the control unit 1, in the three indicated modes. This program - represented schematically by block 18 - preferably includes at least one dynamic model for controlling the manipulated 1. Software 18, or the corresponding dynamic model, can be defined according to any technique known in the industry to control industrial robots, and therefore will not be described in detail here. Here, it should be noted that this program or model includes the relations that express at least the theoretical values of position, speed and acceleration of the parts of the mobile structure of the manipulator 1 (including its motors) for the purposes of controlling its movement, as well as the relationships that express theoretical values of torque applied by the electric motors of the various connection joints provided. For the purpose of position control, S transducers are, of course, also used.
    [0025] As explained earlier, in Programming mode, an operator “simulates” a machining step, which manipulator 1 will then be called upon to perform in Automatic or Remote modes, varying the position of the manipulator itself by means of a portable control device or, instead, a manual guidance device (or possibly in OLP mode). In Automatic or Remote mode, the manipulator's movements are instead governed directly by the control unit 15.
    [0026] Regarding what is of specific interest here, when the robot needs to operate automatically (Automatic or Remote mode), the electric motors associated with the joints and the handle of structure 2 are driven by the unit 15 according to speed profiles of determined by the control program 18, that is, by the corresponding dynamic model.
    [0027] The industrial robot according to the invention includes a first detection system, pre-arranged to detect the possible presence of an operator - or, more generally, of a foreign body - in a predefined working region of the manipulator 1. This detection system may, for example, include one or more devices selected from image sensor devices, light beam sensor devices (visible and non-visible light), radio frequency devices, force transducer devices.
    [0028] In one embodiment, for example, the first detection system includes a surveillance system based on the use of a series of image recording units. Such systems are well known in the field and do not require any detailed description. Here, it is sufficient to remember that, in these systems, different recording units record images of a three-dimensional region under surveillance, and a processing unit detects the presence of foreign bodies in the three-dimensional region, based on comparisons made between the images recorded by the various units . For a description of an example of this type of detection systems, the reader is referred to US2009268029 A, whose teachings are considered to be incorporated herein by reference. For example, in the embodiment illustrated in Figures 1 and 2, a sensor device is generally designated as 19 which includes a series of image recording units, for example, obtained according to the technique described in US2009268029 A above (see, in particular, Figure 4 of this previous document).
    [0029] In Figure 2, the three-dimensional region, designated 20, under surveillance by device 19, is the region within which the mobile structure 2 of the manipulator 1 is able to move, in particular with reference to its part most extreme - here represented by the end effector that includes the gripping device 9 and the corresponding part 10 being manipulated (it should be noted that, in Figure 2, as in Figures 3 and 5 - 7, the working region 20 of the manipulator 1 is represented with dimensions smaller than those theoretically possible in view of the articulations of the manipulator itself.
    [0030] The robot according to the invention also includes a second detection system, including one or more inertial sensors installed in the manipulator 1. In the embodiment of Figure 1, three inertial sensors 21 are, for example, provided, mounted respectively on arm 5, forearm 7 and end effector 9. In a preferred embodiment, sensors 21 are accelerometers of a commercial type, but the use of gyroscopes is not excluded from the scope of the invention.
    [0031] The industrial robot according to the invention also includes a third detection system, which includes means for measuring the torque applied by at least some of the electric motors of the manipulator 1, such as, for example, the motors 11 ' -14 'and the motors associated with the handle 8. The torque measurement means can also be of any type known in the industry. In a particularly advantageous mode, the torque measurement is performed indirectly, and, for this purpose, means for measuring the current absorbed by the aforementioned motors are provided. According to a technique known in itself, the program 18 implanted in the control unit 15 includes the relations existing between the torque values that can be applied by the aforementioned motors and the corresponding current absorptions. These measuring means, which preferably include one or more amperometric sensors in the control unit 15, are represented schematically in Figure 1 by block 22.
    [0032] According to the invention, the unit 15 is pre-arranged in such a way that - when the robot operates automatically (that is, in Automatic mode or in Remote mode), the detection by the first detection system 19 of the presence of a foreign body, that is, an operator, within the working region 20 determines the automatic selection of an Automatic Safety Operation mode.
    [0033] Such a case is exemplified in Figure 3, in which an operator who enters region 20 is designated by HO, for example, to perform a qualitative verification of the operation in the manipulator 1.
    [0034] Following the automatic change to the Automatic Safety Operation mode, the control unit 15 governs the reduction of the steering speeds of the manipulator 2 electric motors in relation to the working speeds imposed by the control program to execute the operations machining in Automatic or Remote modes. In greater detail, engine speeds are reduced to safety speeds determined by program 18 for the Automatic Safety Operation mode. These safety speeds are not higher than a predetermined speed limit, considered safe enough: preferably, this limit is 250 mm / s.
    [0035] In the event that the HO operator leaves the working region 20 - circumstance detected by means of the surveillance system 19 - the control unit 15 governs the return of the robot to the normal operating condition, that is, to Automatic or to Remote mode originally selected manually.
    [0036] In the Automatic Safety Operation mode, the control unit 15 - in addition to reducing the speed of the motors - monitors the status of the second and third detection systems 21 and 22 above to detect a possible impact between moving parts of the structure 2 of the manipulator 1 and the HO operator (or other foreign body) present in the work region 20 under surveillance by the first detection system 19.
    [0037] In accordance with a characteristic of the invention, both detection systems 21 and 22 are used for this purpose. The detection of any possible impact based on the use of accelerometers 21 is made by cyclic comparison of the theoretical acceleration values determined by the control program 18 using the actual acceleration values measured using the accelerometers 21. The specific comparison algorithm can be of any kind deemed suitable for the purpose. For example, a possible criterion is to calculate the difference between the theoretical acceleration value and the measured acceleration value and check whether this difference is equal to or greater than a predefined limit, for example, equal to 10% of the theoretical value of acceleration.
    [0038] The present Complainant observed that the use of accelerometers and other inertial sensors is perfectly adequate to detect impulsive impacts, that is, instantaneous or sudden impacts against the mobile structure of the manipulator, which, in a unit of time (for example, 1s), generates a high energy and, asism, generates, in an inertial sensor, a pulse that is clearly distinguishable (consider, for example, an operator that strikes the robot structure with an arm or a rigid object generic that he has in his hand).
    [0039] Instead, the signals generated by this type of sensors do not allow precise discrimination (except at the expense of a considerable burden of control logic and the processing capacity of unit 15) of impacts of a non-impulsive type, ie , contacts with the robot structure that are prolonged and that, in the unit of time, have a low energy (consider, for example, the case of a part of the mobile structure of the manipulator that exerts progressive pressure on a part of the body of a operator).
    [0040] For this reason, according to the invention, the control unit 15, in parallel to the monitoring of possible collisions by the accelerometer system 21, also performs monitoring based on analysis of the torque applied by the motors that drives the moving parts of the manipulator 1. Still in this case, basically, unit 15 cyclically compares the theoretical torque values determined by the control program 18 with the torque values measured by means of the detection system 22. In the example considered here, as was said, this type of Monitoring is indirect and based on the comparison between theoretical and actual absorptions of electric motors associated with the moving parts of the manipulator 1. Also in this case, the specific comparison algorithm can be of any type considered suitable for the purpose. For example, also in this case, a possible criterion to calculate the difference between the theoretical acceleration value and the measured acceleration value and check if this difference is equal to or greater than a predefined limit, for example, equal to 10% of the theoretical acceleration value.
    [0041] The monitoring of the actual values of torque or current absorption, on the other hand, does not allow rapid and accurate discrimination of the impact of an impulsive type. For this reason, according to the approach proposed here, systems 21 and 22 must be understood as complementary to each other, for the purposes of a more convenient and immediate detection of any possible impact of moving parts of the manipulator 1 against the HO operator. or another foreign body present in the work region 20.
    [0042] Following the detection of an impact - through system 21 and / or system 22 - the control unit 15 governs the stop of the movement of structure 2 of manipulator 1 or, instead, governs a reversal of its movement, in particular before stopping, for example, for a given stroke (the manipulator can be operated in reverse until assuming a pre-defined posture, for example, with the parts of its structure in the most vertical position possible). Stopping or reversing movement is intended to safeguard the HO operator after an impact is detected.
    [0043] As can be seen, according to the invention, a high degree of cooperation is allowed between a robot, although operating automatically, and an operator that enters the working region of the corresponding manipulator, but, in any case, under conditions high security.
    [0044] It should be noted, for example, that if the HO operator has to move to region 20 for any reason, the operation of the manipulator 1 is not interrupted, but the latter assumes a condition of safe operation, distinguished by displacements very slow of its structure, with low accelerations and low energy (when operating at a low speed, in fact, the mobile structure of the manipulator cannot generate high energy in a short period of time). This safety speed allows the HO operator to stop (stand up) or move with total guarantee within region 20, that is, without the need to perform rapid movements or worry about possible sudden movements of the manipulator 1. The reduced speed allows effective cooperation between the operator and the robot also for the purpose of executing a machining operation, for example, with the operator passing a workpiece to the manipulator, or taking a machined part from the manipulator, or even with the manipulator supporting a part in which the operator performs a manual operation or an operation performed with the aid of a tool, for example, a wrench.
    [0045] The departure of the HO operator from region 20 automatically determines the restoration of the robot's normal working condition, such as Automatic mode or Remote mode, at the highest speed envisioned by the program for normal operation.
    [0046] Even in the event that a moving part of the manipulator 1 comes into contact with the HO operator's body, the impact effects are modest due to the low speed of the manipulator's displacement: the safeguard of the person is, in any case, high, due to the immediate stop of the manipulator's movement and / or the reversal of its movement after impact detection.
    [0047] Figure 4 represents a simplified flowchart, with the objective of exemplifying a possible control program for an industrial robot, limited to the part that belongs to the present invention.
    [0048] Block 100 is the block that represents the start of the program, for example, due to a start command transmitted by unit 15. The control passes to test block 101, through which a check is made to check if a manual mode is selected (Programming mode). If it is (SIM output), the control passes to block 102, to manage the programming of the robot, according to modalities known per se that are independent of the present invention. If not (NO output), an automatic mode (Automatic or Remote mode) is selected, and the control then moves to block 103, for managing the robot's operation according to the work program defined by the specific application, also in this case, according to known modalities per se which are independent of the present invention.
    [0049] The control then moves to the next block 104, for activating a first detection system 19, that is, the system for monitoring the working region of the manipulator 1. By means of the next test block 105, it is a check is made to check whether the system 19 detects the presence of an HO operator (or, more generally, of a foreign body) in the work region 20. If it does not detect (exit NO), the check is repeated, while, if detected (SIM output), the control moves to block 16, to activate the Automatic Safety Operation mode, with a consequent reduction in the speed of the manipulator's structure. The control then passes to block 107, to monitor any possible impact by the detection systems 21 and 22.
    [0050] In the case of absence of impact detection (NO output), monitoring is repeated, while, in case of impact detection (YES output), the control passes to block 109, which refers to the stop command movement of manipulator 1, after previous reversal of its movement or displacement towards a predefined resting position. The control then moves to block 110 for the end of the program.
    [0051] As already mentioned, the diagram in Figure 4 is provided merely as an example, insofar as it is intended to intuitively summarize the steps of the proposed control method. For example, in reality, it is preferable that the control carried out by the detection system 19 is carried out constantly (differently from what is represented by block 105 of Figure 4) so that when the HO operator moves back out of the working region 20 of manipulator 1, the robot autonomously exits Automatic Safety Operation mode to return to Automatic or Remote mode.
    [0052] As previously mentioned, the first detection system is not necessarily based on the use of image sensor devices, being possible that any other presence detection system is used for this purpose.
    [0053] Figure 5, for example, schematically represents the case of a presence detection system based on the use of force sensors. In the exemplified case, the working region 20 of the manipulator 1 is subtended by a platform or base 191, to which are attached force sensors or load cells (not indicated) designed to detect the presence, on the platform itself, of foreign bodies that have a weight greater than a certain limit, for example, 1 kg. As can be seen, when the HO operator moves to platform 191, its presence is detected by means of the aforementioned force sensors, with the robot automatically moving to the Automatic Safety Operation mode, and then returning to the Automatic or Remote mode when the operator leaves the platform.
    [0054] Figure 6 schematically represents the case of a presence detection system based on the use of light beam devices or light barrier devices, for example, 192 light scanners arranged so that the emitted beams are partly circumscribed by means of metal structures and, in part, by means of a laser scanner. It is evident that other devices can be used for the purpose designed to generate beams of light or light barriers that, when interrupted by the HO operator, determine the transition of the robot to the Automatic Safe Operation mode. In applications of this type, it is preferable that the robot is restored to the normal working condition (ie Automatic or Remote mode) manually, for example, acting on control means purposefully provided in the control unit 15, so as not to over complicate surveillance of the presence detection system.
    [0055] Figure 7 schematically represents the case of a presence detection system based on the use of radio frequency devices, in particular, an RFID system. In this embodiment, the identification system includes a portable transponder 193, in particular configured to be loaded by an HO operator. In the example, transponder 193 is associated with a strip 25 that the HO operator carries on his arm. Transponder 193 can, of course, be associated with other objects or clothing that have to be worn or carried by an operator, such as, for example, a jacket, a glove, a badge, safety glasses, etc. The detection system then includes a 194 transponder reader, installed within the working region 20.
    [0056] In this case, the transmission / reception range of the RFID system 193 - 194 is chosen so as to cover a three-dimensional region at least corresponding to the range in which the manipulator 1 is able to move.
    [0057] An RFID system of the indicated type can advantageously be used in combination with a different surveillance system, for example, a system based on image sensors of the type previously designated as 19. In such a mode, the robot's control logic can be pre-arranged in order to implement different levels of safety, that is, in order to guarantee the cooperation of the robot according to the invention only with qualified operators.
    [0058] Referring, for example, to Figure 7, the RFID system can be pre-arranged so as to cover a three-dimensional region 20 at least equal to or greater than that covered by system 19, for example, substantially corresponding to the region of manipulator work 20 1. In the event that an operator without the 193 transponder (that is, an “unauthorized” operator) enters region 20, its presence is, in any case, detected by system 19, with the control unit 15 consequently stopping the movement of the manipulator 1. Instead, if the HO operator moving into the region monitored by system 19 takes transponder 193 with him (and is, therefore, an “authorized” operator), he is recognized by reader 194, so that the system does not generate a stop in the operation of the robot, but a transition to the Automatic Safety Operation mode, as previously described.
    [0059] Of course, a system based on the use of radio frequency devices of the type referred to can also be used in combination with surveillance systems that do not use image sensors, such as, for example, systems of the type described with reference to Figures 5 and 6.
    [0060] In one embodiment, to further increase the safety of the operators who will operate in the vicinity of the manipulator 1, they can be associated with one or more moving parts of the latter cover elements that preferably have a structure that yields, at least partially.
    [0061] An example of this type is shown schematically in Figure 8, where arm members 5 and forearm 7 of the manipulator 1 are associated with cover elements, designated by 30, with a substantially tubular shape, these basically having the function of mitigating any impact possible between the aforementioned parties and an operator. Of course, the specific conformation of the covering elements 30 provided may be different from that exemplified, in particular in order to reproduce the profile of the structure of the manipulator 1, without significantly increasing its volume. In such an embodiment, the sensor or inertial sensors of the second detection system that equips the robot according to the invention can be associated with the cover element or elements provided.
    [0062] The characteristics of the present invention clearly emerge from the above description, as well as its advantages.
    [0063] It is clear that several variations can be made by a professional in the field to the industrial robot and to the control method described by means of the example here, without deviating, thus, from the scope of the invention as defined by the following claims.
    [0064] In a particularly advantageous variant mode, the control unit of the robot according to the invention is pre-arranged to store information representing acceleration values measured by means of the detection system based on inertial sensors 21. This measure can be show particularly useful for diagnostic purposes and to check the service and operation status of the manipulator. For this purpose, for example, a periodic comparison between theoretical acceleration values determined by the robot's control software and the values actually detected by sensors 21, stored in control unit 15 and possibly processed (for example, to obtain medium values). In this regard, it should be considered that sensors 21 are, in any case, kept active during machining operations carried out in Automatic or Remote mode. Comparisons between theoretical and real values can be made through a diagnostic program provided for this purpose in the control unit 15. The presence of significant deviations between the expected values and those actually measured can be considered as representing possible problems the mechanical structure of the manipulator, for example, due to the presence of gaps or a structure that yields.
    [0065] Similar considerations can be applied in relation to the possibility of storing information representing torque values or current absorptions that can be measured using the corresponding detection system 22, which can also be compared with homologous theoretical values to deduce possible conditions failure of the manipulator, due, for example, to its wear, clearance or a structure that yields.
    [0066] The invention can be applied to industrial robots of different sizes and loads, and therefore to both robots for modest loads (for example, a few kilograms) and robots for high loads (for example, hundreds of kilograms), as well as for robots of a different type from those anthropomorphic exemplified here, for example, robots with Cartesian configuration, cylindrical configuration, polar configuration and SCARA configuration (Selective Compliance Assembly Robot Arm, in English). Consequently, the joints that connect the rigid parts of the mobile structure of the manipulator can also be of a different type according to the type of robot, such as rotating joints, prismatic joints or helical joints.
    权利要求:
    Claims (11)
    [0001]
    1. Industrial robot (1, 15) comprising: • a manipulator (1) with a series of degrees of freedom (A1 - A6), having a mechanical structure (2) comprising a plurality of moving parts (4 - 9) , including an end effector (9) and one or more connection joints (11 - 14) driven by electric motors (11 '- 14') with associated corresponding position transducers (S); • a control unit (15) of the manipulator (1), comprising selection means (17) operable by a user for the selection of a plurality of possible modes of operation of the robot (1, 15), among which, at least an automatic mode of operation; • a first detection system (19; 19i; 192; 193 - 194), to detect the possible presence of a foreign body (HO) in a predefined working region (20) of the manipulator (1), in particular, a human being; • a second detection system (21), comprising one or more inertial sensors installed in the manipulator (1); where implemented in the control unit (15) is a program (18) for controlling the manipulator (1), the control program (18) including relations that express theoretical values of position, speed and acceleration of parts (4 - 9 ) of the mechanical structure (2); wherein the control unit (15) is pre-arranged to drive the electric motors (11 '- 14') at working speeds determined by the control program (18) at least in the automatic operating mode; where the control unit (15) is pre-arranged in such a way that, with the robot (1, 15) in automatic operating mode, detection by the first detection system (19; 191; 192; 193 - 194) the presence of a foreign body (HO) within the predefined working region (20) of the manipulator (1) determines the selection of an automatic safety operation mode for the robot (1, 15); where, in the automatic safety operating mode, the safety unit (15) is operational to: • reduce the speed of the electric motors (11 '- 14') to safety speeds determined by the control program (18), greater than a speed limit that is lower than working speeds; and • if an impact of the mechanical structure (2) is detected against a foreign body (HO), stop the movement of the mechanical structure (2) and / or govern the reversal of the movement of the mechanical structure (2), in particular before the last stop, characterized by the fact that: • industrial robot also comprises a third detection system (22), comprising means to measure the torque applied by the electric motors (11 '- 14'); • control program (18) also includes relationships that express theoretical values of torque applied by electric motors (11 ’- 14 '); and in the automatic safety operating mode, the control unit (15) is also operative to: • compare theoretical acceleration values determined by the control program (18) with acceleration values measured using the second detection system (21) to detect a possible impulse impact of the mechanical structure against a foreign body (HO); and • compare theoretical torque values determined by the control program (18) with torque values measured using the third detection system (22) to detect a possible non-impulsive impact of the mechanical structure (2) against a foreign body (HO) .
    [0002]
    2. Industrial robot according to claim 1, characterized by the fact that the one or more inertial sensors of the second detection system (21) are selected from accelerometers and gyroscopes
    [0003]
    Industrial robot according to claim 1 or 2, characterized by the fact that the first detection system (19; 191; 192; 193 - 194) comprises one or more devices selected among image sensor devices (19), force transducer devices (191), light beam or light barrier sensor devices (192), and radio frequency devices (193 - 194).
    [0004]
    Industrial robot according to any one of claims 1 to 3, characterized in that the third detection system (22) includes means for measuring the electric current absorbed by the electric motors (11 '- 14').
    [0005]
    Industrial robot according to any one of claims 1 to 4, characterized by the fact that cover elements are associated with one or more parts of the mechanical structure (2), in particular, such that they have a sagging structure.
    [0006]
    Industrial robot according to any one of claims 1 to 5, characterized by the fact that the first detection system comprises a radio frequency identification system (193 - 194).
    [0007]
    7. Industrial robot according to claim 6, characterized by the fact that the radio frequency identification system (193 - 194) comprises a portable transponder (193), in particular configured to be carried by an operator (HO), and a transponder reader (194) installed in the predefined working region (20).
    [0008]
    8. Industrial robot according to any one of claims 1 to 7, characterized by the fact that the control unit (15) is pre-arranged to: store at least one of the information representing acceleration values measured by means of the second system detection (21) and information representing torque values measured using the third detection system (22); and use such information for diagnostic purposes and / or purposes of checking the manipulator's operating status (1).
    [0009]
    Industrial robot according to any one of claims 1 to 8, characterized in that the speed limit is not greater than 250 mm / s.
    [0010]
    Industrial robot according to any one of claims 1 to 9, characterized by the fact that it comprises at least two different detection systems (19; 193 - 194) to detect the possible presence of a human operator (HO) in a region predefined working mode (20) of the manipulator (1), one of two detection systems including an RFID arrangement (193 - 194).
    [0011]
    11. A method for controlling an industrial robot (1, 15) comprising: • a manipulator (1) with a series of degrees of freedom (A1 A6), which has a mechanical structure (2) comprising a plurality of moving parts (3 - 9), including an end effector (9) and one or more connection joints (11 - 14) driven by electric motors (11 '- 14') with associated corresponding position transducers (S); • a control unit (15) of the manipulator (1), comprising selection means (17) operable by a user for the selection of a plurality of possible modes of operation of the robot (1, 15), among which, at least an automatic mode of operation; the method comprising: • implementing in the control unit (15) a program (18) for controlling the manipulator (1), the control program (18) including relations that express theoretical values of position, speed and acceleration of parts (4 - 9) the mechanical structure (2); • start the electric motors (11'-14 ') at working speeds determined by the control program (18) at least in the automatic operation mode; • provide a first detection system (19; 191; 192; 193-194) to detect possible presence of a foreign body (HO) within a predefined working region (20) of the manipulator (1), in particular a human being; • providing a second detection system (21), comprising one or more inertial sensors installed in the manipulator (1); in which, with the robot (1, 15) in automatic operating mode, the control unit (15) selects an automatic safety operating mode upon detection by the first detection system (19; 191; 192; 193 - 194), the presence of a foreign body (HO) within the predefined working region (20) of the manipulator (1); where, in the automatic safety operating mode, the safety unit (15): • reduces the speeds of the electric motors (11 '14') to safety speeds determined by the control program (18), no greater than one speed limit that is lower than working speeds; • if an impact of the mechanical structure (2) is detected against a foreign body (HO), stop the movement of the mechanical structure (2) and / or govern the reversal of the movement of the mechanical structure (2), in particular before the last stop, the method being characterized by the fact that: • providing a third detection system (22), comprising means to measure the torque applied by the electric motors (11 '- 14'); • include in the control program (18) still relations that express theoretical values of torque applied by electric motors (11 ’- 14 '); • in automatic safety operating mode, the control unit (15): • compares theoretical acceleration values determined by the control program (18) with acceleration values measured by means of a second detection system (21) to detect a possible impulse impact of the mechanical structure against a foreign body (HO); and • compares theoretical torque values determined by the control program (18) with acceleration values measured using the third detection system (22) to detect a possible non-impulsive impact of the mechanical structure (2) against a foreign body (HO) .
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    同族专利:
    公开号 | 公开日
    CN105583826B|2018-05-25|
    CA2909755C|2018-09-18|
    JP3223826U|2019-11-07|
    ES2648295T3|2017-12-29|
    EP3017920A1|2016-05-11|
    US10005184B2|2018-06-26|
    MX350110B|2017-08-28|
    PL3017920T3|2018-02-28|
    CN105583826A|2016-05-18|
    BR102015027352A2|2016-05-24|
    JP2016087785A|2016-05-23|
    US20160129595A1|2016-05-12|
    MX2015015442A|2016-05-06|
    CA2909755A1|2016-05-07|
    EP3017920B1|2017-08-23|
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    法律状态:
    2016-05-24| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-10-30| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-09-15| B09A| Decision: intention to grant|
    2020-12-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/10/2015, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    ITTO2014A000924|2014-11-07|
    ITTO20140924|2014-11-07|
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