TW202012130A - Automatic return control system and method for robot arm - Google Patents

Abstract

An automatic return control system and method for a robot arm are provided. The control system includes a robot arm device, a control host and an emergency stop controller. The control method firstly executes a production program thread and a stop detection thread by using a processor of the control host. Then, when the stop detection thread detecting a robot arm stop, the processor stops executing the production program thread and controls the robot arm to return to the initial state. Then, when the stop detection thread detecting robot stops releasing, the processor initializes the production program thread and the stop detection thread.

Description

Automatic return control system and method applied to mechanical arm

The invention relates to a control system and method of a mechanical arm, in particular to a control system and method of automatic return of a mechanical arm.

Generally speaking, in order to improve the efficiency of products produced in factories, robot arms are usually used to complete the production automation in the manufacturing process. Among them, because the robot arms usually execute multiple motion instructions in sequence to complete the actions of the production program, so when the machinery When the arm is temporarily suspended due to an emergency, the robot must be manually reset to the initial state after the emergency is eliminated by the field staff. Only then can the program used to control the operation of the robot be restarted.

For example, when a worker finds an obstacle on the path of the robotic arm, the worker must immediately press the emergency stop controller to stop the robotic arm to avoid occupational safety hazards. After elimination, the production program usually contains a series of motion commands from the initial state to the completion of the production process and returns to the initial state. Therefore, the production process cannot be directly completed from the position where the robot arm stops, and can only be operated manually by the staff. Return to the initial state, and then re-run the production program.

As mentioned above, because the interruption and return operation of the existing robotic arm is performed manually by the staff, it is impossible to automate the entire manufacturing process for unmanned production. It is necessary to configure the on-site staff to stand by at any time, which not only causes manpower Waste also makes the overall production capacity unable to be effectively improved.

In view of the fact that the existing robotic arm stops when it encounters an emergency, it often depends on the staff to manually return the robotic arm to the initial state, which leads to waste of manpower and cannot effectively increase production capacity. The main purpose of the invention is to provide an automatic return control system and method applied to a robot arm, so as to solve the problem that the robot arm of the prior art needs to be manually reset.

In order to achieve the above object, the necessary technical means adopted by the present invention is to provide an automatic return control method applied to a robot arm. The first step (a) is to use a processor to execute a production process thread and a stop detection thread. The production process thread is used to control a robot arm to perform production operations, and the stop detection thread is used to detect whether the robot arm stops operating; then, step (b) is when the stop detection thread detection When the robotic arm stops, the processor stops executing the production program thread, and controls the robotic arm to return to the initial state; then, step (c) is when the stop detection thread detects that the robotic arm stops releasing, The processor initializes the production process thread and the stop detection thread.

In one of the subsidiary technical means derived from the above necessary technical means, a step (a1) is further included after step (a). When the processor receives the production command, the processor executes the production program thread according to the production command .

In one of the subsidiary technical means derived from the above necessary technical means, a step (b0) is further included before step (b), and the processor receives a detection signal sent by a pressure detection unit. Preferably, the stop detection thread of step (b) triggers the generation of an emergency stop event when the detection signal is a stop signal, so that the processor stops executing the production process thread according to the emergency stop event, And control the robot arm to return to the initial state.

In one of the subsidiary technical means derived from the above necessary technical means, a step (c0) is further included before step (c), and the processor is used to receive the detection signal sent by the pressure detection unit. Preferably, the stop detection thread of step (c) stops the emergency stop event when the detection signal is determined to be a stop release signal, so that the processor initializes the production process thread and the stop detection Thread.

Another necessary technical method adopted by the present invention is to provide an automatic return control system applied to a mechanical arm, including a mechanical arm device, a control host, and an emergency stop controller. The mechanical arm device includes a mechanical arm and a mechanical arm controller. The mechanical arm controller is electrically connected to the mechanical arm and used to control the operation of the mechanical arm. The control host is electrically connected to the robot arm device and has a processor. The processor sends at least one motion command signal to the robot arm controller when receiving a production command, so that the robot arm controller is driven The robotic arm performs production operations.

The emergency stop controller is electrically connected to the robot arm device and the control host, and includes an emergency stop button and a press detection unit. The emergency stop button is operated to send an emergency stop signal to the robot arm device, so that the robot arm stops operating. The pressing detection unit is used for detecting whether the emergency stop button is pressed and sending a detection signal to the control host, so that the processor controls the mechanical arm according to the detection signal.

Wherein, when the detection signal is a stop signal, the processor controls the robot arm to return to an initial state; when the detection signal is a stop release signal, the processor initializes and restarts operation.

In one of the subsidiary technical means derived from the above-mentioned necessary technical means, the processor has a production process thread and an emergency stop detection thread built in. The production process thread is used to control the robotic arm for production operations, the The stop detection thread is used to detect whether the robot arm has stopped operating.

In one of the subsidiary technical means derived from the above necessary technical means, the mechanical arm device further includes an electric power supply unit, the electric power supply unit is electrically connected to the mechanical arm, and when the mechanical arm device receives the emergency stop During the signal, the power supply unit stops supplying power to the robot arm according to the emergency stop signal.

As described above, since the automatic return control system and method of the present invention applied to the robot arm utilizes the cooperation of the control host and the pressure detection unit, when the robot arm is emergency stopped, the previous operation can be solved by the operation of the processor The problem of the mechanical arm of technology needs to be reset manually.

100‧‧‧Automatic return control system applied to mechanical arm

1‧‧‧ Robot arm device

11‧‧‧Robot

12‧‧‧ Robot arm controller

13‧‧‧ First transmission unit

14‧‧‧Electricity supply unit

2‧‧‧Control host

21‧‧‧ processor

211‧‧‧ Production thread

212‧‧‧Stop detecting thread

22‧‧‧Second transmission unit

3‧‧‧Emergency stop controller

31‧‧‧Emergency stop button

32‧‧‧Press detection unit

The first figure shows the system schematic diagram of the automatic return control system applied to the robot arm provided by the preferred embodiment of the present invention; and the second figure shows the automatic return control applied to the robot arm provided by the preferred embodiment of the present invention Flow chart of method steps.

The specific embodiments of the present invention will be described in more detail below with reference to schematic diagrams. The advantages and features of the present invention will be clearer from the following description and patent application scope. It should be noted that the drawings are in a very simplified form and all use inaccurate proportions, which are only used to conveniently and clearly assist the purpose of explaining the embodiments of the present invention.

Please refer to the first figure, which shows a system schematic diagram of an automatic return control system applied to a robot arm provided by a preferred embodiment of the present invention. As shown in the figure, an automatic return control system 100 applied to a robot arm includes a robot arm device 1, a control host 2, and an emergency stop controller 3.

The robot arm device 1 includes a robot arm 11, a robot arm controller 12, a first transmission unit 13 and a power supply unit 14. The robot arm controller 12 is electrically connected to the robot arm 11 and used to control the operation of the robot arm 11. The first transmission unit 13 is electrically connected to the robot arm controller 12, and the power supply unit 14 is electrically connected to the robot arm 11 and the first transmission unit 13. In practical applications, the power supply unit 14 can be powered by the first transmission unit 13 or the robot arm 11 to the robot arm controller 12, or directly connected to the robot arm controller 12, which means that the power supply unit 14 supplies The power of the entire robotic arm device 1; in addition, the power supply unit 14 may be, for example, a power distribution device connected to an external power source, and the first transmission unit 13 may be a wired transmission interface or a wireless transmission module.

The control host 2 includes a processor 21 and a second transmission unit 22. The processor 21 has a production process thread 211 and a stop detection thread 212 built-in. The second transmission unit 22 is electrically connected to the processor 21 and the first transmission unit 13. Among them, the production program thread 211 is used to control the robot arm 11 to perform production operations, and the stop detection thread 212 is used to detect whether the robot arm 11 stops operating. In addition, in practical use, the processor 21 sends at least one action when it receives a production instruction (not shown, it can be an instruction issued by the user operating the control host 2 or a command sent by a remote host) The command signal is transmitted to the robot arm controller 12 through the second transmission unit 22 and the first transmission unit 13, so that the robot arm controller 12 drives the robot arm 11 to perform production operations; wherein, the second transmission unit 22 may be a wired transmission interface Or wireless transmission module.

The emergency stop controller 3 includes an emergency stop button 31 and a press detection unit 32. The emergency stop button 31 is electrically connected to the first transmission unit 13, and the press detection unit 32 is electrically connected to the second transmission unit 22. The emergency stop button 31 is pressed by the user to send an emergency stop signal to the robot arm device 1. When the robot arm device 1 receives an emergency stop signal, the power supply unit 14 stops supplying power according to the emergency stop signal To the robot arm 11, the robot arm 11 is stopped. The pressure detection unit 32 is used to detect whether the emergency stop button 31 is pressed and send a detection signal to the control host 2 so that the processor 21 controls the robot arm 11 according to the detection signal; wherein, when the detection signal is When a stop signal occurs, the processor 21 controls the robot arm 11 to return to an initial state; when the detection signal is a stop release signal, the processor 21 initializes and restarts operation.

In this embodiment, the pressure detection unit 32 senses the current when the emergency stop button 31 is pressed by the electromagnetic coil to generate an emergency stop signal, and then sends a detection signal to the processor 21 via the second transmission unit 22, but In other embodiments, the pressing detection unit 32 may also be electrically connected to the emergency stop button 31 to detect whether the emergency stop button 31 is pressed.

Please refer to the first figure and the second figure together. The second figure is a flowchart showing the steps of the automatic return control method applied to the robot arm provided by the preferred embodiment of the present invention. As shown in the figure, an automatic reset control method applied to a robotic arm, the first step S101 is to use the processor 21 to initialize the production program thread 211 and the stop detection thread 212.

Next, in step S102, when the processor 21 receives the production command, it executes the production program thread 211. Then, step S103 uses the processor 21 to receive the detection signal sent by the pressure detection unit 32. Next, step S104 is to stop the detection thread 212 to determine whether the detection signal is a stop signal. When the detection signal is a stop signal, proceed to step S105; in addition, when the detection signal is not a stop signal, return to step S103, processing The device 21 continues to receive the detection signal sent by the pressure detection unit 32.

As described above, when the stop detection thread 212 determines that the detection signal is a stop signal, step S105 is to stop the detection thread 212 to trigger an emergency stop event, and then step S106 is for the processor 21 to stop production according to the emergency stop event. The program executes thread 211, and controls the robotic arm 11 to return to the initial state; wherein, the initial state refers to the initial position of the robotic arm 11 and the setting movement, for example, the initial state of the robotic arm 11 is to return to the same point, and the robotic arm 11 is The claw is released, and in actual use, the return process is to first confirm the current coordinate position of the arm through the positioning device, and confirm whether the robot arm 11 grabs the object through the sensor. First, control the robot arm 11 to place the object in a temporary storage area, and then calculate the safe path of the position where the robot arm 11 moves to the initial state.

After the robot arm 11 returns to the initial state, step S107 uses the processor 21 to receive the detection signal sent by the pressure detection unit 32. Step S108 is to stop the detection thread 212 to determine whether the detection signal is a stop release signal. When the detection signal is a stop release signal, the process proceeds to step S109. Step S109 is to stop the detection thread 212 to stop the emergency stop event. The final step S110 is to use the processor 21 to initialize the production process thread 211 and stop the detection thread 212. In this way, when the processor 21 receives the production instruction again, it can re-execute the production program thread 211, thereby controlling the robot arm 11 to perform the production operation.

In summary, compared to the prior art robotic arm that stops when encountering an emergency, it needs to rely on manual operation to return, resulting in waste of manpower and unable to effectively increase productivity; the processor of the present invention is The cooperation of the detection unit controls the return of the robot arm when it detects that the emergency stop button is pressed, and initializes the processor when it detects the release of the pressure, thereby re-controlling the robot arm to execute the production process, effectively making the production process more Automation, which can effectively save labor costs, and can effectively increase production capacity.

The above are only preferred embodiments of the present invention, and do not limit the present invention in any way. Any person skilled in the art in the technical field, within the scope of not departing from the technical means of the present invention, makes any equivalent replacement or modification of the technical means and technical contents disclosed in the present invention without any deviation from the technical means of the present invention. The content still falls within the protection scope of the present invention.

Claims (9)

An automatic return control method applied to a robot arm includes the following steps: (a) A processor executes a production program thread and a stop detection thread. The production program thread is used to control a robot arm for production Operation, the stop detection thread is used to detect whether the robot arm stops operating; (b) when the stop detection thread detects that the robot arm stops, the processor stops executing the production process thread, and Controlling the robot arm to return to the initial state; and (c) when the stop detection thread detects that the robot arm stops being released, the processor initializes the production process thread and the stop detection thread. The automatic return control method applied to the robot arm as described in item 1 of the patent application scope, wherein after step (a), a step (a1) is further included, and when the processor receives a production command, the processor Execute the production program thread according to the production order. The automatic return control method applied to the robot arm as described in item 1 of the patent application scope, wherein before step (b), a step (b0) is further included, and the processor receives one of the signals sent by a pressure detection unit Detect signal. The automatic return control method applied to the robot arm as described in item 3 of the patent application scope, wherein the stop detection thread of step (b) triggers an emergency stop when the detection signal is determined to be a stop signal The event is generated, so that the processor stops executing the production program thread according to the emergency stop event, and controls the robot arm to return to the initial state. The automatic return control method applied to the robotic arm as described in item 1 of the patent application scope, wherein before step (c), a step (c0) is further included, and the processor is used to receive the Detect signal. The automatic return control method applied to the robot arm as described in item 5 of the patent application scope, wherein the stop detection thread of step (c) is to stop the emergency stop when the detection signal is judged to be a stop release signal An event is generated to enable the processor to initialize the production process thread and the stop detection thread. An automatic reset control system applied to a mechanical arm includes: a mechanical arm device including a mechanical arm and a mechanical arm controller, the mechanical arm controller is electrically connected to the mechanical arm and used to control the mechanical arm Operation; a control host, which is electrically connected to the robot arm device and has a processor, which sends at least one motion command signal to the robot arm controller when receiving a production command, so that the The robot arm controller drives the robot arm to perform production operations; and an emergency stop controller, which is electrically connected to the robot arm device and the control host, and includes: an emergency stop button, which is operated to send an emergency stop signal To the mechanical arm device, to stop the mechanical arm; and a press detection unit to detect whether the emergency stop button is pressed and send a detection signal to the control host, so that the processor according to the The detection signal performs corresponding control on the robotic arm; wherein, when the detection signal is a stop signal, the processor controls the robotic arm to return to an initial state; when the detection signal is a stop release signal At this time, the processor is initialized and restarted. The automatic return control system applied to the robot arm as described in item 7 of the patent application scope, wherein the processor has a production process thread and a stop detection thread built in, the production process thread is used to control the The manipulator performs production operations, and the stop detection thread is used to detect whether the manipulator stops operating. The automatic return control system applied to the robot arm as described in item 7 of the patent application scope, wherein the robot arm device further includes a power supply unit, the power supply unit is electrically connected to the robot arm, and when the machine When the arm device receives the emergency stop signal, the power supply unit stops supplying power to the mechanical arm according to the emergency stop signal.

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