A robot self-checking method, system and robot teach pendant

Abstract

The application discloses a robot self-checking method, a robot self-checking system and a robot teaching device. The method comprises the following steps: reading robot parameters configured completely, and performing parameter self-checking on the robot parameters; in the case that the parameter self-checking is passed, judging whether a robot work program written completely is adapted to the robot parameters, and generating prompt information of program self-checking error in the case that the robot work program is not adapted to the robot parameters. The application can perform self-checking on the configured robot parameters, and perform self-checking on whether the robot work program written completely is adapted to the robot parameters passed through self-checking, thereby improving the robot self-checking performance, and improving the use efficiency and service life of the robot.

Description

Technical Field

[0001] This invention relates to the field of robot control, and more particularly to a robot self-testing method, system, and robot teach pendant. Background Technology

[0002] Currently, industrial robots are widely used in various production fields. They are automated machines that can perform tasks. Programs can be written to handle different tasks, and control systems operate the robots to complete these tasks, thereby reducing the need for manual labor in certain areas. However, with the continuous advancement of robot technology and the increasing number of robot users, problems can easily arise when users write and run programs, such as the robot reaching singularities, parameter mismatches leading to motion control alarms, and servo alarms. These issues reduce the robot's efficiency and lifespan.

[0003] The related technology discloses a robot fault handling system that can detect and alarm on set motion parameters. However, this robot fault handling system only detects the motion parameters themselves, and its self-checking performance is poor. Summary of the Invention

[0004] In view of this, the present invention discloses a robot self-inspection method, system and robot teach pendant to solve the problem of poor self-inspection performance of existing robot self-inspection schemes.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows:

[0006] The first aspect of this invention discloses a robot self-inspection method, the method comprising:

[0007] Read the configured robot parameters and perform a parameter self-check on the robot parameters;

[0008] If the parameter self-check passes, the system reads and determines whether the completed robot program is compatible with the configured robot parameters; if they are not compatible, it generates a self-check error message.

[0009] Further optionally, the robot parameters include the robot's motion parameters and servo drive parameters, and the parameter self-check of the robot parameters includes:

[0010] The servo drive parameters and motion parameters are compared one-to-one with the preset range of robot servo drive parameters and motion parameters.

[0011] When both the servo drive parameters and motion parameters are within their respective ranges, the parameter self-test is considered to have passed.

[0012] Further, optionally, determining whether the completed robot working program is compatible with the configured robot parameters includes:

[0013] Determine whether the points used in the robot's working program exceed the robot's workspace;

[0014] Without exceeding the robot's workspace, determine whether the operating instructions in the robot's work program are correct;

[0015] If correct, the program self-check is considered passed;

[0016] If the error exceeds the robot's workspace or is determined to be an incorrect running instruction, it is considered a program self-check error.

[0017] Further, optionally, determining whether the execution instructions in the robot's work program are correct includes:

[0018] Determine if there are singularities in the robot's operating program;

[0019] If it exists, the execution instruction is considered incorrect;

[0020] If it does not exist, the execution instruction is considered correct.

[0021] Further, optionally, determining whether the points used in the robot's work procedure exceed the robot's workspace includes:

[0022] Read the robot's structural parameters and calculate the workspace based on those parameters;

[0023] Calculate the circular arc trajectory formed by a given starting point, a given ending point, and any point within the workspace;

[0024] Determine whether the arc trajectory is within the workspace; if so, it is considered that none of the points on the arc trajectory exceed the workspace.

[0025] If not, identify the points outside the workspace and issue an error message.

[0026] Further optionally, determining the points outside the workspace includes:

[0027] The circular trajectory is divided into multiple designated points;

[0028] The points outside the workspace are determined based on the orientation of the arc trajectory, the position of the center, and the coordinates of multiple specified points on the arc trajectory.

[0029] Further, optionally, the method also includes:

[0030] If the robot's wiring ports have been wired, the robot will perform a self-check on the wiring status in response to the wiring self-check command. If the wiring self-check fails, a wiring self-check error message will be generated.

[0031] Optionally, the robot's wiring can be self-checked, including:

[0032] Set the connection port;

[0033] Obtain the feedback signal of the connection port after it is set, and determine whether there is any abnormality in the feedback signal;

[0034] If the feedback signal is abnormal, it is considered that the wiring self-test has failed.

[0035] A second aspect of this invention discloses a robot self-inspection system, the system comprising:

[0036] The parameter self-test module is used to read the configured robot servo drive parameters and motion parameters, and to perform parameter self-tests on the robot servo drive parameters and motion parameters.

[0037] The program self-test module is used to read and determine whether the completed robot working program is compatible with the robot parameters if the parameter self-test passes.

[0038] If the two are incompatible, a message indicating a program self-check error will be generated.

[0039] Further optionally, the robot parameters include the robot's motion parameters and servo drive parameters, and the parameter self-check of the robot parameters includes:

[0040] The robot servo drive parameters and motion parameters are compared one-to-one with the preset ranges of robot servo drive parameters and motion parameters.

[0041] When both the servo drive parameters and motion parameters are within their respective ranges, the parameter self-test is considered to have passed.

[0042] Further, optionally, determining whether the completed robot working program is compatible with the robot parameters includes:

[0043] Determine whether the points used in the robot's working program exceed the robot's workspace;

[0044] Without exceeding the robot's workspace, determine whether the operating instructions in the robot's work program are correct;

[0045] If correct, the program self-check is considered passed;

[0046] If the error exceeds the robot's workspace or is determined to be an incorrect running instruction, it is considered a program self-check error.

[0047] Further, optionally, determining whether the execution instructions in the robot's work program are correct includes:

[0048] Determine if there are singularities in the robot's operating program;

[0049] If it exists, the execution instruction is considered incorrect;

[0050] If it does not exist, the execution instruction is considered correct.

[0051] Further, optionally, determining whether the points used in the robot's work procedure exceed the robot's workspace includes:

[0052] Read the robot's structural parameters and calculate the workspace based on those parameters;

[0053] Calculate the circular arc trajectory formed by a given starting point, a given ending point, and any point within the workspace;

[0054] Determine whether the arc trajectory is within the workspace; if so, it is considered that none of the points on the arc trajectory exceed the workspace.

[0055] If not, identify the points outside the workspace and issue an error message.

[0056] Further optionally, determining the points outside the workspace includes:

[0057] The circular trajectory is divided into multiple designated points;

[0058] The points outside the workspace are determined based on the orientation of the arc trajectory, the position of the center, and the coordinates of multiple specified points on the arc trajectory.

[0059] Further, optionally, the system also includes:

[0060] The wiring self-test module is used to perform a self-test on the robot's wiring status in response to a wiring self-test command when the robot's wiring ports have been completed. If the wiring self-test fails, it generates a wiring self-test error message.

[0061] Optionally, the robot's wiring can be self-checked, including:

[0062] Set the connection port;

[0063] Obtain the feedback signal of the connection port after it is set, and determine whether there is any abnormality in the feedback signal;

[0064] If the feedback signal is abnormal, it is considered that the wiring self-test has failed.

[0065] A third aspect of the present invention discloses a robot teach pendant that employs the methods provided in any of the first aspects and / or includes the systems provided in the second aspect.

[0066] Beneficial effects: This invention can perform self-checks on the configured robot parameters and check whether the programmed robot works and the self-checked robot parameters are compatible, thereby improving the robot's self-checking performance and increasing the robot's efficiency and lifespan. Attached Figure Description

[0067] The above and other objects, features, and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments disclosed in the present invention; those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0068] Figure 1 A schematic flowchart of a robot self-inspection method according to an embodiment of the present invention is shown as an example.

[0069] Figure 2 A schematic flowchart of a robot self-inspection method according to an embodiment of the present invention is shown as an example.

[0070] Figure 3 An exemplary diagram illustrating the positional relationship between the points used by the robot and the workspace according to an embodiment of the present invention is shown.

[0071] Figure 4 An exemplary diagram illustrating the positional relationship between the points used by the robot and the workspace according to an embodiment of the present invention is shown.

[0072] Figure 5 An exemplary diagram illustrating the positional relationship between the points used by the robot and the workspace according to an embodiment of the present invention is shown.

[0073] Figure 6 A schematic flowchart of a robot self-inspection method according to an embodiment of the present invention is shown as an example.

[0074] Figure 7 A schematic block diagram of a robot self-inspection system according to an embodiment of the present invention is shown as an example. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0076] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” used in the embodiments of this invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. “Multiple” generally includes at least two, but does not exclude the inclusion of at least one.

[0077] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0079] To address the issue of poor self-inspection performance in existing robot self-inspection solutions, this embodiment discloses a robot self-inspection method in its first aspect, such as... Figure 1 As shown, the method includes S1 to S2, wherein:

[0080] S1 reads the configured robot parameters and performs a parameter self-check on the robot parameters.

[0081] The robot parameters mainly include the robot's motion parameters and the servo drive parameters of each axis motor. Servo drive parameters mainly include: motor speed of each joint (each axis), encoder resolution, undervoltage protection threshold, inertia ratio of each axis motor, operating speed limit of each axis motor, position loop gain, etc. Motion parameters mainly include: manual low-speed operation speed, manual high-speed operation speed, manual acceleration, maximum automatic operation speed, maximum automatic operation acceleration, maximum automatic operation deceleration, agility, etc.

[0082] S2, if the parameter self-check passes, reads and determines whether the completed robot working program is compatible with the robot parameters, and if the two are not compatible, generates a prompt message for program self-check error.

[0083] Specifically, after configuring the robot servo drive parameters and motion control parameters, the set parameters can be checked without running the program. Alarms should be triggered for parameters with problematic settings, and the user should verify the alarm information and modify the corresponding parameters. After setting the above parameters and writing the corresponding work program, the user needs to determine whether the set parameters are compatible with the work program. For example, the robot's running speed and the motion parameters of each joint are two different parameters. When performing a task with low precision requirements, the robot's running speed may be set higher to improve efficiency, but the robot's own running parameters may not support working at such a high speed. Furthermore, the motion parameters of each joint have an upper limit, but prolonged movement with large motion parameters (e.g., setting the automatic running speed to or near the upper limit) can also affect the robot's lifespan. Therefore, it is necessary to determine whether the speed and acceleration parameters in the program conform to the motor parameter range; it is also necessary to determine whether there are unreachable or problematic motion commands in the program. Errors in the program that cannot be located or displayed will have a significant impact on production efficiency. Alarms should be triggered for problematic programs, and the user should verify the alarm information and modify the corresponding program.

[0084] The robot self-testing method provided in this embodiment can perform a self-test after setting the robot parameters and another self-test after writing the robot's working program. That is, it can perform a self-test to check whether the written robot working program is compatible with the robot parameters that have passed the self-test, which can improve the robot's efficiency and service life.

[0085] Preferably, the robot parameters include the robot's motion parameters and servo drive parameters. The parameter self-check in step S1 includes steps S11 to S12, wherein:

[0086] S11, compare the servo drive parameters and motion parameters one by one with the preset range of robot servo drive parameters and motion parameters;

[0087] S12, when the robot's servo drive parameters and motion parameters are all within the corresponding parameter range, the parameter self-test is considered to have passed.

[0088] Specifically, before setting the robot's own parameters, the system reads various parameters of the robot body, sets the parameters of each axis motor and servo drive, and sets the robot's motion parameters, including speed and acceleration. Based on the robot product model, it determines the servo drive parameter mapping table and motion parameter mapping table for that model. Each parameter in the servo drive parameter mapping table is compared one-to-one with the configured servo drive parameters. If the comparison results are inconsistent, it returns a message indicating a servo drive parameter mismatch, meaning that the user-set robot motor parameters and motion control parameters differ from the robot model corresponding to those servo drive parameters. It needs to return to the previous step to check and reset the robot's axis motor settings and the set motion control parameters. If the comparison results are consistent, it displays that the parameter self-test is complete.

[0089] Optionally, step S2 determines whether the completed robot working program is compatible with the robot parameters, including steps S21 to S24, wherein:

[0090] S21, Determine whether the points used in the robot's work program exceed the robot's workspace;

[0091] S22, without exceeding the robot's workspace, determine whether the running instructions in the robot's work program are correct;

[0092] S23, if correct, is considered a successful program self-test;

[0093] S24. If the error exceeds the robot's workspace or is determined to be an error in the running instructions, it is considered a program self-check error.

[0094] Optionally, S22 determines whether the running instructions in the robot's work program are correct, including S221 to S223, wherein:

[0095] S221, Determine whether there are singularities in the robot's working program;

[0096] S222, if present, indicates that the execution instruction is incorrect;

[0097] If S223 does not exist, the execution instruction is considered correct.

[0098] Specifically, a singularity in a robot refers to a spatial location where the robot's degrees of freedom degenerate and inverse kinematics becomes unsolvable. For a 6-axis serial joint robot, there are three types of singularities: wrist singularity, shoulder singularity, and elbow singularity; for a SCARA four-axis robot, the singularity location is the position where the second joint is extended (the second joint angle is 0°).

[0099] Further optionally, S21 includes S211 to S215, wherein:

[0100] S211, Read the robot's structural parameters and calculate the workspace based on the structural parameters;

[0101] The structural parameters of a robot, also known as its body parameters, taking a SCARA robot as an example, mainly include: arm length, forearm length, lead screw length, lead screw lead, reduction ratio of each joint, and angular limits of each axis. The workspace can be calculated by using a specific joint of the robot as the origin of the coordinate system and combining it with the structural parameters of that joint.

[0102] S212, Calculate the circular arc trajectory formed by a given starting point, a given ending point, and any point within the workspace.

[0103] S213, determine whether the arc trajectory is within the workspace; if yes, execute S214; if no, execute S215.

[0104] S214, which means that none of the points on the arc trajectory have exceeded the working space.

[0105] S215 then identifies points outside the workspace and issues an error message.

[0106] Further optionally, determining points outside the workspace in S215 includes steps A1 to A2, wherein:

[0107] A1. Divide the circular arc trajectory into multiple designated points; A2. Determine the points outside the workspace based on the center position and the coordinates of the multiple designated points on the circular arc trajectory.

[0108] For example, dividing the arc trajectory into 10 equal parts yields 11 designated points. Using a certain joint of the robot as the origin of the coordinate system, the coordinates of these 11 designated points can be determined using the center position of the arc trajectory. Using the coordinates of these 11 designated points, and combining them with the determined workspace, points beyond the workspace can be further determined.

[0109] Furthermore, the method also includes S3:

[0110] S3, when the robot's wiring port has been wired, responds to the wiring self-test command to perform a self-test on the robot's wiring status, and generates a wiring self-test error message if the wiring self-test fails.

[0111] Furthermore, S3 performs a self-check on the robot's wiring, including S31 to S33, where:

[0112] S31, set the connection port;

[0113] S32, obtain the feedback signal of the wiring port after it is set, and determine whether there is any abnormality in the feedback signal;

[0114] S33, if the feedback signal is abnormal, it is considered that the wiring self-test has failed.

[0115] Preferably, after the robot teach pendant enters the IO port self-test mode, it checks whether the IO port is successfully connected by alternating between setting it to 0 and setting it to 1 three times. If all three self-tests pass, the IO interface self-test is considered successful; if any self-test fails, the teach pendant will display a pop-up message to the user indicating "several self-tests failed" and suggest that the user perform a self-test to check the IO interface.

[0116] The following is combined Figures 2-6 The robot self-inspection method of this embodiment will be described in detail.

[0117] like Figure 2 As shown, the method includes:

[0118] Step 1: After completing the robot IO port wiring, the robot teach pendant enters the IO port self-test mode and collects the feedback signal of the wiring port by setting the wiring port to 0 or 1.

[0119] Step 2: After collecting the port access signals, process the port connection signals. If the port signal is collected correctly, there will be no alarm, and the teach pendant will prompt you to exit the wiring self-test mode and proceed to Step 3. If an error exists, an alarm will sound indicating the incorrect port number being used. The user should check and correct the error, and then perform another port self-test. If no IO port is being used for wiring, the teach pendant will prompt that no port is being connected and exit the teach mode.

[0120] Step 3: Before setting the robot's own parameters, read the various parameters of the robot body, set the robot servo drive parameters, and set the robot's motion parameters.

[0121] The robot servo drive parameters include the motor speed of each joint (each axis), encoder resolution, undervoltage protection threshold, inertia ratio of each axis motor, running speed limit of each axis motor, position loop gain, etc.; motion control parameters include speed, acceleration, etc.

[0122] Step 4: Based on the robot product model to which the robot body parameter mapping is applied, as read in Step 3, determine the servo drive parameter mapping table (as shown in Table 2) and the motion parameter mapping table (as shown in Table 1).

[0123] Step 5: Compare the mapping table determined in Step 4 with the robot parameters set in Step 3. If the comparison results are inconsistent, a robot parameter mismatch is returned, meaning that the robot's motor parameters and motion control parameters set by the user differ from the robot model corresponding to these structural parameters. It is necessary to return to Step 3, check and reset the robot's axis motor settings, check and reset the set motion control parameters, continue to Step 4, and then execute Step 5 again. If the comparison results are consistent, a parameter self-check is displayed, and proceed to Step 6.

[0124] Table 1. Motion Parameter Mapping Table

[0125]

[0126] Table 2. Servo Drive Parameter Mapping Table

[0127]

[0128] Step 6: Write / modify the robot's task program.

[0129] Step 7: After writing the program, you can use the teach pendant to perform a self-check to determine whether all the points used in the program are within the robot's running space or workspace. If they are, proceed to the next step; if they are not, issue an alarm indicating that the running points are outside the workspace and return to step 6.

[0130] Step 8: Determine if the program incorrectly uses robot operation instructions, causing the robot to be unable to pass through the singularity. If an error exists, return to Step 6, and the user can modify the program according to the prompts; if no error exists, proceed to Step 9.

[0131] Step 9: The program self-check is complete, and the robot is run.

[0132] Among them, the appendix Figure 3 , 4 Section 5 explains the situation in step 7 regarding whether the working point exceeds the robot's workspace. Taking spatial circular interpolation of three points in space as an example, it uses the center-distance discrimination method to determine whether the planar circular trajectory is entirely within the workspace. (Appendix) Figure 2 Case 1 involves a circle whose center is outside the workspace but whose starting point is within it. Cases 2 and 3 involve circles whose center and starting point are both within the workspace, with the arc in case 2 pointing inwards. (Appendix) Figure 3 Case 1 involves the arc being internally tangent to the workspace; Case 2 involves the arc being externally tangent to the workspace. (See attached diagram) Figure 4Case 1 involves the arc's starting point and center both within the workspace, with the arc's trajectory pointing outwards. Case 2 involves the arc intersecting the workspace, with part of the trajectory extending beyond the workspace. The specific judgment process is attached. Figure 6 As shown.

[0133] The above method enables self-checks of I / O ports and set robot parameters (servo parameters, motion control parameters) via a teach pendant. It also allows for feasibility checks of user-written robot programs, verifying the correctness of operating instructions and identifying any unreachable work points. By utilizing these parameter and program self-checking functions, robot efficiency and lifespan can be further improved, ensuring user safety.

[0134] The second aspect of this embodiment discloses a robot self-inspection system, such as Figure 7 As shown, the system includes:

[0135] The parameter self-test module 701 is used to read the configured robot structure parameters and perform parameter self-tests on the robot parameters.

[0136] The program self-check module 702 is used to determine whether the completed robot working program is compatible with the robot parameters if the parameter self-check passes, and to generate a program self-check error message if the two are not compatible.

[0137] Further, optionally, the system also includes:

[0138] The wiring self-test module 703 is used to perform a self-test on the robot's wiring status in response to a wiring self-test command when the robot's wiring port has been fully wired, and to generate a wiring self-test error message if the wiring self-test fails.

[0139] The third aspect of this embodiment discloses a robot teach pendant that employs the methods provided in any of the first aspects and / or includes the systems provided in the second aspect.

[0140] The robot self-testing method, system, and robot teach pendant provided in this embodiment can detect the connected IO ports after the robot controller has completed the IO wiring using the IO port detection module. If a connection to a controller IO port is detected but no interface feedback value is received on the teach pendant, an alarm is issued to the user regarding the incorrectly connected port. The user can then modify the wiring based on the alarm prompt. After configuring the robot's body parameters and motion control parameters, the set parameters can be tested without running the program. Alarms are issued for parameters with setting problems, allowing the user to verify the alarm information and modify the corresponding parameters. After writing the robot's working program, the program self-testing function checks the program, issuing alarms and prompts for incorrect use of running commands, points exceeding the workspace, etc. The user can then verify the program based on the prompts. The self-testing function greatly enhances human-machine interaction, improves robot efficiency, and extends the robot's lifespan. All of the above self-testing modes are performed when the robot is disabled, improving robot efficiency, extending its lifespan, and ensuring operator safety.

[0141] Furthermore, additional conditions for judging program feasibility can be added to the program self-test phase to further improve the self-test function. Self-test function buttons can be added to the teach pendant parameter setting confirmation interface and program editing interface to improve the efficiency of the self-test module.

[0142] In the different embodiments provided by this invention, the same parameters, terms, logic, etc. should be understood to have the same meaning, and this application does not intentionally repeat the description in each embodiment.

[0143] Exemplary embodiments of the present disclosure have been specifically shown and described above. It should be understood that the present disclosure is not limited to the detailed structures, arrangements, or implementation methods described herein; rather, the present disclosure is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A robot self-inspection method, characterized in that, The method includes: Read the configured robot parameters and perform a parameter self-check on the robot parameters; If the parameter self-check passes, the system reads and determines whether the completed robot working program is compatible with the robot parameters. If the two are not compatible, the system generates a prompt message indicating a program self-check error. The step of determining whether the completed robot working program is compatible with the robot parameters includes: Determine whether the points used in the robot's working program exceed the robot's workspace; Without exceeding the robot's workspace, determine whether the operating instructions in the robot's work program are correct; If correct, the program self-check is considered passed; If the operation exceeds the robot's workspace or is determined to be erroneous, it is considered a program self-check error.

2. The robot self-inspection method as described in claim 1, characterized in that, The robot parameters include the robot's motion parameters and servo drive parameters, and the self-check of the robot parameters includes: The servo drive parameters and motion parameters are compared one-to-one with the preset range of robot servo drive parameters and motion parameters. When the servo drive parameters and motion parameters are all within their respective ranges, the parameter self-test is considered to have passed.

3. The robot self-inspection method according to any one of claims 1-2, characterized in that, The determination of whether the running instructions in the robot's working program are correct includes: Determine whether there are any singularities in the robot's operating program; If it exists, the execution instruction is considered incorrect; If it does not exist, the execution instruction is considered correct.

4. The robot self-inspection method according to any one of claims 1-2, characterized in that, The determination of whether the points used in the robot's working program exceed the robot's workspace includes: Read the structural parameters of the robot and calculate the workspace based on the structural parameters; Calculate the circular arc trajectory formed by a given starting point, a given ending point, and any point within the workspace; Determine whether the arc trajectory is within the workspace; if so, it is considered that none of the points on the arc trajectory exceed the workspace. If not, identify the points outside the workspace and issue an error message.

5. The robot self-inspection method as described in claim 4, characterized in that, The determination of points outside the workspace includes: The circular trajectory is divided into multiple designated points; The points outside the workspace are determined based on the center position of the arc trajectory and the coordinates of multiple specified points on the arc trajectory.

6. The robot self-inspection method according to any one of claims 1-2, characterized in that, The method further includes: If the robot's wiring port has been wired, the robot performs a self-check on the wiring status in response to the wiring self-check command, and generates a wiring self-check error message if the wiring self-check fails.

7. The robot self-inspection method as described in claim 6, characterized in that, The self-check of the robot's wiring includes: Perform a setting operation on the connection port; Obtain the feedback signal of the connection port after it is set, and determine whether the feedback signal is abnormal; If the feedback signal is abnormal, it is considered that the wiring self-test has failed.

8. A robot self-inspection system, characterized in that, The system includes: The parameter self-test module is used to read the configured robot parameters and perform a parameter self-test on the robot parameters; The program self-test module is used to read and determine whether the completed robot working program is compatible with the robot parameters if the parameter self-test passes; and If the two are incompatible, generate a message indicating a program self-check error. The step of determining whether the completed robot working program is compatible with the robot parameters includes: Determine whether the points used in the robot's working program exceed the robot's workspace; Without exceeding the robot's workspace, determine whether the operating instructions in the robot's work program are correct; If correct, the program self-check is considered passed; If the operation exceeds the robot's workspace or is determined to be erroneous, it is considered a program self-check error.

9. A robot teach pendant, characterized in that, The robot teach pendant employs the method as described in any one of claims 1-7, and / or includes the system as described in claim 8.

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