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A method for fast reset of robot attitude

A technology of robots and robot bodies, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult recovery and abnormal shutdown, and achieve the effect of improving work efficiency and reducing shutdown recovery time.

Active Publication Date: 2022-05-10
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the robot is difficult to recover when it is abnormally shut down in a complex operation environment, the purpose of the present invention is to provide a method for quickly resetting the robot posture that reduces the safety risk of robot system maintenance and operation and improves the robot system maintenance efficiency

Method used

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  • A method for fast reset of robot attitude
  • A method for fast reset of robot attitude
  • A method for fast reset of robot attitude

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Embodiment 1

[0037] This embodiment provides a method for quickly resetting the attitude of a robot. The specific process is shown in 1, including the following steps:

[0038] (1) Construct the control system of the robot operation unit, the control system of the robot operation unit includes a master control unit, a robot control system and a robot body, such as figure 2 shown;

[0039] (2) Declare the interrupt service in the robot command part of the robot control system, and enable the interrupt service;

[0040] (3) Define the interrupt service function;

[0041] (4) mark the key position in the robot motion trajectory by the flag position;

[0042] (5) According to different positions of the robot's trajectory, design and teach its attitude recovery path;

[0043] (6) When the robot is put into application, if an abnormal signal is obtained, an interrupt function is triggered to stop the robot;

[0044] (7) When the robot stops working, manually intervene to judge whether the s...

Embodiment 2

[0048]On the basis of the foregoing embodiments, the present embodiment further defines step (2). In said step (2), there are two interrupt services declared in the robot instruction part, and the signal of the first interrupt service comes from the master control unit. The signal of the second interrupt service comes from the internal variables of the robot. The interrupt service is a function of the robot control system, which can conditionally interrupt the currently moving program and jump to the specified interrupt service program. Other parts of this embodiment are the same as those of the foregoing embodiment, and will not be repeated here.

Embodiment 3

[0050] On the basis of the foregoing embodiments, this embodiment further defines step (3). In said step (3), the defined interrupt service function includes two, specifically the first interrupt service function that provides the first interrupt service, And the second interrupt service function that provides the second interrupt service; the specific definition function of the interrupt service function includes:

[0051] Stop the movement of the current robot;

[0052] Restore the robot control system to the state where it can receive the new robot motion trajectory program number, and prepare for receiving the robot posture recovery trajectory program number;

[0053] Send the interrupt stop signal to the master control unit to inform the master control unit that the interrupt program has been executed. Other parts of this embodiment are the same as those of the foregoing embodiment, and will not be repeated here.

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Abstract

The invention discloses a method for quickly resetting the attitude of a robot, 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 the movement trajectory of the robot through a flag 5) According to the different positions of the trajectory of the robot, design and teach its posture recovery path; 6) During the application of the robot, an abnormal signal is obtained, an interrupt function is triggered, and the robot stops moving; 7) Manual intervention judgment system Whether it can be automatically restored; 8) The master control unit sends the reset trajectory program number to the robot according to the trajectory flag; 9) The robot automatically resets the posture according to the predetermined trajectory. The invention solves the problem that the robot is difficult to recover when it is abnormally shut down in a complex operation environment, realizes the rapid reset of the robot in the case of abnormal shutdown, reduces the recovery time of the robot when it is shut down, and improves the working efficiency and motion safety of the system.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a method for quickly resetting the attitude of a robot. Background technique [0002] In today's manufacturing industry, industrial robots (referred to as "robots") are increasingly widely used, and their roles are becoming more and more important, such as robot loading and unloading, robot handling, robot welding, robot assembly, etc. Before human-machine collaborative robots completely replace robots, the safety of robot operations has always been a topic of great concern in the industrial field. In order to ensure the safety of the robot during operation, the usual practice is to detect the surrounding environment and equipment of the robot's operation in real time through a variety of sensors. When an abnormal situation occurs, the master control unit sends a stop signal to the robot control system, or the robot control system An own safety mechanism triggers the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 玉海龙潘登曾德标雷沛陈强
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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