CN105690395A - Industrial robot and control method thereof - Google Patents
Industrial robot and control method thereof Download PDFInfo
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- CN105690395A CN105690395A CN201610254101.0A CN201610254101A CN105690395A CN 105690395 A CN105690395 A CN 105690395A CN 201610254101 A CN201610254101 A CN 201610254101A CN 105690395 A CN105690395 A CN 105690395A
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- path
- point
- robot
- reset routine
- robotic arm
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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
- B25J9/1656—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
Abstract
An industrial robot comprises a robot arm, an environment storage part, a path recording part, an arrival determining part, an action finish part, a nearest point recording part and a reset program generating part, wherein the robot arm is used for welding a welding plane; the environment storage part is used for storing configuration information of objects around the welding plane; the path recording part is used for storing a preset robot arm path including a plurality of path points and path actions, and the robot can perform interference-free operation based on the robot arm path; the arrival determining part is used for determination after the robot arrives at the path points; the action finish part is used for determination after the robot finishes actions of the path points; the nearest point recording part is used for recording the position and the action of the path point after the robot finishes the action of the current path point; the reset program generating part is used for generating a reset program to enable the robot arm to return to a reset point when the robot has an emergency stop.
Description
Technical field
The present invention relates to programme-control machine people field, especially relate to a kind of programme controlled industrial robot and control method thereof。
Background technology
Industrial robot is to integrate the automated arm that the modernization manufacturing industry of the multidisciplinary advanced technologies such as machinery, electronics, control, computer, sensing technology, artificial intelligence is important。The feature of flexible, the flexible production that industrial robot has, and along with economic development and human cost increase, demand for safety protection improves, industrial automatization also improves therewith, and therefore industrial robot can obtain wider application prospect。
Manufacture process is always up one traditional application of robot, and the continuous production process requirements of bulk article is that robot provides the stage displayed one's ability。In the production unit facing the future manufacture process, robot is not only required to carry out simple repeated work, it is often more important that can be fused in manufacturing industry system as able to programme, the Reconfigurable Manufacturing Cell of highly flexible, an opening the human-computer interaction function with close friend。
The typical mission that industrial robot completes is generally of repeatability, and frequently occurs in known environment。These tasks require over robot teaching program and complete。According to industrial robot own characteristic, robot, after carrying out teaching and teaching inspection, generates robot teaching program, and then the teaching playback stage carries out automatic job。
In the operation process of robot, sometimes can due to the emergent stopping in operation way such as mistake, interference。After there is emergent stopping, it may be necessary to make robot return position of readiness in special time, thus re-execute the operation of robot from position of readiness when resuming operation。Technical scheme of the prior art is by making robot oppositely return along the taught point in the teaching path in tutorial program, technical scheme as proposed in CN100408277C patent of invention in FANUC Co., Ltd。Such route in prior art, it is possible to determine the return path of robot, but owing to teaching path is comparatively tortuous often, return along path possible consuming time longer, and the path circumstances of process is it may happen that change, causes disturbing when returning。
Summary of the invention
The invention provides industrial robot and control method thereof, it is possible to when robot emergent stopping, return to reduction point by the reset path different from conventional path, and reduce the possibility that interference occurs in reseting procedure。
As one aspect of the present invention, it is provided that a kind of industrial robot, including: robotic arm, it welds for the carrying out for welding plane；Environment storage part, it stores solder side surrounding objects configuration information；Paths record portion, the robotic arm path including multiple path point and path action is preset in its storage, and robot can carry out glitch-free operation based on this robotic arm path；Portion is determined in arrival, and it confirms after robot arrives path point；Action completes portion, and it confirms after robot completes the action of path point；Closest approach record portion, it records position and the action of this path point after robot completes the action of current path point；Reset routine generating unit, it generates the reset routine making robotic arm return reduction point when robot emergent stopping。
Preferably, also include reset routine generating unit, state when it is based on reset routine and robot emergent stopping, generate the reset routine making robot resume operation。
Preferably, also including highly determining portion, its welding plane surrounding objects configuration information stored based on described environment storage part determines barrier peak；When robot emergent stopping, described reset routine generating unit uses described barrier peak information to generate reset routine。
Preferably, when robot emergent stopping, based on arrival, described reset routine generating unit determines that portion determines that robot is whether in path point: (1) is if robot is in path point, determine that first path is this path point to safe altitude point, described safe altitude point is positioned at above path point, for making the height height higher than described barrier peak of robot minimum point；Second path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；3rd path is described reset height point to described reduction point；Described reset routine generating unit is based on described first path, the second path and the 3rd coordinates measurement reset routine；(2)) if robot is not in path point, based on the position of the closest approach of closest approach record portion record, it is determined that first path is the position that closest approach is arrived in current location；Second path is the position to the safe altitude point above this closest approach, the position of closest approach；3rd path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；4th path is described reset height point to described reduction point；Described reset routine generating unit is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine。
Preferably, described reset height point and described robot path are not at same plane, and the height of described reset height point is higher than described robot path place plane。
Preferably, including time count halted portion, it counts when robot emergent stopping, when gate time is higher than threshold value, controls described robots arm and returns reduction point based on reset routine。
As another aspect of the present invention, the control method of above-mentioned industrial robot is provided, including following flow process: 1) when robot emergent stopping, based on arrival, described reset routine generating unit determines that portion determines that robotic arm is whether in path point: (2) if robotic arm is in path point, based on described reset routine generating unit based on described first path, the second path and the 3rd coordinates measurement reset routine；(3) if robotic arm is not in path point, described reset routine generating unit is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine；(4) control robotic arm based on this reset routine and return reduction point；(5) when robot resumes operation, state during based on reset routine and robot emergent stopping, generate the reset routine making robotic arm resume operation；(6) robotic arm resumes operation based on this reset routine。
Accompanying drawing explanation
Fig. 1 is the schematic diagram of robot system of the present invention。
Fig. 2 is the frame construction drawing of robot system of the present invention。
Fig. 3 is a kind of reset routine path schematic diagram of the embodiment of the present invention。
Fig. 4 is the another kind of reset routine path schematic diagram of the embodiment of the present invention。
Fig. 5 is the control method flow chart of the industrial robot of the embodiment of the present invention。
Detailed description of the invention
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
The industrial machine of the present invention is artificially for the welding robot in two dimensional weld face, as it is shown in figure 1, robot system 10, including robotic arm 11, welds plane 20 for two-dimensional flat plate type and welds, have the environmental objects 30 and 40 of differing heights in welding plane 20。Robotic arm 11 has path of welding 21 in welding plane 20, and it includes multiple not path point on the same line。During normal operation, robotic arm 11, under tutorial program control, performs welding action along path of welding 21 in path point。
The program generating system (PGS) 100 of the present invention, it can generate robot reset routine, as in figure 2 it is shown, include environment storage part 101, paths record portion 102, arrive and determine portion 103, action completes portion 104, closest approach record portion 105, and reset routine generating unit 106。Paths record portion 102 stores the robot path preset, and it includes the action of the path point on path of welding 21 and each path point。Move between different path point when robotic arm 11 performs operation, arrive the welding of the laggard row path point of path point, arrive and determine that portion 103 for confirming after robot 10 arrives path point；Action completes to confirm after portion 104 completes the welding action of path point for robotic arm 11。Completing after portion 104 confirms the welding action that robot completes path point in action, closest approach record portion 105 records position and the action of this path point。
Environment storage part 101, it stores solder side surrounding objects configuration information, and it is the three-dimensional data information of environmental objects 30,40 in the present embodiment。Can use a high position determine portion be based on environment storage part 101 storage welding plane surrounding objects configuration information determine barrier peak, it is the overhead height of environmental objects 40。Reset routine generating unit 106, when robotic arm 11 emergent stopping, generates reset routine。Concrete, it is primarily based on arrival and determines that portion 103 determines that robotic arm 11 is whether in path point: (1) is if as shown in Figure 3, the halt S of robotic arm 11 is on path point P1, determine that first path is this path point P1 to safe altitude point P2, wherein safe altitude point P2 is positioned at above path point, the height stored for making the height of robotic arm 11 minimum point be higher than in height memorizer 105；Second path is safe altitude point P2 to reset height point P3, and the height of reset height point P3 is highly equal with safe altitude point P2, is positioned at above reduction point T；3rd path is reset height point P3 to reduction point T；Reset routine generating unit is based on first path, the second path and the 3rd coordinates measurement reset routine；(2)) if as shown in Figure 4, the halt S of robotic arm 11 is not in path point, based on the position of the closest approach of closest approach record portion 105 record, it is determined that first path is the halt S position to closest approach P1；Second path is the position to the safe altitude point P2 above this closest approach, the position of closest approach P1；3rd path is safe altitude point P2 to reset height point P3, and the height of reset height point P3 is highly equal with safe altitude point P2, is positioned at above reduction point T；4th path is reset height point P3 to reduction point T；Reset routine generating unit 106 is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine。
Owing to robotic arm 11 usually has specific angle of inclination when welding, if directly robotic arm 11 being brought up to by path point the safe altitude point being positioned above, this inclination position may form interference with surrounding such as environmental objects 40。Preferably, the program generating system (PGS) of embodiment can also include angle adjustment, in the robot motion attitude of described path point or described closest approach, it determines that robot angular adjustment is vertical adjustment program based on described robot；Reset routine generating unit 106, before generating the path procedure arriving safe altitude point, first generates adjustment program based on angle adjustment。Concrete, reset routine generating unit occupy and generates reset routine as follows: (1) is if robot is in path point, it is determined that this path point makes robotic arm 11 angular adjustment be vertical angular adjustment program；Determine first path be this path point to safe altitude point, described safe altitude point is positioned at above path point, for making the height of robotic arm 11 minimum point higher than the height of storage in described height memorizer；Determine the second path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；Determine that the 3rd path is described reset height point to described reduction point；Described reset routine generating unit is based on described angular adjustment program, first path, the second path and the 3rd coordinates measurement reset routine；(2)) if robotic arm 11 is not in path point, based on the position of the closest approach of closest approach record portion record, it is determined that first path is the position that closest approach is arrived in current location；Determine that this closest approach makes robotic arm 11 angular adjustment be vertical angular adjustment program；Determine the position to the safe altitude point above this closest approach, position that the second path is closest approach；Determine the 3rd path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；4th path is described reset height point to described reduction point；Described reset routine generating unit is based on described first path, angular adjustment program, the second path, the 3rd path and the 4th coordinates measurement reset routine。
After robot returns reset position, need when restarting to recover to perform。Preferably, the embodiment of the present invention also includes action completeness Department of Statistics, reverse path generating unit and restart action enforcement division；Wherein, action completeness Department of Statistics carries out timing after robot arrives path point, determines the action completeness of this path point based on this counting when robot emergent stopping；Described reverse path generating unit generates and opposite direction path, reset path based on described reset routine；Described restart action enforcement division when receiving, after emergent stopping terminates, the order resumed operation, based on described reverse path and described action completeness, it is determined that what resume operation restarts action。
Concrete, described in restart action enforcement division and determine that based on described reverse path described robot arrives the travel path of described emergent stopping position when resuming operation；If described emergent stopping position is not in path point, described in restart action enforcement division and continue executing with based on the robot path being not carried out；If described emergent stopping position is in path point, described restart action enforcement division and determine based on the path action of described action completeness and this path point and be not fully complete action degree, be not fully complete action degree based on this and redundancy coefficient determines the action of this path point when resuming operation。Wherein, described action completeness calculates according to following formula: ε=t/T, and wherein t is the timing when path point robot emergent stopping, T be in paths record portion the robot path of storage in path movement time of this path point；The described action degree that is not fully complete calculates according to following formula: ξ=1-ε；When resuming operation, the movement time of this path point is t1=T × ξ × e, and wherein e is redundancy coefficient。Preferably, described redundancy coefficient is the number more than 1, it is preferred to 1.2。
Preferably, some emergent stopping is instantaneous, namely robot system resumes operation state in a short period of time, time count halted portion can be set in robot system, it counts when robot emergent stopping, when gate time is higher than threshold value, controls described robots arm and return reduction point based on reset routine。
The control method of the industrial robot of the embodiment of the present invention, referring to Fig. 5, including following flow process: 1) when robot emergent stopping, based on arrival, described reset routine generating unit determines that portion determines that robotic arm is whether in path point: (2) if robotic arm is in path point, based on described reset routine generating unit based on described first path, the second path and the 3rd coordinates measurement reset routine；(3) if robotic arm is not in path point, described reset routine generating unit is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine；(4) control robotic arm based on this reset routine and return reduction point；(5) when robot resumes operation, state during based on reset routine and robot emergent stopping, generate the reset routine making robotic arm resume operation；(6) robotic arm resumes operation based on this reset routine。
In all documents incorporated by reference all in this application that the present invention mentions, it is individually recited as reference such just as each section of document。The present invention the foregoing is only presently preferred embodiments of the present invention, is not intended to limit protection scope of the present invention。All make within the spirit and principles in the present invention any amendment, equivalent replacement, improvement etc., be all contained in protection scope of the present invention。
Claims (6)
1. an industrial robot, including: robotic arm, it welds for the carrying out for welding plane；Environment storage part, it stores solder side surrounding objects configuration information；Paths record portion, the robotic arm path including multiple path point and path action is preset in its storage, and robot can carry out glitch-free operation based on this robotic arm path；Portion is determined in arrival, and it confirms after robot arrives path point；Action completes portion, and it confirms after robot completes the action of path point；Closest approach record portion, it records position and the action of this path point after robot completes the action of current path point；Reset routine generating unit, it generates the reset routine making robotic arm return reduction point when robot emergent stopping。
2. industrial robot according to claim 1, it is characterised in that: also include reset routine generating unit, state when it is based on reset routine and robot emergent stopping, generate the reset routine making robot resume operation。
3. industrial robot according to claim 2, it is characterised in that: also including highly determining portion, its welding plane surrounding objects configuration information stored based on described environment storage part determines barrier peak；When robot emergent stopping, described reset routine generating unit uses described barrier peak information to generate reset routine。
4. industrial robot according to claim 3, it is characterized in that: when robot emergent stopping, based on arrival, described reset routine generating unit determines that portion determines that robotic arm is whether in path point: (1) is if robotic arm is in path point, determine that first path is this path point to safe altitude point, described safe altitude point is positioned at above path point, for making the height height higher than described barrier peak of robotic arm minimum point；Second path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；3rd path is described reset height point to described reduction point；Described reset routine generating unit is based on described first path, the second path and the 3rd coordinates measurement reset routine；(2)) if robotic arm is not in path point, based on the position of the closest approach of closest approach record portion record, it is determined that first path is the position that closest approach is arrived in current location；Second path is the position to the safe altitude point above this closest approach, the position of closest approach；3rd path be safe altitude point to reset height point, the height of described reset height point is equal with described safe altitude point height, is positioned at above reduction point；4th path is described reset height point to described reduction point；Described reset routine generating unit is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine。
5. industrial robot according to claim 4, it is characterised in that: including time count halted portion, it counts when robot emergent stopping, when gate time is higher than threshold value, controls described robotic arm and returns reduction point based on reset routine。
6. the control method of the industrial robot of one of claim 1-5, including following flow process: (1) is when robot emergent stopping, based on arrival, described reset routine generating unit determines that portion determines that robotic arm is whether in path point: (2) if robotic arm is in path point, based on described reset routine generating unit based on described first path, the second path and the 3rd coordinates measurement reset routine；(3) if robotic arm is not in path point, described reset routine generating unit is based on described first path, the second path, the 3rd path and the 4th coordinates measurement reset routine；(4) control robotic arm based on this reset routine and return reduction point；(5) when robot resumes operation, state during based on reset routine and robot emergent stopping, generate the reset routine making robotic arm resume operation；(6) robotic arm resumes operation based on this reset routine。
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Effective date of registration: 20211222 Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhichang Technology Group Co.,Ltd. Address before: 315400 Zhejiang Yuyao Economic Development Zone East New District Patentee before: NINGBO INTELLIGENT MANUFACTURING INDUSTRY Research Institute Patentee before: Ningbo Weike shuangchuang Investment Co., Ltd |