CN111002301A - Automatic return control system and method applied to robotic arm - Google Patents
Automatic return control system and method applied to robotic arm Download PDFInfo
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- CN111002301A CN111002301A CN201811167075.3A CN201811167075A CN111002301A CN 111002301 A CN111002301 A CN 111002301A CN 201811167075 A CN201811167075 A CN 201811167075A CN 111002301 A CN111002301 A CN 111002301A
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- mechanical arm
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- robot
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 238000004519 manufacturing process Methods 0.000 claims description 42
- 238000003825 pressing Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic reset control system and method applied to a mechanical arm, wherein the system comprises a mechanical arm device, a control host and an emergency stop controller. Then, when the robot arm of the stop detection thread detection robot arm device stops, 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 detection robot arm stops releasing, the processor initializes the production program thread and the stop detection thread.
Description
Technical Field
The present invention relates to a control system and method for a robot arm, and more particularly, to a control system and method for automatic resetting of a robot arm
Background
Generally, in order to improve the efficiency of producing products in a factory, a robot is usually used to automate the production process; since the robot arm usually executes a plurality of operation commands in sequence to complete the operation of the production process, when the robot arm is temporarily stopped in an emergency, the robot arm must be manually returned to the initial state by field workers after the emergency is eliminated, and at this time, the program for controlling the operation of the robot arm can be restarted.
For example, when the worker finds that an obstacle appears on the path along which the robot arm moves, the worker must immediately press the emergency stop controller to stop the robot arm to avoid danger, and after the worker removes the obstacle, the production program usually includes a series of operation instructions for returning the robot arm from the initial state to the completion state, so that the production program cannot be directly continued to be completed from the position at which the robot arm stops, and the production program can only be returned to the initial state by the worker in a manual operation manner, and then the production program is re-executed.
As mentioned above, the existing mechanical arm is manually operated by a worker, so that the whole production and manufacturing process cannot be automated to perform production and manufacturing, and the worker on site needs to be configured to wait at any time, which not only causes waste of manpower, but also prevents effective improvement of the overall productivity.
Disclosure of Invention
In view of the fact that when the existing mechanical arm stops in an emergency, workers often need to return the mechanical arm to an initial state in a manual operation mode, so that labor is wasted, and the productivity cannot be effectively improved; accordingly, the present invention is directed to an automatic reset control system and method for a robot arm, so as to solve the problem that the robot arm needs to be manually reset in the prior art.
In order to achieve the above objects, the present invention provides an automatic reset control method for a robot arm, which comprises the steps of (a) executing a production process thread and a stop detection thread by a processor, wherein the production process thread is used for controlling a robot arm to perform a production operation, and the stop detection thread is used for detecting whether the robot arm stops operating; then, in step (b), when the stop detection thread detects that the robot arm stops, the processor stops executing the production process thread and controls the robot arm to return to the initial state; then, in step (c), the processor initiates the production process thread and the stop detection thread when the stop detection thread detects the release of the robot stop.
In one implementation derived from the above-mentioned essential implementation, the method further includes a step (a1) after the step (a), when the processor receives a production command, the processor executes the production thread according to the production command.
In an auxiliary technical means derived from the above-mentioned essential technical means, a step (b0) is further included before the step (b), and the processor is used for receiving a detection signal sent by a pressing detection unit. Preferably, the stop detecting thread in step (b) triggers generation of an emergency stop event when determining that the detecting signal is a stop signal, so that the processor stops executing the thread of the production process according to the emergency stop event, and controls the robot arm to return to the initial state.
In a subsidiary technical means derived from the above-mentioned essential technical means, the method further comprises a step (c0) of receiving the detection signal sent by the pressing detection unit by the processor before the step (c). Preferably, the stop detecting thread in step (c) stops the generation of the emergency stop event when the detecting signal is determined to be a stop releasing signal, so that the processor initializes the production process thread and the stop detecting thread.
Another necessary technical means adopted by the present invention is to provide an automatic reset control system for a robot arm, comprising a robot arm device, a control host and an emergency stop controller. The mechanical arm device comprises a mechanical arm and a mechanical arm controller, wherein the mechanical arm controller is electrically connected with the mechanical arm and is used for controlling the operation of the mechanical arm. The control host is electrically connected with the mechanical arm device and is provided with a processor, and the processor sends at least one action command signal to the mechanical arm controller when receiving a production instruction, so that the mechanical arm controller drives the mechanical arm to execute production operation.
The emergency stop controller is electrically connected to the mechanical arm device and the control host, and comprises an emergency stop button and a press detection unit. The emergency stop button is operated to send an emergency stop signal to the robot device, so as to stop the operation of the robot. 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.
When the detection signal is a stop signal, the processor controls the mechanical arm to return to an initial state; when the detection signal is a stop release signal, the processor is initialized and operates again.
In an ancillary technical means derived from the above-mentioned necessary technical means, the processor is built with a production process thread for controlling the robot arm to perform a production operation and an emergency stop detection thread for detecting whether the robot arm stops operating.
In an ancillary technical means derived from the above-mentioned necessary technical means, the robot apparatus further includes a power supply unit, the power supply unit is electrically connected to the robot, and when the robot apparatus receives the emergency stop signal, the power supply unit stops supplying power to the robot according to the emergency stop signal.
As described above, according to the automatic reset control system and method applied to the robot arm of the present invention, the cooperation between the control host and the pressing detection unit is utilized, so that when the robot arm is stopped emergently, the problem that the robot arm needs to be reset manually in the prior art can be solved through the operation of the processor.
Drawings
FIG. 1 is a system diagram of an automatic reset control system for a robot according to a preferred embodiment of the present invention; and
fig. 2 is a flowchart illustrating steps of an automatic reset control method applied to a robot according to a preferred embodiment of the invention.
The reference numbers illustrate:
100 automatic reset control system applied to mechanical arm
1 mechanical arm device
11 mechanical arm
12 mechanical arm controller
13 first transmission unit
14 power supply unit
2 control host
21 processor
211 production thread
212 stop detecting a thread
22 second transmission unit
3 Emergency stop controller
31 emergency stop button
32-press detection unit
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of an automatic reset control system for a robot according to a preferred embodiment of the invention. As shown, an automatic reset control system 100 for a robot comprises a robot apparatus 1, a control host 2 and an emergency stop controller 3.
The robot apparatus 1 includes a robot 11, a robot controller 12, a first transmission unit 13 and a power supply unit 14. The robot controller 12 is electrically connected to the robot 11 and is used for controlling the operation of the robot 11. The first transmission unit 13 is electrically connected to the robot controller 12, and the power supply unit 14 is electrically connected to the robot 11 and the first transmission unit 13. In practical applications, the power supply unit 14 may be used to supply power to the robot controller 12 through the first transmission unit 13 or the robot 11, or directly electrically connected to the robot controller 12, that is, the power supply unit 14 supplies power to the entire robot apparatus 1; further, 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 is built with a production thread 211 and a stop detection thread 212. The second transmission unit 22 is electrically connected to the processor 21 and the first transmission unit 13. The production program thread 211 is used to control the robot 11 to perform a production operation, and the stop detection thread 212 is used to detect whether the robot 11 stops operating. In addition, in practical applications, when receiving a production command (not shown, it may be a command from the user operating the control host 2 or a command sent from a remote host), the processor 21 sends at least one action command signal to the robot controller 12 through the second transmission unit 22 and the first transmission unit 13, so that the robot controller 12 drives the robot 11 to perform a production operation; the second transmission unit 22 may be a wired transmission interface or a 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 a user to send an emergency stop signal to the robot apparatus 1, and when the robot apparatus 1 receives the emergency stop signal, the power supply unit 14 stops supplying power to the robot 11 according to the emergency stop signal, so as to stop the operation of the robot 11. The pressing detection unit 32 is used for detecting whether the emergency stop button 31 is pressed and sending a detection signal to the control host 2, so that the processor 21 controls the mechanical arm 11 according to the detection signal; wherein, when the detection signal is a stop signal, the processor 21 controls the robot 11 to return to an initial state; when the detection signal is a stop release signal, the processor 21 is initialized and re-operated.
In the present embodiment, the pressing detection unit 32 senses the current when the emergency stop button 31 is pressed to generate the emergency stop signal through the electromagnetic coil, and then sends the detection signal to the processor 21 through the second transmission unit 22, but in other embodiments, the pressing detection unit 32 may detect whether the emergency stop button 31 is pressed by directly electrically connecting to the emergency stop button 31.
Referring to fig. 1 and fig. 2 together, fig. 2 is a flowchart illustrating steps of a method for automatically resetting a robot to an order according to a preferred embodiment of the invention. As shown in the figure, an automatic reset control method for a robot arm, first step S101 is to initialize a production process thread 211 and a stop detection thread 212 by a processor 21.
Next, in step S102, when the processor 21 receives the production command, the production thread 211 is executed. Then, step S103 is to receive the detection signal transmitted by the press detection unit 32 by the processor 21. Then step S104 is executed to stop the detecting thread 212 to determine whether the detecting signal is a stop signal, and when the detecting signal is a stop signal, the process goes to step S105; further, when the detection signal is not the stop signal, the process returns to step S103, and the processor 21 continues to receive the detection signal transmitted by the pressure detecting unit 32.
As mentioned above, when the stop detection thread 212 determines that the detection signal is the stop signal, step S105 triggers generation of the emergency stop event for the stop detection thread 212, and step S106 stops execution of the production process thread 211 by the processor 21 according to the emergency stop event and controls the robot 11 to return to the initial state; the initial state refers to the initial position and the setting operation of the robot arm 11, for example, the initial state of the robot arm 11 returns to a starting point, and the claw of the robot arm 11 is in a released state, and during actual use, the process of resetting is, for example, firstly confirming the current coordinate position of the arm through the positioning device, and confirming whether the robot arm 11 has an object to be grabbed through the sensor, if the object is grabbed, firstly controlling the robot arm 11 to place the object in a temporary storage area, and then calculating the safety path of the position where the robot arm 11 moves to the initial state.
After the robot arm 11 returns to the initial state, in step S107, the processor 21 receives the detection signal transmitted by the pressing detection unit 32. In step S108, the stop detection thread 212 determines whether the detection signal is a stop release signal, and if the detection signal is a stop release signal, the process proceeds to step S109. In step S109, the stop detection thread 212 stops the generation of the scram event. In the final step S110, the processor 21 initiates the production thread 211 and the stop detection thread 212. Thus, when the processor 21 receives the production command again, the production program thread 211 can be re-executed, and the robot 11 can be controlled to perform the production operation.
In summary, compared with the prior art that when the mechanical arm stops in an emergency, the manual operation mode is required for resetting, which leads to manpower waste and can not effectively improve productivity; the processor is matched with the press detection unit, controls the mechanical arm to reset when the emergency stop button is detected to be pressed, and initializes the processor when the press is detected to be released, so that the mechanical arm is controlled again to execute the production program, the production program is effectively more automated, the labor cost is effectively saved, and the productivity can be effectively improved.
The above description is only for the preferred embodiment of the present invention, and does not limit the present invention in any way. It will be apparent to those skilled in the art that various changes in the technical means and modifications of the present invention can be made without departing from the scope of the invention, and the technical means and modifications can be made without departing from the scope of the invention.
Claims (9)
1. An automatic reset control method applied to a mechanical arm is characterized by comprising the following steps:
(a) executing a production program thread and a stop detection thread by using a processor, wherein the production program thread is used for controlling a mechanical arm to carry out production operation, and the stop detection thread is used for detecting whether the mechanical arm stops operating or not;
(b) when the stop detection thread detects that the mechanical arm stops, the processor stops executing the production program thread and controls the mechanical arm to return to an initial state; and
(c) when the stop detection thread detects that the mechanical arm stops releasing, the processor initializes the production program thread and the stop detection thread.
2. The method as claimed in claim 1, further comprising a step (a1) after the step (a), wherein when the processor receives a production command, the processor executes the production process thread according to the production command.
3. The auto-return control method for a robot arm according to claim 1, further comprising a step (b0) of receiving a detection signal transmitted from the pressing detection unit by the processor before the step (b).
4. The method as claimed in claim 3, wherein the stop detection thread in step (b) triggers an emergency stop event when determining that the detection signal is a stop signal, so that the processor stops executing the production process thread according to the emergency stop event and controls the robot to return to an initial state.
5. The auto-return control method for a robot arm according to claim 3, further comprising a step (c0) of receiving the detection signal transmitted from the pressing detection unit by the processor before the step (c).
6. The method as claimed in claim 5, wherein the stop detection thread in step (c) stops the scram event when the stop detection thread determines that the detection signal is the stop release signal, so that the processor initializes the production process thread and the stop detection thread.
7. An automatic reset control system applied to a mechanical arm is characterized by comprising:
the mechanical arm device comprises a mechanical arm and a mechanical arm controller, wherein the mechanical arm controller is electrically connected with the mechanical arm and is used for controlling the operation of the mechanical arm;
the control host is electrically connected with the mechanical arm device and is provided with a processor, and the processor sends at least one action command signal to the mechanical arm controller when receiving a production instruction so as to enable the mechanical arm controller to drive the mechanical arm to execute production operation; and
an emergency stop controller electrically connected to the robot device and the control host, and including:
an emergency stop button operated to send an emergency stop signal to the robot arm device, thereby stopping the operation of the robot arm; and
the pressing detection unit is used for detecting whether the emergency stop button is pressed and sending a detection signal to the control host machine, so that the processor performs corresponding control on the mechanical arm according to the detection signal;
when the detection signal is a stop signal, the processor controls the mechanical arm to return to an initial state; when the detection signal is a stop release signal, the processor is initialized and operates again.
8. The system as claimed in claim 7, wherein the processor has a production process thread for controlling the robot arm to perform a production operation and a stop detection thread for detecting whether the robot arm is stopped.
9. The system of claim 7, wherein the robot device further comprises a power supply unit electrically connected to the robot, and when the robot device receives the emergency stop signal, the power supply unit stops supplying power to the robot according to the emergency stop signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167075.3A CN111002301A (en) | 2018-10-08 | 2018-10-08 | Automatic return control system and method applied to robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167075.3A CN111002301A (en) | 2018-10-08 | 2018-10-08 | Automatic return control system and method applied to robotic arm |
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| Publication Number | Publication Date |
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| CN111002301A true CN111002301A (en) | 2020-04-14 |
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| CN201811167075.3A Pending CN111002301A (en) | 2018-10-08 | 2018-10-08 | Automatic return control system and method applied to robotic arm |
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