CN110853450A - Industrial robot training platform and fault diagnosis method - Google Patents
Industrial robot training platform and fault diagnosis method Download PDFInfo
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- CN110853450A CN110853450A CN201911315040.4A CN201911315040A CN110853450A CN 110853450 A CN110853450 A CN 110853450A CN 201911315040 A CN201911315040 A CN 201911315040A CN 110853450 A CN110853450 A CN 110853450A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses an industrial robot practical training platform and a fault diagnosis method, wherein the industrial robot fault diagnosis and maintenance practical training platform of the platform comprises an industrial robot control system, an intelligent clamping plate, an industrial personal computer, four relays and a robot control system power supply; relays are respectively arranged between the control system power supply and the main computer unit, between the control system power supply and the shaft computer unit, between the control system power supply and the safety panel unit, and between the control system power supply and the shaft driver unit, and the four relays are normally closed and electrified; the industrial computer sends any power failure instruction of main computer unit, axle computer unit, safety panel unit or axle driver unit to intelligent cardboard, and intelligent cardboard converts command signal into the signal of telecommunication and controls it through the control end of four relays and break off the action. The invention realizes that the hardware of the industrial robot control system can set faults, trains students to independently troubleshoot faults and solves the learning ability of the faults.
Description
Technical Field
The invention relates to the technical field of teaching equipment, in particular to an industrial robot practical training platform and a fault diagnosis method.
Background
The current industrial automation technology is rapidly developed, and for the profession related to the industrial robot and having opened the course of the industrial robot, the use of the industrial robot is indispensable, but various hardware and software faults can occur in the use process of the robot. In addition, most students and students are shout teachers to solve the faults, but the next fault cannot be solved independently. And the teaching equipment of the current industrial robot orientation with respect to troubleshooting is close to blank, and there is no relevant equipment, software and course resources. The invention can train students and students to independently solve the problem of faults, and can also be used for teaching and learning courses such as basic operation and programming of industrial robots, programmable controllers and the like.
Disclosure of Invention
One of the tasks of the invention is to provide an industrial robot practical training platform, which can set faults in industrial robot control system hardware, exercise independent troubleshooting of students and solve the learning capacity of the faults.
The technical scheme of the invention is as follows:
the industrial robot practical training platform comprises an industrial robot fault diagnosis and maintenance practical training platform and is characterized by comprising an industrial robot control system, an intelligent clamping plate, an industrial personal computer, four relays and a robot control system power supply;
the industrial robot control system comprises a main computer unit, a shaft computer unit, a safety panel unit and a shaft driver unit which are sequentially connected, wherein the output end of the main computer unit is connected with the input end of the safety panel unit, and the main computer unit is connected with the industrial personal computer;
the robot control system power supply supplies power for the main computer unit, the shaft computer unit, the safety panel unit and the shaft driver unit respectively, the relay is arranged between the robot control system power supply and the main computer unit, the relay is arranged between the robot control system power supply and the shaft computer unit, the relay is arranged between the robot control system power supply and the safety panel unit, the relay is arranged between the robot control system power supply and the shaft driver unit, and the four relays are in a closed power-on state in a normal state;
the intelligent card board is respectively connected with the control ends of the four relays, the industrial personal computer sends a main computer unit power failure instruction, a shaft computer unit power failure instruction, a safety panel unit power failure instruction or a shaft driver unit power failure instruction to the intelligent card board, and the intelligent card board converts an instruction signal into an electric signal to control the relays to break.
The invention also provides a fault diagnosis method for the practical training platform of the industrial robot, which realizes that the hardware of the control system of the industrial robot can set faults, trains students to independently troubleshoot the faults and solves the learning ability of the faults.
The technical scheme of the invention is as follows:
connecting a software program and an industrial robot control system;
setting a robot hardware fault through an industrial personal computer, wherein the robot fault comprises a power supply fault of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit;
judging which type of fault the robot belongs to according to the fault result of the robot;
the problem of robot faults is solved;
the software relieves the robot of the fault.
Advantageous effects
(1) The industrial robot training platform is provided with four logic module power failure circuits including a main computer unit, a shaft computer unit, a safety panel unit and a shaft driver unit through an industrial robot control system, and combines the power failure setting control of an industrial personal computer, so that the problem that a teacher explaining a student cannot intuitively feel is solved, the student is prompted to independently check the thinking ability, and the problem solving ability is discovered.
(2) The display window on the industrial robot fault diagnosis and maintenance training platform is tiled with the main computer unit, the shaft computer unit, the safety panel unit, the shaft driver unit and other module units of the industrial robot control system, so that students can observe the fault state of equipment and implement maintenance more conveniently.
(3) The industrial robot practical training platform also comprises an industrial robot comprehensive practical training platform, and whether the wiring of the plugging panel is correct or not is checked through the prompt of a display screen or a touch screen on the industrial robot fault diagnosis and maintenance practical training platform, so that communication interaction control of the robot, the programmable logic controller and the robot can be learned while students understand practical training operation of the industrial robot.
(4) According to the fault diagnosis method for the practical training platform of the industrial robot, the program compiling error, the program frame error and the system parameter error are set through software of the industrial personal computer, the specific program error is analyzed according to the software prompt, the related software program errors are solved, and the comprehensive and independent practical training capability of trainees is enhanced.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot practical training platform provided in embodiment 1 of the present invention;
fig. 2 is one of schematic circuit structures of a fault diagnosis and maintenance training platform of an industrial robot provided in embodiment 1 of the present invention;
fig. 3 is a second schematic circuit structure diagram of an industrial robot fault diagnosis and maintenance training platform provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of an industrial robot comprehensive practical training platform provided in embodiment 6 of the present invention.
Fig. 5 is a schematic circuit structure diagram of an industrial robot comprehensive practical training platform provided in embodiment 6 of the present invention;
fig. 6 is a schematic flow chart of a fault diagnosis method for an industrial robot practical training platform according to embodiment 7 of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, a schematic structural diagram of an industrial robot practical training platform provided in embodiment 1 of the present invention is shown. Fig. 2 is a schematic circuit structure diagram of an industrial robot fault diagnosis and maintenance training platform according to embodiment 1 of the present invention. Fig. 3 is a second schematic circuit structure diagram of an industrial robot fault diagnosis and maintenance training platform according to embodiment 1 of the present invention.
The industrial robot training platform is an independent industrial robot fault diagnosis and maintenance training platform 10. The industrial robot fault diagnosis and maintenance training platform comprises an industrial robot control system, an intelligent clamping plate 11, an industrial personal computer, a demonstrator, four relays, a main power supply, a power distribution unit, a relay power supply and a robot control system power supply.
The industrial robot control system comprises a main computer unit, a shaft computer unit, a safety panel unit and a shaft driver unit which are sequentially connected, wherein the output end of the main computer unit is connected with the input end of the safety panel unit, and the main computer unit is connected with an industrial personal computer. The demonstrator inputs an instruction for controlling the action of the industrial robot to the main computer unit, then gives signal data to the shaft computer unit to calculate related shaft operation data, and the shaft computer unit gives the shaft operation data to the driver unit to drive the external industrial robot body, so that the motor of the industrial robot body is controlled to operate, the robot is operated, and various practical training operations of the stacking module, the curved surface track module and the TCP calibration module are performed.
The main power supply respectively supplies power to the robot control system power supply and the relay power supply. And the robot control system power supply distributes and provides 24V direct current power for the main computer unit, the shaft computer unit, the safety panel unit and the shaft driver unit through a power distribution unit. The relay power supply is characterized in that the four relays are respectively used for supplying power, the four relays are electromagnetic relays, the relay power supply is respectively connected with coils of the four relays for supplying power, and the corresponding relay power supply is in a disconnected state in a normal state.
A first relay is arranged between the power distribution unit and the main computer unit, a second relay is arranged between the power distribution unit and the shaft computer unit, a third relay is arranged between the power distribution unit and the safety panel unit, a fourth relay is arranged between the power distribution unit and the shaft driver unit, and the four relays are in a closed power-on state in a normal state.
The intelligent card board is respectively connected with the control ends of the four relays, the industrial personal computer sends a main computer unit power failure instruction, a shaft computer unit power failure instruction, a safety panel unit power failure instruction or a shaft driver unit power failure instruction to the intelligent card board, and the intelligent card board converts an instruction signal into an electric signal to control the corresponding relay power supply to supply power for the coil. After the corresponding relay coil is electrified, electromagnetic attraction is generated to adsorb the armature, so that the contact of the relay is switched from a normal closed state to an open state, and the corresponding main computer unit, the shaft computer unit, the safety panel unit and the shaft driver unit generate faults.
The industrial robot fault diagnosis and maintenance training platform can independently realize hardware fault diagnosis training and also can be in communication control with the industrial robot comprehensive training platform to perform training operation on the industrial robot body.
Optionally, the industrial robot control system further comprises a digital I/O unit and an I/O terminal unit, the digital I/O unit is connected with the main computer unit, the digital I/O unit is connected with the I/O terminal unit, the I/O terminal unit is externally connected with a PLC plug panel, and the shaft driver unit is externally connected with the industrial robot body; and the digital I/O unit and the I/O terminal unit are used for realizing communication exchange between the PLC and the industrial robot control system.
Furthermore, the main power supply is connected with a power supply filter for filtering noise electric signals in the power supply, a first output end of the power supply filter is connected with the driver unit, and a second output end of the power supply filter is connected with the power supply of the robot control system.
Furthermore, the main computer unit is in communication connection with a demonstrator, and the demonstrator is used for programming, modifying, demonstrating, operating and the like of the industrial robot body and displaying fault codes and information of the robot.
Further, real standard platform of industrial robot fault diagnosis and maintenance still includes a cabinet body, the cabinet body includes upper show window 13, middle level operation panel and lower floor's sales counter 14, industrial robot control system sets up in show window 13 for conveniently observe the hardware trouble of maintaining main computer unit, axle computer unit, safety panel unit and axle driver unit. And a display screen 12 is arranged on a panel between the upper display window 13 and the middle operating platform and serves as the output end of the industrial personal computer, and a mouse or/and a keyboard serves as the input end of the industrial personal computer and is used for setting faults, relieving the faults or inquiring the faults. The lower counter 14 includes multiple drawers for holding the mouse and/or keyboard, and keeps the platform aesthetically pleasing and tidy.
The method for diagnosing the fault of the industrial robot practical training platform provided by the embodiment 2 of the invention comprises the following steps:
and step 101, connecting the software program and the industrial robot control system. The industrial personal computer is connected with a main computer unit in the industrial robot control cabinet by using a network cable, and the communication connection between the industrial robot body and the industrial personal computer is established by using a 616-1 PC Interface communication option.
And 102, setting robot hardware faults through the input end of the industrial personal computer, wherein the robot hardware faults comprise power supply faults of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit.
In particular, the amount of the solvent to be used,
in the [ hardware failure setting ] window, any one of the host computer unit, the spindle computer unit, the security panel unit, and the spindle driver unit is selected to perform failure setting. In this embodiment, the main computer unit module is selected and a power failure of the main computer unit is set. The set fault command controls the relay of the corresponding main computer unit to be turned off.
And 103, judging which type of fault the robot belongs to according to the fault result of the robot.
Specifically, when the industrial robot body is in a cycle starting state, the display information on the demonstrator is 'connecting to the robot controller', which indicates that no communication exists between the teaching equipment and the control cabinet; the state of the main computer unit is that all signal display lamps are in an off state, and the POWER-off state lamp representing the POWER supply indicates that the robot is powered off integrally or the POWER supply of the main computer unit is in a failure. The interface of the touch screen 12 or the display screen 12' displays information, and the power failure of the main computer unit is judged, so that the main computer unit is not started. Other unit modules can be checked, whether electricity exists or not, the state of the computer unit of the shaft is that the state display lamp quickly flashes in red, the state of the safety panel is that the state display lamp quickly flashes in the safety panel, the state of the shaft driving module is that only the right side lamp in the square is normally on in the state signal lamp, and the other lamp is in an off state to indicate communication faults. When other unit modules are powered on, it can be judged that the main computer unit has a power failure.
And step 104, solving the robot fault.
Specifically, when the trainee detects a fault and replaces the cable, the robot is powered on again, and the display lamp of the main computer unit is turned on.
Step 105, the software disassembles the robot fault. Clicking the lower right corner of the failure setting port of the software to cancel the setting, and canceling the failure setting of the main computer unit.
The fault diagnosis method for the industrial robot practical training platform provided by the embodiment 3 of the invention comprises the following steps:
and step 201, connecting the software program and the industrial robot control system. This step has the same implementation steps as step 101 in example 2.
And 202, setting robot hardware faults through the input end of the industrial personal computer, wherein the robot hardware faults comprise power supply faults of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit.
This step has the same implementation steps as step 102 in example 2. The differences are as follows: in this embodiment, a spindle computer unit module is selected, and a power failure of the spindle computer unit is set. The set fault command controls the relay of the corresponding axis computer unit to be switched off.
And step 203, judging which type of fault the robot belongs to according to the fault result of the robot.
Specifically, the demonstrator displays fault information, clicks to confirm, and the robot system enters a system pause state and cannot be operated and used before the fault is relieved.
The demonstrator displays the fault information as follows: the communication with the drive module is interrupted and the host loses contact with the drive module 1.
The reason why the demonstrator shows to appear is as follows: the communication network cable is damaged, or the power supply of the unit module is failed, so that the unit module is in a closed and non-starting state.
The display processing method of the demonstrator comprises the following steps: and replacing the communication network cable and checking whether the power supply of the module power supply is available or not.
The student looks over the axle computer unit state according to the suggestion and shows for the state of going out, and preliminary judgement is the power supply problem, leads to the unable start-up of axle computer unit, rather than the communication cable damage.
The "X2 Computer module link" port on the upper end of the spindle Computer unit is the port for communicating with the main Computer unit, and the "X9 AXC" on the main Computer unit is the interconnect port main Computer unit state: the 'X9 AXC' port in the main computer unit is the communication connection port of the main computer end member and the shaft computer end member, at the moment, the status lamp position is in an off state, which indicates that the two-port communication network cable interface is pulled out without communication, a new communication network cable without damage is replaced, the status lamp of the X9 port of the main computer unit is observed to be lighted or not and twinkles, and the status display lamp of the shaft computer unit is lighted or not. If the communication cable is in flicker, the communication cable is damaged; if the power supply cable is not required to be in flicker state, whether the power supply cable is in voltage or not and whether the power supply cable is damaged or not is required to be detected.
The shaft computer unit X124V Drive is a driving power supply interface, the voltage of two ends of the port is measured by a universal meter after a plugging port is pulled out, the voltage of two ends of a power supply interface is 0V, which indicates that the shaft computer unit is in power supply failure, a power supply cable or the port is replaced, the shaft computer unit is powered by a 24V power supply, and then the robot is restarted.
And step 204, solving the robot fault.
Specifically, after the student detects the fault and replaces the cable, the robot is powered on again, and the display shaft computer unit power supply display lamp is turned on.
Step 205, the software disassembles the robot fault. Clicking the lower right corner of a fault setting port of the software to cancel the setting, and canceling the fault setting of the counter shaft computer unit.
The fault diagnosis method for the industrial robot practical training platform provided by the embodiment 4 of the invention comprises the following steps:
step 301, connecting the software program and the industrial robot control system. This step has the same implementation steps as step 101 in example 2.
And 302, setting a robot fault through an input end of an industrial personal computer, wherein the robot fault comprises a power failure of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit.
This step has the same implementation steps as step 102 in example 2. The differences are as follows: in this embodiment, the security panel unit module is selected, and a power failure of the security panel unit is set. The set fault command controls the relay of the corresponding safety panel unit to be switched off.
And 303, judging which type of fault the robot belongs to according to the fault result of the robot.
Specifically, the demonstrator displays a black screen state, possibly due to a sudden power failure of the robot or a failure of the safety panel, which is a special failure phenomenon.
And checking that a corresponding status display lamp on the main computer UNIT is on to indicate that the robot has no sudden power failure, wherein the X7 PANEL UNIT is a communication port of the safety PANEL and the main computer, the status lamp is in an off state, and the corresponding safety PANEL is an X11 port to indicate that the communication of the safety PANEL is blocked.
And checking that the status lamp of the safety panel is in an off state, and diagnosing a power supply fault of the safety panel to cause that the safety panel cannot be started.
And (3) carrying out voltage detection on the power access port of the security panel: the total number of the ports is 4, the line numbers 465 and 467 are a group, the line numbers 466 and 468 are a group, wherein the group of 465 and 467 is not accessed, and the voltage magnitude at the two ends of the 466 and 468 groups of lines is detected. The detection result is that when the detection voltage is 0V, the safety panel is free of power supply, whether the power supply cable and the power distribution unit socket are damaged or not needs to be checked, and then the cable or the wiring socket is replaced.
And step 304, solving the robot fault.
Specifically, after the student detects the fault and replaces the cable, the robot is powered on again, and the display lamp of the display safety panel unit is turned on.
Step 305, the software disassembles the robot fault. And clicking the lower right corner of a fault setting port of the software to cancel the setting, and canceling the fault setting of the safety panel unit.
The method for diagnosing the fault of the industrial robot practical training platform provided by the embodiment 5 of the invention comprises the following steps:
step 401, connecting the software program and the industrial robot control system. This step has the same implementation steps as step 101 in example 2.
And 402, setting a robot fault through an input end of an industrial personal computer, wherein the robot fault comprises a power failure of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit.
This step has the same implementation steps as step 102 in example 2. The differences are as follows: in this embodiment, the spindle driver unit module is selected, and a power failure of the spindle driver unit is set. The set fault command controls the relays of the corresponding shaft driver units to be turned off.
And 403, judging which type of fault the robot belongs to according to the fault result of the robot.
Specifically, fault codes and fault information are displayed on the demonstrator, and fault diagnosis is carried out according to states shown by the information and hardware, the displayed information is communication interruption with all driving units and is possibly caused by ① power failure of the shaft driving module, so that the shaft driving module is not started, ② all communication cables are failed and cause communication interruption, the possibility that all the communication cables are failed at the same time is judged preliminarily, the main reason is power failure, the power supply cables are mainly checked, and the measured voltage is detected.
All the status display lamps of the axis driver module are in an off state, and the judgment of the two fault reasons can be made.
Searching a power supply access end through an electrical schematic diagram, and checking whether the power supply access end has voltage or not through a universal meter on a terminal which is connected with a control circuit in the contactor unit; the power failure of the shaft driver module can be known through detection, the circuit or the contactor part is overhauled, and the contactor module or the power supply cable is replaced to normally supply power for the shaft driver unit.
Step 404, the robot fault is resolved.
Specifically, when the student detects a fault and replaces the cable, the robot is powered on again, and the display shaft driver unit power display lamp is turned on.
In step 405, the software disassembles the robot fault. Clicking the lower right corner of a fault setting port of the software to cancel the setting, and releasing the fault setting of the shaft driver unit.
Fig. 4 is a schematic structural diagram of an industrial robot comprehensive practical training platform provided in embodiment 6 of the present invention. Fig. 5 is a schematic circuit structure diagram of an industrial robot comprehensive practical training platform according to embodiment 6 of the present invention. The industrial robot training platform comprises an industrial robot fault diagnosis and maintenance training platform and an industrial robot comprehensive training platform.
The comprehensive practical training platform 20 of the industrial robot comprises an industrial robot body 21, a stacking module 22, a curved surface track module 23, a TCP calibration module 24, a plugging panel 25, a touch screen controller 26, a programmable logic controller, a frequency converter and a well type feeding and conveying module 27.
The industrial robot control system is the industrial robot control system in embodiment 1, and is distinguished by further comprising a digital I/O unit and an I/O terminal unit: the digital I/O unit is connected with the main computer unit, the digital I/O unit is connected with the I/O wiring terminal unit, the I/O wiring terminal unit is connected with the plug-in panel, the shaft driver unit is connected with the industrial robot body, and the digital I/O unit and the I/O wiring terminal unit are used for communication exchange between the PLC and the industrial robot control system. The plug panel can be connected with the signal point position of the component signal line of the equipment and the programmable controller, the manual practical exercise capacity of the student is exercised, and the teaching diversity is increased.
The touch screen of the touch screen controller 26 is used for selecting, I/O and alarming and monitoring an operation program of the comprehensive practical training platform, the buttons and the switches are connected with the touch screen controller and used for program starting, stopping, resetting and emergency stopping operations, the touch screen controller 26 sends an input signal instruction to the programmable logic controller, an action mode and a module area are selected, the PLC sends current state information of the touch screen, the PLC controls the action and the speed of the frequency converter, the frequency converter controls the operation and the running speed of the conveyor belt motor, the well type feeding and conveying module is controlled to push materials, and after the materials run in place, in-place signals are output and fed back to the programmable logic controller through the plug panel to stop pushing the materials. The demonstrator is used as an input end and is used for pushing an input instruction through the main computer unit, the digital I/O unit, the I/O wiring terminal unit, the plugging panel, the programmable logic controller and the frequency converter control well type feeding and conveying module to practice operation.
The demonstrator is used as an input end and sends a digital signal to the shaft computer unit through the main computer unit according to an input instruction, the shaft computer unit calculates the relevant shaft operation data of the digital signal and transmits the shaft data to the shaft driver unit so as to drive the industrial robot body 21 and control the motor of the industrial robot body to operate, so that the industrial robot body can put and stack materials and is used for practicing stacking programs of the industrial robot; the method is used for the track exercise of the industrial robot; and/or the calibration of the TCP and the coordinate system of the industrial robot is realized, and the method is used for basic track program practice of the industrial robot. The touch screen controller 26 is used as an input end, an input instruction is sent to the main computer unit through the programmable logic controller, the plug panel 25, the I/O terminal unit and the digital I/O unit, the shaft computer unit receives a digital signal of the main computer to perform related shaft operation data calculation, and transmits the shaft data to the shaft driver unit to drive the industrial robot body 21 and control the motor of the industrial robot body to operate, so that the industrial robot body can place and stack materials and is used for practicing industrial robot stacking programs; the method is used for the track exercise of the industrial robot; and/or the calibration of the TCP and the coordinate system of the industrial robot is realized, and the method is used for basic track program practice of the industrial robot.
The industrial robot comprehensive training platform is respectively provided with an oil-water separator 28 for setting the air pressure in the platform and separating and filtering oil and water in the air, so that equipment devices in the platform can be protected better.
Fig. 6 is a schematic flow chart of a method for diagnosing a fault of a practical training platform of an industrial robot according to embodiment 7 of the present invention.
The fault diagnosis method for the industrial robot practical training platform comprises the following steps:
and step 501, connecting the software program with the industrial robot control system. And the industrial personal computer is connected with a main computer unit in the industrial robot control cabinet by using a network cable, and the industrial robot is in communication connection with the industrial personal computer by using a 616-1 PC Interface communication option.
And 502, setting robot faults through the input end of the industrial personal computer, wherein the robot faults comprise software faults of program compiling errors, program frame errors and system parameter errors.
Specifically, in an online version mode, data files such as a set system parameter setting backup and a program backup which have faults are packaged in industrial robot fault diagnosis and maintenance software (SCH-RobotMaintain), when an industrial robot software fault is set at an SCH-RobotMaintain software port, fault data in a template fault or a random fault is downloaded to a main computer unit of the robot through 616-1 PC Interface communication, original programs and configurations are covered, and therefore the current wrong and faulty programs and configurations are displayed.
Alternatively, in an off-line version mode, a simple workstation is established by using ABB industrial robot original factory off-line simulation programming software RobotStudio, even only one robot has no other peripheral equipment, a robot system is established for the robots in the simulation software according to option configuration of the actual robot, and then industrial robot fault diagnosis and maintenance software (SCH-RobotMaintain) and the ABB off-line simulation programming software RobotStudio are opened simultaneously and then connected. When the SCH-RobotMaintain software port sets the software fault of the industrial robot, the fault data in the board fault or random fault encapsulated in the software is downloaded to a virtual system in a workstation established by offline simulation programming software RobotStudio, and the original program and configuration in the virtual system are covered, so that the current wrong and faulty program and configuration are displayed.
The programming errors of the robot software faults comprise the following types:
1. the assignment target is a read-only target;
2. referencing an unknown record component;
3. the expected value is ": is ═ "
4. Referencing unknown complete data;
5. the PERS variable name is ambiguous;
6. VAR variable name ambiguity;
7. the PRES variable is not allowed to declare in the routine;
8. expected type num does not match found type string;
9. type num expected and type pool found do not match;
10. the expected type dnum does not match the found type pool;
11. LOCAL illegal in routine variable description;
12. the global variable name X is ambiguous.
The program framework errors of the robot software faults comprise the following types:
1. expected value "endif";
2. the expected value "then";
3. expected value "endwhile";
4. the expected value "do;
5. the unexpected value "proc";
6. unknown optional parameters are cited;
7. too many arguments to call a routine;
8. reference is made to unknown process XXX;
9. XXX is not a process reference;
10. global routine name X is ambiguous;
11. RETRY is only allowed to occur in the error handler.
The system parameter related errors of the robot software faults comprise the following types:
1. the jogging control direction is wrong (needs to be restarted);
2. SMB memory data difference (needs to be restarted);
3. unable to communicate with IO devices (requiring a reboot);
4. no "system in" signal (needs to be restarted);
5. no "system out" signal (requiring a reboot);
6. cross-connect IO configuration invalid (needs to be restarted);
7. mapping to IO signals outside the IO device data area (requiring restart).
The specific software fault setting process is as follows:
on line version, selecting ' software fault setting ', modifying IP address to ' 192.168.1.115 ', after connection, selecting (relevant program writing), selecting to quote unknown complete data ', clicking ' sample plate fault ' or ' random fault ', and completing ' quote unknown complete data ' fault setting in software fault setting.
In the off-line version, firstly, an industrial robot off-line programming software RobotStaudio is opened, an empty workstation is set up, and a robot system with the same configuration as that of an actual robot is created. Opening software, entering a 'failure setting' window, clicking 'software failure setting', clicking and checking 'off-line edition', clicking 'connection robot', when the software is displayed in green and the 'connection success' word is displayed, indicating that the failure setting software is correctly connected with the off-line programming software RobotStudio, simultaneously clicking and selecting 'reference unknown complete data' failure, clicking 'sample plate failure', and performing failure setting.
Similarly, the setting process is described in this embodiment by setting "refer to unknown complete data".
And 503, judging which type of fault the robot belongs to according to the fault result of the robot.
Specifically, after the input end of the industrial personal computer is set, the robot demonstrator pops up a fault error window, the display information in the window is a program statement error, and an undefined I/O signal error exists because unknown complete data is introduced in line 38.
And step 504, solving the robot fault.
Specifically, the student selects "program editor," finds the program statement line 38, and views the specific error statement "Resetdo 0; ".
Go to signal configuration to see added signal: clicking the 'control panel', then clicking the 'configuration', clicking to open 'Signal' in the 'configuration', then turning to the bottom, and checking whether an I/O Signal is configured or not.
And switching to a program editor window, and checking whether the error information has the same error up and down: the same type of errors are found in do1, do2 and do 3.
Returning to the I/O configuration window, adding and configuring the standard edition card: and selecting to open a Device Net Device, clicking addition, adding a d652 standard I/O board card, entering a Signal window, adding digital output signals do1, do2 and do3, and restarting the robot to enable the configuration to take effect.
After the robot (system) is restarted, the robot enters a program editor window, and clicks a check program to check whether the program has faults or not.
The "inspection procedure" shows that there is a new failure: unknown integrity data pick is referenced.
Entering into the program data to carry out fault relief: clicking and opening the program data, finding out the data type of the robtarget, opening, clicking a new button below, and creating a new data pick.
And after the new building is completed, returning to the window of the program editor, continuously clicking the function of the checking program, and displaying that no error is found, namely the fault removal is completed. Meanwhile, the connection between the fault setting software and the control cabinet can be released.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. The industrial robot practical training platform comprises an industrial robot fault diagnosis and maintenance practical training platform and is characterized by comprising an industrial robot control system, an intelligent clamping plate, an industrial personal computer, four relays and a robot control system power supply;
the industrial robot control system comprises a main computer unit, a shaft computer unit, a safety panel unit and a shaft driver unit which are sequentially connected, wherein the output end of the main computer unit is connected with the input end of the safety panel unit, and the main computer unit is connected with the industrial personal computer;
the robot control system power supply supplies power for the main computer unit, the shaft computer unit, the safety panel unit and the shaft driver unit respectively, the relay is arranged between the robot control system power supply and the main computer unit, the relay is arranged between the robot control system power supply and the shaft computer unit, the relay is arranged between the robot control system power supply and the safety panel unit, the relay is arranged between the robot control system power supply and the shaft driver unit, and the four relays are in a closed power-on state in a normal state;
the intelligent card board is respectively connected with the control ends of the four relays, the industrial personal computer sends a main computer unit power failure instruction, a shaft computer unit power failure instruction, a safety panel unit power failure instruction or a shaft driver unit power failure instruction to the intelligent card board, and the intelligent card board converts an instruction signal into an electric signal to control the relays to break.
2. The practical training platform for the industrial robot as claimed in claim 1, wherein the main computer unit is further in communication connection with a demonstrator, and the demonstrator is used for programming, modifying, demonstrating, running and the like of the industrial robot body and displaying fault codes and information of the robot.
3. The industrial robot training platform of claim 1, wherein a power distribution unit is disposed between the robot control system power supply and four of the relays, and the robot control system power supply distributes and provides 24V dc power to the main computer unit, the axle computer unit, the safety panel unit and the axle driver unit through the power distribution unit.
4. The industrial robot training platform of claim 1, wherein the industrial robot control system further comprises a digital I/O unit and an I/O terminal unit, the digital I/O unit is connected to the main computer unit, the digital I/O unit is connected to the I/O terminal unit, the I/O terminal unit is externally connected to a PLC plug panel, and the axis driver unit is externally connected to an industrial robot body; and the digital I/O unit and the I/O terminal unit are used for realizing communication exchange between the PLC and the industrial robot control system.
5. The practical training platform for the industrial robot as claimed in claim 1 or 4, wherein the practical training platform for the fault diagnosis and maintenance of the industrial robot further comprises a cabinet body, the cabinet body comprises an upper layer display window and a middle layer operating platform, and the industrial robot control system is arranged in the display window and is used for conveniently observing the fault of the maintenance hardware; and a display screen is arranged on a panel between the upper display window and the middle operating platform, is connected with the industrial personal computer and is used for setting faults, relieving the faults or inquiring the faults.
6. The industrial robot practical training platform of claim 2, further comprising an industrial robot comprehensive practical training platform, wherein the industrial robot comprehensive practical training platform comprises an industrial robot body, a stacking module, a curved surface track module, a TCP calibration module, a plug panel, a touch screen controller, a programmable logic controller, a frequency converter and a well type feeding and conveying module;
the industrial robot control system further comprises a digital I/O unit and an I/O terminal unit; the digital I/O unit is connected with the main computer unit, the digital I/O unit is connected with the I/O wiring terminal unit, the I/O wiring terminal unit is connected with the plugging panel, the shaft driver unit is connected with the industrial robot body, and the digital I/O unit and the I/O wiring terminal unit are used for communication exchange between the PLC and the industrial robot control system, so that the demonstrator is used as an input end to control the industrial robot body to operate and practice the code stack module, the curved surface track module and/or the TCP calibration module; or the touch screen controller is used as an input end to control the programmable logic controller to practice the operation of the well type feeding and conveying module through the frequency converter.
7. The practical training platform for the industrial robot as claimed in claim 6, wherein an oil-water separator is arranged on the practical training platform for the industrial robot.
8. An industrial robot practical training platform fault diagnosis method, the industrial robot practical training platform is the industrial robot practical training platform in claims 1-7, and the method is characterized by comprising the following steps of
Connecting a software program and an industrial robot control system;
setting a robot hardware fault through an industrial personal computer, wherein the robot fault comprises a power supply fault of a main computer unit, a shaft computer unit, a safety panel unit or a shaft driver unit;
judging which type of fault the robot belongs to according to the fault result of the robot;
the problem of robot faults is solved;
the software relieves the robot of the fault.
9. The industrial robot practical training platform fault diagnosis method of claim 8, wherein the robot fault further comprises a software fault including a programming error, a programming framework error and a system parameter error.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112349164A (en) * | 2020-10-20 | 2021-02-09 | 南京信息职业技术学院 | Multifunctional industrial robot fault diagnosis experiment table |
| CN112614397A (en) * | 2020-12-30 | 2021-04-06 | 刘波 | EMUs emergency fault training system |
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2019
- 2019-12-18 CN CN201911315040.4A patent/CN110853450A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112349164A (en) * | 2020-10-20 | 2021-02-09 | 南京信息职业技术学院 | Multifunctional industrial robot fault diagnosis experiment table |
| CN112614397A (en) * | 2020-12-30 | 2021-04-06 | 刘波 | EMUs emergency fault training system |
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