Mechanical arm remote restart system, method, computer device and storage medium

Abstract

The application relates to a mechanical arm remote restart system, method, computer device, storage medium and computer program product. The method comprises the following steps: acquiring an alarm signal sent by a second processor, and transmitting the alarm signal to a teacher, wherein the alarm signal is received by the second processor from a mechanical arm; receiving a restart signal sent by the teacher; wherein the restart signal is in response to the alarm signal; according to the restart signal, a disconnection control signal is sent to a normally closed switch to instruct the normally closed switch to disconnect from a power supply in response to the disconnection control signal; after the normally closed switch is disconnected from the power supply, the disconnection control signal is continuously sent to the normally closed switch based on the discharge of a first energy storage unit until the discharge of the first energy storage unit is completed, the disconnection control signal is interrupted, and the normally closed switch is connected to the power supply. By adopting the method, the mechanical arm can be remotely restarted in real time after the mechanical arm sends an alarm message, and the restart efficiency and real-time performance of the mechanical arm can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collaborative robots, in particular to a mechanical arm remote restart system, method, computer device, storage medium and computer program product. BACKGROUND

[0002] Robots have the advantage of high efficiency compared to traditional manual work. Currently, different types of robots have been widely applied in many fields. As a new industry in the field of robots, collaborative robots emphasize "human-robot" collaboration compared to traditional robots. Therefore, collaborative robots have set up more safety mechanisms.

[0003] In the traditional technology, when the mechanical arm of the collaborative robot appears an alarm, manual hard restart is usually required.

[0004] However, due to the more safety mechanisms of collaborative robots, when the arm is in a debugging state, various alarm problems will be encountered, and the debugger needs to manually hard restart the control box frequently. When there are more mechanical arms operating at the same time, manual hard restart will result in a lot of waste of manpower. SUMMARY

[0005] Therefore, it is necessary to provide a mechanical arm remote restart system, method, computer device, computer readable storage medium and computer program product to solve the above technical problems.

[0006] In a first aspect, the present application provides a mechanical arm remote restart system. The system comprises a first processor, a second processor, a teach pendant, a first energy storage unit, a normally closed switch and a mechanical arm.

[0007] The first processor is configured to receive an alarm signal sent by the second processor.

[0008] The second processor is in communication connection with the first processor, configured to be in communication connection with the mechanical arm, receive an alarm signal transmitted by the mechanical arm, and send the alarm signal to the first processor.

[0009] The teach pendant is in communication connection with the first processor, configured to receive an alarm signal transmitted by the first processor, display the alarm signal, receive a restart signal, and transmit the restart signal to the first processor; wherein the alarm signal enables the restart signal.

[0010] The first energy storage unit is configured to store electric energy when the first processor does not receive the alarm signal.

[0011] The first processor is further configured to deliver a disconnection control signal to the normally closed switch according to the restart signal.

[0012] The normally closed switch is used for connecting the power supply and the first processor, for receiving a disconnect control signal sent by the first processor, and for disconnecting the connection with the power supply in response to the disconnect control signal;

[0013] After the normally closed switch disconnects the connection with the power supply, the first energy storage unit continuously supplies power to the first processor, the first processor continuously sends the disconnect control signal to the normally closed switch, and the disconnect control signal is interrupted after the stored power of the first energy storage unit is completely released, and the connection between the normally closed switch and the power supply is restored.

[0014] In one of the embodiments, the system further comprises:

[0015] The second energy storage unit has one end connected to the power supply interface of the first processor and the other end grounded;

[0016] After the normally closed switch disconnects the connection with the power supply, the first energy storage unit and the second energy storage unit continuously supply power to the first processor, the first processor continuously sends the disconnect control signal to the normally closed switch, and the disconnect control signal is interrupted after the stored power of the first energy storage unit and the second energy storage unit is completely released, and the connection between the normally closed switch and the power supply is restored.

[0017] In one of the embodiments, the second energy storage unit is a capacitor.

[0018] In one of the embodiments, the first energy storage unit is a capacitor, and the first energy storage unit is integrated in the first processor.

[0019] In one of the embodiments, the normally closed switch comprises a blade, a first normally closed contact, a second normally closed contact and a relay coil, the blade connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used for connecting the power supply, and the second normally closed contact is connected to the relay coil; the normally closed switch is also used for receiving a high-level signal sent by the first processor, supplying power to the relay coil according to the high-level signal, disconnecting the first normally closed contact by the blade of the normally closed switch, and connecting the second normally closed contact, and interrupting the high-level signal after the stored power of the first energy storage unit is completely released, disconnecting the second normally closed contact by the blade of the normally closed switch, and connecting the first normally closed contact, so as to achieve remote restart of the mechanical arm.

[0020] In a second aspect, the application further provides a remote restart method of a mechanical arm. The method is applied to a first processor, and the method comprises:

[0021] obtaining an alarm signal sent by a second processor and transmitting the alarm signal to a teach pendant, the alarm signal being received by the second processor from the mechanical arm;

[0022] receiving a restart signal sent by the teach pendant; wherein the restart signal is in response to the alarm signal;

[0023] According to the restart signal, a disconnection control signal is sent to the normally closed switch to instruct the normally closed switch to disconnect from the power supply in response to the disconnection control signal;

[0024] After the normally closed switch is disconnected from the power supply, the disconnection control signal is continuously sent to the normally closed switch based on the discharge of the first energy storage unit until the discharge of the first energy storage unit ends, the disconnection control signal is interrupted, and the normally closed switch is restored to be connected to the power supply.

[0025] In one of the embodiments, the disconnection control signal is a high-level signal; the normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact, and a relay coil, the knife switch connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect the power supply, and the second normally closed contact is connected to the relay coil; sending the disconnection control signal to the normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal includes:

[0026] sending a high-level signal to the normally closed switch, supplying power to the relay coil in the normally closed switch according to the high-level signal, making the knife switch of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and after the discharge of the first energy storage unit ends, interrupting the high-level signal to make the knife switch of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact to achieve remote restart of the mechanical arm.

[0027] In one of the embodiments, after the discharge of the first energy storage unit ends, the above method further includes:

[0028] continuously sending the control signal to the normally closed switch through the discharge of the second energy storage unit until the discharge of the second energy storage unit ends and the normally closed switch is restored to be connected to the power supply; wherein one end of the second energy storage unit is connected to the power supply interface of the first processor, and the other end is grounded.

[0029] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the first processor implements the steps of the method of any one of the above embodiments when executing the computer program.

[0030] In a fourth aspect, the present application also provides a computer device readable storage medium. The computer device readable storage medium stores a computer program, and the computer program is executed by the first processor to implement the steps of the method of any one of the above embodiments.

[0031] In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program, and the computer program is executed by the first processor to implement the steps of the method of any one of the above embodiments.

[0032] The mechanical arm remote restart system, method, computer device, storage medium and computer program product, the first processor receives the alarm information sent by the mechanical arm through the second processor, transmits the alarm signal to the teacher, and receives the restart signal sent by the teacher; wherein, the restart signal is in response to the alarm signal. Then, the first processor sends the disconnection control signal to the normally closed switch based on the restart signal, to instruct the normally closed switch to disconnect from the power supply in response to the disconnection control signal; and can continuously send the disconnection control signal to the normally closed switch based on the discharge of the first energy storage unit, until the power of the first energy storage unit is released, the disconnection control signal is interrupted, and the normally closed switch is restored to connect with the power supply. Based on the normally closed switch and the first energy storage unit, the application can restart the mechanical arm in real time and remotely based on the restart signal sent by the teacher after the mechanical arm sends the alarm information, which can improve the restart efficiency and real-time performance of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 A system block diagram of a collaborative robot control system in a conventional scheme;

[0034] Figure 2 A system schematic diagram of the mechanical arm remote restart in an embodiment;

[0035] Figure 3 A system schematic diagram of the mechanical arm remote restart including a second energy storage unit in an embodiment;

[0036] Figure 4 A flowchart of the mechanical arm remote restart method in some embodiments;

[0037] Figure 5 An internal structure diagram of the computer device in an embodiment. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0039] In a conventional scheme, as shown in Figure 1 , the control system of the collaborative robot includes a control box, a mechanical arm and a teacher. The control box is the control system of the entire collaborative robot, which includes two independent central processors: a first central processor (CPU1) and a second central processor (CPU2).

[0040] The control box includes the logic control of the whole robot, safety algorithm, arm driving, and the like, and also includes a power supply system for supplying power to the mechanical arm, the teach pendant, CPU1 and CPU2. Among them, CPU1 is for robot logic operation and control, and CPU2 is an EtherCAT (Ethernet for Control Automation Technology) master station, which communicates with the whole arm, collects all information of the arm (only for collecting and transmitting information), and gives the information to CPU1 for relevant processing, and then sends the information to CPU2 in turn, and then to each slave station.

[0041] The teach pendant provides an operation platform for the user to teach and control the mechanical arm.

[0042] When the mechanical arm appears an alarm, the mechanical arm sends an alarm signal to CPU2, and CPU2 transmits the alarm signal to CPU1 after receiving the alarm signal. CPU1 can send a soft restart signal to CPU2 after receiving the alarm signal. The soft restart refers to restarting without power-off.

[0043] However, the time for the mechanical arm to be restarted by CPU2 is long, and based on the safety limit of the robot, CPU2 cannot restart the mechanical arm under some alarm signals, at which time the power supply system must be powered off to restart the mechanical arm. After the power supply system is powered off, CPU1, CPU2 and the mechanical arm are in an invalid state, and the system needs to be manually powered on.

[0044] In an embodiment of the present application, as shown in Figure 2 A mechanical arm remote restart system 200 provided by the embodiment of the present application can include: a first processor 202, a second processor 204, a mechanical arm 206, a teach pendant 208, a first energy storage unit 210, and a normally closed switch 212.

[0045] The first processor 202 is configured to receive an alarm signal sent by the second processor 204.

[0046] In the embodiment, the first processor and the second processor can both be central processing units, including but not limited to: MIPS (Microprocessor without interlocked pipelined stages) processors, Texas Instruments OMAP (Open Multimedia Application Platform) series processors, and the like.

[0047] In the embodiment, the first processor can be used for logic operation and control of the robot arm.

[0048] The second processor 204 is in communication connection with the first processor 202, used for communication connection with the robot arm 206, and receiving the alarm signal transmitted by the robot arm 206, and sending the alarm signal to the first processor 202.

[0049] In the embodiment, the second processor is an EtherCAT master station, which communicates with the entire robot arm, collects all information of the robot arm (only for collecting and transmitting information), and sends the information to the first processor for related processing, and obtains the processing information of the robot arm after the first processor processing, and then sequentially sends the information to each slave station.

[0050] The teach pendant 208 is in communication connection with the first processor 202, used for receiving the alarm signal transmitted by the first processor 202, displaying the alarm signal, receiving the restart signal, and transmitting the restart signal to the first processor 202; wherein the alarm signal enables the restart signal.

[0051] In the embodiment, the teach pendant provides an operation platform for the user, which is a handheld device for manual operation of the robot arm, program writing, parameter configuration and monitoring, and can be used for teaching and corresponding control of the robot arm.

[0052] During program running, the teach pendant is a window for displaying robot arm operation and controlling the entire program.

[0053] In the embodiment, after the teach pendant 208 receives the alarm signal sent by the first processor 202, the alarm signal is displayed. The display of the alarm signal by the teach pendant can include but is not limited to: graphic display, voice broadcast and the like.

[0054] In the embodiment, after the teach pendant 208 displays the alarm information, the operator can issue a restart instruction (restart signal) to the teach pendant 208, and the teach pendant 208 receives the restart signal and transmits the restart signal to the first processor 202.

[0055] The first energy storage unit 210 is used for storing electric energy when the first processor 202 does not receive the alarm signal.

[0056] In the embodiment, the first energy storage unit can be a capacitor, such as an electrolytic capacitor.

[0057] The first energy storage unit 210 can be integrated in the first processor 202.

[0058] The first processor 202 can be used for transmitting a disconnection control signal to the normally closed switch 212 according to the restart signal.

[0059] The normally closed switch 212 is connected with the power supply and the first processor 202, used for receiving the disconnect control signal sent by the first processor 202 and disconnecting with the power supply in response to the disconnect control signal.

[0060] In the embodiment, after the normally closed switch 212 disconnects with the power supply, the first energy storage unit 210 continuously supplies power to the first processor 202, and the first processor 202 continuously sends the disconnect control signal to the normally closed switch 212 until the discharge of the first energy storage unit 210 ends, the disconnect control signal is interrupted, and the connection between the normally closed switch 212 and the power supply is restored.

[0061] In the above-mentioned mechanical arm remote restart system, the first processor receives the alarm information sent by the mechanical arm through the second processor, transmits the alarm signal to the teacher, receives the restart signal sent by the teacher, and the restart signal is in response to the alarm signal. Then, the first processor sends the disconnect control signal to the normally closed switch based on the restart signal to instruct the normally closed switch to disconnect with the power supply in response to the disconnect control signal; and can continuously send the disconnect control signal to the normally closed switch based on the discharge of the first energy storage unit until the discharge of the first energy storage unit ends, the disconnect control signal is interrupted, and the connection between the normally closed switch and the power supply is restored. Based on the normally closed switch and the first energy storage unit, the application can remotely restart the mechanical arm in real time based on the restart signal sent by the teacher after the mechanical arm sends the alarm information, which can improve the restart efficiency and real-time performance of the mechanical arm.

[0062] In some embodiments, as shown in FIG. 1, Figure 3 The system can further include a second energy storage unit 214, one end of which is connected to the power supply interface of the first processor 202, and the other end is grounded.

[0063] In the embodiment, as shown in FIG. 1, Figure 3 After the normally closed switch disconnects with the power supply, the first energy storage unit and the second energy storage unit continuously supply power to the first processor, and the first processor continuously sends the disconnect control signal to the normally closed switch until the discharge of the first energy storage unit and the second energy storage unit ends, the disconnect control signal is interrupted, and the connection between the normally closed switch and the power supply is restored.

[0064] In the embodiment, when the first energy storage unit and the second energy storage unit are connected in parallel, after the discharge of the first energy storage unit ends, the second energy storage unit discharges to the first processor, so that the first processor can continuously send the control signal to the normally closed switch until the discharge of the second energy storage unit ends. Based on the discharge of the second energy storage unit, the time for the first processor to supply power to the relay coil can be prolonged, and the power supply of the first processor to the relay coil can ensure that the normally closed switch is disconnected with the power supply.

[0065] In some embodiments, the second energy storage unit is a capacitor.

[0066] In some embodiments, the second energy storage unit can be an electrolytic capacitor.

[0067] In some embodiments, the first energy storage unit is a capacitor, and the first energy storage unit can be integrated in the first processor.

[0068] In some embodiments, as shown in Figure 2 、 Figure 3 , the normally closed switch includes a latch, a first normally closed contact, a second normally closed contact, and a relay coil, the latch connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect a power supply, and the second normally closed contact is connected to the relay coil; the normally closed switch is also used to receive a high-level signal sent by the first processor, and according to the high-level signal, the relay coil is powered to make the latch of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and until the release of the electrical energy stored in the first energy storage unit ends, the high-level signal is interrupted to make the latch of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact, so as to achieve remote restart of the mechanical arm.

[0069] In this embodiment, as shown in Figure 2 、 Figure 3 , after the relay coil is powered by the first processor, the coil generates a magnetic induction, which can attract the latch of the normally closed switch from the first normally closed contact to the second normally closed contact, thereby disconnecting the first normally closed contact and connecting the second normally closed contact. Similarly, when the relay coil loses power from the first processor, the coil magnetic induction disappears, and the latch of the normally closed switch resets from the second normally closed contact to the first normally closed contact.

[0070] In this embodiment, as shown in Figure 2 、 Figure 3 , the teach pendant, the mechanical arm, the first processor, the second processor, and the like are connected to a 220V AC power supply. Through SMPS ACDC 48V (high-voltage AC to 48V DC conversion), the mechanical arm and the teach pendant are powered by 48V DC; further, through SMPS DCDC 24V (high-voltage DC to 24V DC conversion), the first processor and the second processor are powered by 24V DC.

[0071] Based on the same inventive concept, the embodiment of the present application also provides a mechanical arm remote restart method for implementing the above-mentioned mechanical arm remote restart system.

[0072] The mechanical arm remote restart method provided by the embodiment of the present application can be applied to the above-mentioned first processor.

[0073] In one embodiment, as shown in Figure 4As shown, a mechanical arm remote restart method is provided, which is applied to the above-mentioned mechanical arm remote restart system, and the mechanical arm remote restart system comprises a first processor, a second processor, a mechanical arm, a teach pendant and a first energy storage unit. Taking the case that the method is applied to the first processor in the mechanical arm remote restart system as an example, the method comprises the following steps 402 to 408.

[0074] In step 402, an alarm signal sent by the second processor is acquired, and the alarm signal is transmitted to the teach pendant. The alarm signal is received by the second processor from the mechanical arm.

[0075] In this embodiment, when the mechanical arm alarms, the mechanical arm generates a corresponding alarm signal and sends the alarm signal to the second processor connected to the mechanical arm via a network. After receiving the alarm signal sent by the mechanical arm, the second processor sends the alarm signal to the first processor.

[0076] In another embodiment, after receiving the alarm signal sent by the mechanical arm, the second processor can also perform data processing such as encryption and data compression on the alarm signal and then send the alarm signal to the first processor.

[0077] In this embodiment, the alarm signal can include the number, key and other unique identifiers of the mechanical arm or the mechanical arm and the second processor, so as to avoid the situation that when multiple mechanical arms alarm at the same time, the mechanical arm that alarms cannot be accurately restarted.

[0078] In this embodiment, the alarm signal can also include a time stamp. When multiple mechanical arms alarm at the same time, the second processor and the first processor can restart the mechanical arm according to the time stamp.

[0079] In step 404, a restart signal sent by the teach pendant is received.

[0080] In this embodiment, the restart signal is in response to the alarm signal.

[0081] In this embodiment, after the first processor transmits the alarm signal to the teach pendant via the network, the teach pendant can alarm and remind the operator. The alarm and reminder can include but are not limited to voice broadcast, graphic alarm and the like.

[0082] In this embodiment, the operator can send the restart signal to the first processor via a button or a keyboard on the teach pendant or other input devices.

[0083] In another embodiment, if the teach pendant does not acquire any operation instruction of the operator within a preset time, the teach pendant can send the restart signal to the first processor by default.

[0084] In the embodiment, the restart signal is generated based on the alarm signal, and is used for restarting the robot arm that generates the alarm signal.

[0085] In step 406, according to the restart signal, a disconnection control signal is sent to the normally closed switch to instruct the normally closed switch to disconnect from the power supply in response to the disconnection control signal.

[0086] In the embodiment, after the first processor receives the restart signal, a valid high-level signal can be sent to the normally closed switch.

[0087] In step 408, after the normally closed switch is disconnected from the power supply, the disconnection control signal is continuously sent to the normally closed switch based on the discharge of the first energy storage unit until the discharge of the first energy storage unit is completed, the disconnection control signal is interrupted, and the normally closed switch is restored to be connected to the power supply.

[0088] In the embodiment, after the normally closed switch is disconnected from the power supply, the first processor and the second processor are also disconnected from the power supply. After the second processor is disconnected from the power supply, the second processor enters a power-off state quickly, and the robot arm control circuit in the second processor is also powered off quickly.

[0089] In the embodiment, due to the parallel connection of the first processor and the first energy storage unit, after the first processor is disconnected from the power supply, the disconnection control signal can be continuously sent to the normally closed switch based on the discharge of the first energy storage unit until the discharge of the first energy storage unit is completed.

[0090] In the embodiment, after the discharge of the first energy storage unit is completed, the normally closed switch is reset from 1, 3 to 1, 2, and the normally closed switch is restored to be connected to the power supply.

[0091] In some embodiments, the disconnection control signal is a high-level signal; the normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact, and a relay coil, the knife switch connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect the power supply, and the second normally closed contact is connected to the relay coil; sending the disconnection control signal to the normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal, includes:

[0092] sending a high-level signal to the normally closed switch, and supplying power to the relay coil in the normally closed switch according to the high-level signal to make the knife switch of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and after the discharge of the first energy storage unit is completed, interrupting the high-level signal to make the knife switch of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact to achieve remote restart of the robot arm.

[0093] In the embodiment, as Figure 3As shown, when the normally closed switch is a relay normally closed switch, the first processor sends a valid high-level signal to the normally closed switch, that is, the first processor supplies power to the relay coil in the normally closed switch. After the relay coil is powered on, the normally closed switch can be attracted from 1, 2 to 1, 3, thereby disconnecting the normally closed switch SW1, that is, disconnecting the 24V power supply.

[0094] In this embodiment, when the power release of the first energy storage unit ends, the relay coil of the normally closed switch loses power, and the normally closed switch resets from 1, 3 to 1, 2, restoring the connection between the normally closed switch and the power supply.

[0095] In some embodiments, as shown, Figure 3 After the power release of the first energy storage unit ends, the above method further includes: continuously sending a control signal to the normally closed switch through the discharge of the second energy storage unit until the power release of the second energy storage unit ends, and restoring the connection between the normally closed switch and the power supply; wherein one end of the second energy storage unit is connected to the power supply interface of the first processor, and the other end is grounded.

[0096] In this embodiment, when the first energy storage unit and the second energy storage unit are connected in parallel, when the power release of the first energy storage unit ends, the second energy storage unit discharges to the first processor, so that the first processor can continuously send a control signal to the normally closed switch until the power release of the second energy storage unit ends. Based on the discharge of the second energy storage unit, the time of the first processor supplying power to the relay coil can be prolonged, and it is ensured that the power supply of the first processor to the relay coil can disconnect the normally closed switch from the power supply.

[0097] It should be understood that although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0098] In one embodiment, a computer device, which can be a server, is provided, and its internal structure diagram can be as shown in Figure 5As shown in the figure. The computer device includes a processor, a memory and a network interface connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is used to store the logic control data of the normally closed switch. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to realize a mechanical arm remote restart method.

[0099] Those skilled in the art can understand that, Figure 5 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0100] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the following steps: obtaining an alarm signal sent by a second processor, and transmitting the alarm signal to a teacher, the alarm signal being received by the second processor from a mechanical arm; receiving a restart signal sent by the teacher; wherein the restart signal is in response to the alarm signal; according to the restart signal, sending a disconnection control signal to a normally closed switch to instruct the normally closed switch to disconnect from a power supply in response to the disconnection control signal; after the normally closed switch is disconnected from the power supply, continuously sending the disconnection control signal to the normally closed switch based on the discharge of a first energy storage unit until the release of the electrical energy of the first energy storage unit is completed, interrupting the disconnection control signal, and restoring the connection between the normally closed switch and the power supply.

[0101] In one embodiment, the processor executes the computer program to further realize that the disconnection control signal is a high-level signal; the normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact and a relay coil, the knife switch connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect the power supply, and the second normally closed contact connects the relay coil; sending the disconnection control signal to the normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal can include: sending a high-level signal to the normally closed switch, supplying power to the relay coil in the normally closed switch according to the high-level signal, making the knife switch of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and after the release of the electrical energy stored in the first energy storage unit is completed, interrupting the high-level signal, making the knife switch of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact, to achieve the remote restart of the mechanical arm.

[0102] In one embodiment, after the first energy storage unit ends the release of the electric energy, the processor executing the computer program further implements the following steps: continuously sending the control signal to the normally closed switch through the discharge of the second energy storage unit until the second energy storage unit ends the release of the electric energy, and restoring the normally closed switch to be connected with the power supply; wherein one end of the second energy storage unit is connected with the power supply interface of the first processor, and the other end is grounded.

[0103] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program, when executed by a processor, implements the following steps: obtaining an alarm signal sent by a second processor, and transmitting the alarm signal to a teacher, the alarm signal being received by the second processor from a mechanical arm; receiving a restart signal sent by the teacher; wherein the restart signal is in response to the alarm signal; according to the restart signal, sending a disconnection control signal to a normally closed switch to instruct the normally closed switch to disconnect from the power supply in response to the disconnection control signal; after the normally closed switch is disconnected from the power supply, continuously sending the disconnection control signal to the normally closed switch based on the discharge of the first energy storage unit until the first energy storage unit ends the release of the electric energy, and interrupting the disconnection control signal to restore the normally closed switch to be connected with the power supply.

[0104] In one embodiment, the computer program, when executed by the processor, further implements that the disconnection control signal is a high-level signal; the normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact, and a relay coil, the knife switch is connected with the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect the power supply, and the second normally closed contact is connected with the relay coil; sending the disconnection control signal to the normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal can include: sending the high-level signal to the normally closed switch, supplying power to the relay coil in the normally closed switch according to the high-level signal, making the knife switch of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and after the release of the electric energy stored in the first energy storage unit ends, interrupting the high-level signal to make the knife switch of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact, so as to achieve the remote restart of the mechanical arm.

[0105] In one embodiment, after the first energy storage unit ends the release of the electric energy, the computer program, when executed by the processor, further implements the following steps: continuously sending the control signal to the normally closed switch through the discharge of the second energy storage unit until the second energy storage unit ends the release of the electric energy, and restoring the normally closed switch to be connected with the power supply; wherein one end of the second energy storage unit is connected with the power supply interface of the first processor, and the other end is grounded.

[0106] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps: obtaining an alarm signal sent by a second processor, the alarm signal being received by the second processor from a robot arm; receiving a restart signal sent by a teach pendant; wherein the restart signal is in response to the alarm signal; sending a disconnection control signal to a normally closed switch according to the restart signal to instruct the normally closed switch to disconnect from a power supply in response to the disconnection control signal; after the normally closed switch is disconnected from the power supply, continuously sending the disconnection control signal to the normally closed switch based on discharge of a first energy storage unit until the discharge of the first energy storage unit is complete, interrupting the disconnection control signal, and restoring the connection of the normally closed switch to the power supply.

[0107] In one embodiment, the computer program, when executed by the processor, further implements that the disconnection control signal is a high-level signal; the normally closed switch comprises a contact, a first normally closed contact, a second normally closed contact, and a relay coil, the contact connects the first normally closed contact and the second normally closed contact, the first normally closed contact is used to connect the power supply, and the second normally closed contact is connected to the relay coil; and sending the disconnection control signal to the normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal can comprise: sending the high-level signal to the normally closed switch, supplying power to the relay coil in the normally closed switch according to the high-level signal to make the contact of the normally closed switch disconnect the first normally closed contact and connect the second normally closed contact, and after the discharge of the first energy storage unit is complete, interrupting the high-level signal to make the contact of the normally closed switch disconnect the second normally closed contact and connect the first normally closed contact to achieve remote restart of the robot arm.

[0108] In one embodiment, after the discharge of the first energy storage unit is complete, the computer program, when executed by the processor, further implements the following steps: continuously sending the control signal to the normally closed switch through discharge of a second energy storage unit until the discharge of the second energy storage unit is complete, and restoring the connection of the normally closed switch to the power supply; wherein one end of the second energy storage unit is connected to a power supply interface of the first processor, and the other end is grounded.

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0110] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0111] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A remote restart system for a robotic arm, characterized in that, The system includes: a first processor, a second processor, a teach pendant, a first energy storage unit, a normally closed switch, and a robotic arm; The first processor is used to receive an alarm signal sent by the second processor; the alarm signal includes a timestamp, and the timestamp is used to restart the robotic arm according to the timestamp when multiple robotic arms alarm simultaneously; The second processor is communicatively connected to the first processor, and is used to communicate with the robotic arm, receive alarm signals transmitted by the robotic arm, and send the alarm signals to the first processor; The teach pendant is communicatively connected to the first processor and is used to receive alarm signals transmitted by the first processor, display the alarm signals, and receive restart signals. If no operation instruction from the operator is received within a preset time, the teach pendant transmits the restart signal to the first processor. The alarm signal enables the restart signal. The first energy storage unit is used to store electrical energy when the first processor does not receive the alarm signal; The first processor is further configured to send a disconnection control signal to the normally closed switch according to the restart signal; The normally closed switch connects the power supply and the first processor, and is used to receive a disconnection control signal sent by the first processor, and disconnect from the power supply in response to the disconnection control signal. After the normally closed switch is disconnected from the power supply, the first energy storage unit continues to supply power to the first processor, and the first processor continues to send a disconnection control signal to the normally closed switch until the electrical energy stored in the first energy storage unit is released, at which point the disconnection control signal is interrupted and the normally closed switch is reconnected to the power supply.

2. The robotic arm remote restart system according to claim 1, characterized in that, The system also includes: The second energy storage unit has one end connected to the power interface of the first processor and the other end grounded. After the normally closed switch is disconnected from the power supply, the first energy storage unit and the second energy storage unit continue to supply power to the first processor. The first processor continuously sends a disconnection control signal to the normally closed switch until the electrical energy stored in the first energy storage unit and the second energy storage unit is released. Then, the disconnection control signal is interrupted, and the normally closed switch is reconnected to the power supply.

3. The robotic arm remote restart system according to claim 2, characterized in that, The second energy storage unit is a capacitor.

4. The robotic arm remote restart system according to claim 1, characterized in that, The first energy storage unit is a capacitor, and the first energy storage unit is integrated into the first processor.

5. The robotic arm remote restart system according to claim 1, characterized in that, The normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact, and a relay coil. The knife switch connects the first normally closed contact and the second normally closed contact. The first normally closed contact is used to connect to a power source, and the second normally closed contact is connected to the relay coil. The normally closed switch is also used to receive a high-level signal sent by the first processor, and to supply power to the relay coil according to the high-level signal, causing the knife switch of the normally closed switch to open the first normally closed contact and close the second normally closed contact. This continues until the electrical energy stored in the first energy storage unit is released, at which point the high-level signal is interrupted, causing the knife switch of the normally closed switch to open the second normally closed contact and close the first normally closed contact, thereby achieving remote restart of the robotic arm.

6. A method for remotely restarting a robotic arm, characterized in that, The method is applied to a first processor, and the method includes: The alarm signal sent by the second processor is acquired and transmitted to the teach pendant. The alarm signal is received by the second processor from the robotic arm. The alarm signal includes a timestamp, which is used by the second processor and the first processor to restart the robotic arm based on the timestamp when multiple robotic arms alarm simultaneously. The system receives a restart signal sent by the teach pendant; wherein the restart signal is in response to the alarm signal; the restart signal is sent by the teach pendant to the first processor when it has not received an operation instruction from the operator within a preset time. Based on the restart signal, a disconnection control signal is sent to the normally closed switch to instruct the normally closed switch to disconnect from the power supply in response to the disconnection control signal; After the normally closed switch disconnects from the power supply, a disconnection control signal is continuously sent to the normally closed switch based on the discharge of the first energy storage unit until the energy release of the first energy storage unit ends, at which point the disconnection control signal is interrupted and the normally closed switch is restored to the power supply connection.

7. The method according to claim 6, characterized in that, The disconnection control signal is a high-level signal; the normally closed switch includes a knife switch, a first normally closed contact, a second normally closed contact, and a relay coil. The knife switch is connected to the first normally closed contact and the second normally closed contact. The first normally closed contact is used to connect to the power supply, and the second normally closed contact is connected to the relay coil. Sending a disconnection control signal to a normally closed switch to instruct the normally closed switch to disconnect from the power supply according to the disconnection control signal includes: A high-level signal is sent to the normally closed switch, and power is supplied to the relay coil in the normally closed switch according to the high-level signal, causing the switch to open the first normally closed contact and close the second normally closed contact. This continues until the electrical energy stored in the first energy storage unit is released, at which point the high-level signal is interrupted, causing the switch to open the second normally closed contact and close the first normally closed contact, thereby achieving remote restart of the robotic arm.

8. The method according to claim 6, characterized in that, After the first energy storage unit has finished releasing its electrical energy, the method further includes: By discharging the second energy storage unit, a control signal is continuously sent to the normally closed switch until the energy release of the second energy storage unit ends, and the normally closed switch is restored to the power supply connection; wherein, one end of the second energy storage unit is connected to the power interface of the first processor, and the other end is grounded.

9. An electronic device comprising a first processor, a second processor, and a memory, wherein the memory stores a computer program, characterized in that, When the first processor executes the computer program, it implements the steps of the method according to any one of claims 6 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the first processor, it implements the steps of the method according to any one of claims 6 to 8.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the first processor, it implements the steps of the method according to any one of claims 6 to 8.

Images