Industrial robot fixture replacement method, equipment and storage medium

Abstract

The present application provides an industrial robot fixture replacement method, device and storage medium. The method is applied to an industrial robot, and the industrial robot executes a motion program. The method includes: executing a fixture replacement program in a motion program, determining a program signal according to the current fixture state of the industrial robot, the program signal representing the operation to be performed by the current industrial robot, and the operation includes releasing the fixture and grasping the fixture; based on a preset detection frequency, detecting the posture of the industrial robot to obtain the posture information of the industrial robot; if the posture information is within the deviation range of the replacement posture of the industrial robot fixture, determining a posture permission signal; determining a fixture replacement signal according to the posture permission signal and the program signal to control the industrial robot to replace the fixture. After determining the program signal, the method determines the fixture replacement signal in combination with the posture permission signal, thereby ensuring that the industrial robot replaces the fixture at the preset replacement position and improving the safety of the fixture replacement process.

Description

Technical Field

[0001] The present application relates to the field of industrial robots, and in particular to an industrial robot fixture replacement method, device, and storage medium. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. They are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] Typically, an industrial robot can handle multiple sets of fixtures to accommodate the handling or processing of different types of objects. Existing technology typically uses programs that directly control the operation of the industrial robot to achieve fixture replacement.

[0004] However, during the debugging process, the industrial robot's fixture may detach at an unexpected location, which reduces safety. Summary of the Invention

[0005] The present application provides an industrial robot fixture replacement method, device and storage medium to solve the problem in the prior art that the fixture of the industrial robot may detach at an unexpected position, resulting in low safety.

[0006] In a first aspect, the present application provides an industrial robot fixture replacement method, which is applied to an industrial robot that executes a motion program, including:

[0007] Execute the fixture replacement program in the motion program and determine the program signal according to the current fixture state of the industrial robot. The program signal is used to represent the operation to be performed by the current industrial robot, which includes releasing the fixture and grasping the fixture;

[0008] Based on the preset detection frequency, the position and posture of the industrial robot are detected to obtain the position and posture information of the industrial robot;

[0009] If the posture information is within the deviation range of the replacement posture of the industrial robot fixture, a posture permission signal is determined, where the posture permission signal is used to indicate that the posture information matches the replacement posture;

[0010] According to the posture permission signal and the program signal, the fixture replacement signal is determined, and the fixture replacement signal is used to control the industrial robot to replace the fixture.

[0011] In some possible implementations, detecting the posture of the industrial robot based on a preset detection frequency to obtain the posture information of the industrial robot includes:

[0012] Based on the preset detection frequency, the position of each axis in the industrial robot is detected to obtain the position information of each axis;

[0013] According to the position information of each axis in the industrial robot, the angle information of each axis is determined, and the angle information of each axis is used as the posture information of the industrial robot.

[0014] In some possible implementations, before detecting the position of each axis of the industrial robot, the following steps are further included:

[0015] Preset the angle data of each axis in the industrial robot and use the angle data of each axis as the replacement posture of the industrial robot fixture;

[0016] The deviation range corresponding to the angle data of each axis is preset, and the deviation range is used to determine whether the posture information of the industrial robot matches the replacement posture.

[0017] In some possible implementations, if the posture information is within a deviation range of a change posture of the industrial robot fixture, determining a posture permission signal includes:

[0018] If the angle information of each axis in the industrial machine is within the corresponding deviation range from the preset angle data of each axis, a posture permission signal is determined.

[0019] In some possible implementations, the fixture replacement program includes a fixture release program and a fixture grabbing program; executing the fixture replacement program in the motion program, and determining a program signal according to the current fixture state of the industrial robot, includes:

[0020] Execute the fixture release program. If the current industrial robot is in the fixture clamping state, determine the program release signal. The program release signal is used to indicate that the current industrial robot is to release the fixture.

[0021] Execute the fixture grabbing program. If the current industrial robot is in the fixture release state, determine the program grabbing signal. The program grabbing signal is used to represent the fixture to be grabbed by the current industrial robot.

[0022] In some possible implementations, the fixture replacement signal includes a fixture release signal and a fixture grab signal; determining the fixture replacement signal based on the posture permission signal and the program signal includes:

[0023] If the program signal is a program release signal, the fixture release signal is determined according to the program release signal and the posture permission signal. The fixture release signal is used to control the industrial robot to release the fixture.

[0024] If the program signal is a program grasping signal, the fixture grasping signal is determined according to the program grasping signal and the posture permission signal. The fixture grasping signal is used to control the industrial robot to grasp the fixture.

[0025] In a second aspect, the present application provides an industrial robot fixture replacement device, which is applied to an industrial robot that executes a motion program, including:

[0026] An execution module, used for executing the fixture replacement procedure in the motion program;

[0027] A determination module is used to determine a program signal according to the current state of the fixture of the industrial robot, where the program signal is used to represent the operation to be performed by the current industrial robot, including releasing the fixture and grasping the fixture;

[0028] A detection module is used to detect the posture of the industrial robot based on a preset detection frequency and obtain the posture information of the industrial robot;

[0029] The determination module is further configured to determine a posture permission signal if the posture information is within a deviation range of the replacement posture of the industrial robot fixture, wherein the posture permission signal is used to indicate that the posture information matches the replacement posture;

[0030] The determination module is also used to determine the fixture replacement signal based on the posture permission signal and the program signal. The fixture replacement signal is used to control the industrial robot to replace the fixture.

[0031] In a third aspect, the present application provides an industrial robot fixture replacement device, comprising: a processor, a memory, wherein code is stored in the memory, and the processor runs the code stored in the memory to execute any method as in the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any method as in the first aspect.

[0033] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements any one of the methods in the first aspect when executed by a processor.

[0034] The present application provides an industrial robot fixture replacement method, device and storage medium, which execute the fixture replacement program in the motion program and determine the program signal according to the current fixture state of the industrial robot. The program signal is used to characterize the operation to be performed by the current industrial robot. Based on a preset detection frequency, the posture of the industrial robot is detected to obtain the posture information of the industrial robot. If the posture information is within the deviation range of the replacement posture of the industrial robot, a posture permission signal is determined to characterize that the posture information matches the replacement posture. According to the posture permission signal and the program signal, the fixture replacement signal is determined, and the industrial robot can be controlled to replace the fixture according to the fixture replacement signal. After determining the program signal, the method of the present application also needs to determine the fixture replacement signal in combination with the posture permission signal to confirm the posture of the industrial robot, thereby ensuring that the industrial robot is in the preset replacement position when replacing the fixture, thereby effectively improving the safety of the industrial robot's fixture replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] Figure 1 A schematic diagram of an industrial robot fixture replacement provided in an embodiment of the present application;

[0037] Figure 2 A flow chart of a method for replacing an industrial robot fixture provided in an embodiment of the present application;

[0038] Figure 3 A flow chart of an industrial robot posture detection method provided in an embodiment of the present application;

[0039] Figure 4 A flowchart of a method for an industrial robot to execute a fixture replacement procedure provided in an embodiment of the present application;

[0040] Figure 5 Schematic diagram of an industrial robot fixture replacement device provided in an embodiment of the present application Figure 1 ;

[0041] Figure 6 Schematic diagram of an industrial robot fixture replacement device provided in an embodiment of the present application Figure 2 .

[0042] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0044] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0045] In intelligent manufacturing systems, industrial robots follow programmed instructions to perform tasks such as material handling, parts assembly, product inspection, solution injection, and workpiece welding. These tasks require industrial robotic grippers to perform these tasks. Therefore, it's crucial to consider the target part's material, size, shape, weight, and operational requirements to design industrial robotic grippers that are compatible with various products, offer efficient quick-change capabilities, provide stable gripping, and deliver rapid feedback.

[0046] Typically, an industrial robot can be equipped with multiple sets of grippers to accommodate the handling or processing of different objects. Therefore, grippers often need to be replaced during operation. Existing technology typically achieves gripper replacement through motion programs that directly control the robot's operation. However, grippers can detach at unexpected locations, potentially damaging the robot and creating safety concerns.

[0047] The present application provides a method for replacing a fixture of an industrial robot. During the execution of a fixture replacement program in a motion program, a program signal is determined based on the current fixture state of the industrial robot. The program signal ensures that the current industrial robot performs the operation to be performed. At the same time, the posture information of the industrial robot is obtained in real time. When the posture information is within the deviation range of the fixture replacement posture, a posture permission signal is determined. Since the posture permission signal ensures that the current industrial robot has reached the designated position for replacing the fixture, a fixture replacement signal is determined based on the posture permission signal and the program signal, and the industrial robot is controlled to replace the fixture at the designated position, thereby improving safety.

[0048] Figure 1 A schematic diagram of an industrial robot fixture replacement provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the industrial robot executes the fixture release procedure and reaches position A for fixture release. By detecting the current position of the industrial robot, it is further determined that the current industrial robot has reached the preset position for fixture release. At this point, the industrial robot is controlled to release the fixture. The industrial robot then executes the fixture grasping procedure and reaches position B for the fixture to be grasped. At this point, the current industrial robot position is still detected. If the current industrial robot has reached the preset position B for gripping the fixture, the industrial robot is controlled to grasp the fixture, completing the fixture replacement.

[0049] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0050] Figure 2 This is a flow chart of an industrial robot fixture replacement method provided in an embodiment of the present application. The method of this embodiment can be executed by an industrial robot fixture replacement device and can be implemented by hardware, software, or a combination of hardware and software. The industrial robot fixture replacement device can be applied to an industrial robot that executes a motion program. Figure 2 As shown, the method includes:

[0051] S201: Execute the fixture replacement program in the motion program, determine the program signal according to the current fixture state of the industrial robot, and the program signal is used to represent the operation to be performed by the current industrial robot, and the operation includes releasing the fixture and grasping the fixture.

[0052] Because an industrial robot needs to carry or process a wide variety of items, it requires various types of fixtures. Each fixture must be replaced to handle different types of items. A fixture, also known as a jig, is a device used during the manufacturing process to secure workpieces in the correct position for construction or inspection. Broadly speaking, any device used to quickly, conveniently, and safely secure workpieces during various steps in a process can be called a fixture.

[0053] The industrial robot stores a motion program internally. By executing this program, the robot is controlled to move to a designated location to carry or process items. In some embodiments, a scanning method combining stepping and pre-reading can be used to execute the motion program. The motion program may include a fixture replacement program that controls fixture replacement. This fixture replacement program may include a fixture release program and a fixture gripping program.

[0054] In some embodiments, the program signal may include a program release signal and a program grab signal. The program release signal indicates that the current operation to be performed by the industrial robot is to release the clamp, and the program grab signal indicates that the current operation to be performed by the industrial robot is to grab the clamp.

[0055] The current fixture status of an industrial robot can include the clamped state and the released state. The clamped state indicates that the fixture is currently installed on the industrial robot. In this case, the fixture release program can generate a program release signal to control the robot to release the fixture. The released state indicates that the fixture is currently not installed on the industrial robot. In this case, the fixture grabbing program can generate a program grabbing signal to control the robot to grab the fixture.

[0056] S202: Based on a preset detection frequency, the position and posture of the industrial robot are detected to obtain the position and posture information of the industrial robot.

[0057] In some embodiments, industrial robots typically include multiple axes of motion. Depending on the number of axes, industrial robots can be divided into various types, such as six-axis industrial robots and four-axis industrial robots. The position and posture information of an industrial robot can be represented by the angles of each axis of the industrial robot. When the angles of each axis are fixed, the position and posture of the industrial robot will be fixed accordingly.

[0058] The detection frequency can be adjusted according to actual needs, such as 0.5 seconds, 0.1 seconds, etc. Based on the preset detection frequency, the posture of the industrial robot is detected, realizing real-time detection of the industrial robot's posture.

[0059] S203: If the posture information is within the deviation range of the changed posture of the industrial robot fixture, a posture permission signal is determined, where the posture permission signal is used to indicate that the posture information matches the changed posture.

[0060] The change pose refers to the position of an industrial robot when changing fixtures. This refers to the specific position at which the fixture is changed. This can be expressed using the angles of each axis of the industrial robot. Accordingly, each axis has a corresponding deviation range, which can be the same or different. Users can adjust the change pose and deviation range of the industrial robot's fixtures based on their actual needs.

[0061] The posture information is within the deviation range of the replacement posture of the industrial robot fixture, indicating that the current industrial robot has reached the specified position for replacing the fixture, so a posture permission signal, such as a true signal, can be generated.

[0062] In another implementation scenario, if the posture information is not within the deviation range of the industrial robot fixture replacement posture, it indicates that the current industrial robot has not reached the specified position for replacing the fixture. At this time, a posture error signal can be generated, such as a false signal, indicating that the current industrial robot's posture information does not match the replacement posture.

[0063] S204: Determine a fixture replacement signal according to the posture permission signal and the program signal. The fixture replacement signal is used to control the industrial robot to replace the fixture.

[0064] In some embodiments, the program signal may include a program release signal and a program grab signal, and the fixture replacement signal may include a fixture release signal and a fixture replacement signal. The fixture release signal may be determined based on the posture enable signal and the program release signal, and the industrial robot may be controlled to release the current fixture based on the fixture release signal. The fixture grab signal may be determined based on the posture enable signal and the program grab signal, and the industrial robot may be controlled to grab the fixture based on the fixture grab signal to achieve fixture replacement.

[0065] An embodiment of the present application provides a method for replacing a fixture of an industrial robot, which executes a fixture replacement program in a motion program and determines a program signal according to the current fixture state of the industrial robot. Based on a preset detection frequency, the posture of the industrial robot is detected to obtain the posture information of the industrial robot. If the posture information is within the deviation range of the replacement posture of the industrial robot fixture, a posture permission signal is determined. According to the posture permission signal and the program signal, a fixture replacement signal is determined to control the industrial robot to replace the fixture. After determining the program signal, the method of the present application also needs to determine the fixture replacement signal in combination with the posture permission signal to confirm the posture of the industrial robot, thereby ensuring that the industrial robot is in a preset replacement position when replacing the fixture, thereby effectively improving the safety of the industrial robot's fixture replacement process.

[0066] Based on the above embodiment, a specific embodiment is provided below to describe in detail the process of detecting the posture of the industrial robot during the replacement of the industrial robot fixture.

[0067] Figure 3 A flow chart of an industrial robot posture detection method provided in an embodiment of the present application is as follows: Figure 3 As shown, the method is as follows:

[0068] S301: Preset the angle data of each axis of the industrial robot, and use the angle data of each axis as the replacement posture of the industrial robot fixture.

[0069] Taking a six-axis industrial robot as an example, its six axes are A1, A2, A3, A4, A5, and A6. The A1 axis, also known as the main body rotation axis, is connected to the base of the industrial robot and can rotate left and right. The A2 axis controls the forward and backward swing of the industrial robot's main arm and the up and down movement of the entire main arm. The A3 axis also controls the forward and backward swing of the industrial robot, but its swing range is smaller than that of the A2 axis. The A4 axis is located on the cylindrical shaft of the industrial robot and can rotate freely. The A5 axis controls and fine-tunes the up and down flipping of the industrial robot's mechanical arm. The A6 axis, also known as the terminal rotation axis, can rotate 360 ​​degrees.

[0070] Compared with six-axis industrial robots, four-axis industrial robots do not have the above-mentioned A4 and A5 axes.

[0071] In some embodiments, the replacement posture of an industrial robot's fixture may include a fixture release posture and a fixture grasping posture. The fixture release posture is the angle data of each axis when the industrial robot releases the current fixture. The fixture grasping posture is the angle data of each axis when the industrial robot grasps the next fixture. There are certain differences between the fixture grasping posture and the fixture release posture. The preset fixture release posture of the industrial robot, that is, the angle data of the six axes mentioned above, are A10, A20, A30, A40, A50, and A60 respectively.

[0072] S302: Preset a deviation range corresponding to the angle data of each axis, and the deviation range is used to determine whether the posture information of the industrial robot matches the changed posture.

[0073] The deviation ranges corresponding to the angle data of each axis may be different. For example, the deviation ranges corresponding to the above six axes are (R1, L1), (R2, L2), (R3, L3), (R4, L4), (R5, L5), and (R6, L6).

[0074] When the deviation ranges corresponding to the angle data of each axis are consistent, taking the above six axes as an example, that is, R1=R2=R3=R4=R5=R6=R, L1=L2=L3=L4=L5=L6=L, the deviation ranges corresponding to the angle data of each axis are (R, L).

[0075] S303: Based on a preset detection frequency, the position of each axis in the industrial robot is detected to obtain position information of each axis.

[0076] The detection frequency refers to the time interval between detections of the industrial robot. For example, the position of each axis of the industrial robot is detected every 0.1 second to obtain the position of each axis of the industrial robot in real time.

[0077] S304: Determine angle information of each axis according to position information of each axis in the industrial robot, and use the angle information of each axis as position and posture information of the industrial robot.

[0078] In some embodiments, the angle information of each axis can be determined based on the position information of each axis of the industrial robot through a position calculation algorithm.

[0079] For example, the current posture information of the industrial robot, that is, the angle information of each axis is A1, A2, A3, A4, A5, and A6.

[0080] S305: If the angle information of each axis in the industrial machine is within a corresponding deviation range from the preset angle data of each axis, a posture permission signal is determined.

[0081] In some embodiments, it is necessary to determine whether the angle information of each axis of the industrial robot is within a deviation range from the corresponding angle data. For example, the difference between the angle information of each axis and the corresponding angle data can be determined to be within the deviation range. For example, determining whether A1-A10 is within the range of (R1, L1), whether A2-A20 is within the range of (R2, L2), and so on, until determining whether A6-A60 is within the range of (R6, L6). When the difference between the angle information of each axis of the industrial robot and the corresponding angle data is within the deviation range, a posture permission signal is determined.

[0082] In some embodiments, the changeable pose range for each axis can be determined based on the preset angle data and deviation range for each axis of the industrial robot, namely, (A10+R1, A10+L1), (A20+R2, A20+L2), etc. For example, it is determined whether A1 is within the range of (A10+R1, A10+L1), whether A2 is within the range of (A20+R2, A20+L2), and so on, until it is determined whether A6 is within the range of (A60+R6, A60+L6). When each axis of the industrial robot is within the corresponding range, a pose permission signal is generated.

[0083] In another implementation scenario, if the position information of one or more axes is not within the corresponding deviation range from the preset angle data, for example, A1 is not within the range of (A10+R, A10+L), a posture error signal, such as a false signal, is determined.

[0084] The embodiment of the present application provides a method for detecting the posture of an industrial robot, which presets the angle data of each axis in the industrial robot and uses the angle data of each axis as the replacement posture of the industrial robot fixture. The deviation range corresponding to the angle data of each axis is preset, and the deviation range is used to determine whether the posture information of the industrial robot matches the replacement posture. Based on the preset detection frequency, the position of each axis in the industrial robot is detected to obtain the position information of each axis. According to the position information of each axis in the industrial robot, the angle information of each axis is determined. If the angle information of each axis in the industrial robot is within the corresponding deviation range with the preset angle data of each axis, a posture permission signal is determined. The method provided in the embodiment of the present application realizes real-time monitoring of the posture of the industrial robot. In the process of replacing the fixture, the posture of the industrial robot when replacing the fixture is confirmed, thereby ensuring that the industrial robot replaces the fixture at the preset replacement posture, thereby improving the safety of the fixture replacement process.

[0085] Based on the above embodiment, a specific embodiment is provided below to describe in detail the process of executing the fixture replacement program during the fixture replacement process of the industrial robot.

[0086] Figure 4 A flowchart of a method for executing a fixture replacement program of an industrial robot provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method is as follows:

[0087] S401: Execute the fixture release program. If the current industrial robot is in a fixture clamping state, determine a program release signal. The program release signal is used to indicate that the current industrial robot is to release the fixture.

[0088] In some embodiments, while the industrial robot is in operation, it repeatedly executes a motion program. This motion program includes a fixture replacement program. Specifically, the fixture replacement program also includes a fixture release program and a fixture grabbing program. The fixture release program controls the industrial robot to release the current fixture. The fixture grabbing program controls the industrial robot to grab the next fixture. By executing the fixture release and grabbing programs, fixture replacement is achieved.

[0089] The clamping state of the fixture indicates that the current industrial robot has clamped the fixture, so a program release signal, such as a true signal, can be determined to control the industrial robot to release the current fixture.

[0090] In another implementation scenario, during the execution of the fixture release program, if the current industrial robot is in the fixture release state, it indicates that the current industrial robot has no fixture installed and cannot be controlled to release the fixture. At this time, a program error signal is determined, such as a false signal.

[0091] S402: If the program signal is a program release signal, a fixture release signal is determined according to the program release signal and the posture permission signal. The fixture release signal is used to control the industrial robot to release the fixture.

[0092] The clamp release signal can be an electrical signal. Once the clamp release signal is determined, the industrial robot can be controlled to release the clamp based on the clamp release signal. Because the clamp release signal is determined in conjunction with the program release signal and the posture enable signal, the posture enable signal further determines the current posture of the industrial robot, ensuring that the industrial robot releases the clamp at the preset replacement posture, thereby improving the safety of the clamp release process.

[0093] S403: Execute the fixture grabbing program. If the current industrial robot is in the fixture release state, determine the program grabbing signal. The program grabbing signal is used to represent the fixture to be grabbed by the current industrial robot.

[0094] In some embodiments, after the industrial robot releases the current fixture, it may execute a fixture grabbing program to grab the next fixture.

[0095] The fixture release state indicates that the current industrial robot has not installed a fixture. At this time, the program grasping signal can be determined to control the industrial robot to grasp the fixture.

[0096] In another implementation scenario, during the execution of the fixture grabbing program, if the current industrial robot is in the fixture clamping state, a program error signal is determined, indicating that the industrial robot cannot be controlled to grab the next fixture.

[0097] S404: If the program signal is a program grabbing signal, determine a fixture grabbing signal according to the program grabbing signal and the posture permission signal. The fixture grabbing signal is used to control the industrial robot to grab the fixture.

[0098] It should be noted that since the industrial robot's posture is monitored in real time at a preset detection frequency, when the industrial robot needs to grasp the next fixture, it needs to determine whether the current posture information of the industrial robot matches the replacement posture of the fixture to be grasped. The replacement posture of the fixture to be grasped is also known as the fixture grasping posture, which can also be adjusted according to actual needs.

[0099] The specific process of determining whether the current posture information of the industrial robot matches the gripping posture of the fixture is consistent with the above-mentioned process of determining whether the posture information of the industrial robot matches the release posture of the fixture, and will not be repeated here.

[0100] The fixture grasping signal needs to be determined in combination with the program grasping signal and the posture permission signal. Among them, the posture permission signal determines the current posture of the industrial robot to ensure that the industrial robot grasps the fixture at the preset replacement posture, thereby improving the safety of the fixture grasping process.

[0101] An embodiment of the present application provides a method for an industrial robot to execute a fixture replacement program, execute a fixture release program, and if the current industrial robot is in a fixture clamping state, determine a program release signal. Determine a fixture release signal based on the program release signal and the posture permission signal to control the industrial robot to release the fixture. Execute a fixture grasping program, and if the current industrial robot is in a fixture release state, determine a program grasping signal to control the industrial robot to grasp the fixture, thereby achieving fixture replacement. In the process of loosening the fixture and grasping the fixture, the method of the embodiment of the present application confirms the posture of the industrial robot when loosening the fixture and the posture when grasping the fixture, thereby ensuring that the industrial robot loosens and grasps the fixture at a preset replacement posture, thereby improving the safety of the fixture replacement process.

[0102] Figure 5 Schematic diagram of an industrial robot fixture replacement device provided in an embodiment of the present application Figure 1 .like Figure 5 As shown, an embodiment of the present application provides an industrial robot fixture replacement device 500, which is applied to an industrial robot. The industrial robot executes a motion program and may include an execution module 501, a determination module 502 and a detection module 503.

[0103] An execution module 501 is used to execute a fixture replacement program in a motion program;

[0104] A determination module 502 is configured to determine a program signal according to the current state of the fixture of the industrial robot, wherein the program signal is used to represent an operation to be performed by the current industrial robot, and the operation includes releasing the fixture and grasping the fixture;

[0105] The detection module 503 is used to detect the posture of the industrial robot based on a preset detection frequency to obtain the posture information of the industrial robot;

[0106] The determination module 502 is further configured to determine a posture permission signal if the posture information is within a deviation range of the replacement posture of the industrial robot fixture, wherein the posture permission signal is used to indicate that the posture information matches the replacement posture;

[0107] The determination module 502 is further used to determine a fixture replacement signal according to the posture permission signal and the program signal. The fixture replacement signal is used to control the industrial robot to replace the fixture.

[0108] The device of this embodiment can be used to perform the following Figures 2 to 4 The implementation principles and technical effects of the method embodiments shown are similar and will not be described in detail here.

[0109] Figure 6 Schematic diagram of an industrial robot fixture replacement device provided in an embodiment of the present application Figure 2 .like Figure 6As shown, an embodiment of the present application provides an industrial robot fixture replacement device 600 including a processor 601 and a memory 602 , wherein the processor 601 and the memory 602 are connected via a bus 603 .

[0110] In a specific implementation process, the memory 602 stores codes, and the processor 601 runs the codes stored in the memory 602 to execute the industrial robot fixture replacement method of the above method embodiment.

[0111] The specific implementation process of the processor 601 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0112] In the above Figure 6 In the illustrated embodiment, it should be understood that processor 601 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0113] The memory 602 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0114] Bus 603 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Bus 603 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, bus 603 in the drawings of this application is not limited to a single bus or a single type of bus.

[0115] An embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the industrial robot fixture replacement method of the above-mentioned method embodiment.

[0116] The computer-readable storage medium described above can be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0117] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0118] An embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the industrial robot fixture replacement method provided by any embodiment of the present application is implemented.

[0119] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0120] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for replacing an industrial robot fixture, characterized in that: Applied to an industrial robot, the industrial robot executes a motion program, the motion program including a fixture release program and a fixture grasping program; the method includes: Executing the fixture release program, if the current industrial robot is in the fixture clamping state, determining a program release signal, the program release signal is used to indicate that the current industrial robot is about to release the fixture; or executing the fixture grasping program, if the current industrial robot is in the fixture releasing state, determining a program grasping signal, the program grasping signal is used to indicate that the current industrial robot is about to grasp the fixture; Based on a preset detection frequency, the posture of the industrial robot is detected to obtain posture information of the industrial robot; If the posture information is within the deviation range of the replacement posture of the industrial robot fixture, determining a posture permission signal, wherein the posture permission signal is used to indicate that the posture information matches the replacement posture; A clamp release signal is determined according to the program release signal and the posture permission signal, and the clamp release signal is used to control the industrial robot to release the clamp, or a clamp grasping signal is determined according to the program grasping signal and the posture permission signal, and the clamp grasping signal is used to control the industrial robot to grasp the clamp.

2. The method according to claim 1, characterized in that The detecting the posture of the industrial robot based on a preset detection frequency to obtain the posture information of the industrial robot includes: Based on a preset detection frequency, the position of each axis of the industrial robot is detected to obtain position information of each axis; According to the position information of each axis in the industrial robot, the angle information of each axis is determined, and the angle information of each axis is used as the posture information of the industrial robot.

3. The method according to claim 2, characterized in that Before detecting the position of each axis of the industrial robot, the method further includes: Preset the angle data of each axis in the industrial robot and use the angle data of each axis as the replacement posture of the industrial robot fixture; A deviation range corresponding to the angle data of each axis is preset, and the deviation range is used to determine whether the posture information of the industrial robot matches the replacement posture.

4. The method according to claim 3, characterized in that If the posture information is within the deviation range of the changed posture of the industrial robot fixture, determining a posture permission signal includes: If the angle information of each axis in the industrial machine is within a corresponding deviation range from the preset angle data of each axis, a posture permission signal is determined.

5. An industrial robot fixture replacement device, characterized in that: Applied to an industrial robot, the industrial robot executes a motion program, the motion program including a fixture release program and a fixture grasping program; including: An execution module, configured to execute the clamp release procedure; a determination module, configured to determine a program release signal if the current industrial robot is in a fixture clamping state, wherein the program release signal is used to indicate that the current industrial robot is to release the fixture; An execution module is further used to execute the fixture grabbing program; The determination module is further configured to determine a program grabbing signal if the current industrial robot is in a fixture release state, wherein the program grabbing signal is used to indicate that the industrial robot is currently in a fixture to be grabbed; A detection module, configured to detect the posture of the industrial robot based on a preset detection frequency and obtain posture information of the industrial robot; The determination module is further configured to determine a posture permission signal if the posture information is within a deviation range of the replacement posture of the industrial robot fixture, wherein the posture permission signal is used to indicate that the posture information matches the replacement posture; The determination module is also used to determine the clamp release signal based on the program release signal and the posture permission signal, and the clamp release signal is used to control the industrial robot to release the clamp, or to determine the clamp grasping signal based on the program grasping signal and the posture permission signal, and the clamp grasping signal is used to control the industrial robot to grasp the clamp.

6. An industrial robot fixture replacement device, characterized in that: include: A processor and a memory, wherein the memory stores codes, and the processor runs the codes stored in the memory to perform the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 4 when executed by a processor.

8. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 4 when executed by a processor.

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