Collaborative robot control device and collaborative robot system

Abstract

The application relates to a kind of collaborative robot control device and collaborative robot system, including work management module and at least one control module, each control module is wirelessly communicated with different collaborative robots, work management module connects control module, work management module is used to control the working state of each control module, each control module is used to control the collaborative robot work based on the working state and the wireless communication connection established with it.I.e. by setting multiple control modules and the wireless communication connection between different collaborative robots, and controlling the work of different collaborative robots, the wire harness connection between the collaborative robot and the controller can be reduced, the complexity of the work site is reduced, and the operation efficiency of the operator is improved.And by setting the work management module to control the working state of each control module, the working reliability of each control module can be further improved, and the reliable operation of the collaborative robot is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collaborative robots, in particular to a collaborative robot control device and a collaborative robot system. BACKGROUND

[0002] A controller is generally connected to a collaborative robot for controlling the collaborative robot. The collaborative robot and the controller are generally connected through a wire harness of a certain length, and one collaborative robot generally needs to be configured with one controller. When multiple collaborative robots need to be arranged on site, the wire harnesses connected between each collaborative robot and its corresponding controller are numerous, which can easily cause the on-site environment to be disordered and is not conducive to the maintenance of the on-site environment by an operator. SUMMARY

[0003] Therefore, it is necessary to provide a collaborative robot control device and a collaborative robot system in view of the problem that the wire harnesses connected between each collaborative robot and its corresponding controller are numerous, which can easily cause the on-site environment to be disordered and is not conducive to the maintenance of the on-site environment by an operator.

[0004] In a first aspect, the present application provides a collaborative robot control device. The device comprises a work management module and at least one control module, each control module is wirelessly connected to a different collaborative robot, and the work management module is connected to each control module.

[0005] The work management module is configured to control the work state of each control module.

[0006] Each control module is configured to control the work of the collaborative robot wirelessly connected thereto based on the work state.

[0007] In one embodiment, the collaborative robot control device further comprises a data management module.

[0008] The data management module stores basic information of each collaborative robot.

[0009] In one embodiment, the data management module comprises a usage data management unit and an authority management unit, and the basic information comprises usage information and authority information.

[0010] The usage data management unit is configured to obtain and store the usage information of each collaborative robot.

[0011] The authority management unit is configured to establish an account according to the obtained authority request information, assign corresponding authorities, and generate authority information according to the established account and the authorities corresponding to the account.

[0012] In one embodiment, the work management module comprises a power supply management unit and a resource management unit, and the power supply management unit and the resource management unit are connected to each control module.

[0013] The power supply management unit is configured to provide power supply resources for each control module.

[0014] The resource management unit is configured to provide processor resources for each control module.

[0015] In a second aspect, the present application further provides a collaborative robot system. The system comprises at least one collaborative robot and the collaborative robot control device according to any one of the above embodiments, each collaborative robot is connected to the collaborative robot control device through wireless communication, and the collaborative robot control device is configured to control each collaborative robot.

[0016] In one embodiment, each collaborative robot has a corresponding feature identification code, and the collaborative robot control device is configured to identify each collaborative robot according to the feature identification code.

[0017] In one embodiment, the collaborative robot system further comprises a terminal device connected to each collaborative robot.

[0018] The terminal device is configured to obtain basic information of each collaborative robot and control the working state of each collaborative robot according to the basic information.

[0019] In one embodiment, the terminal device comprises a user feature identification device configured to identify user features, generate an identification result, and send the identification result to the collaborative robot control device, and the collaborative robot control device is configured to send the basic information of each collaborative robot to the terminal device according to the identification result.

[0020] In one embodiment, the user feature identification device comprises a fingerprint identification module and a face recognition module.

[0021] In one embodiment, each collaborative robot comprises a collaborative robot body and a communication device and a power supply device connected to the collaborative robot body.

[0022] The communication device is configured to establish a wireless communication connection between the collaborative robot body and the collaborative robot control device.

[0023] The power supply device is configured to provide working power for the collaborative robot body.

[0024] The above collaborative robot control device and collaborative robot system comprise a work management module and at least one control module, each control module is wirelessly connected with a different collaborative robot, the work management module is connected with the control modules, the work management module is used for controlling the working state of each control module, and each control module is used for controlling the work of the collaborative robot wirelessly connected therewith based on the working state. That is, by establishing wireless communication connection between the plurality of control modules and different collaborative robots and controlling the work of different collaborative robots, the wire harness connection between the collaborative robot and the controller can be reduced, the complexity of the work site can be reduced, and the operation and maintenance efficiency of the operator can be improved. Moreover, by setting the work management module to control the working state of each control module, the working reliability of each control module can be further improved, and the reliable operation of the collaborative robot can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A structural block diagram of the collaborative robot control device in one embodiment;

[0026] Figure 2 A structural schematic diagram of the collaborative robot system in one embodiment;

[0027] Figure 3 A data interaction schematic diagram of the collaborative robot control device and the terminal device in one embodiment;

[0028] Figure 4 A connection schematic diagram of the terminal device, the collaborative robot body and the collaborative robot control device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0030] In one embodiment, as Figure 1As shown, a collaborative robot control device 100 is provided, comprising a work management module 110 and at least one control module 120, and each control module 120 is wirelessly connected with a different collaborative robot. Specifically, each control module 120 can be wirelessly connected with the corresponding collaborative robot according to the pre-set matching relationship, so as to complete the binding of the control module 120 and the collaborative robot. Moreover, when a control module 120 has been bound with a collaborative robot, the control module 120 will no longer be bound with other collaborative robots, and will no longer control other collaborative robots to operate, or the collaborative robot cannot be driven and controlled by other control modules 120, so as to protect the data security of the current collaborative robot. After each control module 120 is successfully bound with a different collaborative robot, the control module 120 can control the corresponding collaborative robot to work.

[0031] The work management module 110 is connected with each control module 120. The work management module 110 is used to control the working state of each control module 120. For example, the working state of each control module 120 can include a low load state, a high load state, a normal working state, etc. For example, when the degree of freedom of the collaborative robot bound by the control module 120 is high or the complexity of the task executed is high, the work management module 110 can control the control module 120 to work in a high load state, so as to improve the working efficiency of the control module 120.

[0032] Each control module 120 controls the collaborative robot wirelessly connected therewith to work based on the working state thereof. Specifically, each control module 120 can control the on-off state and the motion trajectory of the collaborative robot. Further, each control module 120 can acquire the running state information of the collaborative robot bound therewith, and control the collaborative robot to work according to the running state information. The running state information of the collaborative robot can be detected by a sensor in the collaborative robot. In particular, when the collaborative robot fails, the collaborative robot can send failure information to the control module 120 bound therewith. The control module 120 can control the collaborative robot to stop urgently or generate alarm information and send it to the user after receiving the failure information.

[0033] Further, in order to improve the working reliability of the collaborative robot control device 100, the person skilled in the art can set the number of control modules 120 in the collaborative robot control device 100 according to the number of collaborative robots in the working site. For example, the number of control modules 120 can be set to be greater than the total number of collaborative robots in the working site, so that when a control module fails, other control modules can be used to replace it in time.

[0034] The collaborative robot control device 100 in the embodiment can reduce the wire harness connection between the collaborative robots and the controller, reduce the complexity of the work site, and improve the operation and maintenance efficiency of the operator by establishing wireless communication connections between the plurality of control modules 120 and different collaborative robots and controlling the different collaborative robots to work. The work management module 110 is arranged to control the working state of each control module 120, which can further improve the working reliability of each control module 120 and ensure the reliable operation of the collaborative robots.

[0035] In one embodiment, as shown in Figure 1 The data management module 130 stores the basic information of each collaborative robot. The basic information of each collaborative robot can include basic use information of the collaborative robot, such as specification information, operation instructions, robot teaching tutorial, control software version, etc. In addition, the basic information of each collaborative robot can also include collaborative robot teaching tutorial and running programs of different application schemes of the collaborative robot. The collaborative robot teaching tutorial can guide the user to teach the collaborative robot, and the user can also refer to the running programs of different application schemes of the collaborative robot to write programs to control the collaborative robot to complete corresponding tasks.

[0036] Optionally, the data management module 130 can be connected with each control module 120, or can not be connected with each control module 120. When the data management module 130 is connected with each control module 120, each control module 120 can obtain the basic information of the corresponding collaborative robot from the data management module 130, and then send it to the user. When the data management module 130 is not connected with each control module 120, the data management module 130 can directly send the basic information of each collaborative robot to the user, so that the user can obtain the basic information of the collaborative robot in time. In particular, when the basic information of the collaborative robot includes installation guide information, the user can quickly complete the deployment of the work site based on the installation guide information of the collaborative robot.

[0037] Further, the basic information of each collaborative robot stored in the data management module 130 can be deeply backed up to prevent data loss in case of equipment failure. The data management module 130 can also be provided with a data security strategy to protect the basic information of each collaborative robot stored, prevent data damage, loss, theft, malicious attacks or malicious tampering, etc. In addition, the data management module 130 can also send the basic information of the collaborative robot to the user.

[0038] In this embodiment, the collaborative robot control device 100 further comprises a data management module 130, which stores basic information of each collaborative robot, so that a user can easily know the basic information of the current collaborative robot.

[0039] In one embodiment, the data management module 130 comprises a usage data management unit and an authority management unit, and the basic information comprises usage information and authority information. The usage information can include mechanical arm parameters and configuration parameters of the collaborative robot. Further, the mechanical arm parameters can specifically include power consumption, payload, working range, degree of freedom, joint maximum speed, joint range, and the like of the collaborative robot. The configuration parameters can include the controller software version of the collaborative robot. The data management unit is configured to acquire and store the usage information of each collaborative robot. Specifically, a user can pre-enter the usage information of the collaborative robot into the data management unit. After the data management unit acquires the usage information of the collaborative robot, it can store and backup the usage information.

[0040] The authority information can include an account and an authority corresponding to the account. A user can pre-set multiple accounts with authorities from high to low, and enter each account and the authority corresponding to the account into the authority management unit. Specifically, the user can send an authority request to the authority management unit, wherein the authority request includes each account and the authority corresponding to the account. The authority management unit is configured to establish an account according to the acquired authority request information, and assign the corresponding authority. Then, the authority information is generated according to the established account and the authority corresponding to the account.

[0041] Further, a user can log in to an account on a terminal device. After successful login, the data management unit can send all or part of the usage information of the collaborative robot to the user according to the authority corresponding to the account. The user can also remotely operate the collaborative robot through the terminal device. Moreover, the remote operation that the user can achieve is also limited by the authority of the account. For example, if the authority of the account is low, the user can only access the specification information and operation instructions of the collaborative robot, or call an existing control instruction program to perform basic control on the collaborative robot, such as shutdown and stop. If the authority of the account is high, the user can access the parameters and programs of the control module 120 wirelessly connected to the collaborative robot, and can create or modify related parameters and control instruction programs.

[0042] In the embodiment, the data management module 130 includes a usage data management unit and an authority management unit. The usage information of the collaborative robot is acquired and stored by the usage data management unit, so that the user can quickly learn the specification information and operation and use instructions of the current collaborative robot, and the operation and maintenance efficiency is improved. The account is established and the corresponding authority is allocated according to the acquired authority request information by the authority management unit, and the authority information is generated according to the established account and the authority corresponding to the account, so that the related data of the collaborative robot can be protected from being maliciously tampered with, lost, damaged, etc. The information security of the collaborative robot is protected.

[0043] In one embodiment, in order to enable the control modules 120 to better control the collaborative robot, the work management module 110 in the embodiment includes a power supply management unit and a resource management unit, and the power supply management unit and the resource management unit are connected to the control modules 120.

[0044] The power supply management unit is configured to provide power supply resources for the control modules 120, so as to control the working state of the control modules 120 to be the standard voltage working state. Specifically, the power supply management unit can be electrically connected to a power supply device. When the control modules 120 are all or partially bound to the collaborative robot, the power supply management unit can allocate corresponding power supply resources according to the number of control modules 120 that have been bound to the collaborative robot, so that the working state of each control module 120 that has been bound to the collaborative robot is the standard voltage working state.

[0045] The resource management unit is configured to provide processor resources for the control modules 120, and control the working state of the control modules 120 to be a low-load running state or a high-load running state. The collaborative robot control device 100 can include a plurality of processors, and each processor is configured to execute a control instruction to control the collaborative robot. In addition, the control module 120 can include one or more processors. The more processors the control module 120 includes, the more processor resources the control module 120 is allocated, and the more complex the control of the collaborative robot the control module 120 can perform. When the control module 120 is allocated more processing resources, the control module 120 is in a high-load running state. When the control module 120 is allocated less processing resources, the control module 120 is in a low-load running state. Generally, the higher the degree of freedom of the collaborative robot, the more complex the control, and therefore more processor resources can be allocated to the control module 120 that is bound to the collaborative robot with a higher degree of freedom.

[0046] In the embodiment, the work management module 110 includes a power supply management unit and a resource management unit. The power supply management unit is configured to provide power supply resources for the control modules 120, and the resource management unit is configured to provide processor resources for the control modules 120, so as to realize reasonable allocation of resources of the control modules 120 and improve the control efficiency.

[0047] In one embodiment, the application also provides a collaborative robot system, which comprises at least one collaborative robot and the collaborative robot control device 100 according to any one of the above embodiments. Each collaborative robot is connected to the collaborative robot control device 100 wirelessly, and the collaborative robot control device 100 is used to control each collaborative robot. The collaborative robot control device 100 can be a set of large controllers. When the work site comprises multiple collaborative robots, a set of separate controllers does not need to be configured for each collaborative robot. By connecting each collaborative robot to each control module 120 in the collaborative robot control device 100 wirelessly, the collaborative robot controlled by each control module 120 can work. In addition, the work management module 110 in the collaborative robot control device 100 can control the working state of each control module 120 to improve the working reliability of each control module 120.

[0048] The collaborative robot system in the embodiment can reduce the wire harness connection between the collaborative robot and the controller, reduce the complexity of the work site, and improve the operation and maintenance efficiency of the operator by establishing a wireless communication connection between the multiple control modules 120 in the collaborative robot control device 100 and different collaborative robots and controlling different collaborative robots to work. In addition, the working state of each control module 120 can be further improved by setting the work management module 110 to control the working state of each control module 120, which can further improve the working reliability of each control module 120 and ensure the reliable operation of the collaborative robot.

[0049] In one embodiment, each collaborative robot has a corresponding feature identification code. The collaborative robot control device 100 identifies each collaborative robot according to the feature identification code. The feature identification code can be used to identify each collaborative robot, and the feature identification code of each collaborative robot is unique. Further, the feature identification code can be sent to the user in the form of a bar code, a two-dimensional code, a small program identification code, or other forms. After the user obtains the feature identification code of the collaborative robot, the user can send the feature identification code to the data management module 130 in the collaborative robot control device 100. The data management module 130 can send the basic information of the collaborative robot corresponding to the feature identification code to the user.

[0050] Each collaborative robot in the embodiment has a corresponding feature identification code, which can facilitate the user to quickly obtain the basic information of the collaborative robot and is conducive to the user to control and maintain the collaborative robot.

[0051] In one embodiment, the collaborative robot system further comprises a terminal device connected with each collaborative robot. The terminal device is configured to acquire basic information of each collaborative robot, and control the working state of each collaborative robot according to the basic information. Specifically, a user can send a basic information query request to the collaborative robot control device 100 through the terminal device. After receiving the basic information query request, the collaborative robot control device 100 can send the basic information of the collaborative robot to the terminal device. After acquiring the basic information of the collaborative robot, the terminal device can display the basic information to the user. The user can control the working state of the collaborative robot according to the basic information of the collaborative robot. In addition, when the collaborative robot fails, the control module 120 bound to the collaborative robot can send an alarm information to the terminal device and display it. After the user acquires the alarm information, the user can control and further maintain the collaborative robot.

[0052] Specific steps in which the user controls the working state of the collaborative robot according to the basic information of the collaborative robot can include that the user can send a corresponding control instruction to the control module 120 through the terminal device, and the control module 120 controls the collaborative robot according to the control instruction. For example, when the user plans a running trajectory for the collaborative robot, the user can first acquire the joint range and joint maximum speed information of the collaborative robot through the terminal device, then plan a running trajectory for the collaborative robot according to the joint range and joint maximum speed of the collaborative robot, and then send the planned running trajectory to the corresponding control module 120 through the terminal device. The control module 120 controls the collaborative robot to run according to the running trajectory. Specifically, the terminal device can first simulate and display the running trajectory, and then send the planned running trajectory to the corresponding control module 120 after the user confirms. The terminal device can include but is not limited to a teach pendant, a personal computer, a smart phone, a tablet computer, a smart screen, and the like.

[0053] In this embodiment, the terminal device is configured to acquire the basic information of the collaborative robot, and control the working state of the collaborative robot according to the basic information, which can facilitate the user to control the collaborative robot and improve the work efficiency.

[0054] In one embodiment, the terminal device comprises a user feature recognition device configured to recognize user features, generate a recognition result, and send the recognition result to the collaborative robot control device 100. The user features can include facial features, hand features, and other features that can be used to distinguish different users. The recognition result can include account information corresponding to the user.

[0055] The collaborative robot control device 100 sends the basic information of each collaborative robot to the terminal device according to the identification result. Specifically, after the collaborative robot obtains the identification result, the collaborative robot can send the basic information of the collaborative robot corresponding to the identification result to the terminal. For example, when the identification result includes account information, the collaborative robot control device 100 can obtain the authority of the account according to the account information, and send the basic information of the collaborative robot corresponding to the authority of the account to the terminal device.

[0056] The terminal device in the embodiment includes a user feature identification device for identifying user features, generating an identification result, and sending the identification result to the collaborative robot control device 100, which can realize the verification of the user and thus protect the data security of the collaborative robot control device 100.

[0057] In one embodiment, the user feature identification device includes a fingerprint identification module and a face recognition module. The fingerprint identification module is mainly used to collect the fingerprint of the user, identify the fingerprint features of the user, and generate a first identification result according to the fingerprint features of the user and send it to the collaborative robot control device 100. The face recognition module is mainly used to scan and identify the face of the user, identify the facial features of the user, and generate a second identification result according to the facial features of the user and send it to the collaborative robot control device 100. The collaborative robot control device 100 sends the basic information of each collaborative robot to the terminal device according to the first identification result and the second identification result. Specifically, when the first identification result and the second identification result are consistent, the collaborative robot control device 100 can send the basic information of the collaborative robot corresponding to the first identification result and the second identification result to the terminal device, otherwise not.

[0058] In the embodiment, the user feature identification device includes a fingerprint identification module and a face recognition module, which can identify the features of the fingerprint or face of the user to verify the identity of the user, and effectively protect the data security of the collaborative robot control device 100.

[0059] In one embodiment, each collaborative robot comprises a collaborative robot body and a communication device and a power supply device connected to the collaborative robot body. The communication device is configured to establish a wireless communication connection between the collaborative robot body and the collaborative robot control device 100. The communication device can enable data transmission between the collaborative robot body and the collaborative robot control device 100. The transmitted data can include control instructions, working status of the collaborative robot body, and the like. In addition, when the collaborative robot system further comprises a terminal device, the communication device can also establish a wireless communication connection with the terminal device to enable data transmission between the collaborative robot body and the terminal device. The power supply device is electrically connected to the collaborative robot body and configured to provide working power for the collaborative robot body. Specifically, the power supply device can be connected to commercial power or industrial power and convert the commercial power or industrial power into the required power specification of the collaborative robot body to provide working power for the collaborative robot body.

[0060] In this embodiment, each collaborative robot comprises a collaborative robot body and a communication device and a power supply device connected to the collaborative robot body, which can enable wireless communication between the collaborative robot body and other devices and provide power for the collaborative robot to ensure reliable operation of the collaborative robot body.

[0061] In order to better understand the above-mentioned collaborative robot control device 100 and the collaborative robot system, a more detailed specific embodiment is provided below for illustration.

[0062] In one embodiment, as shown in Figure 2 A collaborative robot system is provided, which comprises a collaborative robot and a collaborative robot control device 100. The collaborative robot comprises a collaborative robot body and a power supply device, a communication device and a terminal device connected to the collaborative robot body. The collaborative robot control device 100 comprises a working management module 110 and at least one control module 120. Each control module 120 is wirelessly connected to a different collaborative robot body. The working management module 110 is connected to the control module 120. The collaborative robot control device 100 can be arranged in the machine room of the collaborative robot supplier or at the user end. The user end is a working site comprising the collaborative robot.

[0063] As shown in Figure 3As shown, the collaborative robot control device 100 includes a control program instruction module, an account establishment and authorization module, an exception or data pushing module, a data storage module, a data backup module, and a data security module. Among them, the control program instruction module is used to receive the control instruction issued by the user, and the control program instruction module has pre-stored control program instructions for realizing the basic control function of the collaborative robot body. The account establishment and authorization module can be used to establish an account and assign corresponding permissions, which is equivalent to the permission management unit mentioned above. If the collaborative robot control device is set at the user end, it can be authorized and managed by the user end. If the collaborative robot control device is set at the collaborative robot supplier, the user end needs to call the collaborative robot control device of the collaborative robot supplier, and the account establishment and authorization are approved or authorized by the collaborative robot supplier. The collaborative robot supplier has the highest management permission for the collaborative robot control device. The exception or data pushing module is used to realize data transmission with the collaborative robot body or the terminal device, and exception pushing of the collaborative robot body. The data storage module is equivalent to the data storage unit mentioned above. The data backup module is equivalent to the data backup unit mentioned above. The data security module is equivalent to the data security unit mentioned above.

[0064] The terminal device includes a display module, an identification module, and a working module. Among them, the display module can display the data read from the collaborative robot control device 100 by the terminal device. For example, as shown in Figure 3 The display module can display the specification information, use instructions, product manual, software operation instructions, and exception feedback information of the collaborative robot. The identification module can be used for feature recognition of the user. For example, as shown in Figure 3 Face recognition or fingerprint recognition of the user. The working module is used to control the working of the collaborative robot system. Specifically, the working module can control the on-off state of each device in the collaborative robot system, program compilation, selection, pre-setting and storage of the collaborative robot body, and can also design the running track of the collaborative robot, and send the designed running track to the display module for display. Further, the working module can also realize the timing operation control of the collaborative robot body.

[0065] The power supply device is electrically connected with the collaborative robot body. The power supply device is connected with the commercial power or industrial power at the same time, converts the commercial power or industrial power into the power specification required by the collaborative robot body, and provides power for the collaborative robot body. The collaborative robot body and the terminal device can be electrically connected and signal transmitted through a wire harness, or can be connected through a wireless network. The collaborative robot body contains a unique feature identification code, which is used to distinguish other collaborative robots of the same or different models, and ensures the uniqueness of the current collaborative robot, thereby ensuring the uniqueness of the data information of the current collaborative robot. The feature identification code can be a bar code, a two-dimensional code, a small program identification code, or a special identification code of the collaborative robot supplier.

[0066] As shown in Figure 4 The terminal device can be connected with the collaborative robot body and the collaborative robot control device 100. The terminal device can scan the feature identification code on the collaborative robot body to obtain the data information of the collaborative robot body. The terminal device can also issue control instructions to the collaborative robot control device 100 to control the collaborative robot body. In addition, the terminal device can also include a user feature identification device for identifying user features. The user feature identification device can include a fingerprint recognition module, a camera, etc. The user can enter a fingerprint or perform face recognition through the camera to establish and authorize the user's account. According to different permission settings, personnel operating the collaborative robot can be controlled. For example, some operators can only access basic specification information, operation instructions, call existing control instruction programs to make basic control of the collaborative robot, and shut down or stop the machine. However, operators with higher permissions can access parameters and programs of the control module 120, create or modify parameter and program instructions, or remotely control the collaborative robot through the terminal device. For example, the parameters of the control module 120 can include operation mode, programming method, coordinate system, etc. The operation mode includes teaching mode, reproduction mode and remote mode. The programming method includes teaching programming, offline programming and drag teaching. The coordinate system includes joint coordinate system, robot coordinate system, tool coordinate system and user coordinate system.

[0067] The user scans the feature identification code of the collaborative robot body through the terminal device, or the user logs in the account on the terminal device after unlocking by fingerprint or face recognition through the camera, and can obtain the related information of the collaborative robot body and the controller stored in the data storage module. Specifically, it can include specification and model information of the collaborative robot body, working range, allowable load, controller software version, software function details, controller document, product manual information of the collaborative robot body, mechanical installation instruction guidance, electrical installation instruction guidance, software operation instruction, etc.

[0068] The collaborative robot body and the terminal device also have a communication device, which can be connected to the collaborative robot control device 100 through a network to transmit control instructions and other data. The collaborative robot body can feed back the running state or abnormal information to the collaborative robot control device 100 through the communication device. The terminal device or the collaborative robot control device 100 also reads and controls the working state of the collaborative robot through the communication device.

[0069] The collaborative robot control device 100 can include a power supply, a system control board, an industrial computer, a processor, and a safety device. The system control board is used to manage the hardware and software of the collaborative robot system, and the work management module in the above embodiment can include the system control board. The industrial computer is a device integrating computer, display, touch screen, and other components, and is mainly used to control the working of the collaborative robot body. The processor can be used for data calculation. Each control module in the above embodiment can include the industrial computer and the processor. The safety device is used to reduce the damage of the collaborative robot control device 100 when the collaborative robot control device 100 fails. Specifically, when the collaborative robot control device 100 is not provided with a safety device, if the collaborative robot control device 100 fails, the processor, system control board and other core components of the collaborative robot control device 100 may be damaged. When the collaborative robot control device 100 is provided with a safety device, if the collaborative robot control device 100 fails, only the safety device will be damaged, avoiding damage to other core components.

[0070] The collaborative robot control device 100 also includes a data management module 130, which can include a data storage unit, a data backup unit, and a data security unit. In the data storage unit, not only a large amount of specification information, operation and use instructions, application cases, robot teaching tutorials, control software versions and other data of collaborative robots are pre-stored, but also a large amount of control program instructions and other data of different application schemes of collaborative robots are pre-stored. The data storage unit can also store the account and authorization information established by the user. The data backup unit can deeply backup and store the above information to prevent data loss due to equipment failure. The data security unit is used to protect the above information, protect the safety of the equipment information of the collaborative robot supplier, protect the safety of the customer information, protect the clear and safe rights of each account, and prevent data damage, loss, theft, malicious attack, malicious tampering, etc.

[0071] The collaborative robot control device 100 can be set at the collaborative robot supplier or the user end according to the demand. The collaborative robot supplier has a comprehensive collaborative robot control device 100 and parameter data, and has a functional comprehensive control system. The collaborative robot control device 100 at the user end is the control system required by the user end.

[0072] A collaborative robot body is bound to a certain control module 120 in the collaborative robot control device 100, and after the binding relationship is set, the current control module 120 cannot be used to control other collaborative robot bodies, or the current collaborative robot body cannot be driven and controlled by other control modules 120, so as to protect the data security of the current collaborative robot body. The collaborative robot control device 100 can be a large integrated controller with large power matching and power matching capability. After each control module 120 is bound to a different collaborative robot body, the work management module 110 can match and call corresponding power resources, power resources and processor resources to the corresponding control module 120 according to the specifications and number of collaborative robot bodies. For example, when multiple collaborative robot bodies are set in the work site, only one set of large controller can be used to control multiple collaborative robot bodies at the same time, and it is not necessary to configure a separate controller for each collaborative robot body. Or the user can directly access and call the collaborative robot control device 100 of the collaborative robot supplier through the terminal device to realize the control of the current collaborative robot.

[0073] When the user logs in with a terminal device account with higher permissions, after scanning the feature recognition code of the collaborative robot body, the user can also enter the operation interface of the collaborative robot body and perform power-on and power-off operations on the collaborative robot body through the operation interface of the collaborative robot body. The user can also compile and store the running track program of the collaborative robot body on the terminal device, select the existing control program instructions, or pre-set some running track programs of application schemes. When the collaborative robot body is working, the terminal device can display the running track of the collaborative robot body. If the collaborative robot body works abnormally, it can feed back the abnormal code and other information to the terminal device. The above data information obtained through the terminal device is stored in the data storage module. The user can scan the feature recognition code of the collaborative robot body or unlock the terminal device through fingerprint or face, and then access the collaborative robot control device 100 through the terminal device. The terminal device can be a teach pendant, a personal computer or other smart devices of the collaborative robot, such as a smart phone and a smart tablet.

[0074] The collaborative robot system in the embodiment can realize that one collaborative robot control device controls one or more collaborative robot bodies at the same time by setting multiple control modules in wireless communication connection with different collaborative robot bodies, reduces the wire harness connection between the collaborative robot and the controller, reduces the complexity of the work site and the user cost, and improves the operation and maintenance efficiency of the operator. Moreover, the working state of each control module can be controlled by setting a work management module, so as to further improve the working reliability of each control module and ensure the reliable operation of the collaborative robot. In addition, the collaborative robot system in the embodiment further includes a terminal device, so that the remote control of the collaborative robot body can be realized, and the user can conveniently know the working state of the collaborative robot body in time.

[0075] The technical features of the above-described embodiments can be combined arbitrarily, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0076] The above-described embodiments only express several implementation manners of the application, the description is relatively specific and detailed, but it should not be understood as the limitation of the patent scope of the application. It should be pointed out that for ordinary skilled in the art, some modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A collaborative robot control device, characterized in that: It includes a work management module and at least one control module, each of the control modules is wirelessly connected to a different collaborative robot, and the work management module is connected to each of the control modules; The work management module is used to control the working state of each of the control modules; the work management module includes a resource management unit, the resource management unit is connected to each of the control modules, and the resource management unit is used to provide processor resources for each of the control modules, and control the working state of each of the control modules to be a low-load operating state or a high-load operating state; wherein, according to the degree of freedom of the collaborative robot, the resource management unit allocates corresponding processor resources to the control module bound to the collaborative robot; wherein, the higher the degree of freedom of the collaborative robot, the more corresponding processor resources are allocated by the resource management unit, and the control module is in the high-load operating state; the lower the degree of freedom of the collaborative robot, the fewer corresponding processor resources are allocated by the resource management unit, and the control module is in the low-load operating state; Each of the control modules is used to control the operation of the collaborative robot with which the collaborative robot establishes a wireless communication connection based on the working status.

2. The collaborative robot control device according to claim 1, characterized in that: The collaborative robot control device also includes a data management module; The data management module stores basic information of each collaborative robot.

3. The collaborative robot control device according to claim 2, characterized in that: The data management module includes a usage data management unit and a rights management unit, and the basic information includes usage information and rights information; The usage data management unit is used to obtain and store usage information of each collaborative robot; The authority management unit is used to establish an account according to the acquired authority request information, allocate corresponding authority, and generate authority information according to the established account and the authority corresponding to the account.

4. The collaborative robot control device according to claim 1, characterized in that: The work management module further includes a power supply management unit, and the power supply management unit is connected to each of the control modules; The power supply management unit is used to provide power resources for each of the control modules.

5. A collaborative robot system, characterized in that: It includes at least one collaborative robot and a collaborative robot control device as described in any one of claims 1 to 4, each of the collaborative robots establishes a wireless communication connection with the collaborative robot control device, and the collaborative robot control device is used to control each of the collaborative robots.

6. The collaborative robot system according to claim 5, characterized in that: Each of the collaborative robots has a corresponding feature identification code, and the collaborative robot control device identifies each of the collaborative robots based on the feature identification code.

7. The collaborative robot system according to claim 5, characterized in that: Also included is a terminal device connected to each of the collaborative robots; The terminal device is used to obtain basic information of each collaborative robot and control the working status of each collaborative robot according to the basic information.

8. The collaborative robot system according to claim 7, characterized in that: The terminal device includes a user feature recognition device, which is used to recognize user features, generate recognition results, and send the recognition results to the collaborative robot control device. The collaborative robot control device sends basic information of each collaborative robot to the terminal device based on the recognition results.

9. The collaborative robot system according to claim 8, characterized in that: The user feature recognition device includes a fingerprint recognition module and a face recognition module.

10. The collaborative robot system according to claim 5, characterized in that: Each of the collaborative robots includes a collaborative robot body and a communication device and a power supply device connected to the collaborative robot body; The communication device is used to establish a wireless communication connection between the collaborative robot body and the collaborative robot control device; The power supply device is used to provide working power to the collaborative robot body.

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