CN106584458B - A kind of robot power-economizing method and energy saving robot - Google Patents
A kind of robot power-economizing method and energy saving robot Download PDFInfo
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- CN106584458B CN106584458B CN201611063000.1A CN201611063000A CN106584458B CN 106584458 B CN106584458 B CN 106584458B CN 201611063000 A CN201611063000 A CN 201611063000A CN 106584458 B CN106584458 B CN 106584458B
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- robot
- teaching machine
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of robot power-economizing method, include the following steps: that (1) sets dormancy time threshold value Tth；(2) start timing when user stops operation teaching machine, timing time reaches TthWhen, robot enters suspend mode；(3) when user's operation teaching machine, timing time is reset, if robot is in suspend mode, is stopped suspend mode and is entered normal mode of operation.Robot power-economizing method disclosed by the invention realize some emergency events such as must not handle other things without departing from robot so that it is hurry leave robot and without time shutdown or when forgetting shutdown, the energy consumption of robot can be effectively reduced, to reach energy-efficient purpose.
Description
Technical field
The invention belongs to robot control fields, and in particular to a kind of robot power-economizing method and energy saving robot.
Background technique
With society and science and technology progress, robot become more and more people in work, study, life can not or
The function of scarce tool, existing robot is more and more powerful, also more and more to the consumption of electric energy.
It is certain to be both needed to consumption in open and close machine each time in industrial robot for currently used various all kinds of robots
Time, and people often can must not handle it without departing from robot because of some emergency events when operating robot
His thing, so that hurry leave robot and without time shutdown or forget to shut down, then within a period of time left, machine
Device people undoubtedly will cause a large amount of waste of energy still in working condition；Sometimes, people do not grow because of the time left, because
This is not intended to the movement of round-trip counterpoise returning to customs each time, booting, because open and close machine each time is intended to expend a period of time,
It undoubtedly will affect the efficiency of work.
So in order to be preferably managed to the energy of robot, it is necessary to a kind of power-economizing method of robot is designed,
To reduce electric energy loss.
Summary of the invention
Goal of the invention: aiming at the problems existing in the prior art, the invention discloses a kind of robot power-economizing method, the party
The energy consumption of robot can be effectively reduced in method, to reach energy-efficient purpose；The invention discloses a kind of simultaneously using this method
Energy saving robot.
Technical solution: the invention discloses a kind of robot power-economizing methods, include the following steps:
(1) dormancy time threshold value T is setth；
(2) start timing when user stops operation robot, timing time reaches TthWhen, robot enters suspend mode mould
Formula；
(3) when user's operation robot, timing time is reset, if robot is in suspend mode, stops suspend mode
Into normal mode of operation.
Further, the robot includes teaching machine, robot host and robot body；Wherein teaching machine and machine
People's host is connected, and sends suspend mode or wake-up signal to robot host, control robot host executes corresponding operational mode；Machine
People's host is connect with teaching machine and robot body respectively, for obtaining suspend mode or the wake-up signal, execution phase of teaching machine output
It answers operational mode and sends suspend mode or wake-up signal to robot body；Robot body is connected with robot host, obtains
The suspend mode of the robot host transmission or wake-up signal simultaneously execute corresponding operational mode；Dormancy time threshold value is set on teaching machine
Tth, start timing when user stops operation teaching machine, timing time reaches TthWhen, robot enters suspend mode；Work as user
When operating teaching machine, timing time is reset, if robot is in suspend mode, is stopped suspend mode and is entered normal mode of operation.
Further, teaching machine includes display, operation detection unit, miniature processing controller and input equipment；Wherein
Display is connected with operation detection unit, to show, confirmation operation information；Operate detection unit respectively with display, miniature
Processing controller is connected with input equipment, and operation detection unit exports operation reaction letter by the operation of induction input equipment in real time
Number give miniature processing controller；Miniature processing controller is connected with operation detection unit, for setting dormancy time threshold value Tth, and
Receive the operation reaction signal that operation detection unit is exported；When input equipment does not have user's operation, miniature processing controller is opened
Beginning timing, timing time reach TthWhen, miniature processing controller sends sleep signal to robot host；When input equipment is useful
Miniature processing controller timing time is reset when the operation of family, and miniature processing controller sends wake-up signal to robot host.
Further, robot host includes central controller and actuator unit；Central controller handles teaching machine and passes
It passs the suspend mode come or wake-up signal and executes corresponding operating mode, export suspend mode or wake-up signal to actuator unit；Driving
Device unit receives suspend mode or wake-up signal that central controller is sent, and controls driving robot body.
Preferably, teaching machine sends sleep signal to robot host, and robot host and robot body enter suspend mode
After mode, teaching machine enters suspend mode；When user's operation teaching machine, teaching machine, which first wakes up, enters normal mode of operation, it
Timing time is reset afterwards, and teaching machine sends wake-up signal to robot host, and robot host and robot body enter normal
Operating mode.Control of the teaching machine to robot host may insure using such mode change sequence.
Preferably, teaching machine sends sleep signal to robot host, and teaching machine, robot host and robot body are same
When enter suspend mode；When user's operation teaching machine, teaching machine timing time is reset, and teaching machine is called out to the transmission of robot host
Awake signal, teaching machine, robot host and robot body enter normal mode of operation simultaneously.Teaching machine and robot host,
Robot body enters suspend mode or normal mode of operation simultaneously, and better energy-saving effect may be implemented.
Preferably, robot host and teaching machine are to be wirelessly connected.
Preferably, input equipment is key and touch screen.
The invention also discloses the energy saving robots of the above-mentioned robot power-economizing method of application.
The utility model has the advantages that compared with prior art, robot power-economizing method disclosed by the invention and energy saving robot realize
Such as other things must not be handled without departing from robot in some emergency events so that hurry leaves robot and without time pass
Machine or forget shutdown when, the energy consumption of robot can be effectively reduced, to reach energy-efficient purpose.
Detailed description of the invention
Fig. 1 is robot power-economizing method flow diagram disclosed by the invention；
Fig. 2 is energy saving robot composed structure schematic diagram in embodiment；
Fig. 3 is the concrete composition schematic diagram of energy saving robot in embodiment.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
It is as shown in Figure 1 robot power-economizing method flow chart disclosed by the invention, includes the following steps:
(1) dormancy time threshold value T is setth；
(2) start timing when user stops operation teaching machine, timing time reaches TthWhen, robot enters suspend mode mould
Formula；
(3) when user's operation teaching machine, timing time is reset, if robot is in suspend mode, stops suspend mode
Into normal mode of operation.
As shown in Fig. 2, for the energy saving robot composed structure schematic diagram in the present embodiment, including teaching machine, robot master
Machine and robot body；Wherein teaching machine is connected with robot host, sends suspend mode or wake-up signal, control to robot host
Robot host executes corresponding operational mode；Robot host is connect with teaching machine and robot body respectively, is shown for obtaining
The suspend mode for teaching device to export or wake-up signal execute corresponding operational mode and send suspend mode or wake-up signal to robot body；
Robot body is connected with robot host, obtains the suspend mode or wake-up signal that the robot host is sent and execution is mutually met the tendency of
Row mode；Dormancy time threshold value T is set on teaching machineth, start timing when user stops operation teaching machine, timing time reaches
TthWhen, robot enters suspend mode；When user's operation teaching machine, timing time is reset, if robot is in suspend mode mould
Formula then stops suspend mode and enters normal mode of operation.
As shown in figure 3, teaching machine includes display for the concrete composition schematic diagram of energy conservation robot disclosed in the present embodiment
Device, operation detection unit, miniature processing controller and input equipment；Display is connected with operation detection unit, to show, really
Recognize operation information；Operation detection unit is connected with display, miniature processing controller and input equipment respectively, operates detection unit
Operation by incuding input equipment exports operation reaction signal to miniature processing controller in real time；Miniature processing controller and behaviour
Make detection unit to be connected, for setting dormancy time threshold value Tth, and receive the operation reaction signal that operation detection unit is exported；
When input equipment does not have user's operation, miniature processing controller starts timing, and timing time reaches TthWhen, miniature processing control
Device sends sleep signal to robot host；When input equipment has user's operation, miniature processing controller timing time is reset,
Miniature processing controller sends wake-up signal to robot host.
Robot host includes central controller and actuator unit；Central controller handles the suspend mode that teaching machine transmitting comes
Or wake-up signal and corresponding operating mode is executed, suspend mode or wake-up signal are exported to actuator unit；Actuator unit receives
The suspend mode or wake-up signal that central controller is sent, and control driving robot body.
Robot host and teaching machine are to be wirelessly connected in the present embodiment, convenient for the operation of user；Input equipment is key
And touch screen, make the operation of user that there is visualization.
In the present embodiment, when user does not have the duration of operation button or touch screen to reach TthWhen, teaching machine is to robot master
Machine sends sleep signal, and after robot host and robot body enter suspend mode, teaching machine enters suspend mode；Work as user
When operation button or touch screen, teaching machine, which first wakes up, enters normal mode of operation, and timing time is reset later, and teaching machine is to machine
People's host sends wake-up signal, and robot host and robot body enter normal mode of operation.
In another embodiment of the present invention, when user does not have the duration of operation button or touch screen to reach TthWhen, teaching machine
Sleep signal is sent to robot host, teaching machine, robot host and robot body enter suspend mode simultaneously.Work as user
When operation button or touch screen, teaching machine timing time reset, teaching machine to robot host send wake-up signal, teaching machine,
Robot host and robot body enter normal mode of operation simultaneously.
Claims (7)
1. a kind of robot power-economizing method, which comprises the steps of:
(1) dormancy time threshold value T is setth；
(2) start timing when user stops operation robot, timing time reaches TthWhen, robot enters suspend mode；
(3) when user's operation robot, timing time is reset, if robot is in suspend mode, stops suspend mode entrance
Normal mode of operation；
The robot includes teaching machine, robot host and robot body；
The teaching machine is connected with robot host, sends suspend mode or wake-up signal to robot host, controls robot host
Execute corresponding operational mode；
The robot host is connect with teaching machine and robot body respectively, for obtaining the suspend mode or wake-up of teaching machine output
Signal executes corresponding operational mode and sends suspend mode or wake-up signal to robot body；
The robot body is connected with robot host, obtains the suspend mode or wake-up signal that the robot host is sent and holds
The corresponding operational mode of row；
Dormancy time threshold value T is set on the teaching machineth, start timing when user stops operation teaching machine, timing time reaches
To TthWhen, robot enters suspend mode；When user's operation teaching machine, timing time is reset, if robot is in suspend mode
Mode then stops suspend mode and enters normal mode of operation；
The teaching machine includes display, operation detection unit, miniature processing controller and input equipment；
The display is connected with operation detection unit, to show, confirmation operation information；
The operation detection unit is connected with display, miniature processing controller and input equipment respectively, and operation detection unit is logical
The operation for crossing induction input equipment exports operation reaction signal to miniature processing controller in real time；
The miniature processing controller is connected with operation detection unit, for setting dormancy time threshold value Tth, and receive operation inspection
Survey the operation reaction signal that unit is exported；
When input equipment does not have user's operation, miniature processing controller starts timing, and timing time reaches TthWhen, miniature processing
Controller sends sleep signal to robot host；
When input equipment has user's operation, miniature processing controller timing time is reset, and miniature processing controller is to robot master
Machine sends wake-up signal.
2. robot power-economizing method according to claim 1, which is characterized in that the robot host includes center control
Device and actuator unit；
The central controller processing teaching machine transmitting next suspend mode or wake-up signal simultaneously executes corresponding operating mode, and output is stopped
It sleeps or wake-up signal is to actuator unit；
The actuator unit receives suspend mode or wake-up signal that central controller is sent, and controls driving robot body.
3. robot power-economizing method described in any one of -2 according to claim 1, which is characterized in that the teaching machine is to machine
People's host sends sleep signal, and after robot host and robot body enter suspend mode, teaching machine enters suspend mode；When
When user's operation teaching machine, teaching machine, which first wakes up, enters normal mode of operation, and timing time is reset later, and teaching machine is to robot
Host sends wake-up signal, and robot host and robot body enter normal mode of operation.
4. robot power-economizing method described in any one of -2 according to claim 1, which is characterized in that the teaching machine is to machine
People's host sends sleep signal, and teaching machine, robot host and robot body enter suspend mode simultaneously；When user's operation is shown
Teach device when, teaching machine timing time reset, teaching machine to robot host send wake-up signal, teaching machine, robot host and
Robot body enters normal mode of operation simultaneously.
5. robot power-economizing method described in any one of -2 according to claim 1, which is characterized in that the robot host with
Teaching machine is to be wirelessly connected.
6. robot power-economizing method according to claim 1, which is characterized in that the input equipment is key and touch
Screen.
7. a kind of energy conservation robot, which is characterized in that the energy conservation robot application is described in any one of claims 1 to 6
Robot power-economizing method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611063000.1A CN106584458B (en) | 2016-11-28 | 2016-11-28 | A kind of robot power-economizing method and energy saving robot |
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| CN201611063000.1A CN106584458B (en) | 2016-11-28 | 2016-11-28 | A kind of robot power-economizing method and energy saving robot |
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| Publication Number | Publication Date |
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| CN106584458A CN106584458A (en) | 2017-04-26 |
| CN106584458B true CN106584458B (en) | 2019-01-08 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688344B (en) * | 2017-08-22 | 2021-04-23 | 广东美的智能机器人有限公司 | Robot dormancy control method and device |
| CN109062621A (en) * | 2018-08-03 | 2018-12-21 | 珠海市微半导体有限公司 | A kind of control method and system waking up robot |
| CN108972592A (en) * | 2018-08-09 | 2018-12-11 | 北京云迹科技有限公司 | Intelligent awakening method and device for robot |
| CN109343897A (en) * | 2018-08-09 | 2019-02-15 | 北京云迹科技有限公司 | Awakening method and device for robot |
| CN111376245B (en) * | 2018-12-27 | 2022-02-22 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN113641132B (en) * | 2021-08-18 | 2022-09-20 | 珠海格力电器股份有限公司 | Robot timing energy-saving circuit and automatic machine |
| CN113814981B (en) * | 2021-10-18 | 2023-06-20 | 北京云迹科技股份有限公司 | Robot operation method, device, storage medium and robot |
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| JPH11305818A (en) * | 1998-04-17 | 1999-11-05 | Yaskawa Electric Corp | Robot controller |
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| CN101539803A (en) * | 2009-04-30 | 2009-09-23 | 威盛电子股份有限公司 | Standby management method and relevant standby management module thereof |
| CN103810971A (en) * | 2012-11-14 | 2014-05-21 | 中兴通讯股份有限公司 | Energy-saving display method and device of terminal, LCD (liquid crystal display) module, terminal |
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| CN106584458A (en) | 2017-04-26 |
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