CN114161424B - Control method and control system for dynamic braking of SCARA robot - Google Patents
Control method and control system for dynamic braking of SCARA robot Download PDFInfo
- Publication number
- CN114161424B CN114161424B CN202111596971.3A CN202111596971A CN114161424B CN 114161424 B CN114161424 B CN 114161424B CN 202111596971 A CN202111596971 A CN 202111596971A CN 114161424 B CN114161424 B CN 114161424B
- Authority
- CN
- China
- Prior art keywords
- teaching
- robot body
- braking
- timing
- driving device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot control, in particular to a control method and a control system for dynamic braking of a SCARA robot. The control method comprises the following steps: the brake controller detects whether the robot body receives teaching enabling information in real time; when the brake controller detects the teaching enabling information, the driving device is switched to a non-braking state; when the brake controller does not detect the teaching enabling information, the driving device is switched to a braking state, and the timing module starts timing; judging whether the timing information of the timing module reaches a preset time value or not, and switching the braking state of the driving device according to the judging result. The robot body is automatically switched to a specified state, so that an operator can conveniently change the robot body into teaching operation or manual teaching operation; the control method can skillfully combine and apply the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a control method and a control system for dynamic braking of a SCARA robot.
Background
Currently, industrial robots are increasingly used in the automation industry to play an important role in connection with automation lines. Teaching operations, as part of a robot control system, a debugger performs operations such as movement, teaching, programming, and the like of a robot through a teaching tool. Particularly, in the initial stage of project debugging, a large number of movement and teaching operations are required to be performed in a manual mode.
However, in the conventional control scheme, since the teaching operation accuracy of the robot is different in different stages, the teaching accuracy and the teaching efficiency are low when the operation is performed by using the teaching machine control. In the manual teaching mode, although the teaching precision and the teaching efficiency can be ensured, in the manual teaching mode, a hand press switch on the demonstrator is required to be pressed all the time to serve the robot, so that the robot is moved, and if the teaching operation is performed for a long time, the hand of a debugger is tired and the attention is not concentrated; in addition, in the conventional teaching operation, since the robot moves according to the control signal of the demonstrator or the manual teaching operation, the robot is easy to be in the teaching area during the teaching process, and the robot is easy to collide with the edge of the teaching area due to insufficient accuracy of the operation, so that the robot may be unexpected during the teaching process.
Disclosure of Invention
Aiming at the defects, the invention aims to provide a control method and a control system for dynamic braking of a SCARA robot, which are used for solving the problems that the existing robot has low teaching precision and efficiency and is easy to have teaching accidents.
To achieve the purpose, the invention adopts the following technical scheme:
a control method for dynamic braking of a SCARA robot comprises the following steps:
step S1, a brake controller detects whether a robot body receives teaching enabling information in real time;
s2, when the brake controller detects teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body performs programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a braking state, and the timing module starts timing;
step S3, when the timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to keep a braking state, and when the robot body receives teaching enabling information of the teaching controller, the driving device is switched from the braking state to a non-braking state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to switch to a non-brake state, the robot body can perform manual teaching operation, the robot body enters the manual teaching state, and the timing module is closed;
when the robot body is in a programming teaching state, when the edge area detection device predicts that the robot body has the possibility of exceeding the edge of the set teaching area, the alarm gives an alarm, the timing module starts timing, and the driving device is switched from the programming teaching state to the braking state; when the timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to be kept in a braking state, the robot body receives teaching enabling information of the teaching controller in the braking state, and the driving device is switched from the braking state to a programmed teaching state; when the timing information of the timing module reaches a preset time value, the braking controller controls the driving device to switch from a braking state to a non-braking state, and the robot body can conduct manual teaching.
Preferably, when the robot body is in the manual teaching state, the brake controller controls the driving device to switch to the braking state when the edge area detection device detects that the robot body has an edge beyond the set teaching area, the alarm gives an alarm, the timing module starts timing, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep the braking state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to switch to the non-braking state, and the robot body can continue to conduct manual teaching.
Preferably, the operation of the edge area detection device for detecting the robot body includes the following steps:
setting the edge of a teaching area;
the vision detection device detects relative position information between the robot body and the edge of the set teaching area in real time; the vision judging module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judging information to the alarm.
Preferably, the operation of the edge area detection device for predicting the robot body includes the following steps:
setting the edge of a teaching area;
the vision detection device detects relative position information between the robot body and the edge of the set teaching area in real time; the visual judgment module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area according to the simulation information and the relative position information of the virtual three-dimensional module through simulating teaching actions in the virtual three-dimensional module, obtains prediction information according to a prediction analysis result, and sends the prediction information to the alarm.
Preferably, when the robot body is powered off in the teaching process, the driving device is switched to a braking state; when the robot body is electrified in a power-off state, the timing module starts timing, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep a braking state, and when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to switch to a non-braking state, and the robot body can continue manual teaching.
A control system for dynamic braking of a SCARA robot applying a control method for dynamic braking of a SCARA robot as described above, comprising: robot body, teaching controller and timing module;
the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the braking controller is used for realizing braking of the driving device;
the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body;
the timing module is used for timing and sending timing information to the brake controller according to a preset time value;
the teaching controller, the timing module, the braking controller and the driving device are electrically connected;
the robot body is a cylindrical coordinate type selective compliance assembly robot arm and comprises at least two vertically arranged rotating shaft joints and at least one vertically movable joint;
the control system is also provided with an edge area detection device and an alarm module, wherein the edge area detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to teaching personnel; the edge area detection device, the alarm module and the teaching controller are electrically coupled.
The embodiment of the invention has the beneficial effects that:
the timing module can automatically start timing when the driving device enters a braking state according to a preset requirement of a user, and can automatically switch the robot body to a specified state according to programming teaching operation or timing information of an operator, so that the operator can conveniently change the robot body into teaching operation or manual teaching operation; the control method can skillfully combine and apply the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
Drawings
FIG. 1 is a flow chart of a control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method according to an embodiment of the present invention when the robot body is in a programmed teaching state;
fig. 3 is a schematic flow chart of the control method according to an embodiment of the present invention when the robot body is in a manual teaching state.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 3, a control method for dynamic braking of a SCARA robot includes the following steps:
and S1, detecting whether the robot body receives teaching enabling information or not in real time by the brake controller.
S2, when the brake controller detects teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body performs programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a braking state, and the timing module starts timing.
Step S3, when the timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to keep a braking state, and when the robot body receives teaching enabling information of the teaching controller, the driving device is switched from the braking state to a non-braking state; when the timing information of the timing module reaches a preset time value, the braking controller controls the driving device to be switched to a non-braking state, the robot body can perform manual teaching operation, the timing module is closed, and the step S1 is returned.
The teaching enabling information is adjustment driving information capable of enabling the robot to perform position or posture and the like according to teaching operation requirements; specifically, in the programmed teaching operation, the teaching enabling information is a teaching control instruction transmitted from the teaching controller to the robot body.
After the teaching enabling information is received in the control system in the programming teaching state, the driving device controls the driving state of the driving device according to the teaching enabling information under the control of the brake controller, when the teaching enabling information is not received, the driving device is firstly switched to a brake state to keep the front teaching gesture and position, a timing program is simultaneously entered, when the interruption time of the teaching enabling information does not exceed a preset time value, the teaching enabling information is received again, and the robot body continuously completes programming teaching, so that the accuracy and continuity of programming teaching are ensured; when the interruption time of the teaching enabling information exceeds a preset time value, the driving device releases the braking state, each driving joint can be manually rotated, and the robot body can be manually taught; during the manual teaching operation, if new teaching enabling information is input and received by the robot body at this time, the robot body can immediately switch from the manual teaching operation to the programmed teaching operation.
As shown in fig. 2, when the robot body is in a programmed teaching state, when the edge area detection device predicts that the robot body has an edge beyond a set teaching area, the alarm gives an alarm, the timing module starts timing, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep a brake state, the robot body can receive teaching enabling information of the teaching controller, and the driving device is switched from the brake state to the programmed teaching state; when the timing information of the timing module reaches a preset time value, the braking controller controls the driving device to be switched to a non-braking state, and the robot body can conduct manual teaching. Because the control method adopts a mode of combining manual teaching and programming teaching in order to ensure flexibility and convenience of teaching operation, the position and the gesture of a robot arm are not the same when the robot body performs teaching operation each time, so that after the robot body switches teaching states, the robot body has various initial positions and gestures, the blind teaching operation is performed on the robot body at the moment, unreasonable teaching enabling information input from a teaching controller possibly appears, if teaching is performed according to the teaching enabling information, the robot arm possibly exceeds a set teaching area, and the robot body is easy to damage or hurt operators; therefore, in the programming teaching state, the edge area detection device is utilized to predict the state of the subsequent execution teaching enabling information of the robot arm, and further, operation accidents in programming teaching operation can be avoided.
Similarly, as shown in fig. 3, when the robot body is in the manual teaching state, when the edge area detection device detects that the robot body has an edge beyond the set teaching area, the brake controller controls the driving device to switch to the braking state, the alarm gives an alarm, the timing module starts timing, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep the braking state, and when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to switch to the non-braking state, and the robot body can continue the manual teaching. Because the motion speed of the robot arm is not too fast in the manual teaching operation process relative to the programming teaching operation process, the edge area detection device can timely detect operation accidents in the manual teaching operation process, and larger damage or injury of the robot arm in the teaching process can be avoided.
Specifically, the operation of the edge area detection device for detecting the robot body includes the following steps:
the edge of the teaching area is set.
The vision detection device detects relative position information between the robot and the edge of the set teaching area in real time.
The vision judging module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judging information to the alarm.
Specifically, the operation of the edge area detection device for detecting the robot body includes the following steps:
the edge of the teaching area is set.
The vision detection device detects relative position information between the robot body and the edge of the set teaching area in real time.
The visual judgment module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area according to the simulation information and the relative position information of the virtual three-dimensional module through simulating teaching actions in the virtual three-dimensional module, and sends prediction information to the alarm.
More preferably, when the robot body is powered off in the teaching process, the driving device is switched to a braking state; when the robot body is electrified in the power-off state, the timing module starts timing, when the timing information of the timing module does not reach the preset time value, the brake controller controls the driving device to keep in a braking state, when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to switch to a non-braking state, the robot body can continue manual teaching, and the step S1 is returned.
Because the control method adopts a mode of combining manual teaching and programming teaching in order to ensure flexibility and convenience of teaching operation, the position and the gesture of a robot arm are not the same when the robot body performs teaching operation each time, so that after the robot body is suddenly powered off, the real-time position and the gesture of the robot body are uncertain, and if the robot body is powered on again, teaching accidents are easily caused if the robot body continues to move; in this embodiment, when the robot body is powered off, the driving device is in a braking state, that is, the gesture and the position in the normal teaching process are maintained; when the robot body is electrified again, the robot does not immediately restore the initial position at the moment or continues to enable information movement according to the previous teaching; the timing phase is firstly started under the control of the timing module, and the driving device of the timing phase is always in a braking state, so that the robot body can be prevented from moving, and the safety in a teaching interval is ensured; when the timing module reaches a preset time value, the driving device is switched to a non-braking state, the robot body can conduct manual teaching, and at the moment, an operator can adjust the posture and the position of the robot body, so that adverse effects caused by outage in the teaching process can be greatly eliminated.
The preset time value is a time value set by a technician according to timing requirements in practical application, and the time value may be the same or different in different timing scenes, which is a parameter flexibly set by the technician according to practical application.
A control system for dynamic braking of a SCARA robot, comprising: robot body, teaching controller and timing module; the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the braking controller is used for realizing braking of the driving device; the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body; the timing module is used for timing and sending timing information to the brake controller according to a preset time value; the teaching controller, the timing module, the braking controller and the driving device are electrically connected.
SCARA is an abbreviation for selectivevanescences robotarm, meaning a robotic arm applied to an assembly job. It has 3 rotary joints, and is most suitable for planar positioning. The robot body is a cylindrical coordinate type selective compliance assembly robot arm and comprises at least two rotating shaft joints and one vertical moving joint.
The control system is also provided with an edge area detection device and an alarm module, wherein the edge area detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to teaching personnel; the edge area detection device, the alarm module and the teaching controller are electrically coupled. The edge area detection device comprises a visual detection device, a visual judgment module and a virtual three-dimensional module; the visual detection device is used for extracting image information of the robot body in the teaching space in real time, and specifically can be a camera arranged in the teaching space; the visual judgment module is used for analyzing and judging the image information; the virtual three-dimensional module is used for establishing a three-dimensional dynamic model matched with the robot body and the teaching space in the three-dimensional design platform according to the teaching enabling information. The virtual three-dimensional module enables the robot body to move in the teaching space according to the enabling information, and when the robot body moves beyond a preset teaching area in the teaching space, the predicted result is that the robot body is likely to exceed the edge of the preset teaching area in the teaching process.
The timing module can automatically start timing when the driving device enters a braking state according to a preset requirement of a user, and can automatically switch the robot body to a specified state according to programming teaching operation or timing information of an operator, so that the operator can conveniently change the robot body into teaching operation or manual teaching operation; the control method can skillfully combine and apply the programming teaching operation and the manual teaching operation, so that the teaching operation of the robot body is more convenient and efficient.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (6)
1. The control method for dynamic braking of the SCARA robot is characterized by comprising the following steps of:
step S1, a brake controller detects whether a robot body receives teaching enabling information in real time;
s2, when the brake controller detects teaching enabling information, the brake controller controls the driving device to be switched to a non-braking state, and the robot body performs programming teaching operation; when the brake controller does not detect the teaching enabling information, the driving device is switched to a braking state, and the timing module starts timing;
step S3, when the timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to keep a braking state, and when the robot body receives teaching enabling information of the teaching controller, the driving device is switched from the braking state to a non-braking state; when the timing information of the timing module reaches a preset time value, the brake controller controls the driving device to switch to a non-brake state, the robot body can perform manual teaching operation, the robot body enters the manual teaching state, and the timing module is closed;
when the robot body is in a programming teaching state, when the edge area detection device predicts that the robot body has the possibility of exceeding the edge of the set teaching area, the alarm gives an alarm, the timing module starts timing, and the driving device is switched from the programming teaching state to the braking state; when the timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to be kept in a braking state, the robot body receives teaching enabling information of the teaching controller in the braking state, and the driving device is switched from the braking state to a programmed teaching state; when the timing information of the timing module reaches a preset time value, the braking controller controls the driving device to switch from a braking state to a non-braking state, and the robot body can conduct manual teaching.
2. The method for controlling dynamic braking of a SCARA robot according to claim 1, wherein when the robot body is in a manual teaching state, the braking controller controls the driving device to switch to a braking state when the edge area detection device detects that the robot body has an edge exceeding a set teaching area, the alarm gives an alarm, the timing module starts timing, when timing information of the timing module does not reach a preset time value, the braking controller controls the driving device to keep the braking state, when timing information of the timing module reaches the preset time value, the braking controller controls the driving device to switch to a non-braking state, and the robot body can continue manual teaching.
3. The method for controlling dynamic braking of a SCARA robot according to claim 2, wherein the operation of the edge area detecting means for detecting the robot body comprises the steps of:
setting the edge of a teaching area;
the vision detection device detects relative position information between the robot body and the edge of the set teaching area in real time; the vision judging module judges whether the robot body exceeds a set teaching area according to the relative position information and sends judging information to the alarm.
4. The method for controlling dynamic braking of a SCARA robot according to claim 1, wherein the operation of predicting the robot body by the edge area detecting device comprises the steps of:
setting the edge of a teaching area;
the vision detection device detects relative position information between the robot body and the edge of the set teaching area in real time; the visual judgment module receives teaching enabling information of the teaching controller, predicts whether the robot body is possible to exceed a set teaching area according to the simulation information and the relative position information of the virtual three-dimensional module through simulating teaching actions in the virtual three-dimensional module, obtains prediction information according to a prediction analysis result, and sends the prediction information to the alarm.
5. The control method for dynamic braking of a SCARA robot according to claim 1, wherein the driving means is switched to a braking state when power failure occurs in the robot body during teaching; when the robot body is electrified in a power-off state, the timing module starts timing, when the timing information of the timing module does not reach a preset time value, the brake controller controls the driving device to keep a braking state, and when the timing information of the timing module reaches the preset time value, the brake controller controls the driving device to switch to a non-braking state, and the robot body can continue manual teaching.
6. A control system of a SCARA robot dynamic brake applying the control method of a SCARA robot dynamic brake according to any one of claims 1 to 5, comprising: robot body, teaching controller and timing module;
the robot body comprises a robot arm, a driving device and a brake controller; the driving device is used for driving the robot arm to move, and the braking controller is used for realizing braking of the driving device;
the teaching controller is used for inputting teaching enabling information and sending the teaching enabling information to the robot body;
the timing module is used for timing and sending timing information to the brake controller according to a preset time value;
the teaching controller, the timing module, the braking controller and the driving device are electrically connected;
the robot body is a cylindrical coordinate type selective compliance assembly robot arm and comprises at least two vertically arranged rotating shaft joints and at least one vertically movable joint;
the control system is also provided with an edge area detection device and an alarm module, wherein the edge area detection device is used for detecting and predicting whether the robot body exceeds the edge of a set teaching area in the teaching process; the alarm module is used for sending early warning information to teaching personnel; the edge area detection device, the alarm module and the teaching controller are electrically coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596971.3A CN114161424B (en) | 2021-12-24 | 2021-12-24 | Control method and control system for dynamic braking of SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596971.3A CN114161424B (en) | 2021-12-24 | 2021-12-24 | Control method and control system for dynamic braking of SCARA robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114161424A CN114161424A (en) | 2022-03-11 |
| CN114161424B true CN114161424B (en) | 2023-07-25 |
Family
ID=80488029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111596971.3A Active CN114161424B (en) | 2021-12-24 | 2021-12-24 | Control method and control system for dynamic braking of SCARA robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161424B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026823B (en) * | 2022-06-14 | 2023-01-17 | 广东天太机器人有限公司 | Industrial robot control method and system based on coordinate welding |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10128694A (en) * | 1996-10-28 | 1998-05-19 | Denso Corp | Control device of robot |
| JP2017100210A (en) * | 2015-11-30 | 2017-06-08 | 株式会社デンソーウェーブ | Robot system |
| CN106808476A (en) * | 2015-12-01 | 2017-06-09 | 松下知识产权经营株式会社 | Teaching method in apparatus for work and apparatus for work |
| CN109249376A (en) * | 2017-07-12 | 2019-01-22 | 发那科株式会社 | The teaching method of robot system and robot |
| CN111745642A (en) * | 2020-05-25 | 2020-10-09 | 北京无线电测量研究所 | Robot teaching system and method |
| CN112008692A (en) * | 2019-05-31 | 2020-12-01 | 精工爱普生株式会社 | Teaching method |
-
2021
- 2021-12-24 CN CN202111596971.3A patent/CN114161424B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10128694A (en) * | 1996-10-28 | 1998-05-19 | Denso Corp | Control device of robot |
| JP2017100210A (en) * | 2015-11-30 | 2017-06-08 | 株式会社デンソーウェーブ | Robot system |
| CN106808476A (en) * | 2015-12-01 | 2017-06-09 | 松下知识产权经营株式会社 | Teaching method in apparatus for work and apparatus for work |
| CN109249376A (en) * | 2017-07-12 | 2019-01-22 | 发那科株式会社 | The teaching method of robot system and robot |
| CN112008692A (en) * | 2019-05-31 | 2020-12-01 | 精工爱普生株式会社 | Teaching method |
| CN111745642A (en) * | 2020-05-25 | 2020-10-09 | 北京无线电测量研究所 | Robot teaching system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114161424A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108161904B (en) | Robot online teaching device, system, method and equipment based on augmented reality | |
| US8050797B2 (en) | Automation equipment control system | |
| US10118295B2 (en) | Manual feed apparatus of robot for calculating operable range of robot | |
| JP3805317B2 (en) | Teaching position correction method and teaching position correction apparatus | |
| CN104972473A (en) | Human-cooperative industrial robot with lead-through function | |
| CN108687767B (en) | Offline programming device and offline programming method | |
| CN114161424B (en) | Control method and control system for dynamic braking of SCARA robot | |
| US11826913B2 (en) | Control system, robot system and control method | |
| CN112692831A (en) | Mechanical arm control system and mechanical arm | |
| Lippiello et al. | An open architecture for sensory feedback control of a dual‐arm industrial robotic cell | |
| US11312021B2 (en) | Control apparatus, robot system, and control method | |
| JPH05303422A (en) | Direct teaching type robot | |
| US11745340B2 (en) | Robot controller | |
| CN110666820A (en) | High-performance industrial robot controller | |
| CN111260772A (en) | Equipment anti-collision protection method, system and manufacturing system | |
| CN109664271A (en) | A kind of tele-robotic teaching system based on virtual reality | |
| CN109514424A (en) | A kind of grinding machine automatic charging system of processing and method | |
| JP7374867B2 (en) | Control system, local controller and control method | |
| CN208841397U (en) | A kind of intelligent machine arm system | |
| CN208020180U (en) | A kind of image recognition element follows pickup robot | |
| JP2005186212A (en) | Part attach and detach conveying apparatus | |
| WO2023167324A1 (en) | Production system and reproduction method | |
| JPWO2004048049A1 (en) | Control device and control method for automatic machine | |
| CN111113373B (en) | Control device, robot system, and control method | |
| JP2641315B2 (en) | Grinding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |