CN110181511A - Robot zero point loss detection and the method and system for assisting zero point correction - Google Patents
Robot zero point loss detection and the method and system for assisting zero point correction Download PDFInfo
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- CN110181511A CN110181511A CN201910427456.9A CN201910427456A CN110181511A CN 110181511 A CN110181511 A CN 110181511A CN 201910427456 A CN201910427456 A CN 201910427456A CN 110181511 A CN110181511 A CN 110181511A
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- zero point
- warning information
- robot
- timestamp
- axial coordinate
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
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Abstract
The invention discloses a kind of robot zero point loss detection and the method and system of auxiliary zero point correction, comprising: S1, in real time each axial coordinate data in acquisition robot operational process and stamp of corresponding first time and warning information and corresponding second timestamp；Whether S2, the warning information that receives of judgement are warning information that zero point is lost, if then entering S3, otherwise repeatedly S2；S3, it analyzes corresponding second timestamp of the warning information nearest first time lost apart from zero point and stabs corresponding each axial coordinate data, and warning information that each axial coordinate data analyzed, zero point are lost and corresponding second timestamp are sent to mobile terminal or display on robot display interface.Real-time detection KUKA of the present invention robot zero point loss situation simultaneously zero point lose when memory zero point lose before robot each axial coordinate, facilitate user according to zero point lose before robot each axial coordinate auxiliary robot zero point it is accurate quickly calibrated.
Description
Technical field
The present invention relates to robot zero points to lose technical field, more particularly to a kind of robot zero point loss detection and auxiliary
Help the method and system of zero point correction.
Background technique
KUKA robot will cause manipulator shaft zero point loss sometimes in the process of running, or after replacement motor, RDC
It will also result in zero point loss, since the dead-center position of axis outside KUKA robot needs to correct by reference mark, and mark
The precision of scale is lower；The preset track of program, mould are not can guarantee by reference mark to calibrate yet after zero point is lost
Quasi- modification program can consume the plenty of time, and will cause the damage of part, bring economic loss to producer.
Summary of the invention
The present invention is in view of the problems of the existing technology and insufficient, provide a kind of novel robot zero point loss detection and
Assist the method and system of zero point correction.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of method that the present invention provides robot zero point loss detection and assists zero point correction, it is characterized in that, packet
Include following steps:
S1, in real time each axial coordinate data in acquisition robot operational process and stamp of corresponding first time and alarm
Information and corresponding second timestamp；
Whether S2, the warning information that receives of judgement are warning information that zero point is lost, if then entering step S3, otherwise
Repeat step S2；
S3, analyze apart from zero point lose corresponding second timestamp of warning information it is nearest first time stamp it is corresponding
Each axial coordinate data, and the warning information and corresponding second timestamp hair that each axial coordinate data analyzed, zero point are lost
It gives mobile terminal or is shown on robot display interface.
Preferably, after step s 3 including step S4, judging whether the warning information received is that axis zero point has corrected
Warning information, if then entering step S5 terminates process, otherwise repeatedly step S4；
The present invention also provides a kind of robot zero point loss detection and the systems for assisting zero point correction, it is characterized in that,
Including acquisition module, first judgment module and analysis module；
The acquisition module in real time acquire robot operational process in each axial coordinate data and it is corresponding first when
Between stab and warning information and corresponding second timestamp；
The first judgment module be used to judge the warning information that receives whether be zero point loss warning information, for
Analysis module is called when being, otherwise repeats to call first judgment module；
The analysis module is used to analyze nearest the of corresponding second timestamp of warning information lost apart from zero point
The corresponding each axial coordinate data of one timestamp, and the warning information and correspondence that each axial coordinate data analyzed, zero point are lost
The second timestamp be sent to mobile terminal or be shown on robot display interface.
Preferably, second judgment module is used for the announcement for judging to receive the system also includes the second judgment module
Whether alert information is otherwise the warning information that axis zero point has corrected repeats to call the second judgment module if then terminating.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Real-time detection KUKA of the present invention robot zero point loss situation and the preceding machine of memory zero point loss when zero point is lost
Each axial coordinate of people, facilitate user according to zero point lose before robot each axial coordinate auxiliary robot zero point it is accurate quickly
Calibration.
Detailed description of the invention
Fig. 1 is the process of the robot zero point loss detection of present pre-ferred embodiments and the method for auxiliary zero point correction
Figure.
Fig. 2 is the structural frames of the robot zero point loss detection of present pre-ferred embodiments and the system of auxiliary zero point correction
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of robot zero point loss detection and the method for assisting zero point correction, packet
Include following steps:
Step 101, in real time acquisition robot operational process in each axial coordinate data and corresponding first time stamp and
Warning information and corresponding second timestamp.
Whether step 102, the warning information that receives of judgement are warning information that zero point is lost, if then entering step
103, otherwise repeatedly step 102.
Step 103, analyze apart from zero point lose corresponding second timestamp of warning information it is nearest first time stamp
Corresponding each axial coordinate data, and by each axial coordinate data analyzed, zero point lose warning information and it is corresponding second when
Between stamp be sent to mobile terminal or be shown on robot display interface.
Whether step 104, the warning information that receives of judgement are warning information that axis zero point has corrected, if then entering step
Rapid 105 terminate process, otherwise repeatedly step 104.
In the present embodiment, using edge calculations gateway acquire in real time robot each axial coordinate data and warning information and
Its timestamp.When collecting the warning information of alarm alarmID=106, according to warning content, KUKA machine at this time is determined
People's respective shaft zero point is lost；When collecting the warning information of alarm alarmID=1349, all axis zero points school is determined
Just.When detecting that respective shaft zero point is lost, the timestamp of alarm is lost in conjunction with the axis zero point, before the axis zero point being lost most
The axial coordinate of one acquisition is shown on interface and keeps showing the coordinate value afterwards, while zero point is lost alarm and passes through short message side
Formula is pushed to user, until the zero correction of all axis finishes.User passes through teaching machine according to the coordinate data before zero point loss
Manual mobile robot can fast and accurately complete zero point correction.
As shown in Fig. 2, the system that the present embodiment also provides a kind of robot zero point loss detection and assists zero point correction,
Including acquisition module 1, first judgment module 2, analysis module 3 and the second judgment module 4.
The acquisition module 1 in real time acquire robot operational process in each axial coordinate data and it is corresponding first when
Between stab and warning information and corresponding second timestamp.
The first judgment module 2 be used to judge the warning information that receives whether be zero point loss warning information,
Analysis module is called when to be, otherwise repeating to call first judgment module 2.
The analysis module 3 is used to analyze nearest the of corresponding second timestamp of warning information lost apart from zero point
The corresponding each axial coordinate data of one timestamp, and the warning information and correspondence that each axial coordinate data analyzed, zero point are lost
The second timestamp be sent to mobile terminal or be shown on robot display interface.
Whether the warning information that second judgment module 4 is used to judge to receive is that the alarm that axis zero point has corrected is believed
Otherwise breath repeats to call the second judgment module 4 if then terminating.
In the present invention, once there is a situation where zero points to lose for robot, robot system can generate a band precise time
The alarm of stamp obtains each axial coordinate value when zero point is lost in conjunction with the warning information and correspondent time and is pushed to user, uses
Family can quickly and accurately carry out robot zero point correction according to the information.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (4)
1. a kind of robot zero point loss detection and assist zero point correction method, which is characterized in that itself the following steps are included:
S1, in real time each axial coordinate data in acquisition robot operational process and stamp of corresponding first time and warning information
And corresponding second timestamp；
Whether the warning information that S2, judgement receive is otherwise the warning information that zero point is lost repeats if then entering step S3
Step S2；
S3, it analyzes corresponding second timestamp of the warning information nearest first time lost apart from zero point and stabs corresponding each axis
Coordinate data, and each axial coordinate data analyzed, the warning information of zero point loss and corresponding second timestamp are sent to
Mobile terminal is shown on robot display interface.
2. robot zero point loss detection as described in claim 1 and the method for assisting zero point correction, which is characterized in that in step
After rapid S3 include whether the warning information that receives of step S4, judgement is warning information that axis zero point has corrected, if then into
Entering step S5 terminates process, otherwise repeatedly step S4.
3. a kind of robot zero point loss detection and the system for assisting zero point correction, which is characterized in that it includes acquisition module, the
One judgment module and analysis module；
The acquisition module in real time acquire robot operational process in each axial coordinate data and corresponding first time stamp,
And warning information and corresponding second timestamp；
The first judgment module be used to judge the warning information that receives whether be zero point loss warning information, when to be
Analysis module is called, otherwise repeats to call first judgment module；
When the analysis module is used to analyze nearest first of corresponding second timestamp of warning information apart from zero point loss
Between stab corresponding each axial coordinate data, and warning information that each axial coordinate data analyzed, zero point are lost and corresponding the
Two timestamps are sent to mobile terminal or are shown on robot display interface.
4. robot zero point loss detection as claimed in claim 3 and the system for assisting zero point correction, which is characterized in that described
System further includes the second judgment module, second judgment module be used to judge the warning information that receives whether be axis zero point
Otherwise the warning information of correction repeats to call the second judgment module if then terminating.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910427456.9A CN110181511B (en) | 2019-05-22 | 2019-05-22 | Robot zero loss detection and zero calibration assisting method and system |
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| CN201910427456.9A CN110181511B (en) | 2019-05-22 | 2019-05-22 | Robot zero loss detection and zero calibration assisting method and system |
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| CN110181511A true CN110181511A (en) | 2019-08-30 |
| CN110181511B CN110181511B (en) | 2020-10-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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| DE102017115715A1 (en) * | 2016-07-20 | 2018-01-25 | Fanuc Corporation | Robot zero calibration device and procedure |
| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero setting system and method |
| CN109093298A (en) * | 2018-10-24 | 2018-12-28 | 东南（福建）汽车工业有限公司 | A kind of bearing calibration of welding robot mechanical origin |
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| KR20070090864A (en) * | 2007-08-14 | 2007-09-06 | 포항공과대학교 산학협력단 | Odometry calibration method with home positioning in mobile robot |
| CN105397807B (en) * | 2015-12-21 | 2017-12-08 | 珠海格力电器股份有限公司 | Robot zero calibration device, robot zero calibration system and robot zero calibration method |
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| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero setting system and method |
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| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113245722B (en) * | 2021-06-17 | 2021-10-01 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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