CN109483536A - A kind of additional shaft adding method, device, storage medium and the robot of robot - Google Patents
A kind of additional shaft adding method, device, storage medium and the robot of robot Download PDFInfo
- Publication number
- CN109483536A CN109483536A CN201811333255.4A CN201811333255A CN109483536A CN 109483536 A CN109483536 A CN 109483536A CN 201811333255 A CN201811333255 A CN 201811333255A CN 109483536 A CN109483536 A CN 109483536A
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- China
- Prior art keywords
- robot
- additional shaft
- program
- addition
- setting
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses additional shaft adding method, device, storage medium and the robots of a kind of robot, this method comprises: determining whether to receive the additional shaft addition instruction being used to indicate to robot addition additional shaft；If receiving the additional shaft addition instruction, after the current operation program stopping for controlling the robot, the additional shaft addition program operation of setting is controlled, to realize the additional shaft addition of the robot.The solution of the present invention can solve the mode of manual more new configuration file and robot PLC logical program or the problem of the mode operating process complexity configured on teaching machine to additional shaft, achieve the effect that simplified operating process.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of additional shaft adding method of robot, device, storage
Medium and robot more particularly to a kind of method, apparatus, storage medium and the machine of industrial six-joint robot addition additional shaft
People.
Background technique
Currently, in order to improve the degree of automation of industrial robot, it will usually give six-shaft industrial robot (or industrial six axis
Robot) additional shaft is added, there are many mode that six-shaft industrial robot adds additional shaft.The robot addition of most of company is attached
Axis is added to need more new configuration file and robot PLC logical program manually；Such as: the addition of Xin Shida six-shaft industrial robot is additional
Axis is needed to be carried out parameter modification using RobotConfig.exe tool and generates RobotParameter.xml, will be newly-generated
Configuration file imported into controller；It needs to add the new axis program of creation in PLC program and downloads to controller and restart
Additional shaft addition configuration is completed in control.Alternatively, some robots addition additional shaft needs match additional shaft on teaching machine
It sets；Such as: need the manual setting on teaching machine interface by preceding six roots of sensation axis to set manipulator shaft with day six-shaft industrial robot.
These the mode of more new configuration file and robot PLC logical program or configure additional shaft on teaching machine manually
Mode, general operation is relatively complicated and has certain technical requirements to operator, and artificial mistake can be brought to grasp
Make.
Summary of the invention
It is an object of the present invention in view of the foregoing drawbacks, provide a kind of additional shaft adding method of robot, device, deposit
Storage media and robot, in a manner of solving in the prior art more new configuration file and robot PLC logical program manually or
There is operating process complexity, reach the effect of simplified operating process in the mode configured on teaching machine to additional shaft
Fruit.
The present invention provides a kind of additional shaft adding method of robot, comprising: determines whether to receive and is used to indicate to institute
State the additional shaft addition instruction of robot addition additional shaft；If receiving the additional shaft addition instruction, the machine is controlled
After the current operation program of people stops, the additional shaft addition program operation of setting is controlled, to realize the additional shaft of the robot
Addition.
Optionally it is determined that the additional shaft addition instruction being used to indicate to robot addition additional shaft whether is received,
Comprise determining that whether the setting button on the teaching machine of the robot is pressed；If it is determined that the setting button is pressed, then
Further determine that whether the additional shaft addition flag bit of setting changes；If the additional shaft addition flag bit changes,
It then determines and receives the additional shaft addition instruction.
Optionally, the additional shaft addition program operation of setting is controlled, comprising: obtain carry in the bus of the robot
Quantity, position and the configuration information of setting of axis servomotor；According to the current operation journey of robot described in the configuration information update
Sequence, and the preceding six roots of sensation axis for controlling during the update axis servomotor in the bus is assigned to manipulator shaft and controls
Remaining axis for making the axis servomotor in the bus is assigned to the operation of robot additional shaft；In the current operation journey of the robot
It after the completion of sequence updates, controls updated current operation program and is activated again operation, and control the additional shaft and add program
Stop.
Optionally, wherein obtain the quantity of the axis servomotor of carry in the bus of the robot, position and the configuration of setting
Information, comprising: the scan bus program for starting the robot interior scans the servo of carry in the bus of the robot
Axis, and obtain quantity, position and the configuration information of setting of the axis servomotor；And/or according to the configuration information update
The current operation program of robot, comprising: save the configuration information into the configuration file under setting path；Described in control
The control program read (CP read) of robot takes the storage information in the configuration file, updates the current operation program of the robot.
Optionally, further includes: show the process that the additional shaft of the robot adds on teaching machine, in the process
Described in additional shaft addition program operation error when Error Location is positioned and is repaired.
Match with the above method, another aspect of the present invention provides a kind of additional shaft adding set of robot, comprising: logical
Believe unit, is used to determine whether to receive the additional shaft addition instruction being used to indicate to robot addition additional shaft；Control
Unit, if for receiving the additional shaft addition instruction, after the current operation program stopping for controlling the robot, control
The additional shaft addition program operation of setting, to realize the additional shaft addition of the robot.
Optionally, the communication unit determines whether to receive to be used to indicate and add to robot addition additional shaft
Axis addition instruction, comprising: determine whether the setting button on the teaching machine of the robot is pressed；If it is determined that the setting is pressed
Button is pressed, then further determines that whether the additional shaft addition flag bit of setting changes；If the additional shaft addition mark
Position changes, it is determined that receives the additional shaft addition instruction.
Optionally, the additional shaft addition program operation of described control unit control setting, comprising: obtain the robot
The quantity of the axis servomotor of carry, position and the configuration information of setting in bus；According to robot described in the configuration information update
Current operation program, and the preceding six roots of sensation axis for controlling during the update axis servomotor in the bus is assigned to machine
Device people axis and remaining axis for controlling the axis servomotor in the bus are assigned to the operation of robot additional shaft；In the robot
Current operation program update after the completion of, control updated current operation program and be activated again operation, and control described attached
Axis is added to add program stopped.
Optionally, wherein described control unit obtains the quantity of the axis servomotor of carry, position in the bus of the robot
And the configuration information of setting, comprising: start the scan bus program of the robot interior, in the bus for scanning the robot
The axis servomotor of carry, and obtain quantity, position and the configuration information of setting of the axis servomotor；And/or described control unit root
According to the current operation program of robot described in the configuration information update, comprising: saving the configuration information to setting path
Under configuration file in；The control program read (CP read) for controlling the robot takes storage information in the configuration file, described in update
The current operation program of robot.
Optionally, further includes: described control unit is also used to show the process that the additional shaft of the robot adds
On teaching machine, Error Location is positioned and be repaired when the additional shaft addition program operation error in this process.
Match with above-mentioned apparatus, further aspect of the present invention provides a kind of robot, comprising: above-described robot
Additional shaft adding set.
Match with the above method, further aspect of the present invention provides a kind of storage medium, comprising: deposited in the storage medium
Contain a plurality of instruction；The a plurality of instruction, the additional shaft for being loaded by processor and being executed above-described robot add
Method.
Match with the above method, further aspect of the present invention provides a kind of robot, comprising: processor is more for executing
Item instruction；Memory, for storing a plurality of instruction；Wherein, a plurality of instruction, for being stored by the memory, and by institute
State the additional shaft adding method that processor loads and executes above-described robot.
The solution of the present invention is operated by the addition that axis servomotor scanning distribution can be completed in teaching machine key, can be removed
Artificially manually preceding six roots of sensation axis is configured on teaching machine the operation of manipulator shaft, it is easy to operate, and high reliablity.
Further, the solution of the present invention, by the button on teaching machine, can control whether addition robot additional shaft,
And adding procedure is all automatically performed, and can effectively improve robot allocative efficiency, and operating process is simple.
Further, the solution of the present invention is added additional shaft flag bit by the key on teaching machine and sends operation, energy
Enough make operation more convenient and visualize by force, operating process is simple and operating reliability is high.
Further, the solution of the present invention completes axis servomotor scanning by reading flag bit variation, and automatically by preceding six roots of sensation axis
It is defaulted as manipulator shaft to be configured, remaining axis avoids as robot additional shaft and manually sets maloperation, manual labor amount
Small, high reliablity.
Further, the solution of the present invention can be such that axis adds by combining key on teaching machine with auto configurator
Add it is more efficient and convenient, add high-efficient and accuracy it is good.
The solution of the present invention as a result, by the button on teaching machine, control whether addition robot additional shaft and from
The dynamic adding procedure for completing robot additional shaft solves in the prior art more new configuration file and robot PLC logic journey manually
There is operating process complexity in the mode of sequence or the mode configured on teaching machine to additional shaft, thus, gram
The clothes defect that operating process is complicated in the prior art, manual labor amount is big and misuse rate is high realizes that operating process is simple, artificial
The amount of labour is small and the small beneficial effect of misuse rate.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the flow diagram of an embodiment of the additional shaft adding method of robot of the invention；
Fig. 2 is to determine whether to receive in method of the invention to be used to indicate to add robot addition additional shaft
The flow diagram of one embodiment of axis addition instruction；
Fig. 3 is the process signal that an embodiment of additional shaft addition program operation for setting is controlled in method of the invention
Figure；
Fig. 4 is a reality of the current operation program of the robot according to the configuration information update in method of the invention
Apply the flow diagram of example；
Fig. 5 is the structural schematic diagram of an embodiment of the additional shaft adding set of robot of the invention；
Fig. 6 is the control flow schematic diagram of an embodiment of robot of the invention.
In conjunction with attached drawing, appended drawing reference is as follows in the embodiment of the present invention:
102- communication unit；104- control unit.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
According to an embodiment of the invention, a kind of additional shaft adding method of robot is provided, it is of the invention as shown in Figure 1
The flow diagram of one embodiment of method.The additional shaft adding method of the robot may include: step S110 and step
S120。
At step S110, in the case where the robot runs its current operation program, it is determined whether receiving can
To be used to indicate the additional shaft addition instruction to robot addition additional shaft.
It is alternatively possible to which determining whether to receive in method of the invention as shown in connection with fig. 2 can serve to indicate that described
Robot adds an embodiment flow diagram of the additional shaft addition instruction of additional shaft, further illustrates in step S110 and determines
The specific journey that can serve to indicate that the additional shaft addition instruction to robot addition additional shaft whether is received, can wrap
It includes: step S210 to step S230.
Step S210 determines that the setting button on the teaching machine of the robot (such as can be used for controlling and sending additional
The button of axis addition flag bit) whether it is pressed.
Step S220, however, it is determined that the setting button is pressed, then further determines that the additional shaft addition flag bit of setting
Whether (such as can be used for indicating the flag bit to robot addition additional shaft) changes.
Step S230, if additional shaft addition flag bit changes, it is determined that receive the additional shaft addition and refer to
It enables.During specifically used, if additional shaft addition flag bit does not change, it is determined that do not receive the additional shaft and add
Add instruction, then continues to run the current operation program.
Such as: additional shaft flag bit is added by the key on teaching machine and sends operation, operation can be made more just
Prompt and visualization is strong；It can solve and need to update configuration text manually for the addition additional shaft of six-shaft industrial robot currently on the market
Part or the problem that manual configuration operation complexity is carried out in teaching.
The button quilt for adding flag bit by being used to control and send additional shaft on the teaching machine for determine robot as a result,
In the case where pressing and determining that additional shaft addition flag bit changes, determines and receive additional shaft addition instruction, to open
Dynamic additional shaft adds program, high degree of automation and good reliability.
At step S120, if receiving the additional shaft addition instruction, the current operation journey of the robot is controlled
After sequence stops, the additional shaft addition program operation of setting is controlled, to realize that the additional shaft addition of the robot (is realized to institute
State the automatic addition of the additional shaft of robot).During specifically used, if not receiving the additional shaft addition instruction, control
It makes the robot and continues to run current operation program.
Such as: axis servomotor scanning distribution can be completed by teaching machine key and (be such as defaulted as manipulator shaft in preceding six roots of sensation axis
In the case where can pass through the scanning distribution that teaching machine key completes axis servomotor) addition operating method, eliminate it is artificial manually
Preceding six roots of sensation axis is configured on teaching machine the operation of manipulator shaft, it is easy to operate, it is relatively low to the technical requirements of operator
And artificial maloperation can be reduced.Moreover, can control whether addition robot additional shaft by button on teaching machine and add
Add process to be all automatically performed by software, robot allocative efficiency can be effectively improved.
Such as: it is completed by using key on teaching machine (such as adding additional s function to certain second function that presses switch to open)
The transmission of scanning servo axis instruction, and then (such as scanner program can be on the basis of the prior art for starting axis servomotor scanner program
On the axis servomotor scanner program that is modified) to complete control program the operation such as update, substitute traditional by manually more
The form of new configuration file or manual configuration teaching machine parameter addition additional shaft can be improved debugging machine people's efficiency, subtract significantly
Few amount of labour.Moreover, the mode of this button addition additional shaft, can be effectively reduced to the professional technical requirements of operator,
Add additional shaft during condition conversion can real-time display on teaching machine interface, pass through robot itself program complete machine
The addition of device people's additional shaft reduces artificial maloperation factor.
As a result, by receiving the case where being used to indicate the additional shaft addition instruction for adding additional shaft to the robot
Under, after the current operation program of control robot operation stops, the additional shaft addition program operation of setting is controlled, realizes robot
Additional shaft addition, operating process is simple, and operates that accuracy is good, high degree of automation.
It is alternatively possible to which the one of the additional shaft addition program operation of setting is controlled in method of the invention as shown in connection with fig. 3
Embodiment flow diagram further illustrates the detailed process that the additional shaft addition program operation of setting is controlled in step S120,
It may include: step S310 to step S330.
Step S310, obtain the quantity of the axis servomotor of carry in the bus of the robot, position and setting matches confidence
Breath.
More optionally, the quantity of the axis servomotor of carry, position in the bus of the robot are obtained in step S310 and are set
Fixed configuration information, may include: the scan bus program for starting the robot interior, in the bus for scanning the robot
The axis servomotor of carry, and obtain quantity, position and the configuration information of setting of the axis servomotor.
Such as: axis servomotor scanning is completed by reading flag bit variation, and preceding six roots of sensation axis is defaulted as manipulator shaft automatically
It is configured, remaining axis avoids as robot additional shaft and manually sets maloperation；It can solve and added for robot
The problem of additional shaft needs robot professional person to operate.
Pass through the axis servomotor of carry in the bus of the scan bus program scanning robot of starting robot interior as a result,
And obtain quantity, position and the configuration information of setting of the axis servomotor scanned, it realizes and carry in the bus of robot is watched
Take the acquisition of the quantity of axis, position and the configuration information of setting, acquisition modes are easy and to obtain result reliability high.
Step S320, according to the current operation program of robot described in the configuration information update, and in the update
The preceding six roots of sensation axis for controlling the axis servomotor in the bus in the process is assigned to manipulator shaft and controls the servo in the bus
Remaining axis of axis is assigned to the operation of robot additional shaft.
More it is alternatively possible to the robot according to the configuration information update in method of the invention as shown in connection with fig. 4
Current operation program an embodiment flow diagram, further illustrate step S320 according to the configuration information update institute
The detailed process for stating the current operation program of robot may include: step S410 and step S420.
Step S410 saves the configuration information into the configuration file under setting path.
Step S420, the control program read (CP read) for controlling the robot take storage information in the configuration file, update institute
State the current operation program of robot.
Such as: by combining key on teaching machine with auto configurator, axis addition can be made more efficient and convenient；
It can solve aiming at the problem that adding robot additional shaft influences production line working efficiency.
As a result, by saving configuration information into the configuration file under setting path, and then control the control of robot
Program reads the storage information in the configuration file, updates the current operation program of robot, and update mode is easy, and is based on matching
It sets the storage information in file and is updated the reliability and safety that can guarantee to update.
Step S330 controls updated current operation journey after the completion of the current operation program of the robot updates
Sequence is activated operation again, and controls the additional shaft addition program stopped.Such as: determine the current operation journey of the robot
Whether the update of sequence is completed.If the update of the current operation program is completed, updated current operation program is controlled again
Be activated operation, and controls the additional shaft addition program stopped (as control servo scanner program stops).
Such as: as shown in fig. 6, the method that industrial six-joint robot adds additional shaft in the solution of the present invention, may include:
Step 1, teaching machine button: by the button on teaching machine, additional shaft addition flag bit can be controlled and is sent, is stopped
Only all operation programs of robot, robot is automatically stopped the program of itself movement before robot adds additional shaft.
Step 2, starting servo scanner program: the part obtains the number of servo in bus for starting servo scanner program
The configuration information of amount and servo simultaneously generates configuration file.
Step 3 updates robotic motion routine, automatic complete according to the configuration file that scanning servo axis generates from bus
It is updated at program.
Step 4, termination machine people's scanner program: robot completes to will move out scanner program after program updates.
Step 5, robotic motion routine operation: after motor program is updated completion to robot, robot is restored to
Normal operable state.
Such as: the course of work for adding additional shaft can be such that
When robot runs its robotic motion routine, robot addition additional shaft program is not involved in operation, works as user
When needing to add robot additional shaft, corresponding button on teaching machine is pressed, if additional shaft flag bit does not change, machine
Device people will keep original operating status, if addition robot additional shaft mark change, when robot program detect it is attached
Axis flag bit is added to change, to ensure that operator's safety, robotic motion routine will be terminated and immediately in starter motor device people
The scan bus program in portion, scanner program will scan the axis servomotor of carry in bus and obtain its quantity, position and others and match
Confidence breath.The configuration information got will be saved in the configuration file under fixed route, at this point, scanner program terminates, machine
Device people program updates robotic motion routine for the information in configuration file is read, during program updates in bus
The preceding six roots of sensation axis of axis servomotor will be assigned to automatically manipulator shaft, remaining axis is run as robot additional shaft.Robot program
After update, robotic motion routine will be activated again, and axis servomotor scanner program will be terminated.
Quantity, position and the configuration information of setting for passing through the axis servomotor of carry in the bus for obtaining robot as a result, into
And according to the configuration information update current operation program, and the first six axis quilt of the axis servomotor in the renewal process in control bus
Be assigned as manipulator shaft and control remaining axis be assigned to robot additional shaft operation, then controlled after the completion of the update
Current operation program be activated again operation and control additional shaft addition program stopped, thus realize additional shaft it is automatic addition with
Current operation program is activated and runs again automatically, and operating process is simple, manual labor amount is small and high reliablity.
It can also include: to show the process that the additional shaft of the robot adds in an optional embodiment
On teaching machine, Error Location is positioned and be repaired when the additional shaft addition program operation error in this process.
Such as: pass through condition conversion (such as scanning servo axis, change robot program's shape during addition additional shaft
State) real-time display on teaching machine, can complete to monitor in real time；It can solve for robot addition additional shaft later due to people
Robot fluctuation of service is led to the problem of for configuration parameter mismatch.
Such as: during the entire process of robot adds additional shaft, state (such as robot stop motion program-starting
Axis servomotor scanner program ...) conversion by real-time display on teaching machine, so as to operator can understand additional shaft addition process,
Once mistake occurs in program process will quickly and effectively position mistake and repair in time to program.As it can be seen that
The method provided in the solution of the present invention, can make operator efficiently and effectively complete additional shaft addition and can be to the maximum extent
Reduce the appearance of mistake.
As a result, by the process of the additional shaft addition of display robot, on the one hand checked convenient for user, intuitive is good；Separately
On the one hand Error Location can be positioned and is repaired when additional shaft adds program operation error, promoted additional shaft and add journey
The reliability and safety of sort run.
Through a large amount of verification experimental verification, using the technical solution of the present embodiment, axis servomotor can be completed by teaching machine key
The addition operation of scanning distribution, can eliminate the behaviour for artificially manually configuring preceding six roots of sensation axis on teaching machine manipulator shaft
Make, it is easy to operate, and high reliablity.
According to an embodiment of the invention, additionally provide a kind of robot of the additional shaft adding method corresponding to robot
Additional shaft adding set.The structural schematic diagram of one embodiment of the device of the invention shown in Figure 5.The additional shaft of the robot
Adding set may include: communication unit 102 and control unit 104.
In an optional example, communication unit 102 can be used for running its current operation program in the robot
In the case of, it is determined whether receive the additional shaft addition instruction that can serve to indicate that robot addition additional shaft.This is logical
The concrete function for believing unit 102 and processing are referring to step S110.
Optionally, the communication unit 102 determine whether to receive can serve to indicate that it is additional to robot addition
The additional shaft of axis adds instruction, may include:
The communication unit 102 specifically can be also used for determining that the setting button on the teaching machine of the robot (such as may be used
With the button for controlling and sending additional shaft addition flag bit) whether it is pressed.The concrete function of the communication unit 102 and place
Reason sees also step S210.
The communication unit 102 specifically can be also used for then further determining that and setting if it is determined that the setting button is pressed
Whether fixed additional shaft addition flag bit (such as can be used for indicating the flag bit to robot addition additional shaft) becomes
Change.The concrete function of the communication unit 102 and processing see also step S220.
The communication unit 102 changes, it is determined that connect if specifically can be also used for the additional shaft addition flag bit
Receive the additional shaft addition instruction.During specifically used, if additional shaft addition flag bit does not change, it is determined that
The additional shaft addition instruction is not received, then continues to run the current operation program.The concrete function of the communication unit 102
And processing sees also step S230.
Such as: additional shaft flag bit is added by the key on teaching machine and sends operation, operation can be made more just
Prompt and visualization is strong；It can solve and need to update configuration text manually for the addition additional shaft of six-shaft industrial robot currently on the market
Part or the problem that manual configuration operation complexity is carried out in teaching.
The button quilt for adding flag bit by being used to control and send additional shaft on the teaching machine for determine robot as a result,
In the case where pressing and determining that additional shaft addition flag bit changes, determines and receive additional shaft addition instruction, to open
Dynamic additional shaft adds program, high degree of automation and good reliability.
In an optional example, control unit 104 is controlled if can be used for receiving the additional shaft addition instruction
After making the current operation program stopping of the robot, the additional shaft addition program operation of setting is controlled, to realize the machine
The additional shaft addition (realizing the automatic addition to the additional shaft of the robot) of people.During specifically used, if not receiving
It adds and instructs to the additional shaft, then control the robot and continue to run current operation program.The control unit 104 it is specific
Function and processing are referring to step S120.
Such as: axis servomotor scanning distribution can be completed by teaching machine key and (be such as defaulted as manipulator shaft in preceding six roots of sensation axis
In the case where can pass through the scanning distribution that teaching machine key completes axis servomotor) addition operating method, eliminate it is artificial manually
Preceding six roots of sensation axis is configured on teaching machine the operation of manipulator shaft, it is easy to operate, it is relatively low to the technical requirements of operator
And artificial maloperation can be reduced.Moreover, can control whether addition robot additional shaft by button on teaching machine and add
Add process to be all automatically performed by software, robot allocative efficiency can be effectively improved.
Such as: it is completed by using key on teaching machine (such as adding additional s function to certain second function that presses switch to open)
The transmission of scanning servo axis instruction, and then (such as scanner program can be on the basis of the prior art for starting axis servomotor scanner program
On the axis servomotor scanner program that is modified) to complete control program the operation such as update, substitute traditional by manually more
The form of new configuration file or manual configuration teaching machine parameter addition additional shaft can be improved debugging machine people's efficiency, subtract significantly
Few amount of labour.Moreover, the mode of this button addition additional shaft, can be effectively reduced to the professional technical requirements of operator,
Add additional shaft during condition conversion can real-time display on teaching machine interface, pass through robot itself program complete machine
The addition of device people's additional shaft reduces artificial maloperation factor.
As a result, by receiving the case where being used to indicate the additional shaft addition instruction for adding additional shaft to the robot
Under, after the current operation program of control robot operation stops, the additional shaft addition program operation of setting is controlled, realizes robot
Additional shaft addition, operating process is simple, and operates that accuracy is good, high degree of automation.
Optionally, the additional shaft addition program of the control of described control unit 104 setting is run, and may include:
Described control unit 104 specifically can be also used for the number for obtaining the axis servomotor of carry in the bus of the robot
Amount, position and the configuration information of setting.The concrete function of the control unit 104 and processing see also step S310.
More optionally, described control unit 104 obtains the quantity of the axis servomotor of carry, position in the bus of the robot
And the configuration information of setting, it may include: described control unit 104, specifically can be also used for starting the robot interior
Scan bus program, scans the axis servomotor of carry in the bus of the robot, and obtain the quantity of the axis servomotor, position and
The configuration information of setting.
Such as: axis servomotor scanning is completed by reading flag bit variation, and preceding six roots of sensation axis is defaulted as manipulator shaft automatically
It is configured, remaining axis avoids as robot additional shaft and manually sets maloperation；It can solve and added for robot
The problem of additional shaft needs robot professional person to operate.
Pass through the axis servomotor of carry in the bus of the scan bus program scanning robot of starting robot interior as a result,
And obtain quantity, position and the configuration information of setting of the axis servomotor scanned, it realizes and carry in the bus of robot is watched
Take the acquisition of the quantity of axis, position and the configuration information of setting, acquisition modes are easy and to obtain result reliability high.
Described control unit 104 specifically can be also used for the current fortune of the robot according to the configuration information update
Line program, and the preceding six roots of sensation axis for controlling during the update axis servomotor in the bus be assigned to manipulator shaft,
And remaining axis for controlling the axis servomotor in the bus is assigned to the operation of robot additional shaft.The control unit 104 it is specific
Function and processing see also step S320.
More optionally, the current operation program of the robot according to the configuration information update of described control unit 104,
May include:
Described control unit 104 specifically can be also used for the configuration text saved the configuration information under setting path
In part.The concrete function of the control unit 104 and processing see also step S410.
Described control unit 104, the control program read (CP read) that specifically can be also used for controlling the robot take the configuration text
Storage information in part, updates the current operation program of the robot.The concrete function of the control unit 104 and processing are also joined
See step S420.
Such as: by combining key on teaching machine with auto configurator, axis addition can be made more efficient and convenient；
It can solve aiming at the problem that adding robot additional shaft influences production line working efficiency.
As a result, by saving configuration information into the configuration file under setting path, and then control the control of robot
Program reads the storage information in the configuration file, updates the current operation program of robot, and update mode is easy, and is based on matching
It sets the storage information in file and is updated the reliability and safety that can guarantee to update.
Described control unit 104 specifically can be also used for the control after the completion of current operation program of the robot updates
It makes updated current operation program to be activated again operation, and controls the additional shaft addition program stopped.Such as: determine institute
Whether the update for stating the current operation program of robot is completed.If the update of the current operation program is completed, update is controlled
Current operation program afterwards is activated operation again, and controls the additional shaft addition program stopped (such as control servo scanning pass
Sequence stops).The concrete function of the control unit 104 and processing see also step S330.
Such as: as shown in fig. 6, the method that industrial six-joint robot adds additional shaft in the solution of the present invention, may include:
Step 1, teaching machine button: by the button on teaching machine, additional shaft addition flag bit can be controlled and is sent, is stopped
Only all operation programs of robot, robot is automatically stopped the program of itself movement before robot adds additional shaft.
Step 2, starting servo scanner program: the part obtains the number of servo in bus for starting servo scanner program
The configuration information of amount and servo simultaneously generates configuration file.
Step 3 updates robotic motion routine, automatic complete according to the configuration file that scanning servo axis generates from bus
It is updated at program.
Step 4, termination machine people's scanner program: robot completes to will move out scanner program after program updates.
Step 5, robotic motion routine operation: after motor program is updated completion to robot, robot is restored to
Normal operable state.
Such as: the course of work for adding additional shaft can be such that
When robot runs its robotic motion routine, robot addition additional shaft program is not involved in operation, works as user
When needing to add robot additional shaft, corresponding button on teaching machine is pressed, if additional shaft flag bit does not change, machine
Device people will keep original operating status, if addition robot additional shaft mark change, when robot program detect it is attached
Axis flag bit is added to change, to ensure that operator's safety, robotic motion routine will be terminated and immediately in starter motor device people
The scan bus program in portion, scanner program will scan the axis servomotor of carry in bus and obtain its quantity, position and others and match
Confidence breath.The configuration information got will be saved in the configuration file under fixed route, at this point, scanner program terminates, machine
Device people program updates robotic motion routine for the information in configuration file is read, during program updates in bus
The preceding six roots of sensation axis of axis servomotor will be assigned to automatically manipulator shaft, remaining axis is run as robot additional shaft.Robot program
After update, robotic motion routine will be activated again, and axis servomotor scanner program will be terminated.
Quantity, position and the configuration information of setting for passing through the axis servomotor of carry in the bus for obtaining robot as a result, into
And according to the configuration information update current operation program, and the first six axis quilt of the axis servomotor in the renewal process in control bus
Be assigned as manipulator shaft and control remaining axis be assigned to robot additional shaft operation, then controlled after the completion of the update
Current operation program be activated again operation and control additional shaft addition program stopped, thus realize additional shaft it is automatic addition with
Current operation program is activated and runs again automatically, and operating process is simple, manual labor amount is small and high reliablity.
It can also include: described control unit 104 in an optional embodiment, can be also used for the machine
The process of the additional shaft addition of people is shown on teaching machine, with when the additional shaft addition program operation error in this process pairs
Error Location is positioned and is repaired.
Such as: pass through condition conversion (such as scanning servo axis, change robot program's shape during addition additional shaft
State) real-time display on teaching machine, can complete to monitor in real time；It can solve for robot addition additional shaft later due to people
Robot fluctuation of service is led to the problem of for configuration parameter mismatch.
Such as: during the entire process of robot adds additional shaft, state (such as robot stop motion program-starting
Axis servomotor scanner program ...) conversion by real-time display on teaching machine, so as to operator can understand additional shaft addition process,
Once mistake occurs in program process will quickly and effectively position mistake and repair in time to program.As it can be seen that
The method provided in the solution of the present invention, can make operator efficiently and effectively complete additional shaft addition and can be to the maximum extent
Reduce the appearance of mistake.
As a result, by the process of the additional shaft addition of display robot, on the one hand checked convenient for user, intuitive is good；Separately
On the one hand Error Location can be positioned and is repaired when additional shaft adds program operation error, promoted additional shaft and add journey
The reliability and safety of sort run.
The processing and function realized by the device of the present embodiment essentially correspond to earlier figures 1 to method shown in Fig. 4
Embodiment, principle and example, therefore not detailed place in the description of the present embodiment may refer to mutually speaking on somebody's behalf in previous embodiment
Bright, this will not be repeated here.
Through a large amount of verification experimental verification, can be controlled whether using technical solution of the present invention by the button on teaching machine
It adds robot additional shaft and adding procedure is all automatically performed, robot allocative efficiency can be effectively improved, and operated
Journey is simple.
According to an embodiment of the invention, additionally providing a kind of robot of the additional shaft adding set corresponding to robot.
The robot may include: the additional shaft adding set of above-described robot.
In an optional embodiment, the solution of the present invention, proposing one kind can be complete by teaching machine key
At axis servomotor scanning distribution (such as servo can be completed by teaching machine key in the case where preceding six roots of sensation axis is defaulted as manipulator shaft
The scanning of axis distributes) addition operating method, this method, which eliminates, artificially configures machine for preceding six roots of sensation axis on teaching machine manually
The operation of device people's axis, it is easy to operate, it is relatively low to the technical requirements of operator and artificial maloperation can be reduced.
In an optional example, the solution of the present invention can control whether addition robot by button on teaching machine
Additional shaft and adding procedure is all automatically performed by software, can effectively improve robot allocative efficiency.
Optionally, in the solution of the present invention, additional shaft flag bit is added by the key on teaching machine and sends operation,
Operation can be made more convenient and visualized strong；Can solve needs for the addition additional shaft of six-shaft industrial robot currently on the market
Will manually more new configuration file or in teaching carry out manual configuration operation complexity problem.
Optionally, in the solution of the present invention, axis servomotor scanning is completed by reading flag bit variation, and automatically by the preceding six roots of sensation
Axis is defaulted as manipulator shaft and is configured, remaining axis avoids as robot additional shaft and manually sets maloperation；It can solve
Aiming at the problem that needing robot professional person to operate robot addition additional shaft.
Optionally, in the solution of the present invention, by combining key on teaching machine with auto configurator, axis can be made
It adds more efficient and convenient；It can solve aiming at the problem that adding robot additional shaft influences production line working efficiency.
Optionally, in the solution of the present invention, pass through condition conversion (such as scanning servo axis, more during addition additional shaft
Changing the states such as robot program) real-time display on teaching machine, can complete to monitor in real time；It can solve and added for robot
Since artificial configuration parameter mismatch leads to the problem of robot fluctuation of service after additional shaft.
As it can be seen that being completed by using key on teaching machine (such as adding additional s function to certain second function that presses switch to open)
The transmission of scanning servo axis instruction, and then (such as scanner program can be on the basis of the prior art for starting axis servomotor scanner program
On the axis servomotor scanner program that is modified) to complete control program the operation such as update, substitute traditional by manually more
The form of new configuration file or manual configuration teaching machine parameter addition additional shaft can be improved debugging machine people's efficiency, subtract significantly
Few amount of labour.Moreover, the mode of this button addition additional shaft, can be effectively reduced to the professional technical requirements of operator,
Add additional shaft during condition conversion can real-time display on teaching machine interface, pass through robot itself program complete machine
The addition of device people's additional shaft reduces artificial maloperation factor.
In an optional specific embodiment, example shown in fig. 6 may refer to, to the specific reality of the solution of the present invention
Existing process illustrates.
As shown in fig. 6, the method that industrial six-joint robot adds additional shaft in the solution of the present invention, may include:
Step 1, teaching machine button: by the button on teaching machine, additional shaft addition flag bit can be controlled and is sent, is stopped
Only all operation programs of robot, robot is automatically stopped the program of itself movement before robot adds additional shaft.
Step 2, starting servo scanner program: the part obtains the number of servo in bus for starting servo scanner program
The configuration information of amount and servo simultaneously generates configuration file.
Step 3 updates robotic motion routine, automatic complete according to the configuration file that scanning servo axis generates from bus
It is updated at program.
Step 4, termination machine people's scanner program: robot completes to will move out scanner program after program updates.
Step 5, robotic motion routine operation: after motor program is updated completion to robot, robot is restored to
Normal operable state.
Specifically, in the solution of the present invention, the course of work for adding additional shaft be can be such that
When robot runs its robotic motion routine, robot addition additional shaft program is not involved in operation, works as user
When needing to add robot additional shaft, corresponding button on teaching machine is pressed, (the example if additional shaft flag bit does not change
As: if not showing on teaching machine interface, flag bit changes) if robot will keep original operating status, if addition machine
People's additional shaft mark changes, when robot program detects that additional shaft flag bit changes, to ensure operator's safety,
Robotic motion routine will be terminated and the scan bus program inside starter motor device people, scanner program will scan in bus immediately
The axis servomotor of carry simultaneously obtains its quantity, position and other configuration informations.
Further, the configuration information got will be saved in the configuration file under fixed route (such as: with confidence
Breath contains the information such as the quantity of axis carry, position in bus), at this point, scanner program terminates, robot program will read and configure
Information in file updates robotic motion routine, and the preceding six roots of sensation axis of axis servomotor during program updates in bus will
Automatically it is assigned to manipulator shaft, remaining axis is run as robot additional shaft.
Further, after robot program updates, robotic motion routine will be activated again, axis servomotor scanner program
It will be terminated.
Wherein, during the entire process of robot adds additional shaft, state (such as robot stop motion program-starting
Axis servomotor scanner program ...) conversion by real-time display on teaching machine, so as to operator can understand additional shaft addition process,
Once mistake occurs in program process will quickly and effectively position mistake and repair in time to program.As it can be seen that
The method provided in the solution of the present invention, can make operator efficiently and effectively complete additional shaft addition and can be to the maximum extent
Reduce the appearance of mistake.
Alternatively, addition six-joint robot additional shaft can also be by changing configuration file manually or passing through teaching machine
Additional shaft is configured to complete, but this adding method needs technical professional that could complete and the efficiency that operates compares
It is low, and be easy to occur faulty operation in operation to make to add axis failure.
The processing and function realized by the robot of the present embodiment essentially correspond to the reality of aforementioned device shown in fig. 5
Example, principle and example are applied, therefore not detailed place in the description of the present embodiment, it may refer to the related description in previous embodiment,
This will not be repeated here.
It is added by the key on teaching machine additional through a large amount of verification experimental verification using technical solution of the present invention
Axis flag bit sends operation, and operation can be made more convenient and visualized by force, operating process is simple and operating reliability is high.
According to an embodiment of the invention, a kind of storage for additionally providing the additional shaft adding method corresponding to robot is situated between
Matter.The storage medium may include: that a plurality of instruction is stored in the storage medium；The a plurality of instruction, for by processor
Load and execute the additional shaft adding method of above-described robot.
The processing and function realized by the storage medium of the present embodiment essentially correspond to earlier figures 1 to shown in Fig. 4
Embodiment, principle and the example of method, therefore not detailed place in the description of the present embodiment, may refer to the phase in previous embodiment
It speaks on somebody's behalf bright, this will not be repeated here.
It is swept using technical solution of the present invention by reading flag bit variation completion axis servomotor through a large amount of verification experimental verification
It retouches, and preceding six roots of sensation axis is defaulted as manipulator shaft automatically and is configured, remaining axis is avoided and set manually as robot additional shaft
Determine maloperation, manual labor amount is small, high reliablity.
According to an embodiment of the invention, additionally providing a kind of robot of the additional shaft adding method corresponding to robot.
The robot may include: processor, for executing a plurality of instruction；Memory, for storing a plurality of instruction；Wherein, described more
Item instruction, for being stored by the memory, and is loaded by the processor and is executed the additional shaft of above-described robot
Adding method.
The processing and function realized by the robot of the present embodiment essentially correspond to earlier figures 1 to side shown in Fig. 4
Embodiment, principle and the example of method, therefore not detailed place in the description of the present embodiment, may refer to the correlation in previous embodiment
Illustrate, this will not be repeated here.
Through a large amount of verification experimental verification, using technical solution of the present invention, by by key on teaching machine and automatically configuring journey
Sequence combines, and axis addition can be made more efficient and convenient, it is good to add high-efficient and accuracy.
To sum up, it will be readily appreciated by those skilled in the art that under the premise of not conflicting, above-mentioned each advantageous manner can be certainly
It combined, be superimposed by ground.
The above description is only an embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (13)
1. a kind of additional shaft adding method of robot characterized by comprising
Determine whether to receive the additional shaft addition instruction being used to indicate to robot addition additional shaft；
If receiving the additional shaft addition instruction, after the current operation program stopping for controlling the robot, control setting
Additional shaft addition program operation, with realize the robot additional shaft addition.
2. adding the method according to claim 1, wherein determining whether to receive to be used to indicate to the robot
The additional shaft of additional shaft is added to add instruction, comprising:
Determine whether the setting button on the teaching machine of the robot is pressed；
If it is determined that the setting button is pressed, then further determine that whether the additional shaft addition flag bit of setting changes；
If the additional shaft addition flag bit changes, it is determined that receive the additional shaft addition instruction.
3. method according to claim 1 or 2, which is characterized in that control the additional shaft addition program operation of setting, packet
It includes:
Obtain the quantity of the axis servomotor of carry in the bus of the robot, position and the configuration information of setting；
According to the current operation program of robot described in the configuration information update, and during the update described in control
The preceding six roots of sensation axis of axis servomotor in bus is assigned to manipulator shaft and controls remaining axis of the axis servomotor in the bus to be divided
With for robot additional shaft operation；
After the completion of the current operation program of the robot updates, controls updated current operation program and be activated again fortune
Row, and control the additional shaft addition program stopped.
4. according to the method described in claim 3, it is characterized in that, wherein,
Obtain the quantity of the axis servomotor of carry in the bus of the robot, position and the configuration information of setting, comprising:
The scan bus program for starting the robot interior, scans the axis servomotor of carry in the bus of the robot, and obtains
Take quantity, position and the configuration information of setting of the axis servomotor；
And/or
According to the current operation program of robot described in the configuration information update, comprising:
The configuration information is saved into the configuration file under setting path；
The control program read (CP read) for controlling the robot takes storage information in the configuration file, updates the current of the robot
Run program.
5. method described in one of -4 according to claim 1, which is characterized in that further include:
The process that the additional shaft of the robot adds is shown on teaching machine, journey is added with the additional shaft in this process
Sort run is positioned and is repaired to Error Location when malfunctioning.
6. a kind of additional shaft adding set of robot characterized by comprising
Communication unit is used to determine whether that receiving the additional shaft addition for being used to indicate and adding additional shaft to the robot refers to
It enables；
Control unit, if for receiving the additional shaft addition instruction, the current operation program for controlling the robot is stopped
After only, the additional shaft addition program operation of setting is controlled, to realize the additional shaft addition of the robot.
7. device according to claim 6, which is characterized in that the communication unit, which determines whether to receive, to be used to indicate pair
The additional shaft of the robot addition additional shaft adds instruction, comprising:
Determine whether the setting button on the teaching machine of the robot is pressed；
If it is determined that the setting button is pressed, then further determine that whether the additional shaft addition flag bit of setting changes；
If the additional shaft addition flag bit changes, it is determined that receive the additional shaft addition instruction.
8. device according to claim 6 or 7, which is characterized in that the additional shaft addition of described control unit control setting
Program operation, comprising:
Obtain the quantity of the axis servomotor of carry in the bus of the robot, position and the configuration information of setting；
According to the current operation program of robot described in the configuration information update, and during the update described in control
The preceding six roots of sensation axis of axis servomotor in bus is assigned to manipulator shaft and controls remaining axis of the axis servomotor in the bus to be divided
With for robot additional shaft operation；
After the completion of the current operation program of the robot updates, controls updated current operation program and be activated again fortune
Row, and control the additional shaft addition program stopped.
9. device according to claim 8, which is characterized in that wherein,
Described control unit obtain the quantity of the axis servomotor of carry in the bus of the robot, position and setting with confidence
Breath, comprising:
The scan bus program for starting the robot interior, scans the axis servomotor of carry in the bus of the robot, and obtains
Take quantity, position and the configuration information of setting of the axis servomotor；
And/or
The current operation program of described control unit robot according to the configuration information update, comprising:
The configuration information is saved into the configuration file under setting path；
The control program read (CP read) for controlling the robot takes storage information in the configuration file, updates the current of the robot
Run program.
10. the device according to one of claim 6-9, which is characterized in that further include:
Described control unit is also used to show the process that the additional shaft of the robot adds on teaching machine, in the mistake
Error Location is positioned and repaired when the addition program operation error of additional shaft described in journey.
11. a kind of robot characterized by comprising the additional shaft of the robot as described in claim 6-10 is any adds
Device.
12. a kind of storage medium, which is characterized in that be stored with a plurality of instruction in the storage medium；The a plurality of instruction, is used for
Loaded by processor and executed the additional shaft adding method of robot a method as claimed in any one of claims 1 to 5.
13. a kind of robot characterized by comprising
Processor, for executing a plurality of instruction；
Memory, for storing a plurality of instruction；
Wherein, a plurality of instruction for being stored by the memory, and is loaded by the processor and is executed such as claim
The additional shaft adding method of any robot of 1-5.
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| CN201811333255.4A CN109483536B (en) | 2018-11-09 | 2018-11-09 | Additional axis adding method and device for robot, storage medium and robot |
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| CN201811333255.4A CN109483536B (en) | 2018-11-09 | 2018-11-09 | Additional axis adding method and device for robot, storage medium and robot |
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| CN109483536B (en) | 2020-06-23 |
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