CN107414837A - Safety automation returns method and its system in situ after industrial robot disorderly closedown - Google Patents
Safety automation returns method and its system in situ after industrial robot disorderly closedown Download PDFInfo
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- CN107414837A CN107414837A CN201710821275.5A CN201710821275A CN107414837A CN 107414837 A CN107414837 A CN 107414837A CN 201710821275 A CN201710821275 A CN 201710821275A CN 107414837 A CN107414837 A CN 107414837A
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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
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Abstract
Safety automation returns method in situ after a kind of industrial robot disorderly closedown, including：Calling each operating path programme-control machine people, beginning is taken action to each station successively since original position, has the path number of accordingly sub- operating path in operating path program；After receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, passage path numbering is determined as the station of current sub- operating path terminal, and the station is the starting point of return path；Continue to take action in current sub- operating path by work at present path procedure control machine people；After the terminal of robotic movement to current sub- operating path, by should terminal station, call to should station return path programme-control machine people return it is in situ.The present invention requires low to operating personnel, safe and reliable, quickly, will not occur unexpectedly to collide, and compatibility is strong, more flexible.
Description
Technical field
The invention belongs to safety behind Industrial Robot Technology field, more particularly to a kind of industrial robot disorderly closedown certainly
Move back the method and its system of original position.
Background technology
As the improvement renewal of automation equipment in factory and popularization, industrial robot start to be increasingly being applied to industry
In the daily manufacturing in field, safety problem of the resulting industrial robot in the daily manufacturing is increasingly subject to work
Cheng Shi and the attention of factory management personnel, how to solve industrial robot and made in generation alarm, collision or artificial intervention
Into shutdown after can to return to the problem of robot original position is restarted safely especially prominent.The safety control of most domestic factory
Specification processed requires that robot must all allow robot to return to the home being previously set after disorderly closedown, referred to as former
Position, can be again started up circulating.
Current most of factory uses the following two kinds method：
One kind is to go back to original position by the manual teaching robot of robot demonstrator, and this method requires phase to robotic programming
To relatively low, but need to have robot engineering teacher's manpower intervention of related qualification to carry out teaching machine once robot is shut down
People, so not only low-response extends downtime, can also greatly increase the time cost of engineer.
Another way is the homing procedure developed using robot manufacturer, such as the Path of ABB AB oneself exploitation
Recovery programs,, can be by remembering after robot shutdown occurs for each step program in recorder people path before
The path procedure of record goes back to allow robot to fall back automatically step by step, and this mode has some deficiency：1st, manufacturer develops
Homing procedure needs individually purchase to authorize；2nd, in the case where robot path is especially more, robot needs to return back to step by step
Original position can walk many paths unnecessary, lose time；3rd, it is mutual in robot linear motion, movement in a curve and circular motion
In the program of intersection, the path walking manner of the positive operation of robot and fall back operation path walking manner be it is different,
The risk of collision of other three method, apparatus in robot and station is so will result in, not by manual control, this is this mode
Where greatest drawback.
The content of the invention
Based on this, for above-mentioned technical problem, there is provided safety automation goes back to original position after a kind of industrial robot disorderly closedown
Method and its system.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
Safety automation returns method in situ after a kind of industrial robot disorderly closedown, including：
Operating path robot taken action since original position successively to each station is divided into more strip operating paths, first
The beginning and end of sub- operating path is in situ and first station, and the beginning and end of every strip operating path afterwards is divided equally
Not Wei former and later two stations, preset operating path program per strip operating path, one-to-one with often strip operating path
Path number, return from each station the return path in situ and with the station as every return path starting point
One-to-one return path program, calls robot described in each operating path programme-control to be taken action successively to each since in situ
Station, there is the path number of corresponding sub- operating path in the operating path program；
After receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, is passed through
The path number is determined as the station of current sub- operating path terminal, and the station is the starting point of return path；
Continue to take action in current sub- operating path by the work at present path procedure control machine people；
After the terminal of the robotic movement to the current sub- operating path, by should terminal station, adjust
With to should station return path programme-control machine people return it is in situ.
Described time instruction in situ is triggered by home button, and the home button is in human-computer interaction terminal.
The home button is the virtual push button on the touch-screen of human-computer interaction terminal.
The human-computer interaction terminal is robot demonstrator, computer or HMI terminal.
This programme also includes：
When calling operating path program, the path number of corresponding sub- operating path is added.
Safety automation returns in-situ system, including storage mould after this programme further relates to a kind of industrial robot disorderly closedown
Block, a plurality of instruction is stored with the memory module, the instruction is loaded and performed by processor：
Operating path robot taken action since original position successively to each station is divided into more strip operating paths, first
The beginning and end of sub- operating path is in situ and first station, and the beginning and end of every strip operating path afterwards is divided equally
Not Wei former and later two stations, preset operating path program per strip operating path, one-to-one with often strip operating path
Path number, return from each station the return path in situ and with the station as every return path starting point
One-to-one return path program, calls robot described in each operating path programme-control to be taken action successively to each since in situ
Station, there is the path number of corresponding sub- operating path in the operating path program；
After receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, is passed through
The path number is determined as the station of current sub- operating path terminal, and the station is the starting point of return path；
Continue to take action in current sub- operating path by the work at present path procedure control machine people；
After the terminal of the robotic movement to the current sub- operating path, by should terminal station, adjust
With to should station return path programme-control machine people return it is in situ.
Described time instruction in situ is triggered by home button, and the home button is in human-computer interaction terminal.
The home button is the virtual push button on the touch-screen of human-computer interaction terminal.
The human-computer interaction terminal is robot demonstrator, computer or HMI terminal.
This programme also includes：
When calling operating path program, the path number of corresponding sub- operating path is added.
The present invention requires low to operating personnel, and robot occurs after disorderly closedown, it is only necessary to the operating personnel on line
After home button triggering is pressed in human-computer interaction terminal, robot will automatically return to original position, quick convenient, it is not necessary to appoint
The personnel what has robotic programming qualification intervene；It is safe and reliable, quickly, it will not occur unexpectedly to collide, while meeting basis is worked as
Return path corresponding to the terminal of preceding sub- operating path is quickly returning to original position, reduces equipment downtime；Suitable for ABB robots
And the robot of other brands, compatibility is strong, more flexible.
Brief description of the drawings
The present invention is described in detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the schematic diagram of the present invention.
Embodiment
Method in situ is returned the present invention relates to safety automation after a kind of industrial robot disorderly closedown, including：
First, operating path robot taken action successively since original position to each station is divided into more strip operating paths, the
The beginning and end of one strip operating path is in situ and first station, the beginning and end of every strip operating path afterwards
It is respectively former and later two stations, presets the often operating path program of strip operating path and often a pair of strip operating path 1
The path number answered, return from each station return path in situ and with the station as every return path starting point one by one
Corresponding return path program, each operating path programme-control machine people is called to be taken action successively to each station since in situ.
There is the path number of corresponding sub- operating path in operating path program.
Specifically, when calling operating path program, the path number of corresponding sub- operating path is added.
As ABB robots Rapid programming languages include MoveL (linear motion), MoveJ (movement in a curve), MoveC
Robot motion's routing instruction such as (circular motion).
The call instruction for an operating path program of illustrating：MoveL p1,v1000,z30,tool1\Wobj:=Wobj1.
Wherein, p1 is this straight movement path program coordinate of ground point to be reached of robot, is joined for position coordinates
Number.
V1000 is the speed that robot runs this paths program, is 1000mm/s, is speed parameter.
Z30 is the radius of turn size that robot reaches target point.
Tool1 is the tool information parameter that robot is used.
Wobj1 is the workpiece coordinate system that robot tool is associated.
It can be seen that existing path procedure is without path number this parameter required for us, still to Rapid
The Move instructions of language carry out secondary development, increase path number parameter, parameter type between Move and position coordinate parameters
Be defined as shaping, then write again the new Move with path number parameter L, Move J and Move C instruction, new finger
Make title be distinguished by, avoid and old MoveL, MoveJ, MoveC instruction conflicts.
New path procedure call format is：
Move L, 10001, p1, v1000, z30, tool1 Wobj:=Wobj1.10001 be exactly work at present path journey
Path number corresponding to sequence, it may indicate that robot currently in the sub- operating path walked, and robot once shuts down us can
By this value, to show which strip operating path robot is parked on, the path number of each strip operating path is all only
One.
2nd, after receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, is led to
The station that path number is determined as current sub- operating path terminal is crossed, the station is the starting point of return path.
Wherein, return instruction in situ to be triggered by home button, home button is in human-computer interaction terminal, preferably, playback
Button is the virtual push button on the touch-screen of human-computer interaction terminal.
In the present embodiment, human-computer interaction terminal is robot demonstrator, computer or HMI terminal (Human
Machine Interface, man-machine interface, are also man-machine interface) etc..
Home button is used to use to producing line operating personnel, and after robot is shut down, operator presses this button, journey
Sequence will instruct the path number provided is next to call corresponding safety to go back to original position automatically according to Move L, Move J and Move C
Return path program is quick convenient, it is not necessary to any personnel's intervention with robotic programming qualification.
3rd, continue to take action in current sub- operating path by work at present path procedure control machine people.
4th, after the terminal of robotic movement to current sub- operating path, by should terminal station, call corresponding
The return path programme-control machine people of the station returns in situ.
The present invention requires low to operating personnel, and robot occurs after disorderly closedown, it is only necessary to the operating personnel on line
After home button triggering is pressed in human-computer interaction terminal, robot will automatically return to original position, quick convenient, it is not necessary to appoint
The personnel what has robotic programming qualification intervene；It is safe and reliable, quickly, it will not occur unexpectedly to collide, while meeting basis is worked as
Return path corresponding to the terminal of preceding sub- operating path is quickly returning to original position, reduces equipment downtime；Suitable for ABB robots
And the robot of other brands, compatibility is strong, more flexible.
By taking Fig. 1 operating path as an example, robot takes action to station 1 and station 2 successively since in situ：In situ->
Station 1->Station 2, shares two strip operating paths, and both path numbers are respectively 10001 and 10002.
Any point being likely to occur on this 3 paths is shut down in machine alarm, and specific each point safety is returned in situ
Method is：
Any point on 10001 sub- operating paths：Continue the operating path program in 10001 paths of calling, reach station 1
Afterwards, 10004 return paths are called to return to original position.
Any point on 10002 sub- operating paths：Continue the operating path program in 10002 paths of calling, reach station 2
Afterwards, 10003 return paths are called to return to original position.
Safety automation returns in-situ system, including storage mould after this programme further relates to a kind of industrial robot disorderly closedown
Block, a plurality of instruction is stored with the memory module, the instruction is loaded and performed by processor：
First, operating path robot taken action successively since original position to each station is divided into more strip operating paths, the
The beginning and end of one strip operating path is in situ and first station, the beginning and end of every strip operating path afterwards
It is respectively former and later two stations, presets the often operating path program of strip operating path and often a pair of strip operating path 1
The path number answered, return from each station return path in situ and with the station as every return path starting point one by one
Corresponding return path program, each operating path programme-control machine people is called to be taken action successively to each station since in situ.
There is the path number of corresponding sub- operating path in operating path program.
Specifically, when calling operating path program, the path number of corresponding sub- operating path is added.
As ABB robots Rapid programming languages include MoveL (linear motion), MoveJ (movement in a curve), MoveC
Robot motion's routing instruction such as (circular motion).
The call instruction for an operating path program of illustrating：MoveL p1,v1000,z30,tool1\Wobj:=Wobj1.
Wherein, p1 is this straight movement path program coordinate of ground point to be reached of robot, is joined for position coordinates
Number.
V1000 is the speed that robot runs this paths program, is 1000mm/s, is speed parameter.
Z30 is the radius of turn size that robot reaches target point.
Tool1 is the tool information parameter that robot is used.
Wobj1 is the workpiece coordinate system that robot tool is associated.
It can be seen that existing path procedure is without path number this parameter required for us, still to Rapid
The Move instructions of language carry out secondary development, increase path number parameter, parameter type between Move and position coordinate parameters
Be defined as shaping, then write again the new Move with path number parameter L, Move J and Move C instruction, new finger
Make title be distinguished by, avoid and old MoveL, MoveJ, MoveC instruction conflicts.
New path procedure call format is：
Move L, 10001, p1, v1000, z30, tool1 Wobj:=Wobj1.10001 be exactly work at present path journey
Path number corresponding to sequence, it may indicate that robot currently in the sub- operating path walked, and robot once shuts down us can
By this value, to show which strip operating path robot is parked on, the path number of each strip operating path is all only
One.
2nd, after receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, is led to
The station that path number is determined as current sub- operating path terminal is crossed, the station is the starting point of return path.
Wherein, return instruction in situ to be triggered by home button, home button is in human-computer interaction terminal, preferably, playback
Button is the virtual push button on the touch-screen of human-computer interaction terminal.
In the present embodiment, human-computer interaction terminal is robot demonstrator, computer or HMI terminal (Human
Machine Interface, man-machine interface, are also man-machine interface) etc..
Home button is used to use to producing line operating personnel, and after robot is shut down, operator presses this button, journey
Sequence will instruct the path number provided is next to call corresponding safety to go back to original position automatically according to Move L, Move J and Move C
Return path program is quick convenient, it is not necessary to any personnel's intervention with robotic programming qualification.
3rd, continue to take action in current sub- operating path by work at present path procedure control machine people.
4th, after the terminal of robotic movement to current sub- operating path, by should terminal station, call corresponding
The return path programme-control machine people of the station returns in situ.
The present invention requires low to operating personnel, and robot occurs after disorderly closedown, it is only necessary to the operating personnel on line
After home button triggering is pressed in human-computer interaction terminal, robot will automatically return to original position, quick convenient, it is not necessary to appoint
The personnel what has robotic programming qualification intervene；It is safe and reliable, quickly, it will not occur unexpectedly to collide, while meeting basis is worked as
Return path corresponding to the terminal of preceding sub- operating path is quickly returning to original position, reduces equipment downtime；Suitable for ABB robots
And the robot of other brands, compatibility is strong, more flexible.
But those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to explanation originally
Invention, and be not used as limitation of the invention, as long as in the spirit of the present invention, to embodiment described above
Change, modification will all fall in the range of claims of the present invention.
Claims (10)
1. safety automation returns method in situ after a kind of industrial robot disorderly closedown, it is characterised in that including：
The operating path that robot is taken action to each station successively since original position is divided into more strip operating paths, the first strip work
The beginning and end for making path is in situ and first station, and the beginning and end of every strip operating path afterwards is respectively
Former and later two stations, preset the operating path program per strip operating path and per the one-to-one path of strip operating path
Numbering, return from each station the return path in situ and with the station as every return path starting point one by one
Corresponding return path program, robot described in each operating path programme-control is called to be taken action successively to each work since in situ
, the path number with corresponding sub- operating path in the operating path program；
After receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, by described
Path number is determined as the station of current sub- operating path terminal, and the station is the starting point of return path；
Continue to take action in current sub- operating path by the work at present path procedure control machine people；
After the terminal of the robotic movement to the current sub- operating path, by should terminal station, call pair
Should station return path programme-control machine people return it is in situ.
2. safety automation returns method in situ after a kind of industrial robot disorderly closedown according to claim 1, it is special
Sign is that described time instruction in situ is triggered by home button, and the home button is in human-computer interaction terminal.
3. safety automation returns method in situ after a kind of industrial robot disorderly closedown according to claim 2, it is special
Sign is that the home button is the virtual push button on the touch-screen of human-computer interaction terminal.
4. safety automation returns method in situ after a kind of industrial robot disorderly closedown according to Claims 2 or 3, its
It is characterised by, the human-computer interaction terminal is robot demonstrator, computer or HMI terminal.
5. safety automation returns method in situ after a kind of industrial robot disorderly closedown according to claim 4, it is special
Sign is, in addition to：
When calling operating path program, the path number of corresponding sub- operating path is added.
6. safety automation returns in-situ system after a kind of industrial robot disorderly closedown, it is characterised in that including memory module, institute
State and a plurality of instruction is stored with memory module, the instruction is loaded and performed by processor：
The operating path that robot is taken action to each station successively since original position is divided into more strip operating paths, the first strip work
The beginning and end for making path is in situ and first station, and the beginning and end of every strip operating path afterwards is respectively
Former and later two stations, preset the operating path program per strip operating path and per the one-to-one path of strip operating path
Numbering, return from each station the return path in situ and with the station as every return path starting point one by one
Corresponding return path program, robot described in each operating path programme-control is called to be taken action successively to each work since in situ
, the path number with corresponding sub- operating path in the operating path program；
After receiving back instruction in situ, the path number of current sub- operating path is obtained from work at present path procedure, by described
Path number is determined as the station of current sub- operating path terminal, and the station is the starting point of return path；
Continue to take action in current sub- operating path by the work at present path procedure control machine people；
After the terminal of the robotic movement to the current sub- operating path, by should terminal station, call pair
Should station return path programme-control machine people return it is in situ.
7. safety automation returns in-situ system, its feature after a kind of industrial robot disorderly closedown according to claim 6
It is, described time instruction in situ is triggered by home button, and the home button is in human-computer interaction terminal.
8. safety automation returns in-situ system, its feature after a kind of industrial robot disorderly closedown according to claim 7
It is, the home button is the virtual push button on the touch-screen of human-computer interaction terminal.
9. safety automation returns in-situ system after a kind of industrial robot disorderly closedown according to claim 7 or 8, it is special
Sign is that the human-computer interaction terminal is robot demonstrator, computer or HMI terminal.
10. safety automation returns in-situ system, its feature after a kind of industrial robot disorderly closedown according to claim 9
It is, in addition to：
When calling operating path program, the path number of corresponding sub- operating path is added.
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| CN201710821275.5A CN107414837B (en) | 2017-09-13 | 2017-09-13 | Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot |
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|---|---|---|---|
| CN201710821275.5A CN107414837B (en) | 2017-09-13 | 2017-09-13 | Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot |
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| CN107414837B CN107414837B (en) | 2020-09-25 |
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| CN109967892A (en) * | 2017-12-27 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | A kind of cutting method and control equipment and memory module of automatic control starting point |
| CN110450169A (en) * | 2019-09-03 | 2019-11-15 | 中冶赛迪工程技术股份有限公司 | A kind of robot thermometric sampling control method and control system |
| WO2019227307A1 (en) * | 2018-05-29 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Ground robot control method, and ground robot |
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN111273661A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and equipment for eliminating repeated path of detection item |
| CN111390916A (en) * | 2020-04-24 | 2020-07-10 | 北京如影智能科技有限公司 | Mechanical arm abnormity recovery method and device |
| CN114670206A (en) * | 2022-05-07 | 2022-06-28 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, device, cooperative robot and storage medium |
| CN115157264A (en) * | 2022-08-03 | 2022-10-11 | 法奥意威(苏州)机器人系统有限公司 | Robot control method and device, cooperative robot and readable storage medium |
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| CN109967892A (en) * | 2017-12-27 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | A kind of cutting method and control equipment and memory module of automatic control starting point |
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| CN111273661A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and equipment for eliminating repeated path of detection item |
| CN111390916A (en) * | 2020-04-24 | 2020-07-10 | 北京如影智能科技有限公司 | Mechanical arm abnormity recovery method and device |
| CN111390916B (en) * | 2020-04-24 | 2022-05-27 | 北京如影智能科技有限公司 | Mechanical arm abnormity recovery method and device |
| CN114670206A (en) * | 2022-05-07 | 2022-06-28 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, device, cooperative robot and storage medium |
| CN115157264A (en) * | 2022-08-03 | 2022-10-11 | 法奥意威(苏州)机器人系统有限公司 | Robot control method and device, cooperative robot and readable storage medium |
| CN115157264B (en) * | 2022-08-03 | 2023-09-29 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, robot control device, cooperative robot and readable storage medium |
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| CN107414837B (en) | 2020-09-25 |
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