Robot control method and device

Abstract

The invention relates to a robot control method and device. The robot control method comprises the steps that state signals of to-be-monitored equipment on the periphery of a robot are obtained in real time and stored in a monitoring storage area; whether the state signal stored in the monitoring storage area meets a preset monitoring condition or not is judged; and the robot is controlled according to the judgment result. According to the robot control method and device, by establishing the storage area to store the state signals, the state of the peripheral equipment of the robot can be monitored in real time in a large-batch mode, collision accidents are effectively avoided, the use is easy, and the universality is good.

Description

technical field [0001] The present application relates to the technical field of equipment control, in particular to a robot control method and device. Background technique [0002] With the continuous increase of labor costs, industrial robots have been widely used in all walks of life, and as factories are constantly developing towards intelligence and flexibility, the work content of robots has become more diverse and complicated, and often requires When working in a complex environment, there are various moving mechanisms or equipment around, such as fixtures, turntables, dust covers, self-propelled trolleys, roller beds, elevators, etc., and collision accidents are prone to occur. [0003] In order to prevent robot collision accidents, one way is that the robot first judges whether the state of the peripheral equipment is safe before executing the task and then executes the motion command. The robot will still continue to move, and then a robot collision accident will ...

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Problems solved by technology

[0002] With the continuous increase of labor costs, industrial robots have been widely used in all walks of life, and as factories are constantly developing towards intelligence and flexibility, the work content of robots has become more diverse and complicated, and often requires When working in a complex environment, there are various moving mechanisms or equipment around, such as fixtures, turntables, dust covers, self-propelled trolleys, roller beds, elevators, etc., which are prone to collision accidents

[0003] In order to prevent robot collision accidents, one way is that the robot first judges whether the state of the peripheral equipment is safe before executing the task and then executes the motion command. The robot will still continue to move, and a robot collision accident will occur

Another way is to implement the monitoring function through the $CYCFLAG system function that comes with the KUKA robot. $CYCFLAG is unique to the KUKA robot, and the data type is Boolean. It is written under each movement command of the robot. The signal monitoring expression is used to assign a value to $CYCFLAG, and then determine whether to trigger the interrupt program according to the assignment result. When the monitored signal needs to be adjusted, the expression needs to be re-modified. When there are many signals to be monitored, the expression will be very long. Moreover, each line of expression can only connect up to 32 signals in series, so that the function and capacity are limited, and it cannot be extended to other standards or other brands of robots.

[0004] It can be seen that there is currently no general and simple way to monitor the status of the peripheral equipment of the robot in real time and in large quantities, and it is impossible to effectively prevent robot collision accidents in complex environments.

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