CN105690395B - Industrial robot and its control method - Google Patents
Industrial robot and its control method Download PDFInfo
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- CN105690395B CN105690395B CN201610254101.0A CN201610254101A CN105690395B CN 105690395 B CN105690395 B CN 105690395B CN 201610254101 A CN201610254101 A CN 201610254101A CN 105690395 B CN105690395 B CN 105690395B
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- path
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- 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
A kind of industrial robot, including：Robotic arm, it is used for welding for welding plane；Environment storage part, it stores solder side surrounding objects configuration information；Path record portion, it stores the robotic arm path preset and include multiple path points and path action, and robot, which is based on the robotic arm path, can carry out glitch-free operation；Determining section is reached, it confirms after robot reaches path point；Completion portion is acted, it confirms after robot completes the action of path point；Closest approach record portion, it records position and the action of the path point after robot completes the action of current path point；Reset routine generating unit, it generates the reset routine for making robotic arm return to reduction point in robot emergent stopping.
Description
Technical field
The present invention relates to programme-control machine people field, more particularly, to a kind of programme controlled industrial robot and its control
Method processed.
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 industrial robot and its control method, can in robot emergent stopping, by with routine
The different reset path in path returns to reduction point, and reduces the possibility disturbed in reseting procedure.
As one aspect of the present invention there is provided a kind of industrial robot, including：Robotic arm, it is used for for two dimension
Plate welding plane is welded；Environment storage part, it stores solder side surrounding objects configuration information；Path record portion, its
Storage is default to include the robotic arm path of multiple path points and path action, and robot, which is based on the robotic arm path, to be carried out
Glitch-free operation；Determining section is reached, it confirms after robot reaches path point；Completion portion is acted, it is completed in robot
Confirm after the action of path point；Closest approach record portion, it records the path point after robot completes the action of current path point
Position and action；Reset routine generating unit, it generates the reset for making robotic arm return to reduction point in robot emergent stopping
Program.
It is preferred that, in addition to reset routine generating unit, its state based on reset routine and during robot emergent stopping,
Generation makes the reset routine that robot resumes operation.
It is preferred that, in addition to height determining section, it is matched somebody with somebody based on the welding plane surrounding objects that the environment storage part is stored
Confidence breath determines barrier peak；In robot emergent stopping, the reset routine generating unit uses the barrier highest
Point information generation reset routine.
It is preferred that, in robot emergent stopping, the reset routine generating unit is based on arrival determining section and determines robot
Whether in path point：（1）If robot is in path point, it is the path point to safe altitude point, institute to determine first path
Safe altitude point is stated above path point, to make the height of robot minimum point higher than the height of the barrier peak；
Second path is safe altitude point to reset height point, the height of the reset height point and the safe altitude point height phase
Deng above reduction point；3rd path is the reset height point to the reduction point；The reset routine generating unit is based on
The first path, the second path and the 3rd coordinates measurement reset routine；（2））If robot is based on not in path point
The position of the closest approach of closest approach record portion record, it is current location to the position of closest approach to determine first path；Second path
For the position of the safe altitude point above the position to the closest approach of closest approach；3rd path is safe altitude point to reset height
Point, the height of the reset height point is highly equal with the safe altitude point, above reduction point；4th path is described
Reset height point is to the reduction point；The reset routine generating unit is based on the first path, the second path, the 3rd path
And the 4th coordinates measurement reset routine.
It is preferred that, the reset height point is not at same plane, and the reset height with the robot path
The height of point is higher than plane where the robot path.
It is preferred that, including time count halted portion, it is counted in robot emergent stopping, when gate time is higher than
During threshold value, control the robots arm to be based on reset routine and return to reduction point.
As another aspect of the present invention, there is provided the control method of above-mentioned industrial robot, including following flow：1）
In robot emergent stopping, whether the reset routine generating unit is based on arrival determining section and determines robotic arm in path point：
（2）If robotic arm is in path point, the first path, the second path and the are based on based on the reset routine generating unit
Three coordinates measurement reset routines；（3）If robotic arm is not in path point, the reset routine generating unit is based on the first via
Footpath, the second path, the 3rd path and the 4th coordinates measurement reset routine；（4）Returned based on the reset routine control machine arm
Reduction point；（5）When robot resumes operation, the state based on reset routine and during robot emergent stopping, generation makes machine
The reset routine that device arm resumes operation；（6）Robotic arm is resumed operation based on the reset routine.
Brief description of the drawings
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 another 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.
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 system
10, including robotic arm 11, welded for two-dimensional flat plate type welding plane 20, there is different height in welding plane 20
Environmental objects 30 and 40.Robotic arm 11 has path of welding 21 in welding plane 20, it include it is multiple not on the same line
Path point.During normal operation, robotic arm 11 performs welding along path of welding 21 under tutorial program control in path point
Action.
The program generating system (PGS) 100 of the present invention, it can generate robot reset routine, as shown in Fig. 2 being deposited including environment
Storage portion 101, path record portion 102 reaches determining section 103, action completion portion 104, closest approach record portion 105, and reset journey
Sequence generating unit 106.Path record portion 102 stores default robot path, it include path point on path of welding 21 and
The action of each path point.Robotic arm 11 is moved when performing operation between different path points, reaches the laggard walking along the street of path point
The welding of footpath point, reaching determining section 103 is used to confirm after robot 10 reaches path point；Acting completion portion 104 is used for machine
Arm 11 confirms after completing the welding action of path point.Confirm that robot completes the welding action of path point in action completion portion 104
Afterwards, closest approach record portion 105 records position and the action of the path point.
Environment storage part 101, it stores solder side surrounding objects configuration information, and it is environmental objects in the present embodiment
30th, 40 three-dimensional data information.High-order determining section can be used to be based on around the welding plane of the storage of environment storage part 101
Object configuration information determines barrier peak, and it is the overhead height of environmental objects 40.Reset routine generating unit 106, in machine
During device 11 emergent stopping of arm, reset routine is generated.Specifically, be primarily based on arrival determining section 103 determine robotic arm 11 whether
In path point：（1）If as shown in figure 3, the halt S of robotic arm 11 is on path point P1, it is the path to determine first path
Point P1 to safe altitude point P2, wherein safe altitude point P2 are located above path point, to make the height of the minimum point of robotic arm 11 high
The height stored in height memory 105；Second path is safe altitude point P2 to reset height point P3, reset height point P3
Height it is highly equal with safe altitude point P2, above the reduction point P4；3rd path be reset height point P3 arrive to reset
Point P4；Reset routine generating unit is based on first path, the second path and the 3rd coordinates measurement reset routine；（2））If as schemed
Shown in 4, the halt S of robotic arm 11 is not in path point, the position of the closest approach recorded based on closest approach record portion 105, really
It is halt S to closest approach P1 position to determine first path；Second path for closest approach P1 position to above the closest approach
Safe altitude point P2 position；3rd path be safe altitude point P2 to reset height point P3, reset height point P3 height and
Safe altitude point P2 is highly equal, above reduction point P4；4th path be reset height point P3 to arrive reduction point P4；Reset
Program Generating portion 106 is based on the first path, the second path, the 3rd path and the 4th coordinates measurement reset routine.
Due to robotic arm 11 when being welded be typically have specific angle of inclination, if directly by robotic arm 11 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
The angular adjustment of robotic arm 11 is vertical angular adjustment program；Determine first path for the path point to safe altitude point, it is described
Safe altitude point is located above path point, to make the height of the minimum point of robotic arm 11 be higher than the height stored in the height memory
Degree；It is safe altitude point to reset height point, the height of the reset height point and the safe altitude point to determine the second path
It is highly equal, above reduction point；Determine the 3rd path for the reset height point to arrive the reduction point；The reset journey
Sequence generating unit is based on the angular adjustment program, first path, the second path and the 3rd coordinates measurement reset routine；（2））Such as
Fruit robotic arm 11 is not in path point, the position of the closest approach recorded based on closest approach record portion, and it is current to determine first path
Position to the position of closest approach；Determine that the closest approach makes the angular adjustment of robotic arm 11 be vertical angular adjustment program；Determine
Two paths are the position of the safe altitude point above the position to the closest approach of closest approach；It is safe altitude point to determine the 3rd path
To reset height point, the height of the reset height point is highly equal with the safe altitude point, above reduction point；4th
Path be the reset height point to arrive the reduction point；The reset routine generating unit is based on the first path, angle and adjusted
Section program, 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.
It is preferred that, some emergent stoppings are instantaneous, and robot system is the state that resumes operation in a short period of time, can
To set time count halted portion in robot system, it is counted in robot emergent stopping, when gate time is high
When threshold value, control the robots arm to be based on reset routine and return to reduction point.
The control method of the industrial robot of the embodiment of the present invention, referring to Fig. 5, including following flow：1）It is tight in robot
When jerk is stopped, whether the reset routine generating unit is based on arrival determining section and determines robotic arm in path point：（2）If machine
Arm is based on the first path, the second path and the 3rd coordinates measurement in path point based on the reset routine generating unit
Reset routine；（3）If robotic arm is not in path point, the reset routine generating unit is based on the first path, the second tunnel
Footpath, the 3rd path and the 4th coordinates measurement reset routine；（4）Reduction point is returned to based on the reset routine control machine arm；（5）
When robot resumes operation, the state based on reset routine and during robot emergent stopping, generation makes robotic arm recover fortune
Capable reset routine；（6）Robotic arm is resumed operation based on the reset routine.
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 (3)
1. a kind of industrial robot, including：Robotic arm, it is used to weld for two-dimensional flat plate type welding plane；Environment is deposited
Storage portion, it stores solder side surrounding objects configuration information；Path record portion, it, which stores to preset, includes multiple path points and path
The robotic arm path of action, robot, which is based on the robotic arm path, can carry out glitch-free operation；Determining section is reached, it is in machine
Device people reaches to be confirmed after path point；Completion portion is acted, it confirms after robot completes the action of path point；Closest approach is recorded
Portion, it records position and the action of the path point after robot completes the action of current path point；Reset routine generating unit, its
In robot emergent stopping, generation makes the reset routine of robotic arm return reduction point；Reset routine generating unit, it is based on resetting
State when program and robot emergent stopping, generation makes the reset routine that robot resumes operation；Height determining section, its base
The welding plane surrounding objects configuration information stored in the environment storage part determines barrier peak；Promptly stop in robot
The reset routine generating unit generates reset routine using the barrier peak information when only；In robot emergent stopping
When, whether the reset routine generating unit is based on arrival determining section and determines robotic arm in path point：（1）If robotic arm is on road
On the point of footpath, it is the path point to safe altitude point to determine first path, and the safe altitude point is located above path point, to make machine
The height of device arm minimum point is higher than the height of the barrier peak；Second path be safe altitude point to reset height point,
The height of the reset height point is highly equal with the safe altitude point, above reduction point；3rd path is described multiple
Position height point arrives the reduction point；The reset routine generating unit is based on the first path, the second path and the 3rd path
Generate reset routine；（2））If robotic arm is not in path point, the position of the closest approach recorded based on closest approach record portion, really
First path is determined for current location to the position of closest approach；Second path is the safety above the position to the closest approach of closest approach
The position highly put；3rd path is safe altitude point to reset height point, height and the safety of the reset height point
Highly point is highly equal, above reduction point；4th path be the reset height point to arrive the reduction point；It is described to reset
Program Generating portion is based on the first path, the second path, the 3rd path and the 4th coordinates measurement reset routine.
2. industrial robot according to claim 1, it is characterised in that：Including time count halted portion, it is in robot
Counted during emergent stopping, when gate time is higher than threshold value, controls the robotic arm to be based on reset routine and return to reduction point.
3. according to the control method of one of claim 1-2 industrial robot, including following flow：（1）It is urgent in robot
During stopping, whether the reset routine generating unit is based on arrival determining section and determines robotic arm in path point：（2）If robotic arm
In path point, the first path, the second path and the 3rd coordinates measurement are based on based on the reset routine generating unit multiple
Position program；（3）If robotic arm is not in path point, the reset routine generating unit be based on the first path, the second path,
3rd path and the 4th coordinates measurement reset routine；（4）Reduction point is returned to based on the reset routine control machine arm；（5）
When robot resumes operation, the state based on reset routine and during robot emergent stopping, generation makes robotic arm resume operation
Reset routine；（6）Robotic arm is resumed operation based on the reset routine.
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| CN201610254101.0A CN105690395B (en) | 2016-04-23 | 2016-04-23 | Industrial robot and its control method |
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| CN201610254101.0A CN105690395B (en) | 2016-04-23 | 2016-04-23 | Industrial robot and its control method |
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| CN105690395B true CN105690395B (en) | 2017-09-19 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6717697B2 (en) * | 2016-07-27 | 2020-07-01 | シャープ株式会社 | Autonomous traveling 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 |
| WO2020234946A1 (en) * | 2019-05-17 | 2020-11-26 | 株式会社安川電機 | Robot system, recovery program generation device, control support device, control device, program, recovery program generation method, and recovery program output method |
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