Control management method, device and computer equipment for six-axis robot

Abstract

The application relates to a control management method, device and computer equipment of a six-axis robot. The method comprises the following steps: a BOM configuration tree for describing the component composition of the six-axis robot is constructed; corresponding state parameter types of the six-axis robot are configured, and corresponding operation parameter types are configured based on the equipment operation requirement of the six-axis robot; a health assessment model matched with the BOM configuration tree is selected from a model library; parameters corresponding to the state parameter types and the operation parameter types are collected, the collected parameters are input into the health assessment model, and the health state of the six-axis robot is output. The method can improve the accuracy and efficiency of the control management of the six-axis robot.

Description

Technical Field

[0001] This application relates to the field of six-axis robot technology, and in particular to a control and management method, apparatus and computer equipment for a six-axis robot. Background Technology

[0002] Currently, six-axis robots, as a key component of intelligent manufacturing, are an important technological means to free up labor and improve production efficiency. Therefore, the control and management of six-axis robots is particularly important. The control and management of six-axis robots mainly includes health management.

[0003] Currently, the common approach to health management of six-axis robots is through periodic maintenance by professional technicians and downtime for troubleshooting. However, due to the complexity of six-axis robot design, health management requires operators to possess a high level of professional technical skills.

[0004] Therefore, existing control and management methods for six-axis robots suffer from low efficiency and inaccuracy. Summary of the Invention

[0005] Therefore, it is necessary to provide a control and management method, device, and computer equipment for a six-axis robot that can improve the accuracy of control and management of the six-axis robot, in order to address the above-mentioned technical problems.

[0006] Firstly, this application provides a control and management method for a six-axis robot. The method includes:

[0007] Construct a Bill of Materials (BOM) configuration tree to describe the composition of the components of a six-axis robot;

[0008] Configure the corresponding state parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the device operation requirements of the six-axis robot;

[0009] Select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0010] Collect the parameters corresponding to the state parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0011] In one embodiment, constructing the BOM configuration tree for describing the composition of six-axis robot components includes:

[0012] The design document of the six-axis robot is analyzed to obtain the original component composition structure;

[0013] Based on the parts replacement records that occur during the installation and operation of the six-axis robot, the original component composition structure is updated to obtain the BOM configuration tree.

[0014] In one embodiment, the method further includes:

[0015] Select a digital twin model from the model library that fits the BOM configuration tree;

[0016] The digital twin model is run by loading its model file;

[0017] The digital twin model is displayed and controlled based on the display and control commands, and the health status, as well as the status parameters and operating parameters of the six-axis robot, are displayed.

[0018] If a health alert is detected in the aforementioned health status, a health reminder will be issued.

[0019] In one embodiment, the method further includes:

[0020] Upon detecting a preset operation targeting the digital twin model, the preset operation is converted into a corresponding physical control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0021] Based on a remote communication protocol, the entity control commands are sent to the six-axis robot to achieve entity control of the six-axis robot.

[0022] In one embodiment, the status parameter types include device operating current, voltage, power, vibration amplitude, and air pressure.

[0023] In one embodiment, the health assessment model includes a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

[0024] Secondly, this application also provides a control and management device for a six-axis robot. The device includes:

[0025] The model building module is used to construct a BOM (Bill of Materials) configuration tree that describes the composition of a six-axis robot.

[0026] The parameter configuration module is used to configure the corresponding state parameter types of the six-axis robot and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot.

[0027] The model selection module is used to select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0028] The health monitoring module is used to collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0029] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the methods described above.

[0030] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0031] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0032] The aforementioned control and management method, apparatus, and computer equipment for a six-axis robot constructs a Bill of Materials (BOM) configuration tree describing the composition of the six-axis robot components and selects a health assessment model adapted to the BOM configuration tree from a model library. It then collects the state and operational parameters of the six-axis robot and inputs the collected parameters into the health assessment model to output the robot's health status. Compared to traditional technologies that require professional technicians for health management of six-axis robots, which are inefficient and inaccurate, this application, by constructing a BOM configuration tree, ensures that all important components of the six-axis robot are included and that a suitable health assessment model is configured. This eliminates the need for manual monitoring of the robot's health status; the health status of the six-axis robot can be obtained through the health assessment model and the collected parameters. Therefore, the method described in this application provides a more accurate and efficient way to obtain the health status of a six-axis robot. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating the control and management method for a six-axis robot provided in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the process of constructing a BOM configuration tree in one embodiment;

[0035] Figure 3 This is a flowchart illustrating the configuration and use of a digital twin model in one embodiment;

[0036] Figure 4 This is a schematic diagram of the real-time control process for a six-axis robot in one embodiment;

[0037] Figure 5 This is a schematic diagram of the system architecture of a six-axis robot control and management method in one embodiment;

[0038] Figure 6 This is a schematic diagram of the data interaction process of the RB08 industrial robot in one embodiment;

[0039] Figure 7 This is a schematic diagram of the control and management process for a six-axis robot in one embodiment;

[0040] Figure 8 This is a structural block diagram of a control and management device for a six-axis robot provided in an embodiment of this application;

[0041] Figure 9 This is an internal structural diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0043] In this embodiment, a control and management method for a six-axis robot is provided. This embodiment uses the application of this method to a computer device as an example for illustration. It can be understood that this method can also be applied to a server, and can also be applied to a system including a computer device and a server, and can be implemented through the interaction between the computer device and the server.

[0044] Figure 1 This is a flowchart illustrating the control and management method for a six-axis robot provided in this application embodiment. The method is applied to a computer device or server. In one embodiment, such as... Figure 1 As shown, it includes the following steps:

[0045] S101, Construct a BOM configuration tree to describe the composition of the six-axis robot components.

[0046] The BOM (Bill of Materials) configuration tree includes the components of the six-axis robot, the model information of each component, the manufacturer information, and basic information related to the six-axis robot.

[0047] In this embodiment, the RB08 industrial robot is used as an example of a six-axis robot. The BOM configuration tree of the RB08 industrial robot includes the following: specifications and models of motor, base, first axis, second axis, third axis, fourth axis, fifth axis, sixth axis, gripper plate components, manufacturer, supplier, delivery date, installation date, and design information.

[0048] S102, configure the corresponding status parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot.

[0049] Among them, the status parameter type describes the parameter type of the six-axis robot equipment's operating status. For example, the status parameter type may include the equipment's operating current, voltage, power, vibration amplitude, and air pressure. The operation parameter type describes the parameter type of the relevant data and models required for the six-axis robot to operate. For example, the operation parameter type may include applicable model configuration, data source configuration, operating resource configuration, and alarm threshold configuration.

[0050] The configuration of the status parameter types and operating parameter types of a six-axis robot can be deployed in a dynamic configuration manner, which is applicable to SCADA systems, MES systems, portable data acquisition devices, and TCP communication methods.

[0051] S103, Select a health assessment model from the model library that is compatible with the BOM configuration tree.

[0052] In this embodiment, the component composition and basic information of the six-axis robot can be known from the BOM configuration tree, thereby selecting the corresponding health assessment model from the model library, which can ensure the accuracy of the health status monitoring of the six-axis robot.

[0053] The health assessment model may include a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

[0054] S104 collects parameters corresponding to the status parameter type and the operation parameter type, inputs the collected parameters into the health assessment model, and outputs the health status of the six-axis robot.

[0055] The control and management method for a six-axis robot provided in this embodiment constructs a Bill of Materials (BOM) configuration tree describing the composition of the six-axis robot components and selects a health assessment model adapted to the BOM configuration tree from a model library. It then collects the state and operating parameters of the six-axis robot and inputs the collected parameters into the health assessment model to output the robot's health status. Compared to traditional technologies that require professional technicians for health management of six-axis robots, which are inefficient and inaccurate, this embodiment, by constructing a BOM configuration tree, ensures that all important components of the six-axis robot are included and configured with a suitable health assessment model. This eliminates the need for manual monitoring of the robot's health status; the health status of the six-axis robot can be obtained through the health assessment model and the collected parameters. Therefore, the method in this embodiment can more accurately obtain the health status of the six-axis robot and is more efficient.

[0056] For instructions on constructing a BOM configuration tree to describe the components of a six-axis robot, see [link to documentation]. Figure 2 , Figure 2 This is a schematic diagram of the process of constructing a BOM configuration tree in one embodiment, including the following steps:

[0057] S201, analyze the design document of the six-axis robot to obtain the original component composition structure.

[0058] The design document for the six-axis robot is a description document of the components of the six-axis robot, containing the original component structure of the six-axis robot.

[0059] S202 updates the original component composition structure based on the parts replacement records that occur during the installation and operation of the six-axis robot, and obtains the BOM configuration tree.

[0060] In this embodiment, during the actual installation and operation of the six-axis robot, there may be instances of component damage or incompatibility. Therefore, component replacement will be performed. The original component composition structure is updated based on the component replacement records that occur during the installation and operation of the six-axis robot in order to ensure that the BOM configuration tree is consistent with the component composition of the installed six-axis robot.

[0061] In some embodiments, a method for configuring and using a digital twin model is also provided. See also Figure 3 , Figure 3 This is a flowchart illustrating the configuration and use of a digital twin model in one embodiment, which includes the following steps:

[0062] S301, Select a digital twin model from the model library that matches the BOM configuration tree.

[0063] Among them, the digital twin model is a model that displays the six-axis robot in real time, showing the six-axis robot in digital form.

[0064] S302, run the digital twin model by loading the model file of the digital twin model.

[0065] The digital twin model employs two modes: file loading and independent operation, supporting both DEMO3D and Unity3D model files.

[0066] S303 displays and controls the digital twin model based on display and control commands, showing the health status, as well as the status parameters and operating parameters of the six-axis robot.

[0067] In this embodiment, the digital twin model can collect the health status of the six-axis robot, as well as its status parameters and operating parameters, in real time and display them on a screen.

[0068] S304, when a health alert is present in the healthy status, a health reminder will be issued.

[0069] The configuration of status parameter types and operating parameter types includes the normal value range and warning value range of the parameters. In this embodiment, the health assessment model determines that the six-axis robot's parameters are abnormal, which triggers a health status alarm for the six-axis robot, and a health reminder is issued through a digital twin model.

[0070] For the digital twin model, it also provides drag, zoom, pan, view movement, and Kanban reminders, allowing users to easily view the health status, status parameters, and operating parameters of the six-axis robot.

[0071] In some embodiments, a method for real-time control of a six-axis robot using a digital twin model is also provided. See [link to documentation]. Figure 4 , Figure 4 This is a flowchart illustrating real-time control of a six-axis robot in one embodiment, which includes the following steps:

[0072] S401, upon detecting a preset operation for the digital twin model, converts the preset operation into a corresponding entity control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0073] S402, based on a remote communication protocol, sends physical control commands to a six-axis robot to achieve physical control of the six-axis robot.

[0074] In this embodiment, the user can control the six-axis robot in real time via remote operation of a PLC. This method can be used simultaneously with the real-time display of a digital twin model. Through this method, the user can control the six-axis robot immediately, including safety operations such as emergency stops; it can also be used for maintenance control of the six-axis robot in dust-free, high-heat, or other unattended environments, such as controlling the rotation of each joint axis of the robot.

[0075] Taking the RB08 industrial robot as an example, this paper describes the system architecture of the six-axis robot control and management method using a B / S architecture and DEMO3D technology. Figure 5 As shown. Figure 5The SCADA system collects basic information data of the six-axis robot via the OPC protocol and model data of the health assessment model via the WebSocket protocol. The SCADA system transmits the collected data to the digital twin space for real-time display via the WebSocket protocol. The digital twin space is used to display the data twin model. Health status monitoring data of the six-axis robot in the health assessment model can be directly transmitted to the digital twin space for display via the HTTP protocol. The digital twin space controls the host computer to perform real-time control of the six-axis robot via HTTP and PLC protocols. The RB08 industrial robot includes a six-axis robotic arm. The data interaction process of the RB08 industrial robot is as follows: Figure 6 As shown in Table 1, the interaction process of the RB08 industrial robot via the WebSocket protocol is as follows.

[0076] Table 1. WebSocket Protocol Interaction Table for RB08 Industrial Robot

[0077]

[0078]

[0079] In this embodiment, see Figure 7 , Figure 7 This is a flowchart illustrating the control and management process of a six-axis robot in one embodiment. The entire process of robot control and management is explained, including the following:

[0080] S701, construct the BOM configuration tree for a six-axis robot.

[0081] By using the relevant documents of the six-axis robot design scheme, the original state component composition structure is obtained; based on the records of interchangeable parts that occur during robot installation and operation, the component states are updated, thereby obtaining the current running BOM structure of the six-axis robot.

[0082] S702, configures the state parameter types of a six-axis robot.

[0083] By analyzing the design documents of the six-axis robot and the technical documentation provided by various component suppliers, the types of status parameters for the six-axis robot were identified. Configuring these parameter types also included setting the range, threshold, and alarm status for each parameter.

[0084] S703 is equipped with a digital twin model and a health assessment model.

[0085] The system filters and queries for similar or identical six-axis robot models from a pre-defined library, selecting appropriate health assessment and digital twin models to perform health assessments and demonstrations on the six-axis robot. In this embodiment, historical operational data can be used to verify the model's accuracy, thereby selecting the optimal model for health assessment and demonstration.

[0086] Historical operational data includes fault data, and relevant information about the fault data is shown in Table 2 below.

[0087] Table 2 Historical Operational Fault Data Information Table

[0088]

[0089]

[0090] S704, build system architecture, configure runtime parameter types.

[0091] Build as Figure 5 The system architecture shown allows users to configure model operation parameter types according to the device's operational needs. The operation parameters to be considered include data source, interface protocol, acquisition frequency, model operation frequency, and model operation resource allocation.

[0092] S705 runs a health assessment model to obtain the health status of the six-axis robot.

[0093] The collected parameters of the six-axis robot are input into the health assessment model to assess the health status of the six-axis robot, determine whether the six-axis robot has generated fault data, and obtain the robot's health status.

[0094] The S706 digital twin space enables real-time display and control of a six-axis robot.

[0095] The digital twin space collects the status and operational parameters of the six-axis robot in real time, as well as the health status data output by the health assessment model, and displays the six-axis robot in real time. Users can intuitively understand the appearance, composition, operation, and health status of the six-axis robot. Users can zoom in, zoom out, rotate, and move the viewpoint in the digital twin space to view the status of the six-axis robot more comprehensively. In addition, the digital twin space also provides a red highlighting alarm function to provide health status warnings, and provides reminders for situations that exceed thresholds and health alarms. Users can choose to power on or off or run preset actions to control the six-axis robot. The preset actions are achieved by controlling the rotation, up, down, left, and right movement of each joint axis of the six-axis robot.

[0096] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0097] Based on the same inventive concept, this application also provides a control and management device for a six-axis robot to implement the control and management method for the six-axis robot described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the control and management device for a six-axis robot provided below can be found in the limitations of the control and management method for a six-axis robot described above, and will not be repeated here.

[0098] Reference Figure 8 , Figure 8 This is a structural block diagram of a control and management device for a six-axis robot provided in an embodiment of this application. The device 800 includes: a model building module 801, a parameter configuration module 802, a model selection module 803, and a health monitoring module 804, wherein:

[0099] Model building module 801 is used to build a BOM configuration tree that describes the composition of the components of a six-axis robot.

[0100] The parameter configuration module 802 is used to configure the corresponding status parameter types of the six-axis robot and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot.

[0101] Model selection module 803 is used to select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0102] The health monitoring module 804 is used to collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0103] The control and management device for a six-axis robot provided in this embodiment constructs a Bill of Materials (BOM) configuration tree describing the composition of the six-axis robot components and selects a health assessment model adapted to the BOM configuration tree from a model library. It then collects the state and operating parameters of the six-axis robot and inputs the collected parameters into the health assessment model to output the robot's health status. Compared to traditional technologies that require professional technicians to perform health management on the six-axis robot, which is inefficient and inaccurate, this embodiment, by constructing a BOM configuration tree, ensures that all important components of the six-axis robot are included and configured with a suitable health assessment model. This eliminates the need for manual monitoring of the robot's health status; the health status of the six-axis robot can be obtained through the health assessment model and the collected parameters. Therefore, the device in this embodiment can more accurately obtain the health status of the six-axis robot and is more efficient.

[0104] Optionally, the model building module 801 includes:

[0105] The component analysis unit is used to analyze the design document of the six-axis robot to obtain the original component composition structure;

[0106] The component update unit is used to update the original component composition structure based on the component replacement records that occur during the assembly operation of the six-axis robot, and obtain the BOM configuration tree.

[0107] Optionally, device 800 also includes:

[0108] The digital model selection module is used to select a digital twin model from the model library that is compatible with the BOM configuration tree;

[0109] The model execution module is used to run the digital twin model by loading the model file of the digital twin model;

[0110] The display module is used to display and control the digital twin model based on display and control commands, and to display the health status, as well as the status parameters and operating parameters of the six-axis robot;

[0111] The health reminder module is used to provide health reminders when a health alert is detected in a healthy state.

[0112] Optionally, device 800 also includes:

[0113] The instruction conversion module is used to convert the preset operation into a corresponding entity control instruction when a preset operation for the digital twin model is detected. The entity control instruction is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0114] The control module is used to send physical manipulation commands to the six-axis robot based on a remote communication protocol, so as to realize physical control of the six-axis robot.

[0115] Optional status parameter types include equipment operating current, voltage, power, vibration amplitude, and air pressure.

[0116] Optionally, the health assessment models include motor leakage monitoring models, motor diagnostic monitoring models, shaft rotation smoothness monitoring models, air pressure monitoring models, and shaft wear monitoring models.

[0117] The various modules in the control and management device of the aforementioned six-axis robot can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0118] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control and management method for a six-axis robot. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0119] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0120] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the control and management method for a six-axis robot provided in the above embodiment.

[0121] Construct a Bill of Materials (BOM) configuration tree to describe the composition of the components of a six-axis robot;

[0122] Configure the corresponding status parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot;

[0123] Select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0124] Collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0125] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0126] The design document of the six-axis robot is analyzed to obtain the original component composition structure;

[0127] Based on the parts replacement records generated during the installation and operation of the six-axis robot, the original component composition structure is updated to obtain the BOM configuration tree.

[0128] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0129] Select a digital twin model from the model library that fits the BOM configuration tree;

[0130] Run the digital twin model by loading its model file;

[0131] The digital twin model is displayed and controlled based on the display and control commands, and its health status, as well as the status parameters and operating parameters of the six-axis robot, are displayed.

[0132] When a health alert is detected while the patient is in a healthy state, a health reminder will be issued.

[0133] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0134] Upon detecting a preset operation targeting the digital twin model, the preset operation is converted into a corresponding entity control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0135] Based on a remote communication protocol, physical control commands are sent to the six-axis robot to achieve physical control of the six-axis robot.

[0136] In one embodiment, when the processor executes the computer program, it also performs the following steps: the status parameter types include device operating current, voltage, power, vibration amplitude, and air pressure.

[0137] In one embodiment, when the processor executes the computer program, it also performs the following steps: the health assessment model includes a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

[0138] The implementation principle and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be repeated here.

[0139] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the steps of the control and management method for a six-axis robot provided in the above embodiment.

[0140] Construct a Bill of Materials (BOM) configuration tree to describe the composition of the components of a six-axis robot;

[0141] Configure the corresponding status parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot;

[0142] Select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0143] Collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0144] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0145] The design document of the six-axis robot is analyzed to obtain the original component composition structure;

[0146] Based on the parts replacement records generated during the installation and operation of the six-axis robot, the original component composition structure is updated to obtain the BOM configuration tree.

[0147] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0148] Select a digital twin model from the model library that fits the BOM configuration tree;

[0149] Run the digital twin model by loading its model file;

[0150] The digital twin model is displayed and controlled based on the display and control commands, and its health status, as well as the status parameters and operating parameters of the six-axis robot, are displayed.

[0151] When a health alert is detected while the patient is in a healthy state, a health reminder will be issued.

[0152] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0153] Upon detecting a preset operation targeting the digital twin model, the preset operation is converted into a corresponding entity control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0154] Based on a remote communication protocol, physical control commands are sent to the six-axis robot to achieve physical control of the six-axis robot.

[0155] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: the status parameter types include device operating current, voltage, power, vibration amplitude, and air pressure.

[0156] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: the health assessment model includes a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

[0157] The implementation principle and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be repeated here.

[0158] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the control and management method for a six-axis robot provided in the above embodiment:

[0159] Construct a Bill of Materials (BOM) configuration tree to describe the composition of the components of a six-axis robot;

[0160] Configure the corresponding status parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot;

[0161] Select a health assessment model from the model library that is compatible with the BOM configuration tree;

[0162] Collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot.

[0163] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0164] The design document of the six-axis robot is analyzed to obtain the original component composition structure;

[0165] Based on the parts replacement records generated during the installation and operation of the six-axis robot, the original component composition structure is updated to obtain the BOM configuration tree.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] Select a digital twin model from the model library that fits the BOM configuration tree;

[0168] Run the digital twin model by loading its model file;

[0169] The digital twin model is displayed and controlled based on the display and control commands, and its health status, as well as the status parameters and operating parameters of the six-axis robot, are displayed.

[0170] When a health alert is detected while the patient is in a healthy state, a health reminder will be issued.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] Upon detecting a preset operation targeting the digital twin model, the preset operation is converted into a corresponding entity control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot.

[0173] Based on a remote communication protocol, physical control commands are sent to the six-axis robot to achieve physical control of the six-axis robot.

[0174] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: the status parameter types include device operating current, voltage, power, vibration amplitude, and air pressure.

[0175] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: the health assessment model includes a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

[0176] The implementation principle and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be repeated here.

[0177] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0178] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0179] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control and management method for a six-axis robot, characterized in that, The method includes: Construct a Bill of Materials (BOM) configuration tree to describe the composition of the six-axis robot components; the BOM configuration tree includes each component of the six-axis robot, the model information of each component, the manufacturer information, and basic information related to the six-axis robot. Configure the corresponding state parameter types for the six-axis robot, and configure the corresponding operation parameter types based on the device operation requirements of the six-axis robot; Select a health assessment model from the model library that is compatible with the BOM configuration tree; Collect the parameters corresponding to the state parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot; Select a digital twin model from the model library that fits the BOM configuration tree; The digital twin model is run by loading its model file; The digital twin model is displayed and controlled based on the display and control commands, and the health status, as well as the status parameters and operating parameters of the six-axis robot, are displayed. If a health alarm is detected in the aforementioned health status, a health reminder will be issued; Upon detecting a preset operation targeting the digital twin model, the preset operation is converted into a corresponding physical control command, which is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot. Based on a remote communication protocol, the entity control commands are sent to the six-axis robot to achieve entity control of the six-axis robot.

2. The method according to claim 1, characterized in that, The construction of the BOM configuration tree for describing the composition of six-axis robot components includes: The design document of the six-axis robot is analyzed to obtain the original component composition structure; Based on the parts replacement records that occur during the installation and operation of the six-axis robot, the original component composition structure is updated to obtain the BOM configuration tree.

3. The method according to any one of claims 1 to 2, characterized in that, The types of status parameters include equipment operating current, voltage, power, vibration amplitude, and air pressure.

4. The method according to any one of claims 1 to 2, characterized in that, The health assessment model includes a motor leakage monitoring model, a motor diagnostic monitoring model, a shaft rotation smoothness monitoring model, an air pressure monitoring model, and a shaft wear monitoring model.

5. A control and management device for a six-axis robot, characterized in that, The device includes: The model building module is used to construct a Bill of Materials (BOM) configuration tree that describes the composition of the six-axis robot components. The BOM configuration tree includes each component of the six-axis robot, its model information, manufacturer information, and basic information related to the six-axis robot. The parameter configuration module is used to configure the corresponding state parameter types of the six-axis robot and configure the corresponding operation parameter types based on the equipment operation requirements of the six-axis robot. The model selection module is used to select a health assessment model from the model library that is compatible with the BOM configuration tree; The health monitoring module is used to collect parameters corresponding to the status parameter type and the operation parameter type, input the collected parameters into the health assessment model, and output the health status of the six-axis robot. A digital model selection module is used to select a digital twin model from the model library that is compatible with the BOM configuration tree; The model execution module is used to run the digital twin model by loading the model file of the digital twin model; The display module is used to display and control the digital twin model based on display and control commands, and to display the health status, as well as the status parameters and operating parameters of the six-axis robot; The health reminder module is used to provide health reminders when a health alarm is detected in the stated health status. The instruction conversion module is used to convert the preset operation into a corresponding entity control instruction when a preset operation is detected for the digital twin model. The entity control instruction is used to control at least one of the joint axis position coordinates or joint axis rotation angle of the six-axis robot. The control module is used to send the entity manipulation commands to the six-axis robot based on a remote communication protocol, so as to realize entity control of the six-axis robot.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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