WO2019000181A1 - 机器人操作机的控制设备及其控制方法、机器人系统 - Google Patents

机器人操作机的控制设备及其控制方法、机器人系统 Download PDF

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Publication number
WO2019000181A1
WO2019000181A1 PCT/CN2017/090040 CN2017090040W WO2019000181A1 WO 2019000181 A1 WO2019000181 A1 WO 2019000181A1 CN 2017090040 W CN2017090040 W CN 2017090040W WO 2019000181 A1 WO2019000181 A1 WO 2019000181A1
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Prior art keywords
model code
robot
database
control device
switch
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PCT/CN2017/090040
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English (en)
French (fr)
Inventor
向小山
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深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201780035431.3A priority Critical patent/CN109690429A/zh
Priority to PCT/CN2017/090040 priority patent/WO2019000181A1/zh
Publication of WO2019000181A1 publication Critical patent/WO2019000181A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • 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]

Definitions

  • the present invention relates to the field of automatic control technologies, and in particular, to a control device for a robot operating machine, a control method thereof, and a robot system.
  • the Industrial Robot is a multi-function machine that automatically positions and controls and can be reprogrammed to change. It is equipped with multiple degrees of freedom for handling materials, parts and gripping tools to perform a variety of different tasks.
  • the industrial robot includes a robot operating machine and a robot control machine, and the robot operating machine is a mechanical mechanism part of the industrial robot; the robot control machine is composed of a control computer and a servo controller for controlling the robot operating machine.
  • the robot operating machine can be a space open chain link mechanism, and the motion pair is also called a joint, and the independently driven joint is called an active joint, and the opposite is a driven joint; the connecting rod is the arm of the robot operating machine; the arm length and The number of joints and the like are the kinematic parameters of the robot manipulator.
  • the robotic manipulator has a wide variety of models, and the kinematic parameters of different types of robotic manipulators are different.
  • the robot manipulators In order to adapt to different loads and uses, the robot manipulators have different models, and the kinematic parameters of different types of robot manipulators are different, for example, the lengths of the arm arms are different.
  • the robot controller can control different types of robot manipulators. In order to properly control the robot manipulator, the robot controller must know the kinematic parameters of the manipulator.
  • the prior art manually configures the kinematic parameters of the manipulator to the robot's control machine.
  • Disadvantages of this method include: manual operation is required, and it is troublesome; if the model of the actual connected machine of the control machine is inconsistent with the configured model, a safety accident may occur.
  • the present invention provides a control device for a robot operating machine, a control method thereof, and a robot system capable of accurately and quickly identifying kinematic parameters of the robot operating machine.
  • the embodiment of the invention discloses a control method of a robot operating machine, and the control method comprises:
  • the database includes a model code of a plurality of robot manipulators and a plurality of motion parameters, and models of the plurality of robot manipulators
  • the code is in one-to-one correspondence with the plurality of motion parameters
  • the motion parameter corresponding to the model code is obtained from the database, and the robotic manipulator is controlled according to the motion parameter.
  • the embodiment of the invention further discloses a control device for a robot operating machine, the control device of the robot operating machine comprising: a robot operating machine comprising: a connector, a processor and a memory connected in sequence, the connector being used for operating with the robot Connected to the memory, the memory is used to store a database, the database includes a model code of a plurality of robot manipulators and a plurality of motion parameters, and the model code of the plurality of robot manipulators corresponds to the plurality of motion parameters one-to-one ,among them:
  • the processor is configured to read a model code of the robot operating machine
  • the processor searches the database according to the model code, and determines whether the model code is successful in the database;
  • the processor acquires a motion parameter corresponding to the model code from the database, and controls the robot manipulator according to the motion parameter.
  • the embodiment of the invention also discloses a robot system, which comprises a control device and a robot operating machine connected to the control device, wherein:
  • the control device reads a model code from the robotic manipulator
  • the control device searches the database according to the model code, and determines whether the model code is successful in the database, wherein the database includes a model code of a plurality of robot operators and a plurality of motion parameters, and the plurality of robots
  • the model code of the operating machine is in one-to-one correspondence with the plurality of motion parameters;
  • control device acquires a motion parameter corresponding to the model code from the database, and controls the robot manipulator according to the motion parameter.
  • the present invention reads the model number of the robot operating machine, and searches the database according to the model number to determine whether the model number is successful in the database; if yes, obtains from the database
  • the motion parameter corresponding to the model code controls the robot operation machine according to the motion parameter; compared with manually configuring the robot operation machine parameter to the robot controller, the present invention searches the database according to the model number to obtain the motion parameter corresponding to the model code from the database. No manual input is required, so the corresponding motion parameters can be found accurately and quickly according to the model number of the robot operating machine, and the safety performance can be improved.
  • FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of the control device and the robot operating machine of Figure 1;
  • FIG. 3 is a flow chart of a control method according to another embodiment of the present invention.
  • Figure 4 is a schematic structural view of the control device and the robot operating machine of Figure 3;
  • FIG. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control device according to another embodiment of the present invention.
  • Fig. 7 is a schematic structural view of a robot system according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a control method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a control device and a robot operation device of FIG.
  • the control method disclosed in this embodiment is applied to a control device.
  • the control device 21 is connected to a robot operation machine 22 for controlling the robot operation machine 22.
  • the robotic manipulator 22 can be a plurality of differently modeled robotic manipulators 22, so the control device 21 can control a plurality of different model coded robotic manipulators 22.
  • control method of the robot manipulator includes the following steps:
  • Different robot operating devices 22 are provided with different model codes, and the model codes can be combined by numbers or letters.
  • Each robot operating machine 22 corresponds to one model code, and the robot manipulator 22 can set the model code at the factory setting.
  • the control device 21 establishes a connection with the robot operating machine 22, and the control device 21 reads the model code of the robot operating machine 22 from the robot operating machine 22.
  • the database includes a model code of the plurality of robot manipulators 22 and a plurality of motion parameters, and the model codes of the plurality of robot manipulators 22 are in one-to-one correspondence with the plurality of motion parameters.
  • control device 21 presets and saves a database, and when the model code of the robot operating machine 22 is read, the control device 21 searches the database according to the model code and determines whether the model code is successful in the database. If so, that is, if the control device 21 determines that the model search code is successful in the database, the process proceeds to step S13; if not, that is, if the control device 21 determines that the model search code has failed in the database, the process proceeds to step S14.
  • the control device 21 acquires the motion parameter corresponding to the model code from the database, and controls the robot manipulator 22 according to the motion parameter.
  • S14 Acquire a preset motion parameter corresponding to the model code, and store the model code and the preset motion parameter in a database.
  • the control device 21 acquires a preset motion parameter corresponding to the model code, and stores the model code and the preset motion parameter in a database, thereby updating the database. That is, the control device 21 does not find the model code in the database, and the control device 21 acquires a preset motion parameter corresponding to the model code through the input device of the control device 21 or the robot operation device 22, for example, the user inputs the input device at the control device 21.
  • the motion parameters are preset or preset motion parameters stored by the operator 22.
  • the present embodiment searches the database according to the model code by the control device 21, obtains the motion parameters corresponding to the model code from the database, and controls the robot operating machine 22 according to the motion parameters, thereby enabling According to the model number of the robot operating machine 22, the corresponding motion parameters are accurately and quickly found, and the safety performance is improved.
  • the present invention also provides a control method of another embodiment, which is described on the basis of the above control method.
  • the robot operating machine 22 of the present embodiment includes a switch group 221, and the switch group 221 includes at least two switches 222, which are fixedly disposed on the robot operating machine 22, and each switch 222 of the switch group 221
  • the state remains the same, i.e., the state of each switch 222 in the switch group 221 after the completion of production by the robot manipulator 22 is uniquely determined and cannot be changed.
  • step S11 further includes the following steps:
  • control device 21 reads the state of each switch 222 in the switch group 221, and the state of each switch 222 is an open state or a closed state.
  • the control device 21 derives the model number from the states of all the switches 222 in the switch group 221, wherein the control device 21 can indicate the state of each switch 222 by "0" and "1".
  • the control device 21 marks the state of the switch 222 as "1”;
  • the control device 21 marks the state of the switch 222 as "0", that is, the control device 21 will be in the open state.
  • the switch 222 is labeled "0” and the switch 222 in the closed state is labeled "1".
  • the control device 21 is a set of numbers consisting of numbers "0" and "1" according to the state of all the switches 222 in the switch group 221, which is the model number of the robot manipulator 22.
  • the switch group 221 includes four switches 222.
  • the states of the four switches 222 are in a closed state, an open state, a closed state, and an open state, and the control device 21 obtains the model code of the robot operating machine 22 as 1010.
  • one of ordinary skill in the art can also set switch group 221 to other implementations, such as a mechanical switch bank, a non-volatile line memory, and the like.
  • a person skilled in the art can also express the model code of the robot manipulator 22 by other means, for example, using a combination of letters and numbers to indicate the model code C1010.
  • the model code is obtained according to the state of all the switches 222 in the switch group 221, which is simple in implementation and easy to operate.
  • the present invention also provides a control device for a robot operating machine according to an embodiment, which is described on the basis of the control method shown in FIG. 1.
  • the control device 21 disclosed in this embodiment is capable of controlling a plurality of different model coded robotic manipulators 22.
  • the control device 21 includes a connector 211, a processor 212, and a memory 213, which are sequentially connected, a connector 211 for connecting to the robot operation machine 22, a memory 213 for storing a database, and a database including a plurality of robot operation machines.
  • the model code of 22 and the plurality of motion parameters, the model code of the plurality of robot manipulators 22 correspond one-to-one with a plurality of motion parameters.
  • the processor 212 is configured to read the model code of the robot manipulator 22, that is, the processor 212 reads the model code of the robot manipulator 22 through the connector 211.
  • Different robot operating devices 22 are correspondingly provided with different model codes.
  • the model codes can be combined by numbers or letters, and each robot operating device 22 corresponds to one model code, and the robot operating device 22 can set the model code at the factory setting.
  • the processor 212 further looks up the database based on the model code, i.e., the processor 212 matches the model code with the database stored by the memory 213. The processor 212 determines whether the model code is successful in the database search; if the processor 212 determines that the model code is successful in the database, the processor 212 acquires the motion parameter corresponding to the model code from the database, and controls the robot operation machine 22 according to the motion parameter. .
  • the processor 212 determines that the model code search fails in the database, the processor 212 acquires the preset motion parameters corresponding to the model code, and stores the model code and the preset motion parameters in the database. Specifically, the processor 212 does not find the model code in the database, and the processor 212 acquires a preset motion parameter corresponding to the model code by the input device of the control device 21 or the robot operation machine 22, for example, the input of the user at the control device 21. The device inputs a preset motion parameter or a preset motion parameter stored by the operator 22.
  • the processor 212 of the present embodiment searches the database according to the model code to obtain the motion parameter corresponding to the model code from the database, and controls the robot operating machine 22 according to the motion parameter, compared with manually configuring the robot controller parameters.
  • the model number of the robot operating machine 22 finds the corresponding motion parameters accurately and quickly, and improves the safety performance.
  • the present invention also provides a control device for a robot operating machine according to another embodiment, which is described on the basis of the control method shown in FIG. 3 and the control device shown in FIG. 5.
  • the robot operating machine 22 of the present embodiment includes a switch group 221, and the switch group 221 includes at least two switches 222 fixedly disposed on the robot operating machine 22, and each switch 222 of the switch group 221 The state remains the same, i.e., the state of each switch 222 in the switch group 221 after the completion of production by the robot manipulator 22 is uniquely determined and cannot be changed.
  • the connector 211 of the control device 21 is connected to the switch group 221, and the processor 212 is further configured to read the state of each switch 222 in the switch group 221, and the state of each switch 222 is an open state or a closed state.
  • the processor 212 derives the model number from the state of all of the switches 222 in the switch group 221, wherein the processor 212 can indicate the state of each switch 222 by "0" and "1".
  • the processor 212 marks the state of the switch 222 as "1”; when the switch 222 is in the open state, the processor 212 marks the state of the switch 222 as "0", that is, the processor 212 will be in the open state.
  • the switch 222 is labeled "0" and the switch 222 in the closed state is labeled "1".
  • processor 212 is a set of numbers consisting of the numbers “0" and "1" based on the state of all switches 222 in switch group 221, which is the model number of robotic manipulator 22.
  • the switch group 221 includes four switches 222. The states of the four switches 222 are sequentially closed, open, closed, and open.
  • the processor 212 obtains the model number of the robot 22 as 1010.
  • one of ordinary skill in the art can also set switch group 221 to other implementations, such as a mechanical switch bank, a non-volatile line memory, and the like.
  • a person skilled in the art can also express the model code of the robot manipulator 22 by other means, for example, using a combination of letters and numbers to indicate the model code C1010.
  • the processor 212 of the embodiment obtains the model code according to the state of all the switches 222 in the switch group 221, and the implementation is simple and easy to operate.
  • the present invention further provides a robot system of an embodiment, as shown in FIG. 7, the robot system 70 includes a control device 71 and a robotic manipulator 72 connected to the control device 71, wherein the control device 71 is used to control the robot manipulator 72,
  • the control device 71 and the robot operating device 72 are both the control device and the robot operating machine disclosed in the above embodiments, and are not described herein again.
  • control device may be a robot.

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Abstract

一种机器人操作机的控制设备及其控制方法、机器人系统。该控制方法包括：读取所述机器人操作机的型号编码（S11）；根据所述型号编码查找数据库，并判断在所述数据库查找所述型号编码是否成功（S12），其中所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应；若是，则从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机（S13）。根据机器人操作机的型号编号准确快捷地查找到对应的运动参数，提高安全性能。

Description

机器人操作机的控制设备及其控制方法、机器人系统
【技术领域】
本发明涉及自动控制技术领域，特别是涉及一种机器人操作机的控制设备及其控制方法、机器人系统。
【背景技术】
工业机器人是一种能自动定位控制并可重新编程予以变动的多功能机器，其设置有多个自由度，可用来搬运材料、零件和握持工具，以完成各种不同的作业。工业机器人包括机器人操作机和机器人控制机，机器人操作机是工业机器人的机械机构部分；机器人控制机由控制计算机和伺服控制器组成，用于控制机器人操作机。其中，机器人操作机可为空间开链连杆机构，其运动副又称为关节，凡独立驱动的关节称为主动关节，反之为从动关节；连杆即机器人操作机的手臂；手臂长度和关节数目等均为机器人操作机的运动学参数。机器人操作机具有多种多样的型号，不同型号的机器人操作机的运动学参数均不相同。
为了适应不同的负载和用途，机器人操作机具有不同的型号，不同型号的机器人操作机的运动学参数不相同，例如各轴臂长都不同。而机器人控制机能够控制不同型号的机器人操作机，为了正确控制机器人操作机，机器人控制机必须知道操作机的运动学参数。
现有技术通过人工手动给机器人的控制机配置操作机的运动学参数。该方法的缺点包括：需要人工操作，比较麻烦；如果控制机实际连接的操作机型号和配置的型号不一致，可能会发生安全事故。
【发明内容】
为解决现有技术中存在的问题，本发明提供一种机器人操作机的控制设备及其控制方法、机器人系统，能够准确快捷地识别机器人操作机的运动学参数。
本发明实施例公开了一种机器人操作机的控制方法，该控制方法包括：
读取所述机器人操作机的型号编码；
根据所述型号编码查找数据库，并判断在所述数据库查找所述型号编码是否成功，其中所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应；
若是，则从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
本发明实施例还公开了一种机器人操作机的控制设备，该机器人操作机的控制设备包括机器人操作机包括：依次连接的连接器、处理器以及存储器，所述连接器用于与所述机器人操作机连接，所述存储器用于存储数据库，所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应，其中：
所述处理器用于读取所述机器人操作机的型号编码；
所述处理器根据所述型号编码查找所述数据库，并判断在所述数据库查找所述型号编码是否成功；
若是，则所述处理器从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
本发明实施例还公开了一种机器人系统，其包括控制设备和与所述控制设备连接的机器人操作机，其中：
所述控制设备从所述机器人操作机读取型号编码；
所述控制设备根据所述型号编码查找数据库，并判断在所述数据库查找所述型号编码是否成功，其中所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应；
若是，则所述控制设备从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
本发明的有益效果是：区别于现有技术的情况，本发明通过读取机器人操作机的型号编号，并根据型号编号查找数据库，判断在数据库查找型号编号是否成功；若是，则从数据库获取与型号编码对应的运动参数，根据该运动参数控制机器人操作机；与手工给机器人控制机配置机器人操作机参数相比，本发明根据型号编号查找数据库，以从数据库获取与型号编码对应的运动参数，无须手工输入，因此能够根据机器人操作机的型号编号准确快捷地查找到对应的运动参数，提高安全性能。
【附图说明】
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本发明一实施例的控制方法的流程图；
图2是图1中控制设备和机器人操作机的结构示意图；
图3是本发明另一实施例的控制方法的流程图；
图4是图3中控制设备和机器人操作机的结构示意图；
图5是本发明一实施例的控制设备的结构示意图；
图6是本发明另一实施例的控制设备的结构示意图；
图7是本发明一实施例的机器人系统的结构示意图。
【具体实施方式】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参见图1-2所示，图1是本发明一实施例的控制方法的流程图；图2是图1中控制设备和机器人操作机的结构示意图。本实施例所揭示的控制方法应用于控制设备，如图2所示，控制设备21与机器人操作机22连接，该控制设备21用于控制机器人操作机22。机器人操作机22可为多个不同型号编码的机器人操作机22，因此控制设备21能够控制多个不同型号编码的机器人操作机22。
如图1所示，该机器人操作机的控制方法包括以下步骤：
S11：读取机器人操作机的型号编码；
不同的机器人操作机22对应设置有不同型号编码，型号编码可以由数字或字母等组合而成。每个机器人操作机22对应一个型号编码，机器人操作机22可以在出厂设置时设置型号编码。
控制设备21与机器人操作机22建立连接，控制设备21从机器人操作机22读取该机器人操作机22的型号编码。
S12：根据型号编码查找数据库，并判断在数据库查找型号编码是否成功；
其中，数据库包括多个机器人操作机22的型号编码和多个运动参数，多个机器人操作机22的型号编码与多个运动参数一一对应。
具体地，控制设备21预先设置并保存数据库，控制设备21在读取到机器人操作机22的型号编码时根据该型号编码查找数据库，并判断在数据库查找型号编码是否成功。若是，即控制设备21判断到在数据库查找型号编码成功，则进入步骤S13；若否，即控制设备21判断到在数据库查找型号编码失败，则进入步骤S14。
S13：从数据库获取型号编码对应的运动参数，并根据运动参数控制机器人操作机；
其中，控制设备21从数据库获取型号编码对应的运动参数，并根据该运动参数控制机器人操作机22。
S14：获取与型号编码对应的预设运动参数，将型号编码和预设运动参数存储在数据库。
其中，控制设备21获取与型号编码对应的预设运动参数，并将该型号编码和预设运动参数存储在数据库，进而更新数据库。即控制设备21在数据库未查找到该型号编码，则控制设备21通过控制设备21的输入设备或者机器人操作机22获取与型号编码对应的预设运动参数，例如用户在控制设备21的输入设备输入预设运动参数或者操作手22存储的预设运动参数。
与手工给机器人控制机配置机器人操作机参数相比，本实施例通过控制设备21根据型号编码查找数据库，以从数据库获取型号编码对应的运动参数，并根据运动参数控制机器人操作机22，进而能够根据机器人操作机22的型号编号准确快捷地查找到对应的运动参数，提高安全性能。
本发明还提供另一实施例的控制方法，其在上述的控制方法的基础上进行描述。如图4所示，本实施例的机器人操作机22包括开关组221，开关组221包括至少两个开关222，该开关组221固定设置在机器人操作机22，开关组221的每个开关222的状态保持不变，即机器人操作机22在生产完成后开关组221中的每一开关222的状态是唯一确定的，不能改变的。
如图3所示，步骤S11进一步包括以下步骤：
S31：读取在开关组中每个开关的状态；
其中，控制设备21读取在开关组221中每个开关222的状态，每个开关222的状态为打开状态或者闭合状态。
S32：根据在开关组中所有开关的状态得到型号编码。
控制设备21根据在开关组221中所有开关222的状态得到型号编码，其中控制设备21可以通过“0”和“1”来表示每个开关222的状态。在开关222处于闭合状态时，控制设备21标记开关222的状态为“1”；在开关222处于打开状态时，控制设备21标记开关222的状态为“0”，即控制设备21将处于打开状态的开关222标记为“0”，将处于闭合状态的开关222标记为“1”。因此，控制设备21根据在开关组221中所有开关222的状态由数字“0”和“1”组成的一组数字，该组数字为机器人操作机22的型号编码。例如开关组221包括四个开关222，四个开关222的状态依次为闭合状态、打开状态、闭合状态以及打开状态，则控制设备21获得该机器人操作机22的型号编码为1010。
在其他实施例中，本领域的普通技术人员还可以将开关组221设置为其他实现方式，例如机械开关组，非易失行存储器等。此外，本领域的普通技术人员还可以通过其他方式表示机器人操作机22的型号编码，例如采用字母和数字结合表示型号编码C1010。
本实施例通过根据在开关组221中所有开关222的状态得到型号编码，实现方式简单，易于操作。
本发明还提供一实施例的机器人操作机的控制设备，其在图1所示的控制方法的基础上进行描述。本实施例所揭示的控制设备21能够控制多个不同型号编码的机器人操作机22。
如图5所示，控制设备21包括依次连接的连接器211、处理器212以及存储器213，连接器211用于与机器人操作机22连接，存储器213用于存储数据库，数据库包括多个机器人操作机22的型号编码和多个运动参数，多个机器人操作机22的型号编码与多个运动参数一一对应。
其中，处理器212用于读取机器人操作机22的型号编码，即处理器212通过连接器211读取机器人操作机22的型号编码。不同的机器人操作机22对应设置有不同型号编码，型号编码可以由数字或字母等组合而成，每个机器人操作机22对应一个型号编码，机器人操作机22可以在出厂设置时设置型号编码。
处理器212进一步根据型号编码查找数据库，即处理器212将型号编码与存储器213存储的数据库进行匹配。处理器212判断在数据库查找型号编码是否成功；若是，即处理器212判断到在数据库查找型号编码成功，则处理器212从数据库获取型号编码对应的运动参数，并根据运动参数控制机器人操作机22。
若否，即处理器212判断到在数据库查找型号编码失败，则处理器212获取与型号编码对应的预设运动参数，并将该型号编码和预设运动参数存储在数据库。具体地，处理器212在数据库未查找到该型号编码，则处理器212通过控制设备21的输入设备或者机器人操作机22获取与型号编码对应的预设运动参数，例如用户在控制设备21的输入设备输入预设运动参数或者操作手22存储的预设运动参数。
与手工给机器人控制机配置机器人操作机参数相比，本实施例的处理器212根据型号编码查找数据库，以从数据库获取型号编码对应的运动参数，并根据运动参数控制机器人操作机22，能够根据机器人操作机22的型号编号准确快捷地查找到对应的运动参数，提高安全性能。
本发明还提供另一实施例的机器人操作机的控制设备，其在图3所示的控制方法和图5所示的控制设备的基础上进行描述。如图6所示，本实施例的机器人操作机22包括开关组221，开关组221包括至少两个开关222，该开关组221固定设置在机器人操作机22，开关组221的每个开关222的状态保持不变，即机器人操作机22在生产完成后开关组221中的每一开关222的状态是唯一确定的，不能改变的。
控制设备21的连接器211与开关组221连接，处理器212进一步用于读取在开关组221中每个开关222的状态，每个开关222的状态为打开状态或者闭合状态。
处理器212根据在开关组221中所有开关222的状态得到型号编码，其中处理器212可以通过“0”和“1”来表示每个开关222的状态。在开关222处于闭合状态时，处理器212标记开关222的状态为“1”；在开关222处于打开状态时，处理器212标记开关222的状态为“0”，即处理器212将处于打开状态的开关222标记为“0”，将处于闭合状态的开关222标记为“1”。因此，处理器212根据在开关组221中所有开关222的状态由数字“0”和“1”组成的一组数字，该组数字为机器人操作机22的型号编码。例如开关组221包括四个开关222，四个开关222的状态依次为闭合状态、打开状态、闭合状态以及打开状态，则处理器212获得该机器人操作机22的型号编码为1010。
在其他实施例中，本领域的普通技术人员还可以将开关组221设置为其他实现方式，例如机械开关组，非易失行存储器等。此外，本领域的普通技术人员还可以通过其他方式表示机器人操作机22的型号编码，例如采用字母和数字结合表示型号编码C1010。
本实施例的处理器212根据在开关组221中所有开关222的状态得到型号编码，实现方式简单，易于操作。
本发明进一步提供一实施例的机器人系统，如图7所示，该机器人系统70包括控制设备71和与控制设备71连接的机器人操作机72，其中控制设备71用于控制机器人操作机72，该控制设备71和该机器人操作机72均为上述实施例所揭示的控制设备和机器人操作机，在此不再赘述。
在本发明中，上述控制设备可以为机器人。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (11)

  1. 一种机器人操作机的控制方法，其特征在于，所述方法包括：
    读取所述机器人操作机的型号编码；
    根据所述型号编码查找数据库，并判断在所述数据库查找所述型号编码是否成功，其中所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应；
    若是，则从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
  2. 根据权利要求1所述的控制方法，其特征在于，所述判断在所述数据库查找所述机器人操作机的型号编码是否成功包括：
    若否，则获取与所述型号编码对应的预设运动参数，将所述型号编码和所述预设运动参数存储在所述数据库。
  3. 根据权利要求1所述的控制方法，其特征在于，所述机器人操作机包括开关组，所述读取所述机器人操作机的型号编码包括：
    读取在所述开关组中每个开关的状态；
    根据在所述开关组中所有开关的状态得到所述型号编码。
  4. 一种机器人操作机的控制设备，其特征在于，所述控制设备包括依次连接的连接器、处理器以及存储器，所述连接器用于与所述机器人操作机连接，所述存储器用于存储数据库，所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应，其中：
    所述处理器用于读取所述机器人操作机的型号编码；
    所述处理器根据所述型号编码查找所述数据库，并判断在所述数据库查找所述型号编码是否成功；
    若是，则所述处理器从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
  5. 根据权利要求4所述的控制设备，其特征在于，若否，则所述处理器获取与所述型号编码对应的预设运动参数，并将所述型号编码和所述预设运动参数存储在所述数据库。
  6. 根据权利要求4所述的控制设备，其特征在于，所述机器人操作机包括开关组，所述连接器与所述开关组连接，所述处理器用于读取在所述开关组中每个开关的状态，并根据在所述开关组中所有开关的状态得到所述型号编码。
  7. 一种机器人系统，其特征在于，所述机器人系统包括控制设备和与所述控制设备连接的机器人操作机，其中：
    所述控制设备从所述机器人操作机读取型号编码；
    所述控制设备根据所述型号编码查找数据库，并判断在所述数据库查找所述型号编码是否成功，其中所述数据库包括多个机器人操作机的型号编码和多个运动参数，所述多个机器人操作机的型号编码与所述多个运动参数一一对应；
    若是，则所述控制设备从所述数据库获取所述型号编码对应的运动参数，并根据所述运动参数控制所述机器人操作机。
  8. 根据权利要求7所述的机器人系统，其特征在于，若否，则所述控制设备获取与所述型号编码对应的预设运动参数，并将所述型号编码和所述预设运动参数存储在所述数据库。
  9. 根据权利要求7所述的机器人系统，其特征在于，所述机器人操作机包括开关组，所述控制设备与所述开关组连接，所述控制设备读取在所述开关组中每个开关的状态，并根据在所述开关组中所有开关的状态得到所述型号编码。
  10. 根据权利要求9所述的机器人系统，其特征在于，在所述开关处于闭合状态时，所述控制设备标记所述开关的状态为1；在所述开关处于打开状态时，所述控制设备标记所述开关的状态为0。
  11. 根据权利要求7所述的机器人系统，其特征在于，所述控制设备为机器人。
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