CN105835058B - A kind of program generating system (PGS) - Google Patents
A kind of program generating system (PGS) Download PDFInfo
- Publication number
- CN105835058B CN105835058B CN201610254106.3A CN201610254106A CN105835058B CN 105835058 B CN105835058 B CN 105835058B CN 201610254106 A CN201610254106 A CN 201610254106A CN 105835058 B CN105835058 B CN 105835058B
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- path
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
A kind of program generating system (PGS), including path record portion, reach determining section, act completion portion, closest approach record portion, height storage section and reset routine generating unit, it is after robot emergent stopping, by using the path with tutorial program not in the reset path of same two dimensional surface, generation returns to efficiency high and the robot reset routine that will not be disturbed.
Description
Technical field
The present invention relates to programme-control machine people field.
Background technology
Industrial robot is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensing technology, artificial intelligence
In the important automated arm of the modernization manufacturing industry of one.The characteristics of flexible, flexible production that industrial robot has, and
As economic continuing to develop is improved with human cost increase, demand for safety protection, industrial automatization is also improved therewith, because
This industrial robot can obtain wider application prospect.
Manufacturing process is always one traditional application field of robot, and the continuous production process requirements of bulk article are machine
Device people provides the stage displayed one's ability.In the production unit for facing the future manufacturing process, robot is not only only required to energy
Carry out simple repeated work, it is often more important that can be as a highly flexible, opening and with friendly human-computer interaction function
Programmable, Reconfigurable Manufacturing Cell be fused in manufacturing industry system.
The typical mission that industrial robot is completed generally has repeatability, and frequently occurs in known environment.This
A little tasks need to complete by robot teaching program.According to industrial robot own characteristic, robot carry out teaching and
After teaching is checked, robot teaching program is generated, then teaching playback stage progress automatic job.
In the operation process of robot, sometimes can due to mistake, interference etc. operation way in emergent stopping.Work as generation
After emergent stopping, it may be necessary to robot is returned to position of readiness in special time, so that when resuming operation from standby position
Put the operation for re-executing robot.It is by making robot along showing in tutorial program in technical scheme of the prior art
The taught point in religion path is oppositely returned, such as technology of the FANUC Co., Ltd proposed in CN100408277C patents of invention
Scheme.Such route, can determine the return path of robot in the prior art, but be due to that teaching path is often more
Complications, being returned along path may take longer, and the path circumstances passed through may change, and occur when causing to return dry
Disturb.
The content of the invention
The invention provides a kind of program generating system (PGS), it can generate return efficiency high, and will not disturb
Robot reset routine.
As one aspect of the present invention there is provided a kind of program generating system (PGS), it can generate robot reset routine, bag
Include：Path record portion, it stores the robot path preset and include multiple path points and path action, and robot is based on the machine
Device people path can carry out glitch-free operation；Determining section is reached, it confirms after robot reaches path point；Action is completed
Portion, it confirms after robot completes the action of path point；Closest approach record portion, it completes the dynamic of current path point in robot
Position and the action of the path point are recorded after work；Height storage section, it stores the height of peak in robot path environment；It is multiple
Position Program Generating portion, whether it determines robot in path point in robot emergent stopping based on determining section is reached：（1）
If robot is in path point, it is the path point to safe altitude point to determine first path, and the safe altitude point is located at road
Above the point of footpath, to make the height of robot minimum point be higher than the height stored in the height memory；Second path is safety
Highly point arrives reset height point, and the height of the reset height point is highly equal with the safe altitude point, on reduction point
Side；3rd path is the reset height point to the reduction point；The reset routine generating unit is based on the first path, the
Two paths and the 3rd coordinates measurement reset routine；（2））If robot is not in path point, based on closest approach record portion note
The position of the closest approach of record, it is current location to the position of closest approach to determine first path；Second path is the position of closest approach
The position of safe altitude point above to the closest approach；3rd path is safe altitude point to reset height point, and the reset is high
The height for spending point is highly equal with the safe altitude point, above reduction point；4th path is that the reset height point is arrived
To the reduction point；The reset routine generating unit is based on the first path, the second path, the 3rd path and the 4th path
Generate reset routine.
It is preferred that, the artificial welding robot of machine, the welding object of the robot is two-dimensional flat plate type object.
It is preferred that, the reset height point is not at same plane with the robot path.
It is preferred that, the height of the reset height point is higher than plane where the robot path.
It is preferred that, in addition to action completeness Department of Statistics, reverse path generating unit and restart action enforcement division；It is described dynamic
Make completeness Department of Statistics and carry out timing after robot reaches path point, being determined in robot emergent stopping based on the counting should
The action completeness of path point；The reverse path generating unit generates the direction opposite with resetting path based on the reset routine
Path；It is described to restart action enforcement division when receiving the order resumed operation after emergent stopping terminates, based on described reverse
Path and the action completeness, it is determined that what is resumed operation restarts action.
It is preferred that, it is described to restart robot arrival when action enforcement division determines to resume operation based on the reverse path
The travel path of the emergent stopping position；If the emergent stopping position is not in path point, described to restart action executing
Portion is continued executing with based on the robot path being not carried out；If the emergent stopping position is in path point, described to restart
Make path action of the enforcement division based on the action completeness and the path point to determine not completing action degree, do not completed based on this
The action of path point when action degree and redundancy coefficient determine to resume operation.
It is preferred that, the action completeness is calculated according to following formula：ε=t/T, wherein t are promptly to stop in path point robot
Timing when only, T is the path actuation time of the robot path that stores in the path point in the record portion of path；It is described not complete
Action degree is calculated according to following formula：ξ=1- ε；The actuation time of the path point is t1=T × ξ × e when resuming operation, and wherein e is
Redundancy coefficient.
It is preferred that, the redundancy coefficient is the number more than 1, preferably 1.2.
It is preferred that, in addition to angle adjustment, it is based on the robot in the path point or the closest approach
Robot motion posture determines that robot angular adjustment is vertical regulation program；The reset routine generating unit is reached being generated to
Before the path procedure of safe altitude point, regulation program is first generated based on angle adjustment.
Brief description of the drawings
Fig. 1 is the schematic diagram of robot system of the present invention.
Fig. 2 is the schematic diagram that present procedure generates system.
Fig. 3 is a kind of reset routine path schematic diagram of the embodiment of the present invention.
Fig. 4 is another reset routine path schematic diagram of the embodiment of the present invention.
Embodiment
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, are not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
The industrial machine of the present invention is artificially used for the welding robot in two dimensional weld face, as shown in figure 1, robot 10, is used
Welded in two-dimensional flat plate type welding plane 20, there are the environmental objects 30 and 40 of different height in welding plane 20.Machine
Device people 10 has path of welding 21 in welding plane 20, and it includes multiple path points not on the same line.Normal operation
When, robot 10 performs welding action along path of welding 21 under tutorial program control in path point.
The program generating system (PGS) 100 of the present invention, it can generate robot reset routine, as shown in Fig. 2 including path note
Record portion 101, reaches determining section 102, action completion portion 103, closest approach record portion 104, height storage section 105 and reset routine
Generating unit 106.Path record portion 101 stores default robot path, and it includes path point on path of welding 21 and each
The action of individual path point.Robot 10 is moved when performing operation between different path points, reaches the laggard walking along the street footpath of path point
The welding of point, reaching determining section 102 is used to confirm after robot 10 reaches path point；Acting completion portion 103 is used for robot
10 complete confirmation after the welding action of path point.After confirming that robot completes the welding action of path point in action completion portion 103,
Closest approach record portion 104 records position and the action of the path point.
The height of peak in the storage robot path environment of height storage section 105, it is environment thing in the present embodiment
The height of body 40.Reset routine generating unit 106, in 10 emergent stopping of robot, generates reset routine.Specifically, base first
Determine robot 10 whether in path point in reaching determining section 102：（1）If as shown in figure 3, the halt S of robot 10
On path point P1, it is path point P1 to safe altitude point P2 to determine first path, and wherein safe altitude point P2 is located at path
Point top, to make the height of minimum point of the weld part of robot 10 be higher than the height stored in height memory 105；Second path
For safe altitude point P2 to reset height point P3, reset height point P3 height is highly equal with safe altitude point P2, positioned at multiple
Above the P4 of site；3rd path be reset height point P3 to arrive reduction point P4；Reset routine generating unit is based on first path, second
Path and the 3rd coordinates measurement reset routine；（2））If as shown in figure 4, the halt S of robot were not in path point, base
The position of the closest approach recorded in closest approach record portion 104, it is halt S to closest approach P1 position to determine first path；The
Two paths are the position of the safe altitude point P2 above closest approach P1 position to the closest approach；3rd path is safe altitude point
P2 to reset height point P3, reset height point P3 height are highly equal with safe altitude point P2, above reduction point P4；The
Four paths be reset height point P3 to arrive reduction point P4；Reset routine generating unit 106 be based on the first path, the second path,
3rd path and the 4th coordinates measurement reset routine.
Due to robot 10 when being welded be typically have specific angle of inclination, if directly by robot 10 by
Path point brings up to the safe altitude point being positioned above, and the inclination position may be formed with surrounding environment such as environmental objects 40
Interference.It is preferred that, the program generating system (PGS) of embodiment can also include angle adjustment, and it is based on the robot on the road
The robot motion posture of footpath point or the closest approach determines that robot angular adjustment is vertical regulation program；Reset routine
Generating unit 106 is being generated to up to before the path procedure of safe altitude point, first generates regulation program based on angle adjustment.Specifically
, reset routine generating unit occupy following generation reset routine：（1）If robot is in path point, determine that the path point makes
Robot angular adjustment is vertical angular adjustment program；It is the path point to safe altitude point, the peace to determine first path
Full-height point is located above path point, to make the height of robot welding portion minimum point be higher than what is stored in the height memory
Highly；It is safe altitude point to reset height point, height and the safe altitude of the reset height point to determine the second path
Point is highly equal, above reduction point；Determine the 3rd path for the reset height point to arrive the reduction point；It is described to reset
Program Generating portion is based on the angular adjustment program, first path, the second path and the 3rd coordinates measurement reset routine；（2））
If robot is not in path point, the position of the closest approach recorded based on closest approach record portion, it is current to determine first path
Position to the position of closest approach；Determine that the closest approach makes robot angular adjustment be vertical angular adjustment program；Determine second
Path is the position of the safe altitude point above the position to the closest approach of closest approach；Determine that the 3rd path is arrived for safe altitude point
Reset height point, the height of the reset height point is highly equal with the safe altitude point, above reduction point；4th tunnel
Footpath is the reset height point to the reduction point；The reset routine generating unit is based on the first path, angular adjustment journey
Sequence, the second path, the 3rd path and the 4th coordinates measurement reset routine.
After robot returns to reset position, need to recover to perform in restarting.It is preferred that, in the embodiment of the present invention
Also include action completeness Department of Statistics, reverse path generating unit and restart action enforcement division；Wherein, completeness Department of Statistics is acted
Timing is carried out after robot reaches path point, determines that the action of the path point is complete based on the counting in robot emergent stopping
Cheng Du；The reverse path generating unit generates the direction path opposite with resetting path based on the reset routine；It is described to restart
Action executing portion after emergent stopping terminates when receiving the order resumed operation, based on the reverse path and described dynamic
Make completeness, it is determined that what is resumed operation restarts action.
Specifically, described restart robot arrival when action enforcement division determines to resume operation based on the reverse path
The travel path of the emergent stopping position；If the emergent stopping position is not in path point, described to restart action executing
Portion is continued executing with based on the robot path being not carried out；If the emergent stopping position is in path point, described to restart
Make path action of the enforcement division based on the action completeness and the path point to determine not completing action degree, do not completed based on this
The action of path point when action degree and redundancy coefficient determine to resume operation.Wherein, the action completeness is according to following formula meter
Calculate：ε=t/T, wherein t are timing in path point robot emergent stopping, and T is the robot road stored in the record portion of path
Path actuation time of the footpath in the path point；The unfinished action degree is calculated according to following formula：ξ=1- ε；Should when resuming operation
The actuation time of path point is t1=T × ξ × e, and wherein e is redundancy coefficient.It is preferred that, the redundancy coefficient is the number more than 1,
Preferably 1.2.
In all documents for referring to of the present invention all incorporated by reference in this application, it is individually recited just as each document
As with reference to such.The foregoing is merely illustrative of the preferred embodiments of the present invention by the present invention, is not intended to limit the guarantor of the present invention
Protect scope.Any modification, equivalent substitution and improvements made within the spirit and principles of the invention etc., are all contained in this hair
In bright protection domain.
Claims (5)
1. a kind of program generating system (PGS), it can generate robot reset routine, including：Path record portion, it stores default bag
The robot path of multiple path points and path action is included, robot, which is based on the robot path, can carry out glitch-free behaviour
Make；Determining section is reached, it confirms after robot reaches path point；Completion portion is acted, it completes the dynamic of path point in robot
Confirm after work；Closest approach record portion, it records the position of the path point and moved after robot completes the action of current path point
Make；Height storage section, it stores the height of peak in robot path environment；Reset routine generating unit, it is tight in robot
When jerk is stopped, determine robot whether in path point based on determining section is reached：（1）If robot is in path point, it is determined that
First path is the path point to safe altitude point, and the safe altitude point is located above path point, to make robot minimum point
Height be higher than the height that stores in the height memory；Second path be safe altitude point to reset height point, it is described multiple
The height of position height point is highly equal with the safe altitude point, above reduction point；3rd path is the reset height
Point arrives the reduction point；It is multiple that the reset routine generating unit is based on the first path, the second path and the 3rd coordinates measurement
Position program；（2））If robot is not in path point, the position of the closest approach recorded based on closest approach record portion determines first
Path is current location to the position of closest approach；Second path is the safe altitude point above the position to the closest approach of closest approach
Position；3rd path is safe altitude point to reset height point, the height of the reset height point and the safe altitude point
It is highly equal, above reduction point；4th path be the reset height point to arrive the reduction point；The reset routine life
The first path, the second path, the 3rd path and the 4th coordinates measurement reset routine are based on into portion.
2. program generating system (PGS) according to claim 1, it is characterised in that：The artificial welding robot of machine, it is described
The welding object of robot is two-dimensional flat plate type object.
3. program generating system (PGS) according to claim 2, it is characterised in that：The reset height point and the robot road
Footpath is not at same plane.
4. program generating system (PGS) according to claim 3, it is characterised in that：The height of the reset height point is higher than described
Plane where robot path.
5. program generating system (PGS) according to claim 4, it is characterised in that：Also include action completeness Department of Statistics, reversely
Coordinates measurement portion and restart action enforcement division；The action completeness Department of Statistics is counted after robot reaches path point
When, the action completeness of the path point is determined based on the timing in robot emergent stopping；The reverse path generating unit base
The direction path opposite with resetting path is generated in the reset routine；It is described to restart action enforcement division after emergent stopping terminates
When receiving the order resumed operation, based on the reverse path and the action completeness, it is determined that the weight resumed operation
Start and make.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610254106.3A CN105835058B (en) | 2016-04-23 | 2016-04-23 | A kind of program generating system (PGS) |
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| CN201610254106.3A CN105835058B (en) | 2016-04-23 | 2016-04-23 | A kind of program generating system (PGS) |
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| CN105835058B true CN105835058B (en) | 2017-10-27 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106313052B (en) * | 2016-10-20 | 2019-08-23 | 机器时代(北京)科技有限公司 | Robotic programming control method and device |
| CN111002301A (en) * | 2018-10-08 | 2020-04-14 | 东元电机股份有限公司 | Automatic reset control system and method applied to mechanical arm |
| CN114029949A (en) * | 2021-11-08 | 2022-02-11 | 北京市商汤科技开发有限公司 | Robot action editing method and device, electronic equipment and storage medium |
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| GB0318714D0 (en) * | 2001-02-19 | 2003-09-10 | Honda Motor Co Ltd | Setting method and setting apparatus for operation path for articulated robot |
| CN1680079A (en) * | 2004-04-07 | 2005-10-12 | 发那科株式会社 | Offline programming device |
| CN1715010A (en) * | 2004-06-29 | 2006-01-04 | 发那科株式会社 | Programming device for returning robot to waiting position |
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| CN105835058A (en) | 2016-08-10 |
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Effective date of registration: 20170919 Address after: Aofong road Taijiang District Fuzhou city Fujian province 350004 No. 184-186 garden Yijing No. 2 8 floor two unit 02 Applicant after: FUZHOU HUANYA ZHONGZHI COMPUTER CO., LTD. Address before: Qianlong Zhejiang Jiangdong District village 315040 city of Ningbo Province, No. 14 Room 102 Applicant before: Han Shaoqing |
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