CN107414837B - Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot - Google Patents
Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot Download PDFInfo
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Abstract
A method for safely and automatically returning to original position after abnormal shutdown of an industrial robot comprises the following steps: calling each working path program to control the robot to sequentially move to each station from the original position, wherein the working path program has the path number of the corresponding sub-working path; after receiving the return instruction, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the terminal point of the current sub-working path through the path number, wherein the station is the starting point of the return path; controlling the robot to continue to act on the current sub-working path through the current working path program; and after the robot acts to the end point of the current sub-working path, calling a return path program corresponding to the station through the station corresponding to the end point to control the robot to return to the original position. The invention has low requirement on operators, is safe, reliable and quick, does not have accidental collision, and has strong compatibility and more flexibility.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a method and a system for safely and automatically returning to an original position after an industrial robot is abnormally stopped.
Background
With the improvement, update and popularization of factory automation equipment, industrial robots are increasingly applied to daily production and manufacturing in the industrial field, and the safety problem of the industrial robots in daily production and manufacturing is increasingly paid attention by engineers and factory managers, and the problem that the industrial robots can safely return to the original positions of the robots to be restarted after being stopped due to alarm, collision or human intervention is particularly outstanding. Safety control specifications of most domestic factories require that the robot can be restarted after being stopped abnormally and the robot needs to return to a preset safety position, namely the original position for short.
Currently, most plants use the following two methods:
one is to teach the robot back to the home position manually by a robot teach pendant, which requires relatively low programming requirements for the robot, but requires manual intervention by a qualified robot engineer to teach the robot once the robot is stopped, which not only lengthens the downtime due to slow response, but also greatly increases the man-hour cost of the engineer.
Another way is to use a homing program developed by a robot manufacturer, such as PathRecovery program developed by ABB company, to record each step of program in the robot path, and after the robot stops, the robot can automatically go back step by step through the previously recorded path program, which has several disadvantages: 1. the homing procedure developed by the manufacturer requires separate purchase authorization; 2. under the condition that the paths of the robot are extremely large, the robot needs to step back to the original position, a plurality of unnecessary paths can be taken, and time is wasted; 3. in the program that the linear motion, the arc motion and the circular motion of the robot are crossed with each other, the path walking mode of the forward running and the path walking mode of the backward running of the robot are different, so that the collision risk of the robot and other three-party equipment in a station can be caused, the collision risk is not controlled by people, and the biggest defect of the mode is that the robot and the other three-party equipment in the station are in collision risk.
Disclosure of Invention
Based on the technical problem, the method and the system for the safe automatic returning to the original position of the industrial robot after the abnormal shutdown are provided.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for safely and automatically returning to original position after abnormal shutdown of an industrial robot comprises the following steps:
dividing a working path of the robot from an original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path one by one, a return path returning to the original position from each station and a return path program corresponding to the station serving as the starting point of each return path one by one, calling each working path program to control the robot to move from the original position to each station in sequence, and the working path program is provided with the path number of the corresponding sub-working path;
after receiving the return instruction, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the terminal point of the current sub-working path according to the path number, wherein the station is the starting point of the return path;
controlling the robot to continue to act on the current sub-working path through the current working path program;
and after the robot acts to the end point of the current sub-working path, calling a return path program corresponding to the station to control the robot to return to the original position through the station corresponding to the end point.
The homing instruction is triggered by a homing button, and the homing button is arranged on the human-computer interaction terminal.
The homing button is a virtual button on a touch screen of the human-computer interaction terminal.
The human-computer interaction terminal is a robot demonstrator, a computer or an HMI terminal.
This scheme still includes:
and when the working path program is called, adding the path number of the corresponding sub-working path.
This scheme still relates to an automatic normal position system that returns of safety after industrial robot abnormal shut down, including storage module, many instructions are stored in the storage module, the instruction is loaded and is executed by the treater:
dividing a working path of the robot from an original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path one by one, a return path returning to the original position from each station and a return path program corresponding to the station serving as the starting point of each return path one by one, calling each working path program to control the robot to move from the original position to each station in sequence, and the working path program is provided with the path number of the corresponding sub-working path;
after receiving the return instruction, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the terminal point of the current sub-working path according to the path number, wherein the station is the starting point of the return path;
controlling the robot to continue to act on the current sub-working path through the current working path program;
and after the robot acts to the end point of the current sub-working path, calling a return path program corresponding to the station to control the robot to return to the original position through the station corresponding to the end point.
The homing instruction is triggered by a homing button, and the homing button is arranged on the human-computer interaction terminal.
The homing button is a virtual button on a touch screen of the human-computer interaction terminal.
The human-computer interaction terminal is a robot demonstrator, a computer or an HMI terminal.
This scheme still includes:
and when the working path program is called, adding the path number of the corresponding sub-working path.
The invention has low requirement on operators, and after the robot is abnormally shut down, the robot can automatically return to the original position only by pressing the homing button on the human-computer interaction terminal by the on-line operator for triggering, thereby being fast and convenient and needing no personnel intervention with the programming qualification of the robot; the method is safe, reliable and quick, accidental collision cannot occur, and meanwhile, the device can quickly return to the original position according to the return path corresponding to the terminal point of the current sub-working path, so that the equipment downtime is reduced; the robot is suitable for ABB robots and robots of other brands, and is high in compatibility and more flexible.
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The invention is described in detail below with reference to the following figures and detailed description:
fig. 1 is a schematic diagram of the present invention.
Detailed Description
The invention relates to a method for safely and automatically returning to original position after an industrial robot is abnormally stopped, which comprises the following steps:
dividing a working path of the robot from the original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path, a return path returning from each station to the original position and a return path program corresponding to the station serving as the starting point of each return path, and calling each working path program to control the robot to move from the original position to each station in sequence.
The working path program has the path number of the corresponding sub-working path.
Specifically, when the working path program is called, the path number of the corresponding sub-working path is added.
For example, the ABB robot Rapid programming language comprises robot motion path instructions such as Movel (linear motion), MoveJ (arc motion), MoveC (circular motion) and the like.
For example, a call instruction of a work path program: MoveL p1, v1000, z30, tool1\ Wobj ═ Wobj 1.
Wherein p1 is the coordinates of the target point to be reached by the linear motion path program of the robot, and is the position coordinate parameters.
v1000 is the speed of the robot running the path program, which is 1000mm/s, and is a speed parameter.
z30 is the turning radius size of the robot to reach the target point.
Tool1 is a Tool information parameter being used by the robot.
Wobj1 is the workpiece coordinate system associated with the robotic tool.
It can be seen that the existing path program does not have the parameter of the path number required by people, so that people develop the Move instruction of the Rapid language for the second time, the path number parameter is added between the Move and the position coordinate parameter, the parameter type is defined as shaping, and then new Move \ L, Move \ J and Move \ C instructions with the path number parameter are rewritten, and new instruction names are distinguished, so that the conflict with the old Move, Move J and Move C instructions is avoided.
The new path procedure call format is:
move \ L, 10001, p1, v1000, z30, tool1\ Wobj: ═ Wobj 1. 10001 is the path number corresponding to the current working path program, which can indicate the sub working path that the robot is currently walking, and once the robot stops, we can obtain which sub working path the robot stops on by using this value, and the path number of each sub working path is unique.
And secondly, after the return-to-original-position instruction is received, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the end point of the current sub-working path according to the path number, wherein the station is the starting point of the return path.
The homing command is triggered by a homing button, the homing button is arranged on the human-computer interaction terminal, and preferably, the homing button is a virtual button on a touch screen of the human-computer interaction terminal.
In this embodiment, the human-computer interaction terminal is a robot demonstrator, a computer, or an HMI terminal (human machine Interface, also called human-computer Interface) or the like.
The homing button is used for a production line operator, when the robot stops, the operator presses the button, and the program can automatically call a corresponding return path program for safely returning to the home position according to path numbers given by Move \ L, Move \ J and Move \ C instructions, so that the method is fast and convenient, and does not need any personnel intervention with robot programming qualification.
And thirdly, controlling the robot to continue to act on the current sub-working path through the current working path program.
And fourthly, after the robot moves to the end point of the current sub-working path, calling a return path program corresponding to the station through the station corresponding to the end point to control the robot to return to the original position.
The invention has low requirement on operators, and after the robot is abnormally shut down, the robot can automatically return to the original position only by pressing the homing button on the human-computer interaction terminal by the on-line operator for triggering, thereby being fast and convenient and needing no personnel intervention with the programming qualification of the robot; the method is safe, reliable and quick, accidental collision cannot occur, and meanwhile, the device can quickly return to the original position according to the return path corresponding to the terminal point of the current sub-working path, so that the equipment downtime is reduced; the robot is suitable for ABB robots and robots of other brands, and is high in compatibility and more flexible.
Taking the working path of fig. 1 as an example, the robot moves to station 1 and station 2 in sequence from the home position: home position > station 1 > station 2, which has two sub-working paths with path numbers 10001 and 10002.
The machine alarm shutdown may occur at any point on the 3 paths, and the method for safely returning each point to the original position is as follows:
10001 any point on the sub-job path: the work path program of the 10001 path is called continuously, and after the station 1 is reached, the 10004 return path is called to return to the original position.
10002 any point on the sub-job path: the work path program of 10002 path is called continuously, and after the station 2 is reached, the 10003 return path is called to return to the original position.
This scheme still relates to an automatic normal position system that returns of safety after industrial robot abnormal shut down, including storage module, many instructions are stored in the storage module, the instruction is loaded and is executed by the treater:
dividing a working path of the robot from the original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path, a return path returning from each station to the original position and a return path program corresponding to the station serving as the starting point of each return path, and calling each working path program to control the robot to move from the original position to each station in sequence.
The working path program has the path number of the corresponding sub-working path.
Specifically, when the working path program is called, the path number of the corresponding sub-working path is added.
For example, the ABB robot Rapid programming language comprises robot motion path instructions such as Movel (linear motion), MoveJ (arc motion), MoveC (circular motion) and the like.
For example, a call instruction of a work path program: MoveL p1, v1000, z30, tool1\ Wobj ═ Wobj 1.
Wherein p1 is the coordinates of the target point to be reached by the linear motion path program of the robot, and is the position coordinate parameters.
v1000 is the speed of the robot running the path program, which is 1000mm/s, and is a speed parameter.
z30 is the turning radius size of the robot to reach the target point.
Tool1 is a Tool information parameter being used by the robot.
Wobj1 is the workpiece coordinate system associated with the robotic tool.
It can be seen that the existing path program does not have the parameter of the path number required by people, so that people develop the Move instruction of the Rapid language for the second time, the path number parameter is added between the Move and the position coordinate parameter, the parameter type is defined as shaping, and then new Move \ L, Move \ J and Move \ C instructions with the path number parameter are rewritten, and new instruction names are distinguished, so that the conflict with the old Move, Move J and Move C instructions is avoided.
The new path procedure call format is:
move \ L, 10001, p1, v1000, z30, tool1\ Wobj: ═ Wobj 1. 10001 is the path number corresponding to the current working path program, which can indicate the sub working path that the robot is currently walking, and once the robot stops, we can obtain which sub working path the robot stops on by using this value, and the path number of each sub working path is unique.
And secondly, after the return-to-original-position instruction is received, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the end point of the current sub-working path according to the path number, wherein the station is the starting point of the return path.
The homing command is triggered by a homing button, the homing button is arranged on the human-computer interaction terminal, and preferably, the homing button is a virtual button on a touch screen of the human-computer interaction terminal.
In this embodiment, the human-computer interaction terminal is a robot demonstrator, a computer, or an HMI terminal (human machine Interface, also called human-computer Interface) or the like.
The homing button is used for a production line operator, when the robot stops, the operator presses the button, and the program can automatically call a corresponding return path program for safely returning to the home position according to path numbers given by Move \ L, Move \ J and Move \ C instructions, so that the method is fast and convenient, and does not need any personnel intervention with robot programming qualification.
And thirdly, controlling the robot to continue to act on the current sub-working path through the current working path program.
And fourthly, after the robot moves to the end point of the current sub-working path, calling a return path program corresponding to the station through the station corresponding to the end point to control the robot to return to the original position.
The invention has low requirement on operators, and after the robot is abnormally shut down, the robot can automatically return to the original position only by pressing the homing button on the human-computer interaction terminal by the on-line operator for triggering, thereby being fast and convenient and needing no personnel intervention with the programming qualification of the robot; the method is safe, reliable and quick, accidental collision cannot occur, and meanwhile, the device can quickly return to the original position according to the return path corresponding to the terminal point of the current sub-working path, so that the equipment downtime is reduced; the robot is suitable for ABB robots and robots of other brands, and is high in compatibility and more flexible.
However, those skilled in the art should realize that the above embodiments are illustrative only and not limiting to the present invention, and that changes and modifications to the above described embodiments are intended to fall within the scope of the appended claims, provided they fall within the true spirit of the present invention.
Claims (8)
1. A method for safely and automatically returning to original position after abnormal shutdown of an industrial robot is characterized by comprising the following steps:
dividing a working path of the robot from an original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path one by one, a return path returning to the original position from each station and a return path program corresponding to the station serving as the starting point of each return path one by one, calling each working path program to control the robot to move from the original position to each station in sequence, wherein the working path program is provided with the path number of the corresponding sub-working path, and adding the path number of the corresponding sub-working path when calling the working path program;
after receiving the return instruction, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the terminal point of the current sub-working path according to the path number, wherein the station is the starting point of the return path;
controlling the robot to continue to act on the current sub-working path through the current working path program;
and after the robot acts to the end point of the current sub-working path, calling a return path program corresponding to the station to control the robot to return to the original position through the station corresponding to the end point.
2. The method of claim 1, wherein the homing command is triggered by a homing button provided on the human-machine interaction terminal.
3. The method for safe automatic homing of an industrial robot after an abnormal shutdown according to claim 2, wherein said homing button is a virtual button on a touch screen of a human-machine interaction terminal.
4. A method for safe automatic homing of an industrial robot after an abnormal stoppage according to claim 2 or 3, wherein said human-machine interaction terminal is a robot teach pendant, a computer or an HMI terminal.
5. The utility model provides an automatic system of coming back to original position of safety after industrial robot abnormal shut down which characterized in that, includes the memory module, the memory module has many instructions of storage therein, the instruction is loaded and is executed by the treater:
dividing a working path of the robot from an original position to each station in sequence into a plurality of sub-working paths, wherein the starting point and the end point of the first sub-working path are the original position and the first station, the starting point and the end point of each subsequent sub-working path are respectively a front station and a rear station, presetting a working path program of each sub-working path, a path number corresponding to each sub-working path one by one, a return path returning to the original position from each station and a return path program corresponding to the station serving as the starting point of each return path one by one, calling each working path program to control the robot to move from the original position to each station in sequence, wherein the working path program is provided with the path number of the corresponding sub-working path, and adding the path number of the corresponding sub-working path when calling the working path program;
after receiving the return instruction, acquiring the path number of the current sub-working path from the current working path program, and determining a station serving as the terminal point of the current sub-working path according to the path number, wherein the station is the starting point of the return path;
controlling the robot to continue to act on the current sub-working path through the current working path program;
and after the robot acts to the end point of the current sub-working path, calling a return path program corresponding to the station to control the robot to return to the original position through the station corresponding to the end point.
6. The system of claim 5, wherein the homing command is triggered by a homing button disposed on the human-machine interaction terminal.
7. The system of claim 6, wherein the homing button is a virtual button on a touch screen of the human-computer interaction terminal.
8. A safety automatic homing system for an industrial robot after an abnormal shutdown according to claim 6 or 7, characterized in that said human-machine interaction terminal is a robot teach pendant, a computer or an HMI terminal.
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| CN110815226B (en) * | 2019-11-15 | 2022-03-01 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN111273661B (en) * | 2020-01-21 | 2023-10-27 | 上海万物新生环保科技集团有限公司 | Method and equipment for eliminating repeated paths of detection items |
| CN111390916B (en) * | 2020-04-24 | 2022-05-27 | 北京如影智能科技有限公司 | Mechanical arm abnormity recovery method and device |
| CN114670206A (en) * | 2022-05-07 | 2022-06-28 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, device, cooperative robot and storage medium |
| CN115157264B (en) * | 2022-08-03 | 2023-09-29 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, robot control device, cooperative robot and readable storage medium |
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