A control method for a truss robot, an electronic device, and a storage medium

Abstract

The present application relates to the technical field of intelligent machinery, and specifically provides a control method for a truss manipulator, an electronic device and a storage medium. The method comprises: recording operation action node data of the truss manipulator, and adding identification data to the operation action node data; obtaining operation action node data at the time of failure, and reading corresponding identification data; the truss manipulator executes corresponding operation actions according to the identification data; through the above method, the problem that the truss manipulator device cannot directly start executing the operation process from the position where the failure occurs after failure repair is solved, and the production recovery efficiency of the truss manipulator after failure repair is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent machinery technology, and more specifically, to a control method, electronic device, and storage medium for a gantry robot. Background Technology

[0002] Traditional gantry robots have a set of sequential control logic pre-set according to the storage and handling positions of materials. If a fault occurs in the middle of the operation, after the fault is cleared, the robot can only return to the initial step to start execution. It cannot start the control again from the fault position, which leads to a decrease in production efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, electronic device, and storage medium for a gantry robot, which can solve the problem that the gantry robot cannot directly start the operation process from the location where the fault occurred after the fault is repaired.

[0004] The embodiments of the present invention are achieved through the following technical solutions:

[0005] In a first aspect, a control method for a gantry robot is provided, comprising the following steps:

[0006] Record the operation motion node data of the gantry robot and add identification data to the operation motion node data;

[0007] Obtain the operation action node data when a fault occurs, and read the corresponding identifier data;

[0008] The gantry robot performs corresponding operations based on the identified data.

[0009] Furthermore, the recording of the gantry robot's operational action node data includes:

[0010] Execute multiple operation actions recorded in the PLC memory program area in a preset order;

[0011] The PLC memory data area records the operation action node data generated when each operation action is executed.

[0012] Furthermore, the operation action node data includes the generation time of the operation action, operation action program data, and status feedback data.

[0013] Furthermore, adding identifier data to the operation action node data includes:

[0014] Obtain the opening and closing data and coordinate data of the robotic gripper during the current operation;

[0015] Identification data is constructed based on the opening and closing data and coordinate data of the robotic gripper.

[0016] Then, add the identification data to the end of the data frame of the operation action node data.

[0017] Furthermore, the step of constructing identification data based on the opening and closing data and coordinate data of the robotic gripper includes:

[0018] Get the execution order parameter i of the current operation, i∈(1,2,3,...,N), where N is a positive integer;

[0019] If the robotic gripper is in the open state, the identification data is 0 + coordinate data;

[0020] If the robotic gripper is in a closed state, the identification data is i + coordinate data.

[0021] Furthermore, the acquisition of the coordinate data includes:

[0022] A coordinate system is constructed with one support leg of the truss as the origin and the line connecting at least two support legs of the truss as the coordinate axes.

[0023] The coordinate data of the robotic gripper end in the coordinate system is obtained by setting the robotic gripper end to be scanned by a laser point cloud scanner.

[0024] Furthermore, the step of acquiring the operation action node data during a fault and reading the corresponding identifier data includes:

[0025] Determine if the execution time of the current operation exceeds the preset time; if not, continue to perform the judgment for the next operation.

[0026] If the preset time is exceeded, a fault alarm will be triggered, and the operation action node data at the time of the fault will be obtained. The status data and coordinate data of the robotic gripper recorded in the identification data will be read.

[0027] Furthermore, the gantry robot performs corresponding operational actions based on the identified data, including:

[0028] It receives the start-up information and, based on the status data and coordinate data of the robotic arm's gripper, executes the operation actions performed before stopping work and resets to the operation position corresponding to the coordinate data.

[0029] Secondly, an electronic device is provided, comprising:

[0030] At least one processor; and

[0031] A memory that is communicatively connected to the at least one processor;

[0032] The memory stores instructions that can be executed by the at least one processor, which, when executed, enable the at least one processor to perform the steps of the control method for the gantry robot described above.

[0033] Thirdly, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of the control method for a gantry manipulator described above.

[0034] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects:

[0035] The technical solution provided by this invention records the data of each operation node of the gantry robot in real time, and adds identification data to the end of the data frame of the currently recorded operation node data of the gantry robot according to the status of the gantry robot. When the equipment fault is repaired and the equipment is restarted, the control equipment of the gantry robot can read the corresponding identification data by obtaining the last operation node data before the fault, and then quickly return to the operation node and position before the fault through the identification data, thereby improving the production recovery efficiency of the gantry robot after the fault is repaired. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the control method for a gantry robot provided by the present invention;

[0037] Figure 2 This is a schematic diagram of the electronic device structure provided by the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Example 1

[0040] This embodiment provides a control method for a gantry robot, such as... Figure 1 As shown, it includes the following steps:

[0041] S1. Record the operation motion node data of the gantry robot and add identification data to the operation motion node data.

[0042] In one embodiment, the recording of the gantry robot's operational action node data includes:

[0043] The program executes multiple operations recorded in the PLC memory program area in a preset order; then the PLC memory data area records the operation node data generated when each operation is executed.

[0044] The operation action node data includes the generation time of the operation action, operation action program data, and status feedback data.

[0045] Specifically, the operation actions may include: moving the robotic gripper to the material area, grabbing the material, moving the material to the work area, and putting the material down. The above is only a typical node in the robotic gripper's workflow. It can be seen that in specific scenarios, the operation actions can be differentiated according to the user's needs.

[0046] Among them, status feedback data refers to the current operating status of the gantry robot equipment. Generally speaking, its operating status mainly includes running, fault, alarm, etc.

[0047] In one implementation, adding identifier data to the operation action node data includes:

[0048] First, obtain the opening and closing data and coordinate data of the robotic gripper during the current operation; then, construct identification data based on the opening and closing data and coordinate data of the robotic gripper; finally, add the identification data to the end of the data frame of the operation node data.

[0049] The identification data is constructed based on the opening and closing data and coordinate data of the robotic gripper, including:

[0050] Get the execution order parameter i of the current operation action, i∈(1,2,3,...,N), where N is a positive integer; for example, the operation actions mentioned above include: 1. The robotic arm gripper moves to the material area, 2. Grab the material, 3. Move the material to the work area, 4. Put down the material; then when the operation action is to grab the material, i=2.

[0051] If the robotic gripper is in the open state, the identification data is 0 + coordinate data; if the robotic gripper is in the closed state, the identification data is i + coordinate data.

[0052] The acquisition of coordinate data includes:

[0053] First, a coordinate system is constructed with one support leg of the truss as the origin and the line connecting at least two support legs of the truss as the coordinate axis. Then, the coordinate data of the robotic gripper end in the coordinate system is obtained by setting the robotic gripper end to be scanned by a laser point cloud scanner.

[0054] S2. Obtain the operation action node data when the fault occurs, and read the corresponding identification data.

[0055] In one implementation, acquiring the operation action node data at the time of the fault and reading the corresponding identification data includes:

[0056] Determine whether the execution time of the current operation exceeds the preset time; if it does not exceed the preset time, continue to determine the next operation; if it exceeds the preset time, issue a fault alarm, obtain the operation node data at the time of the fault, and read the status data and coordinate data of the robotic gripper recorded in the identification data.

[0057] S3. The gantry robot performs corresponding operations based on the identified data.

[0058] In one implementation, the gantry robot performs corresponding operational actions based on the identified data, including:

[0059] It receives the start-up information and, based on the status data and coordinate data of the robotic arm's gripper, executes the operation actions performed before stopping work and resets to the operation position corresponding to the coordinate data.

[0060] According to the technical solution described in Example 1, when the gantry robot is working, its control device records the data of each operation action node of the gantry robot in real time, and adds identification data to the end of the data frame of the currently recorded gantry robot operation action node data according to the state of the gantry robot. When the fault of the equipment is repaired and the equipment is restarted, the control device of the gantry robot can read the corresponding identification data by obtaining the last operation action node data before the fault, and then quickly return to the operation node and position before the fault through the identification data, thereby improving the production recovery efficiency of the gantry robot after the fault is repaired.

[0061] Example 2

[0062] This embodiment provides an electronic device, such as... Figure 2 As shown, the electronic device includes:

[0063] At least one processor; and

[0064] A memory that is communicatively connected to the at least one processor;

[0065] The memory stores instructions that can be executed by the at least one processor, which, when executed, enable the at least one processor to perform the steps of the control method for the gantry robot described above.

[0066] Since the embodiments of the electronic equipment part correspond to the embodiments of the control method part for the gantry robot, the embodiments of the electronic equipment part are described in the description of the embodiments of the control method part for the gantry robot, and will not be repeated here.

[0067] Example 3

[0068] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the control method for a gantry robot described above.

[0069] Similarly, since the embodiments of the computer-readable storage medium portion correspond to the embodiments of the control method portion for the gantry manipulator, the embodiments of the computer-readable storage medium portion are described in the description of the embodiments of the control method portion for the gantry manipulator, and will not be repeated here.

[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a gantry robot, characterized by, The method comprises the following steps: Recording the operation action node data of the truss manipulator, comprising: executing a plurality of operation actions recorded in the PLC memory program area in a preset order; the PLC memory data area records the operation action node data generated when each operation action is executed; and adding identification data to the operation action node data; comprising: obtaining the opening and closing data and coordinate data of the manipulator gripper at the current operation action; constructing the identification data according to the opening and closing data and coordinate data of the manipulator gripper, comprising: obtaining the execution order parameter i of the current operation action, i∈(1, 2, 3,..., N), N is a positive integer; if the manipulator gripper is in the open state, the identification data is 0+coordinate data; if the manipulator gripper is in the closed state, the identification data is i+coordinate data; then add the identification data to the tail of the data frame of the operation action node data; wherein the operation action node data includes the generation time of the operation action, the operation action program data and the state feedback data; Obtaining the operation action node data at the time of failure and reading the corresponding identification data; comprising: judging whether the execution time of the current operation action exceeds the preset time; if it does not exceed the preset time, continue to judge the next operation action; If the preset time is exceeded, a fault alarm is given, and the operation action node data at the time of failure is obtained, and the manipulator gripper state data and coordinate data recorded in the identification data are read; The truss manipulator executes the corresponding operation action according to the identification data, comprising: receiving the start information, and executing the operation action before stopping work and resetting to the operation position corresponding to the coordinate data according to the manipulator gripper state data and coordinate data.

2. The control method for a gantry robot according to claim 1, characterized by, The coordinate data is obtained by: Taking one support leg of the truss as the coordinate origin, and constructing a coordinate system based on the line connecting at least two support legs of the truss as the coordinate axis; The coordinate data of the manipulator gripper end in the coordinate system is obtained by setting the manipulator gripper end at the laser point cloud scanner.

3. An electronic device, comprising: Comprise: At least one processor; And The memory is in communication connection with the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the control method for the truss manipulator in any one of claims 1-2.

4. A computer-readable storage medium, characterized in that, A computer program is stored, and the computer program is executed by the processor to enable the processor to execute the steps of the control method for the truss manipulator in any one of claims 1-2.

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