Method, device and robot for automatically identifying alarm events of robot additional equipment

Abstract

The present invention provides a method, device, and robot for automatically identifying alarm events for robot accessory devices. The method comprises: obtaining a manufacturer's alarm event list for the accessory device, mapping the contents of the manufacturer's alarm event list to an operation and control alarm event list of the robot operation and control system; opening the operation and control alarm event list for searching based on error information uploaded by the accessory device, and after matching the corresponding alarm content, pushing it to a display terminal. The present invention enables, regardless of the manufacturer of the accessory device being used, the user to immediately view detailed alarm information on the display terminal when an accessory device alarm event occurs during use, eliminating the need to manually search the accessory device's user manual for the corresponding alarm information, thereby providing great convenience for users.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method and device for automatically identifying alarm events of robot attachment equipment, and a robot. Background Art

[0002] With the widespread application of industrial robots in the field of intelligent manufacturing technology, the requirements for the degree of automation of conventional six-axis industrial robots are becoming increasingly higher, and even require the six axes of the main body to be linked with external equipment. In this case, it is necessary to add additional equipment to the six-axis industrial robot to achieve collaborative cooperation between the six axes of the main body and the external additional equipment.

[0003] When adding add-ons to six-axis industrial robots, most manufacturers customize them based on actual user needs. However, different manufacturers offer inconsistent alarm event information and handling methods for these add-ons. This results in customized add-on functionality not being able to simultaneously address the alarm events of different manufacturers' add-ons. Currently, many manufacturers directly display error information uploaded by the add-ons. For example, KEBA displays the error code for an add-on axis alarm. The user then searches the add-on manufacturer's user manual based on the error code to determine the specific details of the alarm and its resolution. This approach to alarm event handling is very inconvenient for users, as it prevents them from directly and intuitively viewing the alarm information of the add-on device. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device and robot for automatically identifying alarm events of robot additional equipment, so as to solve the problem that the existing robot operation and control alarm event push function is not compatible with automatically identifying alarm events of additional equipment from different manufacturers.

[0005] To achieve the above object, according to one aspect of the present invention, a method for automatically identifying alarm events of robot attachment equipment is provided, comprising:

[0006] Obtaining a manufacturer's alarm event list for the attached device, and mapping the contents of the manufacturer's alarm event list to the operation and control alarm event list of the robot operation and control system;

[0007] According to the error information uploaded by the additional device, the operation control alarm event list is opened for search, and after matching the corresponding alarm content, it is pushed to the display terminal.

[0008] Furthermore, mapping the contents of the manufacturer alarm event list to the operation control alarm event list includes:

[0009] Open the manufacturer's alarm event list, and add corresponding mapping marks to the corresponding contents in the manufacturer's alarm event list according to the contents in the operation control alarm event list;

[0010] The manufacturer alarm event list with the added mapping mark is named with the unique identifier of the additional device to obtain the additional device alarm event list, and is saved in the robot operation and control system in XML format;

[0011] During the initialization phase, the robot operation and control system determines the additional equipment of the robot, opens the corresponding additional equipment alarm event list based on the unique identifier of the additional equipment, and maps the contents with mapping marks in the additional equipment alarm event list to the operation and control alarm event list.

[0012] Furthermore, the contents of the operation control alarm event list include: serial number, alarm code, alarm content, alarm cause, solution and alarm reset.

[0013] Furthermore, the unique identifier of the additional device is a product ID of the additional device.

[0014] Furthermore, according to the error information uploaded by the additional device, the operation control alarm event list is opened for searching, and when no corresponding alarm content is matched, the error information uploaded by the additional device is directly pushed to the display terminal.

[0015] Furthermore, the additional equipment is an additional shaft.

[0016] Furthermore, the display terminal is a teaching pendant or a PC.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for automatically identifying alarm events of an additional device of a robot as described above is implemented.

[0018] According to another aspect of the present invention, there is provided a device for automatically identifying alarm events of additional equipment of a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for automatically identifying alarm events of additional equipment of a robot is implemented as described in any one of claims 1 to 7.

[0019] According to another aspect of the present invention, a robot is provided, comprising the above-mentioned automatic recognition device for alarm events of robot additional equipment.

[0020] By applying the technical solution of the present invention, by mapping the contents of the alarm event lists provided by different additional equipment manufacturers to the operation and control alarm event list of the robot operation and control system, it is achieved that no matter which manufacturer's additional equipment is used, detailed alarm information can be displayed on the display terminal when an additional equipment alarm event occurs. There is no need to manually search the user manual of the additional axis equipment for the corresponding alarm information, thereby providing great convenience for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 Flowchart of the automatic recognition method for alarm events of robot-attached equipment.

[0023] Figure 2 Flowchart for adding mapping tags to the factory alarm event list for additional devices.

[0024] Figure 3 Flowchart for automatic identification and push display of additional equipment alarm events.

[0025] Figure 4 It is the alarm information displayed on the display terminal. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is any conflict.

[0027] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] Currently, most manufacturers customize the addition of additional equipment to six-axis industrial robots based on actual user needs. However, there are many different manufacturers of additional equipment, and each manufacturer has inconsistent alarm definitions. Each time an additional device is added, the controller and teach pendant programs must be modified to match the alarm events of the additional device, resulting in a very large workload and the inability to achieve unified system maintenance. Therefore, many manufacturers handle this by directly displaying the error information uploaded by the additional device. For example, KEBA directly displays the error code of the additional axis when an alarm is generated by the additional axis. The user then searches the user manual of the additional axis manufacturer based on the error code to determine the specific content of the additional axis alarm and the solution.

[0030] This alarm event processing method is very inconvenient for users, and they cannot directly and intuitively view the alarm information of the attached equipment.

[0031] To this end, the present application proposes a method, device and robot for automatically identifying alarm events of robot auxiliary equipment to solve one or more of the above-mentioned problems, thereby achieving that no matter which manufacturer's auxiliary equipment is used, detailed alarm information can be displayed on the display terminal, providing great convenience for users.

[0032] like Figure 1 As shown, one embodiment of the present invention provides a method for automatically identifying alarm events of robot attachment equipment, comprising:

[0033] Obtaining a manufacturer's alarm event list for the attached device, and mapping the contents of the manufacturer's alarm event list to the operation and control alarm event list of the robot operation and control system;

[0034] According to the error information uploaded by the additional device, the operation control alarm event list is opened for search, and after matching the corresponding alarm content, it is pushed to the display terminal.

[0035] In this way, by mapping the contents of the alarm event lists provided by different additional equipment manufacturers to the operation and control alarm event list of the robot operation and control system, since the operation and control alarm event list can be recognized by the robot operation and control system, detailed alarm information can be displayed on the display terminal without changing the program of the robot operation and control system and the display terminal. This means that no matter which manufacturer's additional equipment is used, detailed alarm information can be viewed on the display terminal at the first time when an additional equipment alarm event occurs, without having to manually search the additional axis equipment user manual for the corresponding alarm information, thereby providing great convenience for users.

[0036] The following combination Figures 2 to 4 , the method for automatically identifying alarm events of robot additional equipment of this embodiment is exemplified.

[0037] In this embodiment, the additional device is exemplified by an additional axis, and the display terminal is exemplified by a teach pendant or a PC. It is easy to understand that by changing the content of the identified alarm event, the present invention can be applied to any type of additional device. At the same time, the operation and control alarm event list is stored in the robot operation and control system (abbreviated as operation and control) in the form of a file. Therefore, the display terminal is not limited to a teach pendant or a PC, and can also be displayed on other display devices.

[0038] Specifically, the operation control alarm event list is shown in Table 1, which is a template developed by the robot operation control system to store all alarm events.

[0039] Table 1: Operation control alarm event list

[0040] Serial number Alarm code Alarm content Alarm reason Solution Alarm reset 0 1 2 ... 997 998 999

[0041] For example, the operation and control alarm event list can store 10,000 alarm events and classify different types of alarm events, where the alarm events of the main axis and additional axis are stored in serial numbers 0-999 (where 0-499 stores the main axis alarm events, and 500-999 stores the additional axis alarm events. The classification here can be adjusted according to the actual needs of the user). For other types of alarm events, different serial number spaces can be continued to be selected for classification according to actual needs. In this embodiment, the main focus is on additional axis alarm events.

[0042] In Table 1, the format of the alarm event list, numbered 0-999, is consistent. Each row includes: serial number, alarm code, alarm content, alarm cause, solution, and alarm reset. The alarm code represents the alarm code or error code fed back by the main axis or additional axis (e.g., 181, displayed as decimal data); the alarm content is the alarm information corresponding to the alarm code (e.g., motor stall); the alarm cause is the possible factors that caused the alarm (e.g., the difference between the motor speed command and the actual speed is greater than the set value, triggering stall protection, or inappropriate control parameters); the solution is the measure to resolve the alarm (e.g., adjusting control parameters); and the options for alarm reset are YES and NO. YES indicates whether the alarm can be cleared by a higher-level signal without powering off and restarting, while NO indicates that the alarm signal must be reset by a power cycle.

[0043] like Figure 2 As shown in Table 2, in the process of mapping the contents of the manufacturer's alarm event list of the additional axis to the robot's operation and control alarm event list, first, the robot's operation and control system opens the manufacturer's alarm event list of the additional axis, as shown in Table 2:

[0044] Table 2: Manufacturer alarm event list

[0045]

[0046] In Table 2, content that does not correspond to Table 1 is omitted with "...". Then, referring to the content in Table 1, add * before the error code in Table 2 to correspond to the alarm code in Table 1; add ** before the alarm name in Table 2 to correspond to the alarm content in Table 1; add *** before the alarm content in Table 2 to correspond to the alarm cause in Table 1; add **** before the inspection and treatment in Table 2 to correspond to the solution in Table 1; and add ***** before the alarm reset / alarm reset in Table 2 to correspond to the alarm reset in Table 1. The "*" and "**" characters represent different mapping tags. The specific content can be set according to the robot control system, as long as it can distinguish the content in the table.

[0047] Subsequently, Table 2 with the added mapping mark is named with the unique identifier of the additional axis (such as product ID) for easy subsequent identification and saved as an XML format file to obtain a list of additional axis alarm events, as shown in Table 3, and stored in the file of the robot operation and control system.

[0048] Table 3: Additional axis alarm event list

[0049]

[0050]

[0051] At this point, the step of adding mapping tags is completed. The main purpose of this step is to unify the recognition format. Because the writing method of the manufacturer's alarm event list for each additional axis is different, by adding mapping tags, the alarm events of each additional axis can be unified according to the alarm event list of the robot's operation control.

[0052] like Figure 3 As shown, when the robot operation and control system is powered on, during the initialization phase, it automatically scans the topology via the bus to determine the main axis and additional axis models. It then opens the corresponding additional axis alarm event list (Table 3) based on the unique identifier of the additional axis. The marked contents in the additional axis alarm event list are mapped one by one to the corresponding positions in the operation and control alarm event list according to different mapping tags. After the mapping is completed, the operation and control initialization phase ends. In this embodiment, the marked contents in Table 3 are mapped to the sequence number space 501-700 in Table 1. This allows the robot alarm information and additional axis alarm information to be stored in different areas of the table. When an alarm occurs, the robot operation and control system first determines whether it is a robot or additional axis alarm, and then searches for the alarm event information in the corresponding area. This avoids the inability to distinguish between a robot fault and an additional axis fault when the error code of the additional axis matches the robot alarm code.

[0053] Finally, during the normal operation of the robot operation and control system, according to the error code uploaded by the additional axis, the operation and control alarm event list is opened for search. After matching the corresponding alarm code, the alarm event (such as accessory axis 1.181 motor stall) is pushed in the form of "additional axis + axis number. Alarm code. Alarm content. Alarm cause. Solution. Alarm reset" and all corresponding detailed information are pushed to the teaching pendant or PC for detailed viewing. Figure 4 At the same time, the alarm reset information is also extracted and sent to the operation control program, so that the operation control program can determine whether the alarm can be cleared without powering down. If the corresponding alarm code is not matched in the operation control alarm event list, the additional axis number and error code are directly pushed to the teach pendant or PC.

[0054] It can be seen that by adopting the automatic identification method of alarm events of robot additional equipment of the present application, a unified alarm event log table is made on the operation and control end, and the alarm event tables of different additional axes are converted into a unified operation and control alarm event table as required. In this way, every time the additional axis is replaced, only the operation and control alarm event table needs to be updated. There is no need to change the operation and control and teach pendant programs, and detailed alarm information can be displayed on the teach pendant or PC, which provides great convenience for users.

[0055] According to an embodiment of the present invention, a computer-readable storage medium corresponding to the method for automatically identifying alarm events of robot additional equipment is also provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method for automatically identifying alarm events of robot additional equipment as described above.

[0056] Since the processing and functions implemented by the computer-readable storage medium of this embodiment are basically corresponding to the aforementioned Figures 1 to 4 The embodiments, principles and examples of the method shown are as follows. Therefore, for any details not fully described in the description of this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0057] According to an embodiment of the present invention, there is also provided a robot additional equipment alarm event automatic identification device and a robot having the same, similarly, since the processing and functions implemented by the device are basically corresponding to the aforementioned Figures 1 to 4 The embodiments, principles and examples of the method shown are as follows. Therefore, for any details not fully described in the description of this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0058] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "center", "front, back, up, down, left, right", "lateral, vertical, vertical, horizontal" and "top, bottom" are usually based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these orientation words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the orientation words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0059] In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood by those skilled in the art according to the specific circumstances.

[0060] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0061] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for automatically identifying alarm events of robot attachment equipment, characterized by: include: Obtaining a manufacturer's alarm event list for the attached device, and mapping the contents of the manufacturer's alarm event list to the operation and control alarm event list of the robot operation and control system; According to the error information uploaded by the attached device, the operation control alarm event list is opened for searching, and after matching the corresponding alarm content, it is pushed to the display terminal; Mapping the contents of the manufacturer alarm event list to the operation control alarm event list includes: Open the manufacturer's alarm event list, and add corresponding mapping marks to the corresponding contents in the manufacturer's alarm event list according to the contents in the operation control alarm event list; The manufacturer alarm event list with the added mapping mark is named with the unique identifier of the additional device to obtain the additional device alarm event list, and is saved in the robot operation and control system in XML format; During the initialization phase, the robot operation and control system determines the additional equipment of the robot, opens the corresponding additional equipment alarm event list based on the unique identifier of the additional equipment, and maps the contents with mapping marks in the additional equipment alarm event list to the operation and control alarm event list. The robot alarm information and the additional axis alarm information are stored in different areas of the alarm event list. When an alarm occurs, the robot operation control system will first determine whether it is a robot or additional axis alarm, and then search for the alarm event information in the corresponding area. When the robot operation and control system is powered on, during the initialization phase, the bus automatically scans the topology to determine the models of the main axis and the additional axis. Then, the corresponding additional axis alarm event list is opened according to the unique identifier of the additional axis. According to different mapping marks, the marked contents in the additional axis alarm event list are mapped one by one to the corresponding positions in the operation and control alarm event list. After the mapping work is completed, the operation and control initialization phase ends.

2. The method for automatically identifying alarm events of robot attachment equipment according to claim 1, characterized in that: The contents of the operation control alarm event list include: sequence number, alarm code, alarm content, alarm cause, solution and alarm reset.

3. The method for automatically identifying alarm events of robot attachment equipment according to claim 1, characterized in that: The unique identifier of the additional device is the product ID of the additional device.

4. The method for automatically identifying alarm events of robot attachment equipment according to claim 1, characterized in that: According to the error information uploaded by the additional device, the operation control alarm event list is opened for search. When no corresponding alarm content is matched, the error information uploaded by the additional device is directly pushed to the display terminal.

5. The method for automatically identifying alarm events of robot attachment equipment according to claim 1, characterized in that: The additional equipment is an additional shaft.

6. The method for automatically identifying alarm events of robot attachment equipment according to claim 1, characterized in that: The display terminal is a teaching pendant or a PC.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for automatically identifying alarm events of robot attachment equipment as described in any one of claims 1 to 6 is implemented.

8. A device for automatically identifying alarm events of robot attachment equipment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for automatically identifying alarm events of robot attachment equipment as described in any one of claims 1-6 is implemented.

9. A robot, characterized in that: It includes the automatic recognition device for alarm events of robot additional equipment as described in claim 8.

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