CN110576455B - Modularized collision detection and protection device for multi-degree-of-freedom image robot - Google Patents
Modularized collision detection and protection device for multi-degree-of-freedom image robot Download PDFInfo
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- 238000003384 imaging method Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 8
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- 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
- B25J19/02—Sensing devices
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Abstract
The invention discloses a modularized collision detection and protection device for a multi-degree-of-freedom image robot, which comprises the following components: the device comprises a collision detection outer plate, a collision detection module, a robot controller, a direct current power supply and a solid state relay. The collision detection module consists of two detection layers and one buffer layer. When the collision detection outer plate contacts with an obstacle and generates a force, the detection outer plate enables the first layer of self-locking switch to act and transmits the information to the robot controller, and the robot actively stops moving; when the bottom plate of the first layer self-locking switch enables the second layer self-locking switch to act under the action of the detection outer plate, the solid state relay acts, the power supply of the robot is cut off, and the robot passively stops moving. The invention can protect the image robot when the image robot contacts with the obstacle and the interaction force between the image robot and the obstacle is small, has high sensitivity, avoids the damage of equipment and other objects on site, has simple and reliable structure, is convenient to install and use and has low cost.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a collision detection and protection device applied to a multi-degree-of-freedom image robot.
Background
The multi-degree-of-freedom image robot has flexible scanning track, can set personalized scanning imaging track according to imaging task, and has good application prospect in the occasions of accurate navigation in operation, self-adaptive radiotherapy, early screening and diagnosis of tumor and the like. The imaging track of the multi-degree-of-freedom image robot based on task driving is complex, so that the problems of collision detection and protection of the robot must be properly solved, and particularly, the application occasion of the multi-degree-of-freedom image robot in medical treatment is required. In case of equipment failure or field accident, the imaging robot may collide with surrounding objects, which not only affects the normal operation of the system, but also damages the robot in severe cases, and even causes injury to field personnel.
Disclosure of Invention
Aiming at the defects of potential safety hazards and the like of the multi-freedom-degree image robot, the invention designs the modularized collision detection and protection device for the multi-freedom-degree image robot aiming at the characteristics of the movement of the multi-freedom-degree image robot.
The invention is realized by the following technical scheme: a modularized collision detection and protection device for a multi-degree-of-freedom image robot comprises: the device comprises at least one collision detection outer plate, at least two collision detection modules, a robot controller, a direct current power supply and a solid state relay; the collision detection outer plate and the collision detection module are used for detecting the collision between the robot and the obstacle, and the robot controller and the solid relay are used for generating protection operation;
the collision detection module is of a three-layer structure, and the top layer comprises a first bottom plate and at least one self-locking switch arranged on the first bottom plate; the middle layer comprises a second bottom plate and at least one self-locking switch arranged on the second bottom plate; the bottom layer comprises a third bottom plate; the first bottom plate, the second bottom plate and the third bottom plate are sequentially connected through springs;
each collision detecting outer panel is supported by at least two collision detecting modules;
the self-locking switches on the first bottom plates of all the collision detection modules are connected in series and then connected into the robot controller to form a first loop;
after the self-locking switches on the second bottom plates of all the collision detection modules are connected in series, the self-locking switches are connected to the control end of the solid-state relay through an auxiliary direct-current power supply to form a second loop;
the device has two-stage collision detection protection and protection function:
when no collision occurs, the first loop and the second loop are both passages;
when the collision detection outer plate contacts with an obstacle to enable at least one self-locking switch on the top layer to act, the first loop is broken, a breaking signal is transmitted to a robot controller, and the robot controller sends out an instruction to enable the robot to immediately and actively stop moving;
when the first bottom plate of the top layer continues to move under the action of the collision detection outer plate, and at least one self-locking switch of the middle layer acts, the second loop is disconnected, the solid state relay acts, the power supply of the robot is cut off, and the robot passively stops moving;
if the robot stops moving passively, a short period of time is needed from the action of the solid state relay to the complete stop of the robot, and a certain displacement still occurs to the bulb and the detector at the tail end of the image robot during the period; the spring between the second bottom plate and the third bottom plate has buffering function and protects the image robot and the collision object besides the connection and the supporting function.
Further, the robot controller may control the robot controller to perform the control every T 0 The time recording robot current pose, when programming the robot track, the time required for completing each motion control instruction is defined, therefore, the motion control instruction when the collision happens can be known according to the time when the collision happens, the pose of the robot recorded when the previous collision does not happen is taken as a target point, the pose of the robot actively stopping motion is taken as a starting point, the motion control instruction when the collision happens is taken as a return control instruction, and the robot returns to the place where the collision does not happen according to the original track and stops moving.
Further, four self-locking switches are respectively arranged on the top layer and the middle layer of the collision detection module, each self-locking switch is composed of two single-pole double-throw switches, and eight single-pole double-throw switches of each layer of four self-locking switches are sequentially connected in series; when no collision occurs, the eight single-pole double-throw switches of each layer form a current conduction path, and when at least one self-locking switch is pressed down after collision occurs, the current path is disconnected.
Further, the collision detection outer plates are subjected to 3D printing according to the appearance shape of the robot at the position where the collision detection module is installed, a plurality of collision detection outer plates are spliced into the appearance shape of the robot and cover the surface of the robot, the collision detection outer plates are fixed on the self-locking switch on the top layer of the collision detection module, and the collision detection module is installed between the collision detection outer plates and the image robot body; according to the specific shape of the collision detection outer plate, only a few collision detection modules need to be arranged along the edges of the collision detection outer plate, so that the number and cost of the sensors are greatly reduced.
Further, at least three first springs are installed between the first bottom plate and the second bottom plate of the collision detection module, at least three second springs are installed between the second bottom plate and the third bottom plate, the first springs play two roles of fixing and supporting, and the second springs play three roles of fixing, supporting and buffering. When the collision detection outer plate and the self-locking switch of the first layer exert force, the first bottom plate generates small displacement under the supporting action of the spring between the first bottom plate and the second bottom plate, K is required 2 、K 3 Are all greater than K 1 The sensitivity of collision detection is ensured. When the second layer self-locking switch is required to act, the second bottom plate generates small displacement under the supporting action of the spring between the second bottom plate and the third bottom plate, K is required 3 Greater than K 2 . Wherein K is 1 Equivalent stiffness coefficient, K of all self-locking switch internal springs of the first layer 2 K being the equivalent stiffness coefficient of all springs between the first and second base plates 3 Is the equivalent stiffness coefficient of all springs between the second base plate and the third base plate.
Further, four springs are arranged between the first bottom plate and the second bottom plate, and five springs are arranged between the second bottom plate and the third bottom plate.
The beneficial effects of the invention are as follows: according to the invention, the collision detection outer plate is subjected to 3D printing according to the appearance of the robot at the position where the collision detection module is arranged, and only a few collision detection modules are required to be arranged along the edges of the collision detection outer plate according to the specific shape of the collision detection outer plate, so that the number and cost of the sensors are greatly reduced; the collision detection module consists of two detection layers and one buffer layer, so that the device has two-stage collision detection and protection functions, and the buffer layer gives enough time for complete stopping of the robot. The invention can protect the image robot when the image robot contacts with the obstacle and the interaction force between the image robot and the obstacle is small, has high sensitivity, avoids the damage of equipment and other objects on site, has simple and reliable structure, is convenient to install and use and has low cost.
Drawings
FIG. 1 is a schematic view of a multi-degree-of-freedom imaging robot boom with a collision detection outer plate and a collision detection module mounted thereon;
FIG. 2 is a three-layer block diagram of a collision detection module;
FIG. 3 is a general schematic of the inventive apparatus;
FIG. 4 is a flow chart of inventive device collision detection and protection;
FIG. 5 is an X-ray flat panel detector with an impact detection outer panel and an impact detection module mounted thereto;
in the figure: 1. a collision detection outer panel; 2. a collision detection module; 3. multiple degrees of freedom image robot big arm; 4. a first layer self-locking switch; 5. a first base plate; 6. a second layer self-locking switch; 7. a first spring; 8. a second base plate; 9. a second spring; 10. a third base plate; 11. the first layer self-locking switch is connected to a lead of the first loop; 12. the second layer self-locking switch is connected to the lead of the second loop; 13. a robot controller; 14. a direct current power supply; 15. a solid state relay; 16. an X-ray flat panel detector; 17. and fixing and supporting structures of the flat panel detector.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
Fig. 1 shows a multi-degree-of-freedom imaging robot arm 3 to which a collision detection outer panel 1 and a collision detection module 2 are attached. When the collision detecting outer plate 1 contacts with an obstacle, the first layer self-locking switch 4 of the collision detecting module 2 acts due to the supporting action of the first springs 7 between the first bottom plate 5 and the second bottom plate 8 in the collision detecting module 2, and the first circuit a is broken.
Fig. 2 shows a collision detection module. The collision detection module 2 has a three-layer structure, wherein the first layer is provided with four self-locking switches, the second layer is provided with four self-locking switches and four first springs 7, and the third layer is provided with five second springs 9.
A first layer: each self-locking switch consists of two single-pole double-throw switches, and eight single-pole double-throw switches of four self-locking switches are sequentially connected in series. When no collision occurs, the eight single-pole double-throw switches form a current conduction path, and after collision occurs, at least one self-locking switch is pressed down, so that the current path is disconnected.
A second layer: the connection mode and the working principle of the four second-layer self-locking switches 6 are the same as those of the first layer, and the four first springs 7 have two functions of fixing and supporting. When the collision detection outer plate 1 and the four self-locking switches of the first layer exert force, the first bottom plate 5 generates small displacement under the supporting action of the four springs between the first bottom plate 5 and the second bottom plate 8, and K is required 2 、K 3 Are all greater than K 1 Ensuring the sensitivity of collision detection, wherein K 1 Equivalent stiffness coefficient, K of all self-locking switch internal springs of the first layer 2 K being the equivalent stiffness coefficient of all springs between the first and second base plates 3 Is the equivalent stiffness coefficient of all springs between the second base plate and the third base plate.
Third layer: the second springs 9 between the second base plate 8 and the third base plate 10, which is the mounting base plate of the detection module, have three functions of connection, support and buffering. The second bottom plate 8 is required to generate small displacement under the supporting action of the spring between the second bottom plate 8 and the third bottom plate 10 when the second-layer self-locking switch 6 is actuated, and therefore, K is required 3 Greater than K 2 。
After the self-locking switches on the first bottom plate 5 of all the collision detection modules 2 are connected in series, the self-locking switches are connected into an I/O board of the robot controller 13 to form a first loop A;
after the self-locking switches on the second bottom plate 8 of all the collision detection modules 2 are connected in series, the self-locking switches are connected to the control end of the solid-state relay 15 through the auxiliary direct-current power supply 14 to form a second loop B, the direct-current power supply 14 supplies power to the control end of the solid-state relay 15, and the driving control system of the robot can be reliably powered when the second loop B works normally.
The device has two-stage collision detection protection and protection function:
when no collision occurs, the first loop and the second loop are both passages;
when the collision detection outer plate contacts with an obstacle to enable at least one self-locking switch on the top layer to act, the first loop is broken, a breaking signal is transmitted to a robot controller, and the robot controller sends out an instruction to enable the robot to immediately and actively stop moving;
when the first bottom plate of the top layer continues to move under the action of the collision detection outer plate, and at least one self-locking switch of the middle layer acts, the second loop is disconnected, the solid state relay acts, the power supply of the robot is cut off, and the robot passively stops moving;
if the robot stops moving passively, a short period of time is needed from the action of the solid state relay to the complete stop of the robot, and a certain displacement still occurs to the bulb and the detector at the tail end of the image robot during the period; the spring between the second bottom plate and the third bottom plate has buffering function and protects the image robot and the collision object besides the connection and the supporting function.
The processing of the first loop break signal may also take the following measures: every T robot controller 0 The time recording robot current pose, when programming the robot track, the time required for completing each motion control instruction is defined, therefore, the motion control instruction when the collision happens can be known according to the time when the collision happens, the pose of the robot recorded when the previous collision does not happen is taken as a target point, the pose of the robot actively stopping motion is taken as a starting point, the motion control instruction when the collision happens is taken as a return control instruction, and the robot returns to the place where the collision does not happen according to the original track and stops moving.
FIG. 4 is a flow chart of one mode of operation of a modular collision detection and protection apparatus for a multiple degree of freedom imaging robot. And after the robot is electrified and receives an instruction for starting operation, the robot operates according to a track set by a program, records an actual operation track, performs image acquisition at a designated position, monitors the on-off state of a first loop, and when the first loop is detected to be broken, the robot controller sends out an instruction to enable the robot to return to a collision place according to the original track and actively stop moving.
If the solid state relay control end does not detect the breaking signal of the second loop after the first loop is broken, the robot is proved to stop moving completely before the second layer of self-locking switch acts. In this case, the power supply of the robot can be manually turned off, and then a worker performs on-site investigation of the cause of the collision.
If the robot stops moving completely before the second layer of self-locking switch acts, the control loop of the solid state relay, namely the second loop, cuts off the power supply of the robot after the circuit is broken, and the robot stops moving passively, which is equivalent to the emergency stop of the robot.
Fig. 5 is an X-ray flat panel detector with a collision detecting outer panel and a collision detecting module mounted. The collision detecting module 2 and the collision detecting outer panel 1 are installed on three sides of the X-ray flat panel detector 16, which may collide with an obstacle, and the X-ray flat panel detector 16 is fixed to a fixing and supporting structure 17 of the flat panel detector. The flat panel detector is an important component of the image robot, is positioned at the tail end of the image robot, has a large movement range, and particularly has a complex movement track in a task-driven influence detection method, so that collision detection outer plates are arranged on three outer sides of the detector. Because the image robot runs slowly in the imaging process, the flat panel detector can be well protected by combining the collision detection module with the two-stage collision detection and protection functions and based on the self-locking switch with the collision detection outer panel.
The above only provides a specific arrangement and use method of the collision detection module and the collision detection outer plate for the large arm and the flat panel detector of the image robot, and other components such as the X-ray tube on the image robot can also refer to the method for designing and arranging the collision detection module and the collision detection outer plate.
While the exemplary embodiment has been described with respect to a multi-degree of freedom imaging robot arm and X-ray flat panel detector in the description of the implementation of the apparatus, it should be noted that numerous variations remain for other components of the multi-degree of freedom imaging robot. Meanwhile, the exemplary embodiment is merely an example, and should not be construed as limiting the scope, applicability, and configuration of the apparatus according to the exemplary embodiment in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing the exemplary embodiment, and it is intended that all such modifications, additions and equivalents as fall within the spirit and scope of the invention.
Claims (6)
1. The utility model provides a multi freedom image robot is with modularization collision detection and protection device which characterized in that includes: the device comprises at least one collision detection outer plate, at least two collision detection modules, a robot controller, a direct current power supply and a solid state relay;
the collision detection module is of a three-layer structure, and the top layer comprises a first bottom plate and at least one self-locking switch arranged on the first bottom plate; the middle layer comprises a second bottom plate and at least one self-locking switch arranged on the second bottom plate; the bottom layer comprises a third bottom plate; the first bottom plate, the second bottom plate and the third bottom plate are sequentially connected through springs;
each collision detecting outer panel is supported by at least two collision detecting modules;
the self-locking switches on the first bottom plates of all the collision detection modules are connected in series and then connected into the robot controller to form a first loop;
after the self-locking switches on the second bottom plates of all the collision detection modules are connected in series, the self-locking switches are connected to the control end of the solid-state relay through an auxiliary direct-current power supply to form a second loop;
when no collision occurs, the first loop and the second loop are both passages;
when the collision detection outer plate contacts with an obstacle to enable at least one self-locking switch on the top layer to act, the first loop is broken, a breaking signal is transmitted to a robot controller, and the robot controller sends out an instruction to enable the robot to immediately and actively stop moving;
when the first bottom plate of the top layer continues to move under the action of the collision detection outer plate, and at least one self-locking switch of the middle layer acts, the second loop is disconnected, the solid state relay acts, the power supply of the robot is cut off, and the robot passively stops moving.
2. The modular collision detection and protection device for multiple degree of freedom imaging robots of claim 1 wherein said robot controller is configured to control each T 0 The method comprises the steps of recording the current pose of a robot in time, defining the time required for completing each motion control instruction when programming a robot track, knowing the motion control instruction when a collision occurs according to the time when the collision occurs, taking the pose of the robot recorded when the collision does not occur as a target point, taking the pose of the robot actively stopping motion as a starting point, taking the motion control instruction when the collision occurs as a return control instruction, and stopping the motion after the robot returns to the place where the collision does not occur according to the original track.
3. The modularized collision detection and protection device for the multi-degree-of-freedom image robot of claim 1, wherein four self-locking switches are respectively arranged on the top layer and the middle layer of the collision detection module, each self-locking switch is composed of two single-pole double-throw switches, and eight single-pole double-throw switches of each layer of four self-locking switches are sequentially connected in series; when no collision occurs, the eight single-pole double-throw switches of each layer form a current conduction path, and when at least one self-locking switch is pressed down after collision occurs, the current path is disconnected.
4. The modularized collision detection and protection device for the multi-degree-of-freedom image robot according to claim 1, wherein the collision detection outer plates are subjected to 3D printing according to the appearance shape of the robot at the position where the collision detection module is installed, a plurality of collision detection outer plates are spliced into the appearance shape of the robot and cover the surface of the robot, the collision detection outer plates are fixed on the self-locking switch on the top layer of the collision detection module, and the collision detection module is installed between the collision detection outer plates and the image robot body.
5. The modular collision for multiple degree of freedom imaging robots of claim 1The detection and protection device is characterized in that at least three first springs are arranged between a first bottom plate and a second bottom plate of the collision detection module, at least three second springs are arranged between the second bottom plate and a third bottom plate, the first springs play two roles of fixing and supporting, and the second springs play three roles of fixing, supporting and buffering; when the collision detection outer plate and the self-locking switch of the first layer exert force, the first bottom plate generates small displacement under the supporting action of the spring between the first bottom plate and the second bottom plate, K is required 2 、K 3 Are all greater than K 1 The method comprises the steps of carrying out a first treatment on the surface of the When the second layer self-locking switch is required to act, the second bottom plate generates small displacement under the supporting action of the spring between the second bottom plate and the third bottom plate, K is required 3 Greater than K 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is 1 Equivalent stiffness coefficient, K of all self-locking switch internal springs of the first layer 2 K being the equivalent stiffness coefficient of all springs between the first and second base plates 3 Is the equivalent stiffness coefficient of all springs between the second base plate and the third base plate.
6. The modular collision detection and protection device for multiple degree of freedom imaging robots of claim 1 wherein four springs are mounted between the first base plate and the second base plate and five springs are mounted between the second base plate and the third base plate.
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| 有力觉及视觉临场感的遥操作机器人系统研究;倪涛;《中国博士学位论文全文数据库 (信息科技辑)》;20061130;全文 * |
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