CN114161424A - Control method and control system for dynamic braking of SCARA robot - Google Patents
Control method and control system for dynamic braking of SCARA robot Download PDFInfo
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- CN114161424A CN114161424A CN202111596971.3A CN202111596971A CN114161424A CN 114161424 A CN114161424 A CN 114161424A CN 202111596971 A CN202111596971 A CN 202111596971A CN 114161424 A CN114161424 A CN 114161424A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of robot control, in particular to a control method and a control system for dynamic braking of a SCARA robot. The control method comprises the following steps: the brake controller detects whether the robot body receives teaching enabling information in real time; when the brake controller detects the teaching enabling information, the driving device is switched to a non-braking state; when the brake controller does not detect the teaching enabling information, the driving device is switched to a brake state, and the timing module starts to time; and judging whether the timing information of the timing module reaches a preset time value or not, and switching the braking state of the driving device according to a judgment result. The robot body is automatically switched to a designated state, so that an operator can conveniently change the robot body into teaching operation or manual teaching operation; the control method can be used for ingeniously combining and applying the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a control method and a control system for dynamic braking of a SCARA robot.
Background
At present, industrial robots are increasingly used in the automation industry, and play an important role in connection in an automation production line. Teaching operation, which is a part of a robot control system, a debugger performs operations such as movement, teaching, and programming of a robot by a teach pendant. Particularly, in the initial stage of project debugging, it is necessary to perform a large number of movements and teaching operations in the manual mode.
However, in the current control scheme, since the operation accuracy of the robot is different in different teaching stages, the teaching accuracy and the teaching efficiency are low when the robot is controlled by the teaching device to operate. In the manual teaching mode, although the teaching precision and the teaching efficiency can be ensured, in the manual teaching mode, the hand press switch on the demonstrator is required to be pressed all the time to provide servo for the robot so as to move the robot, and if teaching operation is carried out for a long time, hands of a debugger are tired, and attention is not focused; in addition, in the existing teaching operation, because the robot moves according to a teach pendant control signal or manual teaching operation, the robot is easy to be in a teaching area in the teaching process, and the robot is easy to collide with the edge of the teaching area because of insufficient operation precision, so that the robot is possible to have an accident in the teaching process.
Disclosure of Invention
In view of the above defects, the present invention aims to provide a control method and a control system for dynamic braking of a SCARA robot, which are used for solving the problems that the existing robot is low in teaching precision and efficiency and easy to have teaching accidents.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for dynamic braking of a SCARA robot comprises the following steps:
step S1, the brake controller detects whether the robot body receives the teaching enabling information in real time;
step S2, when the brake controller detects the teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body carries out programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a brake state, and the timing module starts to time;
step S3, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the brake state, and when the robot body receives the teaching enabling information of the teaching controller, the driving device is switched from the brake state to the non-brake state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to be switched to a non-braking state, the robot body can perform manual teaching operation, the robot body enters the manual teaching state, and the timing module is closed;
when the robot body is in a programming teaching state, when the edge area detection device predicts that the robot body has the possibility of exceeding the edge of the set teaching area, the alarm gives an alarm, the timing module starts timing, and the driving device is switched to a braking state from the programming teaching state; when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to be kept in a braking state, the robot body receives teaching enabling information of the teaching controller in the braking state, and the driving device is switched to a programming teaching state from the braking state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to be switched from a braking state to a non-braking state, and the robot body can perform manual teaching.
Preferably, when the robot body is in a manual teaching state, when the edge region detection device detects that the robot body has an edge exceeding a set teaching region, the brake is switched to the braking state, the alarm gives an alarm, the timing module starts to time, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep the braking state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to be switched to a non-braking state, and the robot body can continue to perform manual teaching.
Preferably, the operation of detecting the robot body by the edge area detecting device includes the steps of:
setting the edge of a teaching demonstration area;
the visual detection device detects the relative position information between the robot body and the edge of the set teaching area in real time;
and the vision judgment module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judgment information to the alarm.
Preferably, the operation of predicting the robot body by the edge area detecting device includes the steps of:
setting the edge of a teaching demonstration area;
the visual detection device detects the relative position information between the robot body and the edge of the set teaching area in real time;
the vision judging module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area or not through simulating teaching actions in the virtual three-dimensional module according to the simulation information and the relative position information in the virtual three-dimensional module, obtains prediction information according to a prediction analysis result, and sends the prediction information to the alarm.
Preferably, when the robot body is powered off in the teaching process, the driving device is switched to a braking state; when the robot body is powered on under the power-off state, the timing module starts to time, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the braking state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to be switched to the non-braking state, and the robot body can continue to carry out manual teaching.
A control system for dynamic braking of a SCARA robot, comprising: the robot comprises a robot body, a teaching controller and a timing module;
the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the brake controller is used for realizing the braking of the driving device;
the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body;
the timing module is used for timing and sending timing information to the brake controller according to a preset time value;
the teaching controller, the timing module, the brake controller and the driving device are electrically connected;
the robot body is a cylindrical coordinate type selection compliance assembly robot arm, and comprises at least two vertically arranged rotating shaft joints and at least one vertically moving joint;
the control system is also provided with an edge area detection device and an alarm module, wherein the edge detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to a demonstrator; the edge area detection device, the alarm module and the teaching controller are electrically connected.
The embodiment of the invention has the following beneficial effects:
the timing module can automatically start timing when the driving device enters a braking state according to the preset requirements of a user, and can automatically switch the robot body to a specified state according to the teaching operation programmed by an operator or timing information, so that the operator can conveniently change the teaching operation or manual teaching operation on the robot body; the control method can be used for ingeniously combining and applying the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
Drawings
FIG. 1 is a schematic flow chart of the control method in one embodiment of the present invention;
fig. 2 is a schematic flow chart of the robot body in the control method according to an embodiment of the invention when the robot body is in a programmed teaching state;
fig. 3 is a schematic flow chart of the control method according to an embodiment of the present invention when the robot body is in the manual teaching state.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 to 3, a method for controlling dynamic braking of a SCARA robot includes the following steps:
and step S1, the brake controller detects whether the robot body receives teaching enabling information in real time.
Step S2, when the brake controller detects the teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body carries out programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a brake state, and the timing module starts to time.
Step S3, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the brake state, and when the robot body receives the teaching enabling information of the teaching controller, the driving device is switched from the brake state to the non-brake state; when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to be switched to a non-braking state, the robot body can perform manual teaching operation, the timing module is closed, and the step S1 is returned.
The teaching enable information is drive information for enabling the robot to adjust the position, the posture and the like according to teaching operation requirements; specifically, in the program teaching operation, the teaching enable information is a teaching control command transmitted from the teaching controller to the robot main body.
After teaching enabling information is received in the control system in a programming teaching state, the driving device controls the driving state of the driving device under the control of the brake controller according to the teaching enabling information, when the teaching enabling information is not received, the driving device is switched into a braking state to keep a preorder teaching posture and position, meanwhile, a timing program is started, when the interruption time of the teaching enabling information does not exceed a preset time value, the teaching enabling information is received again, the robot body continues to complete programming teaching, and the precision and the continuity of programming teaching are guaranteed; when the teaching enabling information interruption time exceeds a preset time value, the driving device releases the braking state, all driving joints can manually rotate, and the robot body can perform manual teaching operation; during the manual teaching operation, if new teaching enabling information is input and received by the robot body at the moment, the robot body can be immediately switched from the manual teaching operation to the programming teaching operation.
As shown in fig. 2, when the robot body is in the programmed teaching state, when the edge area detection device predicts that the robot body has an edge exceeding the set teaching area, the alarm gives an alarm, the timing module starts to time, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the braking state, the robot body can receive the teaching enabling information of the teaching controller, and the driving device is switched from the braking state to the programmed teaching state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to be switched to a non-braking state, and the robot body can perform manual teaching. Because the control method adopts a mode of combining manual teaching and programming teaching in order to ensure the flexibility and convenience of teaching operation, the position and the posture of a robot arm of the robot body are not the same when the robot body performs the teaching operation each time, so that after the robot body switches the teaching state, because the robot body has various initial positions and postures, the robot body is blindly subjected to the programming teaching operation at the moment, teaching enabling information input from a teaching controller is unreasonable, and if the teaching is performed according to the teaching enabling information, the robot arm possibly exceeds a set teaching area, so that the robot body is easily damaged or an operator is easily injured; therefore, in the programming teaching state, the state of the robot arm for subsequently executing teaching enabling information is predicted by using the edge area detection device, and further, operation accidents in the programming teaching operation can be avoided.
Similarly, as shown in fig. 3, when the robot body is in the manual teaching state, when the edge region detection device detects that the robot body has an edge exceeding the set teaching region, the brake is switched to the braking state, the alarm gives an alarm, the timing module starts to start timing, when the timing information of the timing module does not reach the preset time value, the braking controller controls the driving device to keep the braking state, when the timing information of the timing module reaches the preset time value, the braking controller controls the driving device to be switched to the non-braking state, and the robot body can continue to perform the manual teaching. Because in the manual teaching operation process relative programming teaching operation process, the velocity of motion of robot arm can not be too fast, edge area detection device can in time detect out the operating accident that appears in the manual teaching operation process, can avoid robot arm to cause more damage or injury in the teaching process.
Specifically, the operation of detecting the robot body by the edge area detecting device includes the following steps:
and setting the edge of the teaching demonstration area.
The vision detection device detects relative position information between the robot and the edge of the set teaching area in real time.
And the vision judgment module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judgment information to the alarm.
Specifically, the operation of detecting the robot body by the edge area detecting device includes the following steps:
and setting the edge of the teaching demonstration area.
The vision detection device detects the relative position information between the robot body and the edge of the set teaching area in real time.
The vision judging module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area or not according to the simulation information and the relative position information in the virtual three-dimensional module through simulating teaching actions in the virtual three-dimensional module, and sends the prediction information to the alarm.
Preferably, when the robot body is powered off in the teaching process, the driving device is switched to a braking state; when the robot body is powered on in a power-off state, the timing module starts to time, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep a brake state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to be switched to a non-brake state, the robot body can continue to perform manual teaching, and the step S1 is returned.
Because the control method adopts a mode of combining manual teaching and programming teaching in order to ensure the flexibility and convenience of teaching operation, the position and the posture of a robot arm of the robot body are not the same when the robot body performs the teaching operation each time, so that after the robot body is suddenly powered off, because the real-time position and the posture of the robot body are uncertain, if the robot body is powered on again, teaching accidents are easily caused if the robot body continues to move; in this embodiment, when the robot body is powered off, the driving device is in a braking state, that is, the posture and the position in the normal teaching process are maintained; when the robot body is electrified again, the robot does not immediately recover the initial position or continues to move according to the previous teaching enabling information; the robot enters a timing stage under the control of a timing module, and a driving device is always in a braking state in the timing stage, so that the robot body can be prevented from moving, and the safety in a teaching interval is ensured; when the timing module reaches the preset time value, the driving device is switched to a non-braking state, the robot body can be manually taught, and at the moment, an operator can adjust the posture and the position of the robot body, so that adverse effects caused by power failure in the teaching process can be greatly eliminated.
The preset time value is a time value set by a technician according to timing requirements in practical application, and the time value may be the same or different in different timing scenes, and is a parameter that can be flexibly set by the technician in the field according to the practical application.
A control system for dynamic braking of a SCARA robot, comprising: the robot comprises a robot body, a teaching controller and a timing module; the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the brake controller is used for realizing the braking of the driving device; the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body; the timing module is used for timing and sending timing information to the brake controller according to a preset time value; the teaching controller, the timing module, the brake controller and the driving device are electrically connected.
SCARA is an abbreviation of selective company assembly robot arm, meaning a robot arm applied to an assembly job. It has 3 rotary joints, and is most suitable for plane location. The robot body is a cylindrical coordinate type selection compliance assembly robot arm, and comprises at least two vertically arranged rotating shaft joints and a vertical moving joint.
The control system is also provided with an edge area detection device and an alarm module, wherein the edge detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to a demonstrator; the edge area detection device, the alarm module and the teaching controller are electrically connected. The edge area detection device comprises a visual detection device, a visual judgment module and a virtual three-dimensional module; the vision detection device is used for extracting image information of the robot body in the teaching space in real time, and specifically can be a camera arranged in the teaching space; the vision judging module is used for analyzing and judging the image information; the virtual three-dimensional module is used for establishing a three-dimensional dynamic model matched with the robot body and the teaching space in the three-dimensional design platform according to the teaching enabling information. And the virtual three-dimensional module enables the robot body to move in the teaching space according to the demonstration enabling information, and when the robot body moves beyond a preset teaching area in the teaching space, the prediction result is that the robot body is possible to exceed the edge of the preset teaching area in the teaching process.
The timing module can automatically start timing when the driving device enters a braking state according to the preset requirements of a user, and can automatically switch the robot body to a specified state according to the teaching operation programmed by an operator or timing information, so that the operator can conveniently change the teaching operation or manual teaching operation on the robot body; the control method can be used for ingeniously combining and applying the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (6)
1. A control method for dynamic braking of a SCARA robot is characterized by comprising the following steps:
step S1, the brake controller detects whether the robot body receives the teaching enabling information in real time;
step S2, when the brake controller detects the teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body carries out programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a brake state, and the timing module starts to time;
step S3, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the brake state, and when the robot body receives the teaching enabling information of the teaching controller, the driving device is switched from the brake state to the non-brake state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to be switched to a non-braking state, the robot body can perform manual teaching operation, the robot body enters the manual teaching state, and the timing module is closed;
when the robot body is in a programming teaching state, when the edge area detection device predicts that the robot body has the possibility of exceeding the edge of the set teaching area, the alarm gives an alarm, the timing module starts timing, and the driving device is switched to a braking state from the programming teaching state; when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to be kept in a braking state, the robot body receives teaching enabling information of the teaching controller in the braking state, and the driving device is switched to a programming teaching state from the braking state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to be switched from a braking state to a non-braking state, and the robot body can perform manual teaching.
2. The method as claimed in claim 1, wherein the robot body is in a manual teaching state, when the edge area detection device detects that the robot body has an edge exceeding a predetermined teaching area, the brake is switched to a braking state, the alarm gives an alarm, the timing module starts to start timing, when the timing information of the timing module does not reach a predetermined time value, the brake controller controls the driving device to maintain the braking state, when the timing information counted by the timing module reaches the predetermined time value, the brake controller controls the driving device to be switched to a non-braking state, and the robot body can continue to perform manual teaching.
3. The method for controlling dynamic braking of a SCARA robot according to claim 2, wherein the operation of detecting the robot body by the edge area detecting device comprises the following steps:
setting the edge of a teaching demonstration area;
the visual detection device detects the relative position information between the robot body and the edge of the set teaching area in real time;
and the vision judgment module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judgment information to the alarm.
4. The method for controlling dynamic braking of a SCARA robot according to claim 1, wherein the operation of the edge area detection device to predict the robot body comprises the following steps:
setting the edge of a teaching demonstration area;
the visual detection device detects the relative position information between the robot body and the edge of the set teaching area in real time;
the vision judging module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area or not through simulating teaching actions in the virtual three-dimensional module according to the simulation information and the relative position information in the virtual three-dimensional module, obtains prediction information according to a prediction analysis result, and sends the prediction information to the alarm.
5. A control method for dynamic braking of a SCARA robot according to claim 1, characterized in that, when the robot body is powered off during the teaching, the driving device is switched to the braking state; when the robot body is powered on under the power-off state, the timing module starts to time, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the braking state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to be switched to the non-braking state, and the robot body can continue to carry out manual teaching.
6. A control system for dynamic braking of a SCARA robot, comprising: the robot comprises a robot body, a teaching controller and a timing module;
the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the brake controller is used for realizing the braking of the driving device;
the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body;
the timing module is used for timing and sending timing information to the brake controller according to a preset time value;
the teaching controller, the timing module, the brake controller and the driving device are electrically connected;
the robot body is a cylindrical coordinate type selection compliance assembly robot arm, and comprises at least two vertically arranged rotating shaft joints and at least one vertically moving joint;
the control system is also provided with an edge area detection device and an alarm module, wherein the edge detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to a demonstrator; the edge area detection device, the alarm module and the teaching controller are electrically connected.
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| CN115026823A (en) * | 2022-06-14 | 2022-09-09 | 广东天太机器人有限公司 | Industrial robot control method and system based on coordinate welding |
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| CN115026823B (en) * | 2022-06-14 | 2023-01-17 | 广东天太机器人有限公司 | Industrial robot control method and system based on coordinate welding |
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