Zero recovery method and device, control equipment and storage medium

Abstract

The invention provides a zero position recovery method and device, control equipment and a storage medium, and relates to the technical field of industrial robot control. The method comprises the steps that when the industrial robot is started, if it is detected that zero position loss happens to the industrial robot and the industrial robot meets a preset zero position recovery condition, the newest zero position interface encoder high ring position of a joint shaft is determined according to the encoder position, stored when the industrial robot is shut down last time, of the joint shaft; the zero position of the industrial robot is recovered on the basis of the newest zero position interface encoder high ring position of the joint shaft, so that zero position recovery of the industrial robot by observing scale marks or labels on the industrial robot through human eyes is avoided, and the zero position of the industrial robot is recovered quickly and accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and in particular to a zero position recovery method, device, control equipment and storage medium. Background Art

[0002] The battery power of industrial robots is gradually consumed due to long-term use, and the high circle position of the encoder may be lost when the industrial robot is turned off. Usually, it can only be restored by observing the scale lines or labels on the industrial robot with human eyes, resulting in errors in the restored zero position and limited accuracy. Summary of the invention

[0003] The present invention provides a zero-position recovery method, device, control equipment and storage medium, which can improve the accuracy of zero-position recovery of an industrial robot.

[0004] The technical solution of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a zero position recovery method, which is applied to a control device of an industrial robot, wherein the industrial robot further includes a joint axis, and the method comprises:

[0006] When the industrial robot is turned on, if it is detected that the industrial robot has lost its zero position and the industrial robot meets a preset zero position recovery condition, the latest zero position interface encoder high circle position of the joint axis is determined according to the encoder position of the joint axis stored when the industrial robot was last shut down;

[0007] Based on the latest high-circle position of the zero-position interface encoder of the joint axis, the industrial robot is restored to zero position.

[0008] Optionally, the method further comprises a step of detecting whether the industrial robot has lost its zero position when the industrial robot is powered on, which comprises:

[0009] Detecting whether the encoder on the joint axis loses power;

[0010] If it is detected that the encoder on the joint axis loses power, it is determined that the industrial robot has lost zero position;

[0011] If it is detected that the encoder on the joint axis is not powered off, it is determined that the industrial robot has not lost its zero position.

[0012] Optionally, the method further includes a step of detecting whether the industrial robot meets a preset zero-position recovery condition when the industrial robot is powered on, which includes:

[0013] Detecting whether the joint axis rotates after the industrial robot was last shut down;

[0014] If it is detected that the joint axis rotates after the industrial robot is most recently shut down, it is determined that the industrial robot does not meet the preset zero position recovery condition;

[0015] If it is detected that the joint axis has not rotated after the industrial robot was most recently shut down, it is determined that the industrial robot meets a preset zero-position recovery condition.

[0016] Optionally, the step of determining the high-loop position of the zero-position interface encoder of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down comprises:

[0017] Determining the encoder high circle position of the joint shaft according to the encoder position of the joint shaft;

[0018] According to the encoder high-circle position of the joint shaft and the initial zero-position interface encoder high-circle position of the joint shaft, the latest zero-position interface encoder high-circle position of the joint shaft is obtained.

[0019] Optionally, the step of obtaining the latest zero position interface encoder high circle position of the joint shaft according to the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft comprises:

[0020] According to the difference between the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft, the latest zero position interface encoder high circle position of the joint shaft is obtained.

[0021] Optionally, the latest zero position interface encoder high circle position of the joint axis satisfies the following formula:

[0022] ΔH=H1-H0

[0023] H2=0-ΔH

[0024] Among them, H0 is the initial zero position interface encoder high circle position of the joint shaft, H1 is the encoder high circle position of the joint shaft, ΔH is the difference between the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft, and H2 is the latest zero position interface encoder high circle position of the joint shaft.

[0025] Optionally, the step of performing zero position recovery on the industrial robot based on the latest zero position interface encoder high circle position of the joint axis includes:

[0026] According to the latest high-circle position of the zero-position interface encoder of the joint axis, the zero position of the encoder on the joint axis is set to perform zero-position recovery on the industrial robot.

[0027] In a second aspect, the present invention provides a zero position recovery device, which is applied to a control device of an industrial robot, wherein the industrial robot further includes a joint axis, and the device includes:

[0028] A determination module, configured to determine the latest zero position interface encoder high circle position of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down, if it is detected that the industrial robot has lost its zero position and the industrial robot meets a preset zero position recovery condition when the industrial robot is turned on;

[0029] The processing module is used to restore the zero position of the industrial robot based on the latest zero position interface encoder high circle position of the joint axis.

[0030] In a third aspect, the present invention provides a control device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the zero-position recovery method as described in the first aspect.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the zero-bit recovery method as described in the first aspect.

[0032] Compared with the prior art, the zero position recovery method provided by the present invention, when the industrial robot is turned on, if it is detected that the industrial robot has lost its zero position and the industrial robot meets the preset zero position recovery condition, the latest zero position interface encoder high circle position of the joint axis is determined according to the encoder position of the joint axis stored when the industrial robot was most recently shut down; based on the latest zero position interface encoder high circle position of the joint axis, the industrial robot is zero-position restored. Because the present invention determines the latest zero position interface encoder high circle position of the joint axis according to the encoder position of the joint axis stored when the industrial robot was most recently shut down when the industrial robot has lost its zero position and the zero position recovery condition is preset, and then the industrial robot is zero-position restored according to the latest zero position interface encoder high circle position, thereby avoiding zero position recovery by observing the scale line or label on the industrial robot with human eyes, and realizing fast and accurate recovery of the zero position of the industrial robot.

[0033] Other features and advantages disclosed in the embodiments of the present application will be described in the subsequent description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technologies disclosed in the embodiments of the present application.

[0034] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A flowchart of a zero position recovery method provided by an embodiment of the present invention;

[0037] Figure 2 A flowchart of an implementation method for detecting whether a zero position loss occurs in an industrial robot provided by an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of a flow chart for detecting whether an industrial robot meets a preset zero-position recovery condition provided by an embodiment of the present invention;

[0039] Figure 4 A functional unit block diagram of a zero position recovery device provided by an embodiment of the present invention;

[0040] Figure 5 A schematic block diagram of the structure of a control device provided by an embodiment of the present invention.

[0041] Icons: 100 - zero position recovery device; 101 - determination module; 102 - processing module; 103 - detection module; 200 - control device; 210 - memory; 220 - processor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0046] In order to quickly and accurately restore the zero position of an industrial robot, an embodiment of the present invention provides a zero position restoration method applied to a control device of an industrial robot, which will be described in detail below.

[0047] Please refer to Figure 1 , the zero position recovery method includes steps S101 to S102.

[0048] S101, when the industrial robot is turned on, if it is detected that the industrial robot has lost its zero position and the industrial robot meets the preset zero position recovery condition, the latest zero position interface encoder high circle position of the joint axis is determined according to the encoder position of the joint axis stored when the industrial robot was last shut down.

[0049] Among them, the industrial robot includes at least one joint axis, each joint axis has a motor, and the motor has an encoder. An encoder is a device that converts rotational or linear position into an electrical signal, which is usually used to measure or control mechanical motion.

[0050] The encoder position refers to the actual position detected by the encoder, which can be an absolute value relative to a fixed reference point. The encoder position is determined based on the digital signal output by the encoder, which represents the physical position or change in motion state detected by the encoder.

[0051] The zero position interface refers to the display interface of a specific physical position data on the joint axis of an industrial robot. The zero position refers to a reference point of the encoder, which usually corresponds to the starting position or a specific reference position of the device.

[0052] The encoder high turn position refers to the number of turns counted after one revolution of the encoder.

[0053] The high-turn position of the zero-position interface encoder refers to the high-turn data of the encoder output signal corresponding to the current position measured when the joint shaft is at zero position.

[0054] In a possible implementation, when the industrial robot is turned on, the control device will detect whether the industrial robot has lost its zero position. The corresponding implementation process may include the following: Figure 2 Steps S201 to S203 are shown.

[0055] S201, check whether the encoder on the joint axis loses power.

[0056] Among them, encoder power failure refers to the power supply interruption of the encoder due to power failure or connection problem during operation.

[0057] In one possible implementation, the output signal of the encoder on each joint axis can be monitored to determine whether the encoder on each joint axis has lost power. If the output signal on any joint axis suddenly disappears or becomes a fixed level (no change), it indicates that the encoder on the joint axis has lost power.

[0058] In another possible implementation, the industrial robot is equipped with an alarm system for the encoders on each joint axis, and power failure of the encoder on any joint axis will trigger the alarm system to sound an alarm.

[0059] S202: If it is detected that the encoder on the joint axis loses power, it is determined that the industrial robot has lost zero position.

[0060] S203: If it is detected that the encoder on the joint axis is not powered off, it is determined that the industrial robot has not lost its zero position.

[0061] It can be understood that the industrial robot will not lose its zero position only when the encoders on all joint axes are powered on.

[0062] After determining that the zero position of the industrial robot has been lost, it is also necessary to detect whether the industrial robot meets the preset zero position recovery conditions, and perform zero position recovery when the industrial robot meets the preset zero position recovery conditions.

[0063] In a possible implementation, the process of the control device detecting whether the industrial robot meets the preset zero position recovery condition may include: Figure 3 Steps S301 to S303 are shown.

[0064] S301, detecting whether the joint axis rotates after the industrial robot is last shut down.

[0065] As a possible implementation method, for the joint axis whose encoder loses power, you can run the joint axis to a position with heavy load, select the motor mode to the off mode, and then check whether the joint axis is still in place. If the position of the joint axis does not change, it means that the joint axis has not been rotated.

[0066] S302: If it is detected that the joint axis has rotated after the industrial robot was most recently shut down, it is determined that the industrial robot does not meet a preset zero position recovery condition.

[0067] S303: If it is detected that the joint axis has not rotated after the industrial robot was most recently shut down, it is determined that the industrial robot meets a preset zero-position recovery condition.

[0068] It can be understood that when the joint shaft to which the encoder loses power does not rotate, the industrial robot meets the preset zero position recovery condition.

[0069] Next, the implementation process of "determining the high-circle position of the zero-position interface encoder of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down" in step S101 is introduced in detail.

[0070] In an embodiment of the present invention, the encoder high-loop position of the joint axis can be determined based on the encoder position of the joint axis stored when the industrial robot was last shut down, and then the latest zero-position interface encoder high-loop position of the joint axis can be obtained based on the encoder high-loop position of the joint axis and the initial zero-position interface encoder high-loop position of the joint axis.

[0071] Furthermore, the encoder high circle position of the joint axis can be calculated according to the following formula:

[0072] H1=h%r

[0073] In the formula, H1 is the high-loop position of the encoder of the joint axis, h is the encoder position of the joint axis saved when the industrial robot was last shut down, and r is the encoder resolution. If h>=0, H1 is directly rounded to an integer; if h<0, H1 is rounded to an integer in the direction of increasing absolute value.

[0074] The latest zero position interface encoder high circle position of the joint axis can be obtained according to the difference between the encoder high circle position of the joint axis and the initial zero position interface encoder high circle position of the joint axis.

[0075] Among them, the latest zero position interface encoder high circle position of the joint axis satisfies the following formula:

[0076] ΔH=H1-H0

[0077] H2=0-ΔH

[0078] Among them, H0 is the initial zero position interface encoder high circle position of the joint axis, H1 is the encoder high circle position of the joint axis, ΔH is the difference between the encoder high circle position of the joint axis and the initial zero position interface encoder high circle position of the joint axis, and H2 is the latest zero position interface encoder high circle position of the joint axis.

[0079] Next, continue Figure 1 Step S102 in FIG.

[0080] S102, based on the latest zero position interface encoder high circle position of the joint axis, the industrial robot is restored to zero position.

[0081] In a possible implementation, the zero position of the encoder on the joint axis can be set according to the latest zero position interface encoder high circle position of the joint axis to perform zero position recovery on the industrial robot.

[0082] A control system for industrial robots is deployed on the control device. After the operator manually moves the joint axis to the zero position interface, he enters the configuration page of the control system, finds the part for setting the zero position of the joint axis, and inputs the high-circle position of the latest zero position interface encoder of the joint axis into the system as the new zero position reference value and saves it, so that the control system updates the relevant parameters.

[0083] Then restart the industrial robot, check whether the joint axis can accurately return to the set zero position, and verify whether the encoder reading matches the new zero reference value.

[0084] If the joint axis can accurately return to the set zero position and the encoder reading matches the new zero reference value, the zero position recovery of the industrial robot is completed.

[0085] It can be understood that the application of the high-loop position of the zero-position interface encoder in zero-position recovery ensures that the joint axis of the industrial robot can return to a known and precise position before each operation, thereby improving the repeatability and production efficiency of the industrial robot.

[0086] In order to execute the corresponding steps in the above method embodiment and various possible implementations, an implementation of the zero position recovery device 100 is provided below.

[0087] Please refer to Figure 4 The zero position recovery device 100 includes a determination module 101, a processing module 102 and a detection module 103.

[0088] Determination module 101 is used to determine the latest zero position interface encoder high circle position of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down, if it is detected that the industrial robot has lost its zero position and the industrial robot meets the preset zero position recovery condition when the industrial robot is turned on.

[0089] The processing module 102 is used to perform zero position recovery on the industrial robot based on the latest zero position interface encoder high circle position of the joint axis.

[0090] Optionally, the detection module 103 is used to detect whether the encoder on the joint axis has lost power; if it is detected that the encoder on the joint axis has lost power, it is determined that the industrial robot has lost zero position; if it is detected that the encoder on the joint axis has not lost power, it is determined that the industrial robot has not lost zero position.

[0091] Optionally, the detection module 103 is also used to detect whether the joint axis has rotated after the industrial robot was last shut down; if it is detected that the joint axis has rotated after the industrial robot was last shut down, it is determined that the industrial robot does not meet the preset zero-position recovery conditions; if it is detected that the joint axis has not rotated after the industrial robot was last shut down, it is determined that the industrial robot meets the preset zero-position recovery conditions.

[0092] Optionally, the determination module 101 is specifically used to determine the encoder high circle position of the joint shaft according to the encoder position of the joint shaft; and obtain the latest zero position interface encoder high circle position of the joint shaft according to the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft.

[0093] Optionally, when the determination module 101 is used to obtain the latest zero position interface encoder high circle position of the joint shaft according to the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft, it is specifically used to obtain the latest zero position interface encoder high circle position of the joint shaft according to the difference between the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft.

[0094] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the zero position recovery device 100 described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0095] Furthermore, the embodiment of the present invention also provides a control device 200, please refer to Figure 5 , the control device 200 may include a memory 210 and a processor 220 .

[0096] Among them, the processor 220 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the program execution of the zero-bit recovery method provided by the above method embodiment.

[0097] The memory 210 may be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 210 may exist independently and be connected to the processor 220 via a communication bus. The memory 210 may also be integrated with the processor 220. Among them, the memory 210 is used to store machine executable instructions for executing the scheme of the present invention. The processor 220 is used to execute the machine executable instructions stored in the memory 210 to implement the above-mentioned method embodiment.

[0098] An embodiment of the present invention further provides a computer-readable storage medium containing a computer program. When the computer program is executed, it can be used to perform the relevant operations in the zero-bit recovery method provided by the above method embodiment.

[0099] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A zero position recovery method, characterized in that: A control device applied to an industrial robot, wherein the industrial robot further comprises a joint axis, and the method comprises: When the industrial robot is powered on, if it is detected that the industrial robot has lost its zero position and the industrial robot meets a preset zero position recovery condition, the latest zero position interface encoder high circle position of the joint axis is determined according to the encoder position of the joint axis stored when the industrial robot was last powered off; Based on the latest high-circle position of the zero-position interface encoder of the joint axis, the industrial robot is restored to zero position.

2. The method according to claim 1, characterized in that The method further comprises the step of detecting whether the industrial robot has lost its zero position when the industrial robot is powered on, which comprises: Detecting whether the encoder on the joint axis loses power; If it is detected that the encoder on the joint axis loses power, it is determined that the industrial robot has lost zero position; If it is detected that the encoder on the joint axis is not powered off, it is determined that the industrial robot has not lost its zero position.

3. The method according to claim 1, characterized in that The method further includes a step of detecting whether the industrial robot meets a preset zero position recovery condition when the industrial robot is turned on, which includes: Detecting whether the joint axis rotates after the industrial robot was last shut down; If it is detected that the joint axis rotates after the industrial robot is most recently shut down, it is determined that the industrial robot does not meet the preset zero position recovery condition; If it is detected that the joint axis has not rotated after the industrial robot was most recently shut down, it is determined that the industrial robot meets a preset zero-position recovery condition.

4. The method according to claim 1, characterized in that The step of determining the high-loop position of the zero-position interface encoder of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down comprises: Determining the encoder high circle position of the joint shaft according to the encoder position of the joint shaft; According to the encoder high-circle position of the joint shaft and the initial zero-position interface encoder high-circle position of the joint shaft, the latest zero-position interface encoder high-circle position of the joint shaft is obtained.

5. The method according to claim 4, characterized in that The step of obtaining the latest zero position interface encoder high circle position of the joint shaft according to the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft comprises: According to the difference between the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft, the latest zero position interface encoder high circle position of the joint shaft is obtained.

6. The method according to claim 5, characterized in that The latest zero position interface encoder high circle position of the joint axis satisfies the following formula: ΔH=H1-H0 H2=0-ΔH Among them, H0 is the initial zero position interface encoder high circle position of the joint shaft, H1 is the encoder high circle position of the joint shaft, ΔH is the difference between the encoder high circle position of the joint shaft and the initial zero position interface encoder high circle position of the joint shaft, and H2 is the latest zero position interface encoder high circle position of the joint shaft.

7. The method according to claim 1, characterized in that The step of performing zero position recovery on the industrial robot based on the latest zero position interface encoder high circle position of the joint axis comprises: According to the latest high-circle position of the zero-position interface encoder of the joint axis, the zero position of the encoder on the joint axis is set to perform zero-position recovery on the industrial robot.

8. A zero position recovery device, characterized in that: A control device applied to an industrial robot, wherein the industrial robot further comprises a joint axis, and the device comprises: A determination module, configured to determine the latest zero position interface encoder high circle position of the joint axis according to the encoder position of the joint axis stored when the industrial robot was last shut down, if it is detected that the industrial robot has lost its zero position and the industrial robot meets a preset zero position recovery condition when the industrial robot is turned on; The processing module is used to restore the zero position of the industrial robot based on the latest zero position interface encoder high circle position of the joint axis.

9. A control device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the zero-bit recovery method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: It stores a computer program, and the computer program is executed by a processor to implement the zero-bit recovery method as claimed in any one of claims 1 to 7.

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