CN112388674B - Industrial robot battery clock method - Google Patents
Industrial robot battery clock method Download PDFInfo
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- CN112388674B CN112388674B CN202011089996.XA CN202011089996A CN112388674B CN 112388674 B CN112388674 B CN 112388674B CN 202011089996 A CN202011089996 A CN 202011089996A CN 112388674 B CN112388674 B CN 112388674B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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Abstract
The invention relates to the technical field of industrial robots, in particular to a battery clock method of an industrial robot, which comprises the steps of configuring a battery piece, wherein the battery piece supplies power to encoders of a plurality of motors of the industrial robot; configuring a controller, wherein the controller realizes the positioning of the position of the motor through an encoder of the motor; the controller is provided with a control clock, and triggers encoders of the motors of the industrial robot based on the control clock so that the motors of the industrial robot run one by one or synchronously; the controller is configured with a battery clock which is used for acquiring data parameters of the battery piece; the controller calculates the duration of the battery piece through the data parameters of the battery piece acquired by the battery clock, and the display unit displays the duration of the battery piece calculated by the controller; the battery piece is directly monitored by watching the duration of the battery piece displayed by the display unit, so that the motor operation error caused by the exhaustion of the electric quantity of the battery piece is avoided, and the operation accuracy of the industrial robot is ensured.
Description
Technical Field
The invention relates to the technical field of industrial robots, and particularly discloses a battery clock method of an industrial robot.
Background
In order to improve the transfer efficiency of a workpiece and reduce the labor intensity of an operator, the industrial robot is often used for replacing the operator to realize automatic transfer of the object or automatic processing of the object, and an encoder of a motor of the industrial robot records the position of a reference point of each motor of the industrial robot by means of electric quantity provided by a battery in a shutdown state of the industrial robot. When the industrial robot is restarted, the control system can read the reference point position of each motor recorded by the encoder, and accurate repeated positioning after the robot is powered off and restarted is guaranteed. Because the battery belongs to the consumptive material, it can not be difficult to predict when the battery can lack of electricity, after the battery is consumed, the problem that the position is lost and the like can appear in every shutdown, the position is lost, the normal production processing of the article is influenced, and serious people can also cause the potential safety hazard problem.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention aims to provide an industrial robot battery clock method, which directly monitors a battery piece by watching the endurance time of the battery piece displayed by a display unit, avoids the motor operation error caused by the power exhaustion of the battery piece and ensures the operation accuracy of the industrial robot.
In order to achieve the above object, the battery clock method for an industrial robot of the present invention comprises the following steps:
configuring a battery piece, wherein the battery piece is used for supplying power to encoders of a plurality of motors of the industrial robot;
the controller is configured and electrically connected with an encoder of the motor, and the controller positions the motor through the encoder of the motor;
the controller is provided with a control clock, and triggers encoders of the motors of the industrial robot based on the control clock so that the motors of the industrial robot run one by one or synchronously;
the controller is provided with a battery clock which is related to the control clock, and the battery clock is used for acquiring data parameters of the battery piece;
the display unit is configured and electrically connected with the controller, the controller calculates the duration of the battery piece through the data parameters of the battery piece acquired by the battery clock, and the display unit is used for displaying the duration of the battery piece calculated by the controller.
Wherein, still include the following step:
the warning unit is configured and electrically connected with the controller, the battery clock sets the duration of the endurance node associated to the battery piece, and when the actual endurance duration of the battery piece calculated by the controller is equal to or less than the duration of the endurance node of the battery piece, the controller regulates and controls the warning unit to send a warning mark to remind a user to replace the battery piece or charge the battery piece.
The warning mark sent by the warning unit is warning sound or/and warning light.
The data parameters of the battery device obtained by the battery clock comprise a battery voltage value, a battery capacity value and a rated power consumption value, the service life of the battery device is calculated, and the service life = the battery voltage value and the battery capacity value/the rated power consumption value.
The data parameters of the battery piece acquired by the battery clock comprise shutdown duration, startup duration, shutdown accumulated times and startup accumulated times, the battery piece is calculated to calculate the start-stop duration of the battery piece, and the start-stop duration = shutdown duration + startup accumulated times.
The data parameters of the battery device obtained by the battery clock comprise a battery self-discharge coefficient, and the duration = (usable duration-start-stop duration) × the battery self-discharge coefficient.
Wherein, the quantity of battery spare is a plurality of, and the encoder one-to-one of battery spare and motor, a plurality of battery spares are respectively to the encoder power supply of a plurality of motors of industrial robot.
Wherein, still include the following step:
dispose the stand-by battery, stand-by battery and industrial robot's all motors's encoder electric connection, when the unable normal power supply of battery spare that the encoder of motor corresponds, the controller regulation and control stand-by battery is to the encoder power supply of this motor.
The invention has the beneficial effects that: the battery clock method of the industrial robot utilizes the data parameters of the battery piece acquired by the controller through the battery clock to calculate the duration of the battery piece, displays the duration of the battery piece calculated by the controller through the display unit, and directly monitors the battery piece by watching the duration of the battery piece displayed by the display unit, thereby avoiding the motor operation error caused by the electric quantity exhaustion of the battery piece and ensuring the operation accuracy of the industrial robot.
Drawings
FIG. 1 is a block flow diagram of the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention is further described below with reference to examples and drawings, and the content of the embodiments is not intended to limit the present invention.
Referring to fig. 1, the battery clock method for an industrial robot of the present invention includes the following steps:
configuring a battery piece, wherein the battery piece is used for supplying power to encoders of a plurality of motors of the industrial robot;
the controller is configured and electrically connected with an encoder of the motor, and the controller realizes accurate positioning of the position of the motor through the encoder of the motor; according to actual needs, the battery piece can be arranged in a base of the industrial robot or a case of the control box, so that the battery piece is protected, the battery piece is prevented from being damaged by external collision, and the service life of the battery piece is prolonged;
the controller is provided with a control clock, and triggers encoders of the motors of the industrial robot based on the control clock so that the motors of the industrial robot can run one by one or synchronously, thereby realizing the automatic operation of the industrial robot;
the controller is provided with a battery clock which is associated to the control clock, the battery clock is used for acquiring data parameters of the battery piece, the battery clock is arranged in parallel with all motors of the industrial robot, the battery clock is directly associated with the control clock through a logic program, and the independent operation of the battery clock is realized, so that the battery clock is prevented from being interfered by the operation of the motors of the industrial robot to cause errors, and the battery clock is prevented from interfering the normal operation of the motors of the industrial robot;
the display unit is configured and electrically connected with the controller, the controller calculates the duration of the battery piece through the data parameters of the battery piece acquired by the battery clock, and the display unit is used for displaying the duration of the battery piece calculated by the controller.
The battery clock method of the industrial robot utilizes the data parameters of the battery piece acquired by the controller through the battery clock to calculate the duration of the battery piece, displays the duration of the battery piece calculated by the controller through the display unit, and directly monitors the battery piece by watching the duration of the battery piece displayed by the display unit, thereby avoiding the motor operation error caused by the electric quantity exhaustion of the battery piece and ensuring the operation accuracy of the industrial robot.
The industrial robot battery clock method further comprises the following steps:
the warning unit is configured and electrically connected with the controller, the battery clock sets the duration of the endurance node associated with the battery piece, and when the actual endurance duration of the battery piece calculated by the controller is equal to or less than the duration of the endurance node of the battery piece, the controller regulates and controls the warning unit to send a warning mark to remind a user to replace or charge the battery piece. Through the setting of warning unit, realize reminding the user's warning, after the user hears warning of warning unit and reminds, can change battery spare or charge battery spare, avoid battery spare electric quantity to exhaust and lead to motor operation mistake.
The warning mark sent by the warning unit is warning sound or/and warning light. According to actual needs, the warning unit can automatically play preset warning sound, and remind a user to replace or charge the battery piece by means of the warning sound. Of course, the warning unit can also automatically emit warning light, for example, the warning light is red light, blue light or green light and the like which are alternately performed, so that automatic reminding of replacing the battery piece or charging the battery piece for a user is realized.
The data parameters of the battery device obtained by the battery clock comprise a battery voltage value, a battery capacity value and a rated power consumption power value, the usable time of the battery device is calculated, and the usable time = the battery voltage value/the battery capacity value/the rated power consumption power value. The battery capacity value can be found in the battery product manual, in units AH; the battery voltage value is known in the battery product manual, in units of V; the rated power consumption value is the power used by the encoder when the power is cut off, and the encoder manufacturer can provide data and unit P.
The data parameters of the battery piece acquired by the battery clock comprise shutdown duration, startup duration, shutdown accumulated times and startup accumulated times, the start-stop duration of the battery piece is calculated, and the start-stop duration = the shutdown duration + the startup accumulated times is calculated for the battery piece. The shutdown time length is the unit H obtained by subtracting the last shutdown time from the startup time; the controller is configured with a boot time display, unit H. The accumulated times of shutdown and the accumulated times of startup are automatically recorded by the controller.
The data parameters of the battery device obtained by the battery clock comprise a battery self-discharge coefficient, and the duration = (usable duration-start-stop duration) × the battery self-discharge coefficient. Through the setting of each parameter, the accurate calculation of duration is realized, avoids battery spare duration calculation error and leads to industrial robot's the encoder record mistake of motor, ensures industrial robot's operation accuracy nature.
The quantity of battery spare is a plurality of, and the encoder one-to-one of battery spare and motor, a plurality of battery spares are respectively to industrial robot's the encoder power supply of a plurality of motors. Utilize the encoder of a battery piece cooperation motor, realize the independent control of the encoder of a plurality of motors of industrial robot, reduce the electric quantity consumption of single battery piece, avoid the battery piece too frequently to change and influence industrial robot's normal use.
The industrial robot battery clock method further comprises the following steps:
dispose the stand-by battery, stand-by battery and industrial robot's all motors's encoder electric connection, when the unable normal power supply of battery spare that the encoder of motor corresponds, the controller regulation and control stand-by battery is to the encoder power supply of this motor.
Through the configuration of reserve battery, realize the backup processing to battery spare, when battery spare damaged suddenly, realize industrial robot's encoder's accurate record with the help of reserve battery, ensure that industrial robot's motor can accurate normal operating, promote industrial robot's moving stability.
The above description is only a preferred embodiment of the present invention, and it should not be understood that the present invention is limited to the details of the embodiment and the range of applications, which can be changed by those skilled in the art according to the spirit of the present invention.
Claims (5)
1. An industrial robot battery clock method is characterized by comprising the following steps:
configuring a battery piece, wherein the battery piece is used for supplying power to encoders of a plurality of motors of the industrial robot;
the controller is configured and electrically connected with an encoder of the motor, and the controller realizes the positioning of the position of the motor through the encoder of the motor;
the controller is provided with a control clock, and triggers encoders of a plurality of motors of the industrial robot based on the control clock so that the plurality of motors of the industrial robot can run one by one or synchronously;
the controller is provided with a battery clock which is related to the control clock, and the battery clock is used for acquiring data parameters of the battery piece;
the display unit is configured and electrically connected with the controller, the controller calculates the duration of the battery piece through the data parameters of the battery piece acquired by the battery clock, and the display unit is used for displaying the duration of the battery piece calculated by the controller;
the data parameters of the battery device acquired by the battery clock comprise a battery voltage value, a battery capacity value and a rated power consumption value, the controller calculates the usable time of the battery device, and the usable time = the battery voltage value/the battery capacity value/the rated power consumption value;
the data parameters of the battery piece acquired by the battery clock comprise shutdown duration, startup duration, shutdown accumulated times and startup accumulated times, the controller calculates the start-stop duration of the battery piece, and the start-stop duration = shutdown duration + shutdown accumulated times + startup duration + startup accumulated times;
the data parameters of the battery device obtained by the battery clock comprise a battery self-discharge coefficient, and the duration = (usable duration-start and stop duration) × the battery self-discharge coefficient.
2. An industrial robot battery clock method according to claim 1, characterized by the further step of: the warning unit is electrically connected with the controller, the battery clock sets the duration of the endurance node associated with the battery piece, and when the actual endurance duration of the battery piece calculated by the controller is equal to or less than the duration of the endurance node of the battery piece, the controller regulates and controls the warning unit to send a warning mark to remind a user to replace or charge the battery piece.
3. The industrial robot battery clock method according to claim 2, characterized in that: the warning mark sent by the warning unit is warning sound or/and warning light.
4. The industrial robot battery clock method of claim 1, wherein: the quantity of battery spare is a plurality of, and the encoder one-to-one of battery spare and motor, a plurality of battery spares are respectively to industrial robot's the encoder power supply of a plurality of motors.
5. An industrial robot battery clock method according to claim 1, characterized by the further steps of: be provided with the stand-by battery, stand-by battery and industrial robot's all motors's encoder electric connection, when the unable normal power supply of battery spare that corresponds of the encoder of motor, the controller regulation and control stand-by battery is to the encoder power supply of this motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011089996.XA CN112388674B (en) | 2020-10-13 | 2020-10-13 | Industrial robot battery clock method |
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| CN202011089996.XA CN112388674B (en) | 2020-10-13 | 2020-10-13 | Industrial robot battery clock method |
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| CN112388674A CN112388674A (en) | 2021-02-23 |
| CN112388674B true CN112388674B (en) | 2023-02-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100345076C (en) * | 2003-12-24 | 2007-10-24 | 鸿富锦精密工业（深圳）有限公司 | Battery feeding type memory electricity quantity measuring system and method |
| CN104077207B (en) * | 2013-03-27 | 2019-03-15 | 腾讯科技（深圳）有限公司 | The method and device of capacity prompt |
| CN107561446A (en) * | 2016-07-01 | 2018-01-09 | 中兴通讯股份有限公司 | A kind of terminal battery electricity quantity computational methods and device |
| JP6772013B2 (en) * | 2016-09-28 | 2020-10-21 | キヤノン株式会社 | Robot arms, robot controls, and robot systems |
| JP6763362B2 (en) * | 2017-12-04 | 2020-09-30 | カシオ計算機株式会社 | Electronic devices, battery level management methods, and programs |
| CN109212417A (en) * | 2018-09-20 | 2019-01-15 | 珠海格力智能装备有限公司 | The monitoring method of robot electric quantity, apparatus and system |
| CN109077659A (en) * | 2018-09-21 | 2018-12-25 | 珠海格力电器股份有限公司 | The method of display remaining working time, battery and dust catcher using this method |
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