CN114138586A

CN114138586A - Auxiliary testing method for working precision of robot

Info

Publication number: CN114138586A
Application number: CN202111568509.2A
Authority: CN
Inventors: 许辉; 闵文强; 盛力源
Original assignee: Jiangsu Huibo Robotics Technology Co ltd
Current assignee: Jiangsu Huibo Robotics Technology Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-03-04

Abstract

The invention provides a robot working precision auxiliary test method, and relates to the field of robot working precision auxiliary test. The robot working precision auxiliary testing method comprises a RoboDK, a RobotStudio, a PLC, a Python script program and virtual debugging, wherein the Python script program in the RoboDK can enter a while True loop to read joint data of two robots in Redis in real time, if the value of a sucker variable is 1 in unstacking, goods are attached to a sucker and are conveyed above a conveyor belt, and when the value of the sucker variable is 0, the goods leave the sucker and are placed on the conveyor belt. The method supports the performance test of key parts and the whole machine of the robot, analyzes the influence of various factors on the performance of the robot aiming at the typical application scene of the robot, and avoids the defects that the robot is shut down and overhauled due to failure without prediction caused by the fact that the online failure monitoring and prediction of the robot in the actual application process are not realized, and the production efficiency of the whole automatic production line is influenced.

Description

Auxiliary testing method for working precision of robot

Technical Field

The invention relates to the field of auxiliary testing of working accuracy of robots, in particular to an auxiliary testing method of the working accuracy of a robot.

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 winning enterprises 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, and generally, along with the growth mode change of manufacturing enterprises in China, the continuous increase of the labor cost and the automatic change of production, the market prospect of the robots is very wide, and the inevitable trend of the development of the manufacturing industry in China is realized.

The traditional design method of the traditional robot adopts a series and repeated flow, an effective CAE means is lacked, and meanwhile, the defects that the robot is shut down and overhauled due to failure without prediction and the production efficiency of the whole automatic production line is influenced because the online failure monitoring and prediction of the robot in the actual application process are not realized exist.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an auxiliary test method for the working accuracy of a robot, which solves the problems that the traditional design method of the traditional robot adopts a serial and repeated flow, an effective CAE means is lacked, and the defects that the on-line fault monitoring and prediction of the robot in the practical application process is not realized, so that the robot is stopped and overhauled due to the failure without prediction, and the production efficiency of the whole automatic production line is influenced exist.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a robot working precision auxiliary test method comprises a RoboDK, a RobotStaudio, a PLC, a Python script program and virtual debugging, wherein the Python script program in the RoboDK can enter a while True loop, joint data of two robots in Redis are read in real time, when unstacking is carried out, if a variable value of a sucker is 1, goods are attached to the sucker and conveyed to the upper side of a conveyor belt, when the variable value of the sucker is 0, the goods leave the sucker and are placed on the conveyor belt, when the goods are in place, a variable in place in the Redis is set to be 1, the robots are unstacked, when the variable value of the sucker is 1, the goods are attached to the sucker and conveyed to the upper side of a goods shelf, when the variable value of the sucker is 0, the goods leave the sucker and are placed on the goods shelf, the value of the variable in place in Redis is reset after the stacking is completed, and the loop is repeated until tasks are completed, and the program is stopped.

Preferably, after the RobotStudio and robotdk workstations and programs are designed, an interactive signal needs to be set in an ABB robot plugin of the interactive control software, so that the Redis virtual key names of the dougrip _ a and the dougrip _ B signals are configured in the I/O monitoring module, because the I/O of the ABB does not allow writing of a signal value in principle in the development of an upper computer, the writing operation of the Di _ ConveryInPlace signal is set in a background code, the virtual key names of the joint angles of the two ABB robots are set in a configuration file, when the ABB robot plugin runs, the joint angle of the moving robot will be written in a Redis database in real time, after all preparation work is completed, the ABB robot plugin is started to collect a script, then the Python program is started, finally the program in the RobotStudio is run, and finally the task is completed successfully.

Preferably, the PLC is a central controller of an intelligent manufacturing and processing experiment, the whole system is logically controlled by a ladder diagram, a robot script program is scheduled and executed by the PLC, motion data is sent to a robot model in simulation, a numerical control system G code is used for completing a processing task, the Python script program logically controls the simulation model, the PLC is programmed in TIA portal software of siemens, the PLC is firstly online with the robot controller and the numerical control system, after the online is successful, the scheduling robot goes to a stereoscopic warehouse to take a blank workpiece, waits for a safety door of the numerical control lathe to be opened, after the safety door of the numerical control lathe is opened, the scheduling robot loads materials to the numerical control lathe, after the loading is completed, the safety door of the numerical control lathe is closed, a start processing signal is sent to the numerical control lathe, the robot waits outside, the numerical control lathe processes are completed, the scheduling robot takes a part from the numerical control lathe, waiting for the opening of a safety door of a machining center, after the safety door of the machining center is opened, the dispatching robot feeds materials to the machining center, after the materials are fed, the safety door of the machining center is closed, a machining starting signal is sent to the machining center, the robot waits outside, the machining center finishes machining, the dispatching robot takes a part from the machining center, and finally the finished product is sent to a stereoscopic warehouse.

Preferably, the Python script program is added to RoboDK simulation software and is mainly used for receiving running data of the robot, the numerical control lathe and the machining center in the Redis database, and simultaneously writing the states of the safety door and the chuck of the numerical control lathe and the machining center into the Redis database, and combining a main function and a function.

Preferably, the main function firstly initializes the safety door of the numerical control lathe and the machining center and the chuck state, closes the chuck and the safety door, then sets a while True cycle, sequentially calls the robot motion control sub-function, the safety door and chuck state updating sub-function, the numerical control lathe and the machining center motion control sub-function, delays for 5 milliseconds to avoid the over-high resource occupation of the CPU, then judges whether the intelligent manufacturing machining is finished, and repeatedly executes the steps in the while cycle if the intelligent manufacturing machining is not finished, otherwise, finishes the program.

Preferably, the virtual debugging is performed by controlling the virtual model through a PLC ladder diagram, a robot script, a numerical control system G code and interactive control software, firstly, the ladder diagram program and the EFORT robot program in Siemens TIA portal software are run, then the interactive control software is started, Siemens S7-1200PLC plug-in, the EFORT robot plug-in, a KND numerical control lathe plug-in and a KND processing center plug-in are run, and then a Python script program in RoboDK simulation software is run, so that the purpose of reading and writing the industrial control equipment data at the PC end so as to control the virtual model is achieved, and the designed industrial control equipment program needs to be applied to field equipment.

Preferably, the input virtual signal of the ladder diagram program in the virtual debugging, such as the switching states of a numerical control lathe, a safety door of a machining center and a chuck, needs to be replaced by a real switching value signal, the ladder diagram, the robot script program and a G code are downloaded to an S7-1200PLC, an EFORT robot and a KND numerical control system respectively after the program is changed, then the system is electrified, all equipment is reset, the modes of the robot and the numerical control system are set to be automatic, the running speed of the robot is adjusted to be low, then the intelligent manufacturing and machining practical training system is started, the running state of the system is checked, if the system is abnormal, the robot is stopped through a robot demonstrator, the signal in the PLC ladder diagram program is modified for several times, the experiment is repeated until a task corresponding to the virtual debugging part is completed, and finally the system is reset and stopped, because the control program of the intelligent manufacturing and machining system is verified in advance in a virtual environment, the field commissioning takes less time to achieve the desired effect.

(III) advantageous effects

1. The invention provides an auxiliary testing method for the working precision of a robot. The method has the following beneficial effects: the method supports the performance test of key parts and the whole machine of the robot, analyzes the influence of various factors on the performance of the robot aiming at the typical application scene of the robot, and avoids the defects that the on-line fault monitoring and prediction of the robot in the actual application process are not realized, the robot is stopped and overhauled due to the fault without prediction, and the production efficiency of the whole automatic production line is influenced.

Drawings

FIG. 1 is a schematic diagram of the Python script program work flow structure of the present invention;

FIG. 2 is a schematic diagram of the general flow structure of the PLC program of the present invention;

FIG. 3 is a schematic diagram of the overall flow structure of the Python program 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 an auxiliary testing method for robot working accuracy, which includes RoboDK, RobotStudio, PLC, Python script program, virtual debugging, where the Python script program in RoboDK enters a while True loop, reads joint data of two robots in Redis in real time, when unstacking is performed, if a value of a suction cup variable is 1, a cargo is attached to a suction cup and transported above a conveyor belt, when a value of a suction cup variable is 0, the cargo leaves the suction cup and is placed on the conveyor belt, when the cargo is in place, a place variable in Redis set to 1, the robots unstack, when the suction cup variable is 1, the cargo is attached to the suction cup and transported above a shelf, when the suction cup variable is 0, the cargo leaves the suction cup and is placed on the shelf, after completing the stacking, the value of the place variable in Redis reset, and the loop is repeated until a task is completed, and the program is stopped, after the RobotStudio and robotdk workstations and programs are designed, interaction signals need to be set in an ABB robot plugin of interaction control software, so that Redis virtual key names of a DoGrip _ A signal and a DoGrip _ B signal are configured in an I/O monitoring module, because the I/O of the ABB does not allow writing of signal values in principle in the development of an upper computer, the writing operation of a Di _ ConveryInPlace signal is set in background codes, the virtual key names of joint angles of two ABB robots are set in a configuration file, when the ABB robot plugin runs, the joint angle of a moving robot can be written into a Redis database in real time, after all preparation works are finished, the ABB robot plugin is started to collect firstly, then a Python script program is started, finally the program in RobotStudio is run, and finally a task is completed successfully, the method supports the performance test of zero parts and the whole robot, aiming at a typical application scene of the robot, the influence of various factors on the performance of the robot is analyzed.

Example two:

as shown in fig. 2, an embodiment of the present invention provides an auxiliary testing method for the working accuracy of a robot, where a PLC is a central controller of an intelligent manufacturing experiment, the whole system is logically controlled by a ladder diagram, a robot script program is scheduled and executed by the PLC, motion data is sent to a robot model in simulation, a G code of a numerical control system is used to complete a processing task, a Python script program is used to logically control the simulation model, the PLC is programmed in TIA portal software of siemens, the PLC is firstly connected with the robot controller and the numerical control system, after successful connection, the robot is scheduled to go to a stereoscopic warehouse to take a blank workpiece, a safety door of the numerical control lathe is opened, after the safety door of the numerical control lathe is opened, the robot is scheduled to feed materials to the numerical control lathe, after the feeding is completed, the numerical control safety door is closed, a processing signal is sent to the numerical control lathe, and the robot waits outside, the method comprises the steps that after the numerical control lathe finishes machining, a dispatching robot gets parts from the numerical control lathe, waits for the opening of a machining center safety door, after the machining center safety door is opened, the dispatching robot loads materials to a machining center, after the loading is finished, the machining center safety door is closed, a machining starting signal is sent to the machining center, the robot waits outside, the machining center finishes machining, the dispatching robot gets parts from the machining center, finally a finished product is sent to a stereoscopic warehouse, a Python script program is added into RoboDK simulation software and is mainly used for receiving operation data of the robot, the numerical control lathe and the machining center in a Redis database, meanwhile, the numerical control lathe, the machining center safety door and the chuck state are written into the Redis database, the numerical control lathe, the machining center safety door and the chuck state are initialized in a master function and a function, the chuck is tightly closed, then a while True loop is set, the robot motion control subfunction, the safety door and chuck state updating subfunction, the numerical control lathe and the machining center motion control subfunction are called in sequence, the time is delayed for 5 milliseconds, the situation that the resources occupied by a CPU are too high is avoided, whether intelligent manufacturing machining is finished or not is judged, if the intelligent manufacturing machining is not finished, the steps in while circulation are repeatedly executed, otherwise, the program is finished, and the defects that the production efficiency of the whole automatic production line is affected due to the fact that the robot is shut down and overhauled due to failure without prediction caused by the fact that online failure monitoring and prediction of the robot in the actual application process are not achieved are avoided.

Example three:

as shown in fig. 2 and fig. 3, an embodiment of the present invention provides an auxiliary testing method for the working accuracy of a robot, wherein virtual debugging is performed by controlling a virtual model through a PLC ladder, a robot script, a numerical control system G code, and an interactive control software, and the virtual debugging is performed by operating a ladder program and an EFORT robot program in siemens TIA portal software, starting the interactive control software, operating siemens S7-1200PLC plug-in, an EFORT robot plug-in, a KND numerical control lathe plug-in, a KND machining center plug-in, and operating a Python script program in RoboDK simulation software, so as to achieve the purpose of reading and writing data of an industrial control device at a PC end to control the virtual model, and the designed industrial control device program needs to be applied to a field device, and virtual signals input to the ladder program in virtual debugging, such as the opening and closing states of a safety door of a machining center, and a chuck, the method comprises the steps of replacing a real switching value signal with a needed signal, downloading a ladder diagram, a robot script program and a G code into an S7-1200PLC, an EFORT robot and a KND numerical control system respectively after the program is changed, powering on the system, resetting all equipment, setting the modes of the robot and the numerical control system to be automatic, adjusting the running speed of the robot to be low, starting an intelligent manufacturing and processing practical training system, carefully checking the running state of the system, stopping the robot through a robot demonstrator if the system is abnormal, modifying signals in the PLC ladder diagram program for several times, repeating experiments until a task corresponding to a virtual debugging part is completed, resetting and stopping the system, wherein the control program of the intelligent manufacturing and processing system is verified in advance in a virtual environment, so that the expected effect is achieved with less time spent on field debugging, the working efficiency of the robot is increased, and the production speed of the robot is increased.

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. The robot working precision auxiliary test method comprises RoboDK, RobotStaudio, PLC, Python script program and virtual debugging, and is characterized in that: the method comprises the steps that a Python script program in the RoboDK enters a while True loop, joint data of two robots in the Redis are read in real time, if the value of a variable of a suction cup is 1 during unstacking, goods are attached to the suction cup and conveyed to the position above a conveyor belt, when the variable value of the suction cup is 0, the goods leave the suction cup and are placed on the conveyor belt, when the goods are in place, the in-place variable in the Redis is set to be 1, the robots perform unstacking, when the variable of the suction cup is 1, the goods are attached to the suction cup and conveyed to the position above a goods shelf, when the variable of the suction cup is 0, the goods leave the suction cup and are placed on the goods shelf, after the goods are stacked, the value of the in-place variable in the Redis is reset, the loop is repeated, and the program is stopped until tasks are completed.

2. The robot working accuracy auxiliary test method according to claim 1, characterized in that: after the RobotStudio, robotdk workstation and program are designed, interaction signals need to be set in an ABB robot plugin of interaction control software, so that Redis virtual key names of a DoGrip _ A signal and a DoGrip _ B signal are configured in an I/O monitoring module, because the I/O of the ABB does not allow writing of signal values in principle in the development of an upper computer, the writing operation of a Di _ ConveryInPlace signal is set in background codes, the virtual key names of joint angles of two ABB robots are set in a configuration file, when the ABB robot plugin runs, the joint angle of a moving robot can be written into a Redis database in real time, after all preparation work is finished, the ABB robot plugin is started to collect firstly, then a Python script program is started, and finally the program in RobotStudio is run, and finally the task is completed successfully.

3. The robot working accuracy auxiliary test method according to claim 1, characterized in that: the PLC is a central controller of an intelligent manufacturing and processing experiment, the whole system is logically controlled through a ladder diagram, a robot script program is scheduled and executed by the PLC, motion data are sent to a robot model in simulation, a G code of a numerical control system is used for finishing a processing task, the Python script program is used for logically controlling the simulation model, the PLC is compiled in TIA portal software of Siemens, firstly, the PLC is connected with the robot controller and the numerical control system, after the connection is successful, the robot is scheduled to go to a stereoscopic warehouse to take a blank workpiece, a safety door of the numerical control lathe is opened, after the safety door of the numerical control lathe is opened, the robot is scheduled to feed to the numerical control lathe, after the feeding is finished, the safety door of the numerical control lathe is closed, a processing signal is sent to the numerical control lathe, the robot waits outside, the processing of the numerical control lathe is finished, the robot is scheduled to take a workpiece from the numerical control lathe, waiting for the opening of a safety door of a machining center, after the safety door of the machining center is opened, the dispatching robot feeds materials to the machining center, after the materials are fed, the safety door of the machining center is closed, a machining starting signal is sent to the machining center, the robot waits outside, the machining center finishes machining, the dispatching robot takes a part from the machining center, and finally the finished product is sent to a stereoscopic warehouse.

4. The robot working accuracy auxiliary test method according to claim 1, characterized in that: the Python script program is added in the RoboDK simulation software and is mainly used for receiving running data of a robot, a numerical control lathe and a machining center in a Redis database, and simultaneously writing the states of the safety door and the chuck of the numerical control lathe and the machining center into the Redis database, and combining a main function and a function.

5. The robot working accuracy auxiliary test method according to claim 4, wherein: the method comprises the steps of firstly initializing the safety door of the numerical control lathe and the machining center and the state of a chuck, closing the chuck and the safety door, then setting a while True loop, sequentially calling a robot motion control sub-function, a safety door and chuck state updating sub-function, a numerical control lathe and a machining center motion control sub-function, delaying for 5 milliseconds, avoiding overhigh resource occupation of a CPU, judging whether intelligent manufacturing machining is finished, repeatedly executing the steps in the while loop if the intelligent manufacturing machining is not finished, and otherwise, finishing the program.

6. The robot working accuracy auxiliary test method according to claim 1, characterized in that: the virtual debugging is carried out by controlling a virtual model through a PLC ladder diagram, a robot script program, a numerical control system G code and interactive control software together, firstly operating the ladder diagram program and an EFORT robot program in Siemens TIA portal software, then starting the interactive control software, operating Siemens S7-1200PLC plug-in, the EFORT robot plug-in, a KND numerical control lathe plug-in and a KND processing center plug-in, and then operating a Python script program in RoboDK simulation software, so that the purpose of reading and writing industrial control equipment data at a PC end so as to control the virtual model is realized, and the designed industrial control equipment program is required to be applied to field equipment.

7. The robot working accuracy auxiliary test method according to claim 1, characterized in that: the input virtual signal of the ladder diagram program in the virtual debugging, such as the switching states of a numerical control lathe, a safety door of a machining center and a chuck, needs to be replaced by a real switching value signal, the ladder diagram, the robot script program and a G code are downloaded to an S7-1200PLC, an EFORT robot and a KND numerical control system respectively after the program is changed, then the system is electrified, all equipment is reset, the modes of the robot and the numerical control system are set to be automatic, the running speed of the robot is adjusted to be low, then an intelligent manufacturing and machining practical training system is started, the running state of the system is carefully checked, if the system is abnormal, the robot is stopped through a robot demonstrator, the signals in the PLC ladder diagram program are modified for several times, the experiment is repeated until a task corresponding to a virtual debugging part is completed, and finally the system is reset and stopped, because the control program of the intelligent manufacturing and machining system is verified in advance in a virtual environment, the field commissioning takes less time to achieve the desired effect.