CN114102608A

CN114102608A - Multifunctional robot fault diagnosis system

Info

Publication number: CN114102608A
Application number: CN202111601631.5A
Authority: CN
Inventors: 陈强; 盛力源; 闵文强; 李冰
Original assignee: Jiangsu Huibo Robotics Technology Co ltd
Current assignee: Jiangsu Huibo Robotics Technology Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-03-01

Abstract

The invention provides a multifunctional robot fault diagnosis system, and relates to the field of robot fault diagnosis systems. The multifunctional robot fault diagnosis SYSTEM comprises an ABB CONNECTION configuration and an ABB signal configuration, wherein the ABB CONNECTION configuration is connected with a SYSTEM through a CONNECTION-CONFIG and is used for setting a carrying instruction, the ABB signal configuration is used for changing the operation state of a robot through setting parameters READ _ ITEM _ COUNT and READ _ ITEM + sequence number, the READ _ ITEM _ COUNT is used for recording through the number of ABB signal transmission, and the READ _ ITEM + sequence number is used for reading through information transmitted through ABB signals. The ABB signal configuration has two parameters, namely, READ _ ITEM _ COUNT is used for recording the number of READ ABB signals, and the READ _ ITEM + sequence number represents specific READ signal information, and a plurality of signals can be added, and the values are separated by part numbers.

Description

Multifunctional robot fault diagnosis system

Technical Field

The invention relates to the field of robot fault diagnosis systems, in particular to a multifunctional robot fault diagnosis system.

Background

China is advancing from a large manufacturing country to a strong manufacturing country, the competition of the manufacturing industry is more and more intense, the improvement of the product quality and the production efficiency is one of key factors of enterprises winning in intense competition, a large number of robots with high cost performance are used, the labor is reduced while the product quality and the production efficiency are improved, the production cost is reduced, generally speaking, along with the growth mode conversion, the continuous increase of the labor cost and the automatic production conversion of manufacturing enterprises in China, the market prospect of the robots is very wide and is the inevitable trend of the development of the manufacturing industry in China, the traditional design method of the robots adopts a series and repeated flow, the main steps of the traditional design method of the robots comprise ten stages of task analysis, technical research, scheme evaluation, calculation and selection, sketch drawing, sketch evaluation, mechanical design, drawing, trial production, proof test and the like, and are consistent with the classical mechanical design flow, the method conforms to the production flow of general mechanical products.

When the robot is used, the running state of internal parts needs to be diagnosed in real time when the internal key parts are used, the overall operation of the robot can be caused to be in a state once the internal parts are damaged in work, the work cannot be normally carried out, the work error occurs, the parts in the robot need to be observed in real time, and the key of stably running the parts of the robot is supported at the moment.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a multifunctional robot fault diagnosis system, which solves the problem of the robot fault diagnosis system.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a multifunctional robot fault diagnosis SYSTEM comprises a robot fault diagnosis SYSTEM and a robot fault diagnosis SYSTEM, wherein the robot fault diagnosis SYSTEM comprises an ABB CONNECTION configuration and an ABB signal configuration, the ABB CONNECTION configuration is connected with a SYSTEM through CONNECTION-CONFIG, and a carrying instruction is set;

and the ABB signal configuration changes the operation state of the robot by setting parameters READ _ ITEM _ COUNT and READ _ ITEM + serial number.

Preferably, the READ _ ITEM _ COUNT is used for recording through the number of ABB signal transmissions;

the READ _ ITEM + sequence number is READ and used by the information transmitted by the ABB signal.

Preferably, the ABB robot loads the information instruction in the configuration file, changes the system name of the ABB robot according to the signal displayed by the ABB robot, changes the system name of the ABB robot according to the changed configuration until the system name is changed to the required system name, connects the ABB robot after the change is completed, observes the connection condition according to the signal displayed by the ABB robot, and returns to the change setting again to change the information when the connection is unsuccessful until the connection is successful.

Preferably, the ABB robot adds a detection signal in the process of processing, runs the ABB plugin after the adding is successful, reads the ABB plugin, enters a reading interface, writes the I/O variable according to the updating condition of the ABB robot interface, writes the Redis, operates according to the reading condition of the ABB robot, continues to read when the reading is not completed, stops reading of the plugin until the reading is completed, and ends information loading.

Preferably, the ABB robot controls the robot to operate, the ABB robot reads data and then controls joints of the robot, the state of the unstacking sucker is observed, the data of the ABB robot needs to be read again when the unstacking sucker is not 1, the goods are adsorbed until the state of the unstacking sucker is 1, the goods are conveyed to the upper side of the Chong and Song Dynasty, the unstacking sucker releases the objects when the state of the unstacking sucker is 0, and the signal transmission is waited when the state of the unstacking sucker is not 0.

Preferably, the goods are transmitted to a designated place through the conveyor belt, the state of the stacking sucker is changed by updating the position variable value in the Redis, the goods are continuously adsorbed and placed on a designated goods shelf when the state of the stacking sucker is 1, when the state of the stacking sucker is not 1, the input of numerical values is continuously waited, when the stacking sucker is waited for a long time to be invalid, the booknotes are changed, and according to the goods placement condition, the data of the ABB robot is adjusted without operation completion until the goods are placed.

(III) advantageous effects

The invention provides a multifunctional robot fault diagnosis system. The method has the following beneficial effects:

1. the ABB connection configuration is only provided with one robot system name parameter, and a plurality of ABB robot plug-ins can be used, so that a target ABB robot is matched through the ABB robot system name, two parameters are provided in the ABB signal configuration, READ _ ITEM _ COUNT is used for recording the number of READ ABB signals, and the "READ _ ITEM + sequence number" represents specific READ signal information, and a plurality of signals can be added, wherein the values are separated by part numbers.

2. The task of updating the interface thread is to display the collected ABB robot data on an interactive interface in real time, so that the data can be monitored and errors can be eliminated, the two threads synchronously work through a mutual exclusion lock, shared resources among the threads can be accessed by only one thread at the same time, and normal operation of the ABB plug-in is guaranteed.

3. Virtual key names of the joint angles of the two ABB robots are set in a configuration file, and when the ABB robot plug-in unit runs, the joint angles of the moving robot can be written into a Redis database in real time.

Drawings

FIG. 1 is a schematic diagram of an exemplary configuration information structure of an ABB robot plugin according to the present invention;

FIG. 2 is a schematic diagram of the workflow structure of the ABB robot plug-in unit of the invention;

FIG. 3 is a schematic diagram of the Python script program work flow structure of the present invention;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1, an embodiment of the present invention provides a multifunctional robot fault diagnosis SYSTEM, including a robot fault diagnosis SYSTEM, including an ABB CONNECTION configuration and an ABB signal configuration, where the ABB CONNECTION configuration connects a SYSTEM through a CONNECTION-CON FIG, and sets a carrying instruction;

the ABB signal configuration changes the operation state of the robot by setting parameters READ _ ITEM _ COUNT and READ _ ITEM + serial number;

the READ _ ITEM _ COUNT is used for recording through the number of ABB signal transmission;

the READ _ ITEM + sequence number is READ and used by information transmitted by an ABB signal, only one robot system name parameter is set in an ABB connection configuration, a plurality of ABB robot plug-in units can be used, so that a target ABB robot is matched by the ABB robot system name, two parameters are arranged in the ABB signal configuration, the READ _ ITEM _ COUNT is used for recording the number of READ ABB signals, the READ _ ITEM + sequence number represents specific READ signal information, a plurality of signals can be added, and values are separated by semicolons.

Example two:

as shown in fig. 2, an embodiment of the present invention provides a multifunctional robot fault diagnosis system, which includes a robot fault diagnosis system, where an ABB robot loads an information instruction in a configuration file, changes a system name of the ABB robot according to a signal displayed by the ABB robot, changes the system name of the ABB robot according to the changed configuration until the system name is changed to a required system name, connects the ABB robot after the change is completed, observes a connection condition according to the signal displayed by the ABB robot, and returns to a change setting to change information again when the connection is unsuccessful until the connection is successful;

the ABB robot adds detection signals in processing, after the addition is successful, the ABB plug-in is operated and read, the ABB robot enters a reading interface, I/O variables are written in according to the updating condition of the ABB robot interface, Redis is written in, operation is performed according to the reading condition of the ABB robot, reading is continued if reading is not completed, reading is stopped until reading is completed, information loading is finished, the task of updating interface threads is to display the collected ABB robot data on an interactive interface in real time, so that data and troubleshooting errors can be monitored, the two threads synchronously work through a mutual exclusion lock, so that only one thread can access shared resources among the threads at the same time, and normal operation of the ABB plug-in is guaranteed.

Example three:

as shown in fig. 3, an embodiment of the present invention provides a multifunctional robot fault diagnosis system, which includes a robot fault diagnosis system, where an ABB robot controls a robot to operate, the ABB robot reads data and then controls joints of the robot, observes a state of a unstacking suction cup, and needs to read data of the ABB robot again when the unstacking suction cup is not 1, until the unstacking suction cup is 1, and adsorbs goods, and sends the goods to above the order of punching and song, and when the state of the unstacking suction cup is 0, the unstacking suction cup releases the objects, and when the state of the unstacking suction cup is not 0, waits for signal transmission;

goods are transmitted to an appointed position through a conveyor belt, the state of a stacking sucker is changed by updating a position variable value in Redis, the goods are continuously adsorbed and placed on an appointed goods shelf when the state of the stacking sucker is 1, when the state of the stacking sucker is not 1, the input of numerical values is continuously waited, when the stacking sucker is invalid for a long time, the bookends are changed, the data of the ABB robot is required to be adjusted without operation completion according to the goods placement condition, the virtual key names of the joint angles of the two ABB robots are set in a configuration file until the goods are placed, and when the ABB robot plug-in is operated, the joint angles of the moving robot can be written into a Redis database in real time.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multifunctional robot fault diagnosis system comprises an ABB connection configuration and an ABB signal configuration, and is characterized in that: the ABB CONNECTION configuration is connected with the SYSTEM through CONNECTION-CON FIG, and a carrying instruction is set;

2. The multi-function robot malfunction diagnosis system according to claim 1, characterized in that: the READ _ ITEM _ COUNT is used for recording through the number of ABB signal transmission;

3. The multi-function robot malfunction diagnosis system according to claim 1, characterized in that: the ABB robot loads an information instruction in a configuration file, changes the system name of the ABB robot according to a signal displayed by the ABB robot, changes the system name of the ABB robot according to the changed configuration until the system name is changed to a required system name, connects the ABB robot after the change is finished, observes the connection condition according to the signal displayed by the ABB robot, and returns to the change setting to change the information again when the connection is unsuccessful until the connection is successful.

4. The multi-function robot malfunction diagnosis system according to claim 3, characterized in that: the ABB robot adds a detection signal in processing, operates an ABB plug-in unit after the addition is successful, reads the ABB plug-in unit, enters a reading interface, writes an I/O variable according to the updating condition of the ABB robot interface, writes the I/O variable into Redis, operates according to the reading condition of the ABB robot, continues to read when the reading is not completed, stops the reading of the plug-in unit until the reading is completed, and ends the information loading.

5. The multi-function robot malfunction diagnosis system according to claim 1, characterized in that: the ABB robot control robot operates, and the ABB robot reads the joint of back control robot, observes the state of breaking a jam sucking disc, and the data that need break a jam sucking disc and read ABB robot again when not being 1 are sent to and dashes Song dynasty top until the state of breaking a jam sucking disc for 1 adsorb the goods to the state of breaking a jam sucking disc is 0, then breaks a jam sucking disc release object, when not 0, waits for signal transmission.

6. The multi-function robot malfunction diagnosis system according to claim 5, characterized in that: the goods pass through the conveyer belt and transmit appointed till, change the state of pile up neatly sucking disc through the variable value of taking one's place in the renewal Redis, the pile up neatly sucking disc state is 1 time with goods continuation absorption and put on appointed goods shelves, when the pile up neatly sucking disc state is not 1, continue to wait for the input of numerical value, when waiting for invalid for a long time, change the bookend, according to the goods condition of placing, do not have the data that the operation was accomplished need to ABB robot and adjust until the goods is placed and is accomplished.