Remote monitoring system of industrial robot, control method and related product

Abstract

The embodiment of the invention provides a remote monitoring system of an industrial robot, a control method and a related product. The remote monitoring system comprises the industrial robot, a connection module and a remote user interface module, the industrial robot comprises a servo controller and a robot control module. The robot controller is used for sending robot task data to the servo controller; a storage unit is deployed in the servo controller, and the storage unit is connected with the remote user interface module through the connection module; the storage unit is used for storing the robot task data and the servo control data generated by the servo controller; and the control module is used for sending the robot task data and the servo control data to the remote user interface module through the connection module for display. Through the embodiment of the invention, the working efficiency can be improved, and all data of the industrial robot can be managed better and more safely.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a remote monitoring system for an industrial robot, a control method for an industrial robot, a control device for an industrial robot, an electronic device and a computer-readable storage medium. Background Art

[0002] Traditional robot monitoring systems usually require manual inspection and operation, which has some problems, such as limiting the operator's real-time response capabilities, causing human negligence and safety hazards, and high labor costs. Summary of the invention

[0003] In view of the above problems, a remote monitoring system for an industrial robot, a control method for an industrial robot, a control device for an industrial robot, an electronic device and a computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A remote monitoring system for an industrial robot, the remote monitoring system comprising: an industrial robot, a connection module and a remote user interface module; the industrial robot comprises: a servo controller and a robot control module;

[0005] The robot controller is used to send robot task data to the servo controller;

[0006] The servo controller is used to generate servo control data; a storage unit is disposed in the servo controller, and the storage unit is connected to the remote user interface module through the connection module;

[0007] The storage unit is used to store the robot task data and the servo control data generated by the servo controller; and is used to send the robot task data and the servo control data to the remote user interface module through the connection module for display.

[0008] Optionally, the storage unit is used to send the robot task data and the servo control data to the remote user interface module through the connection module when the industrial robot fails.

[0009] Optionally, the storage unit includes a read-write module and a data storage module;

[0010] The data storage module is used to store the robot task data and the servo control data;

[0011] The read-write module is used to read the robot task data and the servo control data from the data storage module when the industrial robot fails, and send the robot task data and the servo control data to the remote user interface module through the connection module.

[0012] Optionally, the storage unit is further used to output the robot task data and the servo control data through the connection module under power-off conditions.

[0013] Optionally, the connection module includes: a network port and a universal serial bus.

[0014] Optionally, the industrial robot further comprises:

[0015] Servo motor: used to send motor status data to the servo controller.

[0016] Optionally, the robot task data includes:

[0017] Servo position data, robot motion data, robot trajectory data.

[0018] Optionally, the servo control data includes:

[0019] Servo current data, servo speed data.

[0020] An embodiment of the present invention further provides a control method for an industrial robot, which is applied to the remote monitoring system as described above, and the method comprises:

[0021] Get robot task data;

[0022] storing the robot task data and servo control data generated by the servo controller;

[0023] The robot task data and the servo control data are sent to the remote user interface module through the connection module for display.

[0024] An embodiment of the present invention further provides a control device for an industrial robot, which is applied to the remote monitoring system as described above, and the device comprises:

[0025] Acquisition module, obtains robot task data;

[0026] A storage module, used for storing the robot task data and the servo control data generated by the servo controller;

[0027] The sending module is used to send the robot task data and the servo control data to the remote user interface module through the connection module for display.

[0028] An embodiment of the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above industrial robot control method when executed by the processor.

[0029] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of the industrial robot as described above is implemented.

[0030] The embodiments of the present invention have the following advantages:

[0031] In an embodiment of the present invention, a remote monitoring system includes: an industrial robot, a connection module and a remote user interface module; the industrial robot includes: a servo controller and a robot control module; the robot controller is used to send robot task data to the servo controller; a storage unit is deployed in the servo controller, and the storage unit is connected to the remote user interface module through the connection module; the storage unit is used to store the robot task data and the servo control data generated by the servo controller; and, the robot task data and the servo control data are sent to the remote user interface module through the connection module for display. Through the embodiment of the present invention, various states of the operation of the industrial robot can be collected and stored in real time, and the data of various states can be sent to the remote user interface module for display, so that maintenance personnel and operators do not need to go to the site, which can improve work efficiency; in addition, since the data of the industrial robot is stored on the site of the industrial robot, all the data of the industrial robot can be better and more safely managed. Based on the embodiment of the present invention, the problem of high labor cost of on-site monitoring and investigation of industrial robots, as well as the problem of high cost and confidential data security of industrial robot monitoring cloud servers can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0033] Figure 1 is a structural schematic diagram of a remote monitoring system for an industrial robot according to an embodiment of the present invention;

[0034] Figure 2a is a schematic structural diagram of another remote monitoring system for an industrial robot according to an embodiment of the present invention;

[0035] Figure 2b is a schematic structural diagram of another remote monitoring system for an industrial robot according to an embodiment of the present invention;

[0036] Figure 3 is a flow chart of steps of data interaction based on a remote monitoring system according to an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of data interaction based on a remote monitoring system according to an embodiment of the present invention;

[0038] Figure 5 is a flowchart of a method for controlling an industrial robot according to an embodiment of the present invention;

[0039] Figure 6 It is a structural schematic diagram of a control device for an industrial robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. 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.

[0041] In order to solve the problem of high labor cost for on-site monitoring and inspection of industrial robots, as well as the problem of high cost of industrial robot monitoring cloud servers and confidential data security, an embodiment of the present invention provides a remote monitoring system for industrial robots. The remote monitoring system can collect and store various operating states of the industrial robot in real time, and send the data of various states to the remote user interface module for display, thereby eliminating the need for maintenance personnel and operators to go to the site, thereby improving work efficiency; in addition, since the data of the industrial robot is stored on-site of the industrial robot, all data of the industrial robot can be better and more securely managed.

[0042] For details, please refer to Figure 1 , shows a remote monitoring system for an industrial robot according to an embodiment of the present invention.

[0043] like Figure 1 As shown, the remote monitoring system 10 may include: an industrial robot 110, a connection module 120 and a remote user interface module 130. Among them:

[0044] Industrial robots 110 are automated devices that are typically used to perform various manufacturing and production tasks. They can be programmed to perform highly repetitive, high-precision tasks, thereby increasing production efficiency, reducing labor costs, and improving product quality. The types of industrial robots 110 can be any of the following:

[0045] Cartesian robots: Move in a rectangular coordinate system and are suitable for situations where precise position control is required.

[0046] SCARA (Selective Compliance Assembly Robot Arm, planar articulated robot): suitable for high-speed, high-precision assembly tasks in the horizontal direction.

[0047] Six-axis robot: With six degrees of freedom, it is suitable for complex assembly and processing tasks.

[0048] Collaborative robots: designed to work safely alongside human workers.

[0049] Delta Robot: A high-speed, high-precision parallel robot suitable for rapid pick and place tasks.

[0050] The industrial robot 110 can be used in welding, spraying, assembly and other scenarios in automobile manufacturing, circuit board assembly, testing and other scenarios in electronic manufacturing, packaging, sorting, cutting and other scenarios in food processing, drug packaging, laboratory operations and other scenarios in the pharmaceutical industry, and handling, sorting, palletizing and other scenarios in logistics and warehousing, but the embodiments of the present invention do not limit this.

[0051] The remote user interface module 130 can be used to display data corresponding to various states of the industrial robot 110. It can be set at a location far away from the industrial robot 110, so that maintenance personnel and operators do not need to arrive at the site, thereby improving work efficiency.

[0052] The connection module 120 can be used to connect the industrial robot 110 and the remote user interface module 130; illustratively, the connection module 120 can connect the industrial robot 110 and the remote user interface module 130 wirelessly, or can connect the industrial robot 110 and the remote user interface module 130 by wire, which is not limited by the embodiment of the present invention.

[0053] In the embodiment of the present invention, the industrial robot 110 includes: a servo driver 111 and a robot control module;

[0054] The robot controller 112 is used to send robot task data to the servo driver 111;

[0055] A storage unit 1111 is disposed in the servo driver 111 , and the storage unit 1111 is connected to the remote user interface module 130 via the connection module 120 ;

[0056] The storage unit 1111 is used to store the robot task data and the servo control data generated by the servo driver 111; and to send the robot task data and the servo control data to the remote user interface module 130 through the connection module 120 for display.

[0057] In practical applications, the servo driver 111 and the robot control module are key components in the industrial robot 110. They work together to ensure that the industrial robot 110 can perform various tasks accurately and efficiently. The servo driver 111 and the robot controller 112 are responsible for the robot's trajectory, posture, speed and other motion control and data processing. Among them:

[0058] The robot control module is the "brain" of the industrial robot 110 and is responsible for the motion control and task execution of the entire industrial robot 110. It usually includes a main controller, an input / output interface, a communication module, etc. The robot control module can plan the motion path and action sequence of the industrial robot 110 according to the task requirements. It can also manage and schedule the execution order and priority of multiple tasks. In addition, the robot control module can also receive and process data from various sensors, such as visual sensors, force sensors, etc.

[0059] In the embodiment of the present invention, data corresponding to various states of the industrial robot 110 may be stored in the local site of the industrial robot 110; specifically, the robot controller 112 may send the robot task data generated by it to the servo driver 111 to send the robot to store. The robot task data may be data generated by the robot task data, and the embodiment of the present invention does not limit this.

[0060] In practical applications, the servo driver 111 may be used to generate servo control data, and may also be used to store the servo control data and robot task data sent by the robot controller 112 .

[0061] Exemplarily, a storage unit 1111 may be disposed in the servo driver 111 , and the storage unit 1111 may be used to store robot task data and servo control data generated by the servo driver 111 .

[0062] In actual applications, after receiving the robot task data sent by the robot controller 112 , the servo driver 111 can generate servo control data based on the robot task data in addition to storing the robot task data.

[0063] The storage unit 1111 in the servo driver 111 can be connected to the remote user interface module 130 via the connection module 120; the storage unit 1111 can be used to send the robot task data and servo control data to the remote user interface module 130 for display via the connection module 120; thus, maintenance personnel can view the robot task data and servo control data of the industrial robot 110 on the remote user interface module 130, thereby monitoring and maintaining the industrial robot 110.

[0064] In the embodiment of the present invention, the remote monitoring system 10 includes: an industrial robot 110, a connection module 120 and a remote user interface module 130; the industrial robot 110 includes: a servo driver 111 and a robot control module; a robot controller 112, which is used to send robot task data to the servo driver 111; a storage unit 1111 is deployed in the servo driver 111, and the storage unit 1111 is connected to the remote user interface module 130 through the connection module 120; the storage unit 1111 is used to store the robot task data and the servo control data generated by the servo driver 111; and is used to send the robot task data and the servo control data to the remote user interface module 130 through the connection module 120 for display. Through the embodiment of the present invention, various operating states of the industrial robot 110 can be collected and stored in real time, and the data of various states can be sent to the remote user interface module 130 for display, so that maintenance personnel and operators do not need to go to the site, which can improve work efficiency; in addition, since the data of the industrial robot 110 is stored on the site of the industrial robot 110, all data of the industrial robot 110 can be better and more safely managed. Based on the embodiments of the present invention, the problem of high labor cost for on-site monitoring and inspection of the industrial robot 110, as well as the problem of high cost and confidential data security for monitoring the cloud server by the industrial robot 110 can be solved.

[0065] In one embodiment of the present invention, the storage unit 1111 is used to send the robot task data and the servo control data to the remote user interface module 130 through the connection module 120 when the industrial robot 110 fails.

[0066] In some feasible embodiments, the storage unit 1111 can send the robot task data and servo control data to the remote user interface module 130 through the connection module 120 when the industrial robot 110 fails, so that maintenance personnel can diagnose and repair the industrial robot 110 based on the robot task data and servo control data displayed by the remote user interface module 130, thereby eliminating the need for maintenance personnel to arrive at the site, thereby improving work efficiency.

[0067] Exemplarily, during the operation of the industrial robot 110 , the robot controller 112 may send the robot task data generated by it to the servo driver 111 to send the robot.

[0068] After receiving the robot task data sent by the robot controller 112 , the servo driver 111 can generate servo control data based on the robot task data in addition to storing the robot task data.

[0069] When the working state of the industrial robot 110 is abnormal, the storage unit 1111 can send the robot task data and servo control data to the remote user interface module 130 through the connection module 120 for display, so that maintenance personnel can monitor the status of the industrial robot 110 in real time.

[0070] In one embodiment of the present invention, the storage unit 1111 includes a read-write module 1112 and a data storage module 1113;

[0071] Data storage module 1113, used to store robot task data and servo control data;

[0072] The read / write module 1112 is used to read the robot task data and servo control data from the data storage module 1113 when the industrial robot 110 fails, and send the robot task data and servo control data to the remote user interface module 130 through the connection module 120.

[0073] In some feasible embodiments, the storage unit 1111 may include a read-write module 1112 and a data storage module 1113 ; wherein the data storage module 1113 may be used to store robot task data and servo control data.

[0074] Exemplarily, the data storage module 1113 may be a non-volatile memory, such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an NVRAM (Non-Volatile Random Access Memory), an SRAM (Static Random Access Memory), a solid state drive (SSD), a hard disk drive (HDD), etc., and the embodiment of the present invention does not limit this.

[0075] The read / write module 1112 can be used to write the robot task data and the servo control data generated by the servo driver 111 into the data storage module 1113, and can also be used to read the robot task data and the servo control data generated by the servo driver 111 from the data storage module 1113 when necessary.

[0076] Exemplarily, during the operation of the industrial robot 110 , the robot controller 112 may send the robot task data generated by it to the servo driver 111 to send the robot.

[0077] After receiving the robot task data, the read-write module 1112 of the storage unit 1111 of the servo driver 111 may write the robot task data into the data storage module 1113 for storage.

[0078] On the other hand, after the servo driver 111 generates the servo control data, the read / write module 1112 may also write the servo control data into the data storage module 1113 for storage.

[0079] When the industrial robot 110 fails, the read-write module 1112 can read the robot task data and servo control data stored in the data storage module 1113 from the data storage module 1113, and send the robot task data and servo control data to the remote user interface module 130 through the connection module 120.

[0080] After obtaining the stored robot task data and servo control data, the remote user interface module 130 can organize them and display them according to a preset display layout so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot 110.

[0081] In one embodiment of the present invention, the storage unit 1111 is also used to output the robot task data and the servo control data through the connection module 120 when the power is off.

[0082] In some feasible embodiments, the storage unit 1111 can also be used to output robot task data and servo control data through the connection module 120 under power-off conditions, so that in the event of a power outage, the robot task data and servo control data stored in the storage unit 1111 can be transmitted to the on-site remote user interface module 130 for display and monitoring.

[0083] Exemplarily, when the storage unit 1111 includes a read-write module 1112 and a data storage module 1113, the read-write module 1112 can be used to write the robot task data and the servo control data generated by the servo driver 111 into the data storage module 1113, and can also be used to read the robot task data and the servo control data generated by the servo driver 111 from the data storage module 1113 when necessary.

[0084] Specifically, the robot controller 112 may send the robot task data generated by it to the servo driver 111 to send the robot.

[0085] After receiving the robot task data, the read-write module 1112 of the storage unit 1111 of the servo driver 111 may write the robot task data into the data storage module 1113 for storage.

[0086] On the other hand, after the servo driver 111 generates the servo control data, the read / write module 1112 may also write the servo control data into the data storage module 1113 for storage.

[0087] When the industrial robot 110 is in a power-off condition, the read-write module 1112 can read the robot task data and servo control data stored in the data storage module 1113 from the data storage module 1113, and send the robot task data and servo control data to the remote user interface module 130 through the connection module 120.

[0088] After obtaining the stored robot task data and servo control data, the remote user interface module 130 can organize them and display them according to a preset display layout so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot 110.

[0089] In one embodiment of the present invention, the connection module 120 includes: a network port and a universal serial bus.

[0090] In some feasible embodiments, the connection module 120 may include a network port and a universal serial bus; illustratively, during the operation of the industrial robot 110, the robot controller 112 may send the robot task data generated by it to the servo driver 111 to send the robot.

[0091] After receiving the robot task data, the read-write module 1112 of the storage unit 1111 of the servo driver 111 may write the robot task data into the data storage module 1113 for storage.

[0092] On the other hand, after the servo driver 111 generates the servo control data, the read / write module 1112 may also write the servo control data into the data storage module 1113 for storage.

[0093] After the robot task data and servo control data are written into the data storage module 1113, in response to the displayed instructions, the read-write module 1112 can read the robot task data and servo control data from the data storage module 1113, and send the robot task data and servo control data to the remote user interface module 130 through the network port and the universal serial bus.

[0094] After obtaining the stored robot task data and servo control data, the remote user interface module 130 can organize them and display them according to a preset display layout so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot 110.

[0095] When the industrial robot 110 is in a power-off condition, the read-write module 1112 can read the robot task data and servo control data stored in the data storage module 1113 from the data storage module 1113, and send the robot task data and servo control data to the remote user interface module 130 through the network port and the universal serial bus.

[0096] After obtaining the stored robot task data and servo control data, the remote user interface module 130 can organize them and display them according to a preset display layout so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot 110.

[0097] When the industrial robot 110 fails, the read-write module 1112 can also read the robot task data and servo control data stored in the data storage module 1113 from the data storage module 1113, and send the robot task data and servo control data to the remote user interface module 130 through the network port and the universal serial bus.

[0098] In one embodiment of the present invention, Figure 2a and Figure 2b As shown, the industrial robot 110 also includes:

[0099] Servo motor 113: used to send motor status data to the servo driver 111.

[0100] The servo motor 113 is a high-precision, high-performance motor used in applications requiring precise position and speed control. It can respond quickly to control signals and achieve precise motion control.

[0101] The servo driver 111 is an electronic device that controls the operation of the servo motor 113. It receives instructions from the robot control module and adjusts the speed and position of the servo motor 113 according to these instructions.

[0102] Specifically, the servo driver 111 can receive and process control signals from the robot control module and adjust the operating state of the motor through feedback signals (such as encoder signals). It can accurately control the speed and position of the motor and provide protection functions such as overload and overheating to ensure the safe operation of the industrial robot 110.

[0103] After receiving the motor status data sent by the servo motor 113, the servo driver 111 can store the data and regenerate the servo control data according to the motor status data and send it to the servo motor 113 for motor control; or upload it to the robot controller 112 for data processing. Specifically, after receiving the motor status data sent by the servo motor 113, the servo driver 111 can also perform a variety of functions and operations to ensure accurate control and efficient operation of the system. For example:

[0104] The servo driver 111 monitors the actual position, speed and acceleration of the motor in real time by receiving feedback signals (such as encoder signals) from the servo motor 113. Based on these feedback data, the servo driver 111 can adjust the control signal of the motor to achieve precise position and speed control.

[0105] By comparing the target position and the actual position, the servo driver 111 can calculate the position error and adjust the control signal according to the error size to reduce the error.

[0106] The servo driver 111 can adjust the control signal according to the actual speed and acceleration data of the motor to achieve a smooth acceleration and deceleration process.

[0107] The servo driver 111 can monitor the current, temperature and other status data of the motor to determine whether there is an overload or fault. Once an abnormality is detected, the controller can take corresponding protective measures, such as reducing the output power, stopping the motor operation or issuing an alarm.

[0108] The servo driver 111 can automatically adjust control parameters according to the actual operating state of the motor to adapt to different working environments and load conditions.

[0109] The servo driver 111 can record the operation data of the motor, such as position, speed, current, temperature, etc., and upload these data to the host computer or cloud platform for analysis. Through data analysis, the control strategy can be optimized to improve the performance and efficiency of the system.

[0110] Based on the state data of the motor, the servo driver 111 can continuously optimize the control strategy, such as adjusting PID (Proportional-Integral-Derivative) parameters and switching control modes (such as position control, speed control, force control, etc.) to improve the response speed and control accuracy of the system.

[0111] In some possible embodiments,

[0112] The motor status data includes: motor position data and motor speed data.

[0113] Among them, the motor position data and motor speed data are two key feedback signals in the servo control system. They measure the actual position and speed of the motor in real time through sensors and are used for closed-loop control. The following is a detailed explanation of these two data:

[0114] Motor position data refers to the current physical position information of the motor, which is usually measured by sensors such as encoders or resolvers.

[0115] The motor speed data refers to the current movement speed information of the motor, which is usually calculated by the differential of the position data (ie, the rate of position change) or directly measured by a speed sensor.

[0116] In practical applications, the servo motor 113 may send the motor position data and the motor speed data to the servo driver 111 , and the servo driver 111 may send the motor position data and the motor speed data to the robot controller 112 .

[0117] In the embodiment of the present invention, data corresponding to various states of the industrial robot 110 may be stored in the local site of the industrial robot 110; specifically, the robot controller 112 may also send the robot task data generated by it to the servo driver 111 to send the robot to store. The robot task data may be data generated by the robot task data and used to control the servo motor 113, which is not limited in the embodiment of the present invention.

[0118] In actual applications, after receiving the robot task data sent by the robot controller 112 , the servo driver 111 can not only store the robot task data but also generate servo control data based on the robot task data and send the data to the servo motor 113 for control.

[0119] After receiving the robot task data sent by the robot controller 112 , the servo driver 111 can store the robot task data and generate servo control data based on the robot task data and send the data to the servo motor 113 for control.

[0120] In one embodiment of the present invention, the robot task data includes: servo position data, robot motion data, and robot trajectory data.

[0121] The servo position data is the data sent by the servo driver 111 to the robot controller 112, including: motor position data, servo current data, and servo speed data. The robot motion data is the basic motion instructions sent manually to the industrial robot 110, such as linear motion, joint motion, and circular motion instructions. The robot trajectory data is the trajectory feedback data of the actual motion of the robot, such as path, position, and time.

[0122] In one embodiment of the present invention, the servo control data includes: servo current data and servo speed data.

[0123] Servo current data and servo speed data are two key control signals in the servo control system. They are generated by the controller to control the output of the motor. The following is a detailed explanation of these two data:

[0124] The servo current data is a current command generated by the servo driver 111 according to the control algorithm and the feedback signal. It is used to control the torque output of the motor.

[0125] The servo speed data is a speed command generated by the servo driver 111 according to the control algorithm and the feedback signal. It is used to control the speed output of the motor.

[0126] In some feasible embodiments, the servo driver 111 may send the servo current data and the servo speed data to the storage unit 1111 , and the robot controller 112 may send the servo position data, the robot motion data, and the robot trajectory data to the storage unit 1111 for data storage.

[0127] When the robot is in an abnormal working state, the reading module will read out and call the data in the data storage module 1113, and transmit it to the remote user interface module 130 through the Internet for display so that maintenance personnel can monitor it.

[0128] In case of power failure, the storage unit 1111 transmits data to the on-site remote user interface module 130 via USB and network port for display monitoring.

[0129] For example, Figure 3 As shown, the storage unit 1111 obtains data such as servo current, speed, position and robot motion, trajectory, alarm, etc. from the servo driver 111 and the robot controller 112, and writes these data into the storage unit 1111 for storage.

[0130] When the industrial robot 110 is in an abnormal working state, the data in the storage unit 1111 is read out and called, and transmitted to the remote user interface module 130 through the Internet for display.

[0131] like Figure 4 As shown, the storage unit 1111 may include a read-write module 1112 and a data storage module 1113 ; the storage unit 1111 may be connected to the remote user interface module 130 .

[0132] Based on the above remote monitoring system, the embodiment of the present invention also provides a control method for an industrial robot; specifically, refer to Figure 5 , shows a step flow chart of a control method for an industrial robot according to an embodiment of the present invention.

[0133] like Figure 5 As shown, the control method of the industrial robot may include the following steps:

[0134] Step 501: Obtain robot task data.

[0135] The robot controller may send the robot task data generated by it to the servo controller sending robot. The robot task data may be data generated by the robot task data, which is not limited in the embodiment of the present invention.

[0136] Step 502: Store robot task data and servo control data generated by a servo controller.

[0137] In practical applications, the servo controller can be used to generate servo control data, and can also be used to store the servo control data and robot task data sent by the robot controller.

[0138] Exemplarily, a storage unit may be disposed in the servo controller, and the storage unit may be used to store robot task data and servo control data generated by the servo controller.

[0139] In practical applications, after receiving the robot task data sent by the robot controller, the servo controller can generate servo control data based on the robot task data in addition to storing the data.

[0140] Step 503: Send the robot task data and servo control data to the remote user interface module through the connection module for display.

[0141] The storage unit in the servo controller can be connected to the remote user interface module through the connection module; the storage unit can be used to send the robot task data and servo control data to the remote user interface module through the connection module for display; thus, maintenance personnel can view the robot task data and servo control data of the industrial robot in the remote remote user interface module, thereby monitoring and maintaining the industrial robot.

[0142] In one embodiment of the present invention, in one embodiment of the present invention, the storage unit is used to send the robot task data and servo control data to the remote user interface module through the connection module when the industrial robot fails.

[0143] In some feasible embodiments, when an industrial robot fails, the storage unit can send the robot task data and servo control data to the remote user interface module through the connection module, so that maintenance personnel can diagnose and repair the industrial robot based on the robot task data and servo control data displayed by the remote user interface module, thereby eliminating the need for maintenance personnel to arrive at the site and improving work efficiency.

[0144] Exemplarily, during the operation of the industrial robot, the robot controller may send the robot task data generated by it to the servo controller sending robot.

[0145] After receiving the robot task data sent by the robot controller, the servo controller can generate servo control data based on the robot task data in addition to storing the robot task data.

[0146] When the working state of the industrial robot is abnormal, the storage unit can send the robot task data and servo control data to the remote user interface module through the connection module for display, so that maintenance personnel can monitor the status of the industrial robot in real time.

[0147] In one embodiment of the present invention, the storage unit may include a read-write module and a data storage module; wherein the data storage module may be used to store robot task data and servo control data.

[0148] The read-write module can be used to write the robot task data and the servo control data generated by the servo controller into the data storage module, and can also be used to read the robot task data and the servo control data generated by the servo controller from the data storage module when needed.

[0149] Exemplarily, during the operation of the industrial robot, the robot controller may send the robot task data generated by it to the servo controller sending robot.

[0150] After receiving the robot task data, the read-write module of the storage unit of the servo controller can write the robot task data into the data storage module for storage.

[0151] On the other hand, after the servo controller generates the servo control data, the read-write module may also write the servo control data into the data storage module for storage.

[0152] When the industrial robot fails, the read-write module can read the robot task data and servo control data stored in the data storage module from the data storage module, and send the robot task data and servo control data to the remote user interface module through the connection module.

[0153] After obtaining the stored robot task data and servo control data, the remote user interface module can organize them and display the stored robot task data and servo control data according to a preset display layout, so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot.

[0154] In one embodiment of the present invention, in some feasible embodiments, the storage unit can also be used to output robot task data and servo control data through the connection module under power-off conditions, so that in the event of a power outage, the robot task data and servo control data stored in the storage unit can be transmitted to the on-site remote user interface module for display and monitoring.

[0155] Exemplarily, when the storage unit includes a read-write module and a data storage module, the read-write module can be used to write the robot task data and the servo control data generated by the servo controller into the data storage module, and can also be used to read the robot task data and the servo control data generated by the servo controller from the data storage module when needed.

[0156] Specifically, the robot controller may send the robot task data generated by it to the servo controller sending robot.

[0157] After receiving the robot task data, the read-write module of the storage unit of the servo controller can write the robot task data into the data storage module for storage.

[0158] On the other hand, after the servo controller generates the servo control data, the read-write module may also write the servo control data into the data storage module for storage.

[0159] When the industrial robot is in a power-off condition, the read-write module can read the robot task data and servo control data stored in the data storage module from the data storage module, and send the robot task data and servo control data to the remote user interface module through the connection module.

[0160] After obtaining the stored robot task data and servo control data, the remote user interface module can organize them and display the stored robot task data and servo control data according to a preset display layout, so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot.

[0161] In one embodiment of the present invention, the connection module may include a network port and a universal serial bus; illustratively, during the operation of the industrial robot, the robot controller may send the robot task data generated by it to the servo controller sending robot.

[0162] After receiving the robot task data, the read-write module of the storage unit of the servo controller can write the robot task data into the data storage module for storage.

[0163] On the other hand, after the servo controller generates the servo control data, the read-write module may also write the servo control data into the data storage module for storage.

[0164] After the robot task data and servo control data are written into the data storage module, in response to the displayed instructions, the read-write module can read the robot task data and servo control data from the data storage module, and send the robot task data and servo control data to the remote user interface module through the network port and the universal serial bus.

[0165] After obtaining the stored robot task data and servo control data, the remote user interface module can organize them and display the stored robot task data and servo control data according to a preset display layout, so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot.

[0166] When the industrial robot is in a power-off condition, the read-write module can read the robot task data and servo control data stored in the data storage module from the data storage module, and send the robot task data and servo control data to the remote user interface module through the network port and the universal serial bus.

[0167] After obtaining the stored robot task data and servo control data, the remote user interface module can organize them and display the stored robot task data and servo control data according to a preset display layout, so that maintenance personnel can remotely view the data corresponding to various states of the industrial robot.

[0168] When the industrial robot fails, the read-write module can also read the robot task data and servo control data stored in the data storage module from the data storage module, and send the robot task data and servo control data to the remote user interface module through the network port and the universal serial bus.

[0169] In one embodiment of the present invention, the servo controller can receive and process control signals from the robot control module and adjust the operating state of the motor through feedback signals (such as encoder signals). It can accurately control the speed and position of the motor and provide protection functions such as overload and overheating to ensure the safe operation of the industrial robot.

[0170] After receiving the motor status data sent by the servo motor, the servo controller can store the data and regenerate the servo control data based on the motor status data and send it to the servo motor for motor control; or upload it to the robot controller for data processing. Specifically, after receiving the motor status data sent by the servo motor, the servo controller can also perform a variety of functions and operations to ensure accurate control and efficient operation of the system. For example:

[0171] The servo driver can send servo current data and servo speed data to the storage unit, and the robot controller can send servo position data, robot motion data, and robot trajectory data to the storage unit for data storage.

[0172] When the robot's working state is abnormal, the reading module will read and call the data in the data storage module, and transmit it to the remote user interface module through the Internet for display so that maintenance personnel can monitor it.

[0173] In case of power failure, the storage unit transmits data via USB and network port to the on-site remote user interface module for display and monitoring.

[0174] In an embodiment of the present invention, robot task data is acquired; robot task data and servo control data generated by a servo controller are stored; and robot task data and servo control data are sent to a remote user interface module through a connection module for display. Through the embodiment of the present invention, various operating states of industrial robots can be collected and stored in real time, and data of various states can be sent to a remote user interface module for display, thereby eliminating the need for maintenance personnel and operators to go to the site, which can improve work efficiency; in addition, since the data of the industrial robot is stored at the site of the industrial robot, all data of the industrial robot can be managed better and more safely. Based on the embodiment of the present invention, the problem of high labor costs for on-site monitoring and troubleshooting of industrial robots, as well as the problems of high costs of industrial robot monitoring cloud servers and confidential data security can be solved.

[0175] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0176] Reference Figure 6 , shows a schematic structural diagram of a control device for an industrial robot according to an embodiment of the present invention, which is applied to the remote monitoring system mentioned in the above embodiment.

[0177] like Figure 6 As shown, the control device of the industrial robot may include the following modules:

[0178] Acquisition module 601, acquiring robot task data;

[0179] The storage module 602 is used to store robot task data and servo control data generated by the servo controller;

[0180] The sending module 603 is used to send the robot task data and servo control data to the remote user interface module through the connection module for display.

[0181] In an embodiment of the present invention, robot task data is acquired; robot task data and servo control data generated by a servo controller are stored; and robot task data and servo control data are sent to a remote user interface module through a connection module for display. Through the embodiment of the present invention, various operating states of industrial robots can be collected and stored in real time, and data of various states can be sent to a remote user interface module for display, thereby eliminating the need for maintenance personnel and operators to go to the site, which can improve work efficiency; in addition, since the data of the industrial robot is stored at the site of the industrial robot, all data of the industrial robot can be managed better and more safely. Based on the embodiment of the present invention, the problem of high labor costs for on-site monitoring and troubleshooting of industrial robots, as well as the problems of high costs of industrial robot monitoring cloud servers and confidential data security can be solved.

[0182] An embodiment of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above-mentioned industrial robot control method is implemented.

[0183] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned industrial robot control method is implemented.

[0184] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0185] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0186] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0187] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0188] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0189] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0190] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0191] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0192] The above provides a detailed introduction to a remote monitoring system for an industrial robot, a control method for an industrial robot, a control device for an industrial robot, an electronic device and a computer-readable storage medium. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A remote monitoring system for an industrial robot, characterized in that: The remote monitoring system comprises: an industrial robot, a connection module and a remote user interface module; the industrial robot comprises: a servo controller and a robot control module; The robot controller is used to send robot task data to the servo controller; The servo controller is used to generate servo control data; a storage unit is disposed in the servo controller, and the storage unit is connected to the remote user interface module through the connection module; The storage unit is used to store the robot task data and the servo control data generated by the servo controller; and is used to send the robot task data and the servo control data to the remote user interface module through the connection module for display.

2. The remote monitoring system according to claim 1, characterized in that: The storage unit is used to send the robot task data and the servo control data to the remote user interface module through the connection module when the industrial robot fails.

3. The remote monitoring system according to claim 2, characterized in that: The storage unit includes a read-write module and a data storage module; The data storage module is used to store the robot task data and the servo control data; The read-write module is used to read the robot task data and the servo control data from the data storage module when the industrial robot fails, and send the robot task data and the servo control data to the remote user interface module through the connection module.

4. The remote monitoring system according to claim 1, characterized in that: The storage unit is also used to output the robot task data and the servo control data through the connection module under power-off conditions.

5. The remote monitoring system according to claim 4, characterized in that: The connection module includes: a network port and a universal serial bus.

6. The remote monitoring system according to claim 1, characterized in that: The industrial robot also includes: Servo motor: used to send motor status data to the servo controller.

7. The remote monitoring system according to claim 1, characterized in that: The robot task data includes: Servo position data, robot motion data, robot trajectory data.

8. The remote monitoring system according to claim 1, characterized in that: The servo control data includes: Servo current data, servo speed data.

9. A control method for an industrial robot, characterized in that: Applied to the remote monitoring system according to any one of claims 1 to 8, the method comprises: Get robot task data; storing the robot task data and servo control data generated by the servo controller; The robot task data and the servo control data are sent to the remote user interface module through the connection module for display.

10. A control device for an industrial robot, characterized in that: Applied to the remote monitoring system according to any one of claims 1 to 8, the device comprises: Acquisition module, obtains robot task data; A storage module, used for storing the robot task data and the servo control data generated by the servo controller; The sending module is used to send the robot task data and the servo control data to the remote user interface module through the connection module for display.

11. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the control method of the industrial robot as claimed in claim 9 when executed by the processor.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the industrial robot as claimed in claim 9 is implemented.

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