CN105835058A - Program generating system - Google Patents
Program generating system Download PDFInfo
- Publication number
- CN105835058A CN105835058A CN201610254106.3A CN201610254106A CN105835058A CN 105835058 A CN105835058 A CN 105835058A CN 201610254106 A CN201610254106 A CN 201610254106A CN 105835058 A CN105835058 A CN 105835058A
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- 230000009471 action Effects 0.000 claims abstract description 60
- 238000003860 storage Methods 0.000 claims abstract description 15
- 238000013459 approach Methods 0.000 claims description 27
- 238000003466 welding Methods 0.000 claims description 17
- 230000009467 reduction Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
A program generating system comprises a path recording part, an arrival determining part, an action completing part, a nearest point recording part, a high storage part and a reset program generating part. After a robot stops emergently, an interference-free robot reset program which is high in return efficiency is generated by adopting a reset path not located in the same two-dimensional plane with the path of a demonstration program.
Description
Technical field
The present invention relates to programme-control machine people field.
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.Flexible, the feature of flexible production that industrial robot has, and along with economic development and human cost increase, demand for safety protection improve, industrial automatization improves the most therewith, and therefore industrial robot can obtain wider application prospect.
Manufacture process is always 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 need to be completed by robot teaching program.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 be 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 when resuming operation from position of readiness.Technical scheme of the prior art is by making robot oppositely return along the taught point in the teaching path in tutorial program, such as FANUC Co., Ltd's technical scheme proposed in the CN100408277C patent of invention.Such route in prior art, it is possible to determine the return path of robot, but owing to teaching path is the most tortuous, returning along path may be the longest, and the path circumstances of process is it may happen that change, causes disturbing when returning.
Summary of the invention
The invention provides a kind of program generating system (PGS), it is high that it can generate return efficiency, and the robot reset routine of interference will not occur.
As one aspect of the present invention, thering is provided a kind of program generating system (PGS), it can generate robot reset routine, including: paths record portion, its storage is preset and is included multiple path point and the robot path of path action, and robot can carry out glitch-free operation based on this robot path；Arrival determines portion, 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；Height storage section, the height of peak in its storage robot path environment；Reset routine generating unit, it is when robot emergent stopping, determine that portion determines that robot is whether in path point based on arrival: (1) is if robot is in path point, determine that first path is that this path point is to safe altitude point, described safe altitude point is positioned at above path point, for making the height of robot minimum point higher than the height of storage in described height memorizer；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 that described reset height point is 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, the position of closest approach based on closest approach record portion record, determine 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 that described reset height point is 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, the artificial welding robot of described machine, the welding object of described robot is two-dimensional flat plate type object.
Preferably, described reset height point and described robot path are not at same plane.
Preferably, the height of described reset height point is higher than described robot path place plane.
Preferably, also include action completeness Department of Statistics, reverse path generating unit and restart action enforcement division；Described 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 the direction path contrary with 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, determine that resume operation restarts action.
Preferably, restart action enforcement division described in 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 path based on described action completeness and this path point action of action enforcement division and determine 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.
Preferably, 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, preferably 1.2.
Preferably, 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 regulation program based on described robot；Described reset routine generating unit, before generating the path procedure arriving safe altitude point, first generates regulation program based on angle adjustment.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of robot system of the present invention.
Fig. 2 is the schematic diagram that present procedure generates system.
Fig. 3 is a kind of reset routine path schematic diagram of the embodiment of the present invention.
Fig. 4 is the another kind of reset routine path schematic diagram 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, accompanying drawing in describing below is only some embodiments described in the application, for those of ordinary skill in the art, on the premise of 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 artificially for the welding robot in two dimensional weld face, as it is shown in figure 1, robot 10, welds for two-dimensional flat plate type welding plane 20, has the environmental objects 30 and 40 of differing heights in welding plane 20.Robot 10 has path of welding 21 in welding plane 20, and it includes multiple path point the most on the same line.During normal operation, robot 10, 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 paths record portion 101, arrives and determines portion 102, and action completes portion 103, closest approach record portion 104, height storage section 105 and reset routine generating unit 106.Paths record portion 101 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 robot 10 performs operation, arrive the welding of path point laggard row path point, arrive and determine that portion 102 confirms after arriving path point in robot 10；Action completes to confirm after portion 103 completes the welding action of path point for robot 10.Completing after portion 103 confirms the welding action that robot completes path point in action, closest approach record portion 104 records position and the action of this path point.
Height storage section 105 stores the height of peak in robot path environment, and it is the height of environmental objects 40 in the present embodiment.Reset routine generating unit 106, when robot 10 emergent stopping, generates reset routine.Concrete, it is primarily based on arrival and determines that portion 102 determines that robot 10 is whether in path point: (1) is if as shown in Figure 3, the halt S of robot 10 is in 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, for making the height of the minimum point of robot 10 weld part higher than the height of storage 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 the most 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 robot not in path point, the position of closest approach based on closest approach record portion 104 record, determine 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 the most 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 robot 10 is typically have specific angle of inclination when welding, if robot 10 is directly brought up to the safe altitude point being positioned above by path point, 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 regulation program based on described robot；Reset routine generating unit 106, before generating the path procedure arriving safe altitude point, first generates regulation program based on angle adjustment.Concrete, reset routine generating unit occupy and generates reset routine as follows: (1), if robot is in path point, determines that this path point makes robot 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 robot welding portion 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 that described reset height point is 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 robot is not in path point, the position of closest approach based on closest approach record portion record, determine that first path is the position that closest approach is arrived in current location；Determine that this closest approach makes robot 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 that described reset height point is 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 the direction path contrary with 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, determine that 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 path based on described action completeness and this path point action of action enforcement division and determine 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, preferably 1.2.
In all documents incorporated by reference the most in this application that the present invention mentions, it is individually recited as with reference to like that just as each 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 any modification, equivalent substitution and improvement etc. made within the spirit and principles in the present invention, are all contained in protection scope of the present invention.
Claims (5)
1. a program generating system (PGS), it can generate robot reset routine, and including paths record portion, its storage is preset and included multiple path point and the robot path of path action, and robot can carry out glitch-free operation based on this robot path；Arrival determines portion, 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；Height storage section, the height of peak in its storage robot path environment；Reset routine generating unit, it is when robot emergent stopping, determine that portion determines that robot is whether in path point based on arrival: (1) is if robot is in path point, determine that first path is that this path point is to safe altitude point, described safe altitude point is positioned at above path point, for making the height of robot minimum point higher than the height of storage in described height memorizer；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 that described reset height point is 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, the position of closest approach based on closest approach record portion record, determine 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 that described reset height point is 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.
Program generating system (PGS) the most according to claim 1, it is characterised in that: the artificial welding robot of described machine, the welding object of described robot is two-dimensional flat plate type object.
Program generating system (PGS) the most according to claim 2, it is characterised in that: described reset height point and described robot path are not at same plane.
Program generating system (PGS) the most according to claim 3, it is characterised in that: the height of described reset height point is higher than described robot path place plane.
Program generating system (PGS) the most according to claim 4, it is characterised in that: also include action completeness Department of Statistics, reverse path generating unit and restart action enforcement division；Described 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 the direction path contrary with 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, determine that resume operation restarts action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610254106.3A CN105835058B (en) | 2016-04-23 | 2016-04-23 | A kind of program generating system (PGS) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610254106.3A CN105835058B (en) | 2016-04-23 | 2016-04-23 | A kind of program generating system (PGS) |
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| CN105835058A true CN105835058A (en) | 2016-08-10 |
| CN105835058B CN105835058B (en) | 2017-10-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313052A (en) * | 2016-10-20 | 2017-01-11 | 机器时代(北京)科技有限公司 | Robot programming control method and device |
| CN111002301A (en) * | 2018-10-08 | 2020-04-14 | 东元电机股份有限公司 | Automatic reset control system and method applied to mechanical arm |
| CN114029949A (en) * | 2021-11-08 | 2022-02-11 | 北京市商汤科技开发有限公司 | Robot action editing method and device, electronic equipment and storage medium |
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| CN114029949A (en) * | 2021-11-08 | 2022-02-11 | 北京市商汤科技开发有限公司 | Robot action editing method and device, electronic equipment and storage medium |
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| Publication number | Publication date |
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| CN105835058B (en) | 2017-10-27 |
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