CN113232018B - Method for quickly resetting posture of robot - Google Patents
Method for quickly resetting posture of robot Download PDFInfo
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a method for quickly resetting a robot posture, which comprises the following steps: 1) constructing a control system of a robot operation unit; 2) declaring an interrupt service; 3) defining an interrupt service function; 4) marking key positions in the motion trail of the robot through the zone bits; 5) aiming at different positions of a track where the robot is located, a posture recovery path is designed and taught; 6) in the application process of the robot, acquiring an abnormal signal, and triggering an interrupt function to stop the robot; 7) judging whether the system can be automatically recovered or not through manual intervention; 8) the master control unit sends a reset track program number to the robot according to the track flag bit; 9) and the robot realizes automatic posture reset according to a preset track. The invention solves the problem that the robot is difficult to recover when abnormally stopped in a complex operation environment, realizes the quick reset of the robot under the condition of abnormal stop, reduces the stop recovery time of the robot, and improves the working efficiency of the system and the motion safety of the system.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a method for quickly resetting a robot posture.
Background
In the manufacturing industry today, industrial robots (simply referred to as "robots") are increasingly widely used and their functions are becoming more important, such as loading and unloading of robots, robot handling, robot welding, robot assembly, etc. Before a man-machine cooperative robot completely replaces a robot, the safety of robot operation is always a very concerned topic in the industrial field. In order to ensure the safety of the robot during the operation, it is a common practice to detect the surrounding environment and devices of the robot operation in real time through various sensors, and when an abnormal condition occurs, a stop signal is sent to the robot control system through a general control unit, or the robot is triggered to stop by the safety mechanism of the robot control system. When the robot operation needs to be resumed, there are many potential risks if the previous motion trajectory is continued, and therefore, an operator is usually required to manually resume the robot to the initial posture before resuming the operation of the device. In such a mode, with the complexity of the robot working environment, the difficulty of resetting the robot manually operated by an operator increases, which not only has certain requirements on the technical skill level of the operator, but also increases the safety risk of equipment maintenance and operation.
Disclosure of Invention
In order to solve the problem that the robot is difficult to recover due to abnormal shutdown in a complex operation environment, the invention aims to provide a robot posture quick reset method which reduces the safety risk of robot system maintenance and operation and improves the robot system maintenance efficiency.
The invention is realized by the following technical scheme: a robot posture rapid resetting method comprises the following steps:
(1) constructing a control system of a robot operation unit, wherein the control system of the robot operation unit comprises a master control unit, a robot control system and a robot body;
(2) a robot instruction part in a robot control system declares interrupt service and starts the interrupt service;
(3) defining an interrupt service function;
(4) marking key positions in the motion trail of the robot through the zone bits; when the robot stops, the positions of the robot are different, the surrounding environments are different, and the recovery paths are generally different, so that a corresponding recovery path needs to be designed for each zone bit to ensure that the robot can safely recover the state;
(5) aiming at different positions of a motion trail of the robot, a posture recovery path is designed and taught;
(6) when the robot is put into application, if an abnormal signal is obtained, an interrupt function is triggered to stop the robot from moving;
(7) after the robot stops working, judging whether the system can be automatically recovered or not by manual intervention so as to ensure the safety of the recovery process;
(8) the master control unit sends a reset track program number to the robot according to the track flag bit;
(9) and the robot realizes automatic posture reset according to a preset track.
The technical scheme has the working principle that the interrupt service adopts the self-carried interrupt service function of the robot system, and the service can realize conditional interrupt of the program which is currently moving and jump to the appointed interrupt service program.
The interrupt service function mainly realizes 3 functions, the first function is to stop the motion of the current robot; the second function is to restore the robot system to the state of receiving a new robot motion track program number, prepare for receiving the robot posture recovery track program number, and return to the original program for continuous execution after the interruption program is executed; the third function is to send the interrupt stop signal to the master control unit to inform the master control unit that the interrupt program has been executed.
The robot comprises a zone bit, wherein the motion track of the robot is composed of a plurality of sub motion tracks and track points, and the motion track of the robot is generally multiple. In order to identify the moving track and the track point of the current robot, a flag bit variable is defined in a robot control system, each path corresponds to a flag bit, and when the robot moves to different positions, different values are assigned to the flag bits. The state of the robot can be identified through the zone bit.
The gesture restores the path, the position that the robot is located when stopping is different, then the surrounding environment is different, and the path that its was restored is generally different, for this reason, need to design the corresponding restoration path for each marker bit to ensure that the robot can the safe recovery state.
By comprehensively using the interrupt signal of the robot, the track flag bit of the robot and the automatic posture resetting track, the quick resetting function of the robot under the condition of abnormal shutdown is realized, the shutdown recovery time of the robot is reduced, and the working efficiency of the system and the safety of system motion are improved.
In order to better implement the method of the present invention, further, in the step (2), the number of the interrupt service declared in the robot instruction part is two, the first interrupt service signal is from the master control unit, the second interrupt service signal is from the robot internal variable, and the interrupt service has a function for the robot control system, which can realize conditional interrupt of the program currently in motion and jump to the designated interrupt service program.
In order to better implement the method of the present invention, further, in the step (3), the defined interrupt service function includes two, specifically, a first interrupt service function providing a first interrupt service and a second interrupt service function providing a second interrupt service; the specific definition function of the interrupt service function comprises:
stopping the current movement of the robot;
restoring the robot control system to a state capable of receiving a new robot motion track program number to prepare for receiving the robot posture recovery track program number;
and sending an interrupt stop signal to the master control unit to inform the master control unit that the interrupt program is executed.
In order to better implement the method of the present invention, further, in the step (4), the specific process of marking the key position in the robot motion trajectory by the flag bit includes: the method comprises the steps of defining a flag bit variable in a robot control system, enabling each path to correspond to one flag bit, and enabling the flag bits to be endowed with different values when the paths move to different positions, so that the purpose that the movement track of the robot can be identified through the flag bits can be achieved.
In order to better implement the method of the present invention, further, in the step (5), when the robot is put into application, if the robot end obtains an abnormal signal, a second interrupt service function is triggered through an internal variable, and if the master control unit obtains the abnormal signal, a first interrupt method function is triggered.
In order to better implement the method of the present invention, further, in the step (1), the master control unit includes an industrial personal computer, a computer, and a logic controller, and mainly implements acquisition of sensor signals, related device status data, and robot system signal status data, and sends signals and instructions to the robot control system.
In order to better implement the method of the present invention, further, in the step (1), the robot control system is a control system equipped in a robot plant, and is mainly used for driving the robot body to move according to a predetermined motion trajectory, and acquiring sensor data and an instruction of a master control system.
In order to better implement the method of the present invention, further, the robot is a KUKA robot, and the robot control system is KRC4 or KRC 2.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention realizes the function of quick reset of the robot under the condition of abnormal shutdown by comprehensively using the interrupt signal of the robot, the track zone bit of the robot and the automatic posture reset track, reduces the shutdown recovery time of the robot, and improves the working efficiency of the system and the safety of system motion.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic diagram of a control system of a robot working unit according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The present invention will be described in further detail with reference to the following examples for the purpose of making clear the objects, process conditions and advantages of the present invention, but the embodiments of the present invention are not limited thereto, and various substitutions and modifications can be made according to the common technical knowledge and the conventional means in the art without departing from the technical idea of the present invention described above, and the specific examples described herein are only for explaining the present invention and are not intended to limit the present invention.
Example 1:
the embodiment provides a method for quickly resetting a robot posture, a specific flow is shown as 1, and the method comprises the following steps:
(1) constructing a control system of a robot operation unit, wherein the control system of the robot operation unit comprises a master control unit, a robot control system and a robot body, and is shown in FIG. 2;
(2) a robot instruction part in a robot control system declares interrupt service and starts the interrupt service;
(3) defining an interrupt service function;
(4) marking key positions in the motion trail of the robot through the zone bits;
(5) aiming at different positions of a motion trail of the robot, a posture recovery path is designed and taught;
(6) when the robot is put into application, if an abnormal signal is obtained, an interrupt function is triggered to stop the robot from moving;
(7) after the robot stops working, judging whether the system can be automatically recovered or not through manual intervention;
(8) the master control unit sends a reset track program number to the robot according to the track flag bit;
(9) and the robot realizes automatic posture reset according to a preset track.
Example 2:
this embodiment further defines step (2) on the basis of the above embodiment, in step (2), the number of the interrupt service declared in the robot instruction part is two, the first interrupt service signal is from the master control unit, and the second interrupt service signal is from the internal variables of the robot, and the interrupt service has a function for the robot control system, which can implement conditional interrupt of the program currently in motion, and jump to the specified interrupt service program. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 3:
in this embodiment, on the basis of the above embodiment, step (3) is further defined, in step (3), the defined interrupt service functions include two, specifically, a first interrupt service function providing a first interrupt service and a second interrupt service function providing a second interrupt service; the specific definition function of the interrupt service function comprises:
stopping the current movement of the robot;
restoring the robot control system to a state capable of receiving a new robot motion track program number to prepare for receiving the robot posture recovery track program number;
and sending an interrupt stop signal to the master control unit to inform the master control unit that the interrupt program is executed. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 4:
in this embodiment, on the basis of the above embodiment, a step (4) is further defined, where in the step (4), the specific process of marking the key position in the motion trajectory of the robot by the marker bit is as follows: the method comprises the steps of defining a flag bit variable in a robot control system, enabling each path to correspond to one flag bit, and enabling the flag bits to be endowed with different values when the paths move to different positions, so that the purpose that the movement track of the robot can be identified through the flag bits can be achieved. The motion trail of the robot is composed of a plurality of sub-motion trails and track points, and the motion trail of the robot is generally a plurality of. In order to identify the moving track and the track point of the current robot, a flag bit variable is defined in a robot control system, each path corresponds to a flag bit, and when the robot moves to different positions, different values are assigned to the flag bits. The state of the robot can be identified through the zone bit. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 5:
in this embodiment, on the basis of the above embodiment, a step (5) is further defined, in the step (5), when the robot is put into application, if the robot end acquires an abnormal signal, a second interrupt service function is triggered through an internal variable, and if the master control unit acquires the abnormal signal, a first interrupt method function is triggered. When the robot stops, the positions of the robot are different, the surrounding environments are different, and the recovery paths are generally different, so that a corresponding recovery path needs to be designed for each zone bit to ensure that the robot can safely recover the state. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 6:
in this embodiment, a master control unit is further defined on the basis of the above embodiment, in the step (1), the master control unit includes an industrial personal computer, a computer, and a logic controller, and mainly acquires a sensor signal, state data of related devices, and state data of a robot system signal, and sends a signal and an instruction to a robot control system. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 7:
in this embodiment, a robot control system is further defined on the basis of the above embodiment, and in the step (1), the robot control system is a control system provided in a robot plant, and is mainly used for driving a robot body to move according to a predetermined motion trajectory, and acquiring sensor data and an instruction of a master control system. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 8:
in this embodiment, on the basis of the above embodiments, a robot control system is further defined, wherein the robot is a KUKA robot, and the robot control system is KRC4 or KRC 2. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
Example 9:
the present embodiment provides a specific example on the basis of the above embodiment, and selects a KUKA industrial robot, whose own robot control system is KR C4, so that the robot quick reset process is as follows:
step 1: an interrupt is declared. In the KR C4 control system of KUKA, an INTERRUPT is asserted using an INTERRUPT INTERRUPT instruction. And opens the interrupt code as follows;
INTERRUPT DECL 1 When a ═ 1 DO interFun (); // declaring an interrupt
INTERRUPT DECL 2 When $ in [1] ═ 1 DO interFun (); // declaring an interrupt
INTERRUPT ON 1; v/turn on interrupt
INTERRUPT ON 2; // turn on interrupt
XP1 (); // function of motion trajectory
INTERRUPT OFF 1; // close interrupt
INTERRUPT OFF 2; // close interrupt
Step 2: an interrupt function is defined.
DEF interFun()
PTP $ POS _ INT; // stop the robot
Out [1] ═ 1; // sending signals to the Master control Unit
Cell (); v/restore to a state where it can receive a new robot motion trajectory program number
END
And step 3: and marking key positions in the motion trail of the robot through the zone bits. When the general control unit reads OUT2 to be 2, the robot is indicated to be running the XP1 program and moves to the P2 position.
DEF XP1()
PTP P1; // robot movement
Out [2] ═ 1; v/flag bit assignment 1
Lin P2; // robot movement
Out [2] ═ 2; v/flag bit assignment 2
…
Lin P20; // robot movement
Out [2] ═ 15; v/flag bit assignment 15
END
And 4, step 4: aiming at different positions of a track where the robot is located, a posture recovery path is designed and taught. As shown in the table below. When the acquired flag bit Out [2] is equal to 1, the path for robot posture recovery is recovery 201(), and the corresponding program number is 201.
And 5: and if the robot is abnormally stopped, the master control unit reads Out [2] as 3, and the robot is manually confirmed to automatically recover without potential safety hazard, and the master control unit sends 203 a program number to the robot system. The robot control system calls the recovery 203() program to realize robot pose recovery. Other parts of this embodiment are the same as those of the above embodiment, and are not described again.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A robot posture rapid resetting method is characterized by comprising the following steps:
(1) constructing a control system of a robot operation unit, wherein the control system of the robot operation unit comprises a master control unit, a robot control system and a robot body;
(2) a robot instruction part in a robot control system declares interrupt service and starts the interrupt service;
(3) defining an interrupt service function;
(4) the method comprises the following steps of marking key positions in a motion track of the robot through a marker bit, wherein the specific process comprises the following steps: the method comprises the steps that flag bit variables are defined in a robot control system, each path corresponds to one flag bit, and when the robot control system moves to different positions, different values are assigned to the flag bits, so that the motion track of the robot can be identified through the flag bits;
(5) aiming at different positions of a motion trail of the robot, a posture recovery path is designed and taught;
(6) when the robot is put into application, if an abnormal signal is obtained, an interrupt service function is triggered to stop the robot from moving;
(7) after the robot stops working, the robot is manually confirmed to automatically recover without potential safety hazard;
(8) the master control unit sends a reset track program number to the robot according to the track flag bit;
(9) and the robot realizes automatic posture reset according to a preset track.
2. The method for rapidly resetting the posture of the robot as claimed in claim 1, wherein in the step (2), the number of the interrupt service declared in the instruction part of the robot is two, the first interrupt service signal is from the master control unit, the second interrupt service signal is from the internal variables of the robot, and the interrupt service has a function for the robot control system, which can realize conditional interrupt of the program which is currently moving and jump to the designated interrupt service program.
3. The method for rapidly resetting robot posture of claim 2, characterized in that in the step (3), the defined interrupt service function includes two, specifically, a first interrupt service function providing a first interrupt service and a second interrupt service function providing a second interrupt service; the specific definition function of the interrupt service function comprises:
stopping the current movement of the robot;
restoring the robot control system to a state capable of receiving a new robot motion track program number to prepare for receiving the robot posture recovery track program number;
and sending an interrupt stop signal to the master control unit to inform the master control unit that the interrupt program is executed.
4. The method according to claim 3, wherein in the step (5), when the robot is applied, if the robot end obtains the abnormal signal, a second interrupt service function is triggered through an internal variable, and if the master control unit obtains the abnormal signal, a first interrupt service function is triggered.
5. The method for rapidly resetting the robot posture according to claim 4, wherein in the step (1), the master control unit comprises an industrial personal computer, a computer and a logic controller, and is mainly used for acquiring sensor signals, related equipment state data and robot system signal state data and sending signals and instructions to a robot control system.
6. The method for rapidly resetting the posture of the robot according to claim 5, wherein in the step (1), the robot control system is a control system equipped in a robot factory, and is mainly used for driving a robot body to move according to a predetermined motion track to acquire sensor data and an instruction of a master control unit.
7. The method of claim 6, wherein the robot is a KUKA robot, and the robot control system is KRC4 or KRC 2.
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| CN116079709A (en) * | 2022-11-24 | 2023-05-09 | 国网智能科技股份有限公司 | Closed-loop monitoring method, system and device for track type robot motion system |
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