Displacement control method for industrial robot

Abstract

The invention relates to the technical field of robots, and discloses an industrial robot displacement control method which comprises the following steps: step 1, establishing a data storage module, a data analysis module, a data optimization module and a data control module; 2, industrial data are stored in a data storage module, and robot movement track data are collected; 3, performing data calculation in a data analysis module; 4, using the calculated data in a data optimization module to adjust module parameters, and optimizing a system control function; and step 5, an optimization implementation command is given to the data control module, the system can perform stability judgment according to a calculation result, timely send a danger prompt alarm to related departments and take corresponding safety measures, such as pausing the motion of the robot or adjusting motion parameters of the robot, so that the motion track of the robot is timely adjusted, and the safety of the robot is improved. And it is ensured that the robot moves according to an expected path, and the collision risk caused by inaccurate displacement can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a displacement control method for an industrial robot. Background Art

[0002] In traditional industrial robot operation, due to the inability to reasonably control displacement, the robot is prone to collision with the surrounding environment during movement. This not only affects production efficiency, but may also cause equipment damage and safety hazards. In order to solve this problem, it is particularly important to study an effective industrial robot displacement control method.

[0003] Most existing industrial robots are programmed in teaching mode, which is inefficient and depends on the robot's repetitive accuracy. However, in some high-precision operations such as arc welding and laser cutting, not only high repetitive accuracy is required, but also high absolute positioning accuracy. Traditional position control methods are difficult to meet these requirements, especially under the influence of factors such as temperature changes, the robot's absolute positioning accuracy will be affected, resulting in a decrease in the quality of the operation. Therefore, it is necessary to develop a new displacement control method to improve the robot's positioning accuracy and work efficiency. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the shortcomings of the prior art, the present invention provides an industrial robot displacement control method, which has the advantages of safe displacement and precise positioning, and solves the problem that in traditional industrial robot operation, the robot is prone to collision with the surrounding environment during movement due to the inability to reasonably control the displacement.

[0005] (II) Technical solution To achieve the above object, the present invention provides the following technical solution: a displacement control method for an industrial robot, comprising the following steps: Step 1: Establish a data storage module, a data analysis module, a data optimization module and a data control module; Step 2: Storing industrial data and collecting robot activity trajectory data in the data storage module; Step 3: Perform data calculation in the data analysis module; Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function; Step 5: Issue optimization implementation commands in the data control module.

[0006] Preferably, the data storage module includes a robot performance data unit, a robot operation data unit and a robot fault data unit. The robot performance data unit obtains robot performance data through position sensors, speed sensors and torque sensors installed in the system. The robot operation data unit obtains robot operation data online through monitoring equipment. The robot fault data unit obtains robot fault data through monitoring equipment and historical fault data. The robot performance data unit, robot operation data unit and robot fault data unit collect statistics on the internal data of the units and then connect to the data analysis module through the network.

[0007] Preferably, the data analysis module includes a robot displacement overlap unit, a robot displacement fault unit and a robot positioning unit. The robot displacement overlap unit calculates the robot displacement overlap index Jrl according to the robot operation data. The robot displacement fault unit calculates the robot displacement fault incidence rate Gv according to the robot fault data. The robot positioning unit calculates the robot positioning accuracy Scf according to the robot performance data. After calculating the data, the robot displacement overlap unit, the robot displacement fault unit and the robot positioning unit are connected to the data optimization module through the network.

[0008] Preferably, the robot performance data includes recording the coordinates of the position actually reached by the robot and the coordinates of the target position, and numbering the data. The coordinates of the position actually reached by the robot are numbered as follows: , the coordinate number of the robot's target position is .

[0009] Preferably, the robot operation data includes statistics of the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis and the number of times the task is performed after the i-th task is performed, and the data are numbered, and the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis and the number of times the task is performed are numbered respectively. , , , .

[0010] Preferably, the robot failure data counts the total number of operations performed by the robot within a period of time and the number of robot displacement failures, and numbers the data. The total number of operations performed by the robot within the period of time and the number of robot displacement failures are numbered as , .

[0011] Preferably, the robot displacement overlap unit calculates the robot displacement overlap index according to the robot operation data , and its calculation formula is: In the formula, represents the robot displacement coincidence index, , , , They represent the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis and the number of times the task is performed after the i-th task is performed. , , They represent the expected displacement of the robot on the X axis, the expected displacement of the robot on the Y axis, and the expected displacement of the robot on the Z axis. represents the expected displacement.

[0012] Preferably, the robot displacement failure unit calculates the robot displacement failure occurrence rate according to the robot failure data , and its calculation formula is: In the formula, represents the robot displacement failure rate, , They represent the total number of operations performed by the robot and the number of robot displacement failures in a period of time, respectively.

[0013] Preferably, the robot positioning unit calculates the robot positioning accuracy based on the robot performance data , and its calculation formula is: In the formula, Indicates the robot positioning accuracy. Indicates the actual position coordinates reached by the robot. represents the coordinates of the robot's target position, Indicates the maximum acceptable deviation distance in the positioning task.

[0014] Preferably, the data optimization module is based on the robot displacement overlap index Positioning accuracy with robot , adjust the maximum translation speed, minimum translation speed, maximum translation angle and minimum translation angle in the module, according to the robot displacement failure rate The acceleration limit, target tolerance parameter and oscillation reset distance in the adjustment module; the data control module issues an optimization implementation command according to the adjusted parameters.

[0015] Compared with the prior art, the present invention provides an industrial robot displacement control method, which has the following beneficial effects: 1. The present invention introduces the robot displacement coincidence index Calculation of the robot displacement coincidence index When it is close to 1, it means that the deviation between the actual displacement of the robot and the expected displacement is small, indicating that the robot is stable when performing the task. On the contrary, when the robot displacement coincides with the index When it is far from 1, it means that the robot is unstable when performing the task. The system can make stability judgments based on it, issue danger warning alarms to relevant departments in a timely manner, and take corresponding safety measures, such as pausing the robot's movement or adjusting its movement parameters, so as to adjust the robot's movement trajectory in time to ensure that it moves along the expected path, which helps to reduce the risk of collision caused by inaccurate displacement.

[0016] 2. The present invention calculates and analyzes the robot displacement failure rate online The system can monitor the robot's operating status in real time. When the abnormal increase is more than 2%, the system will immediately issue a warning and automatically perform a system maintenance check to avoid potential collision accidents.

[0017] 3. The present invention calculates the robot positioning accuracy , robot positioning accuracy It provides a quantitative indicator for robot performance evaluation. By comparing the positioning accuracy in different tasks or different time periods, it helps to evaluate the performance of the robot under different working conditions, and then optimize the robot's control strategy and working parameters. When the robot frequently has large positioning deviations during the execution of tasks, the positioning accuracy It can help engineers quickly locate problems, such as sensor failure, mechanical structure wear or control obstacles, which helps the system to diagnose and repair faults in a timely manner and reduce downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of 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.

[0020] See also Figure 1 , a displacement control method for an industrial robot, comprising the following steps: Step 1: Establish a data storage module, a data analysis module, a data optimization module and a data control module; Step 2: Storing industrial data and collecting robot activity trajectory data in the data storage module; Step 3: Perform data calculation in the data analysis module; Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function; Step 5: Issue optimization implementation commands in the data control module.

[0021] The data storage module includes a robot performance data unit, a robot operation data unit and a robot fault data unit. The robot performance data unit obtains robot performance data through the position sensor, speed sensor and torque sensor installed in the system. The robot operation data unit obtains robot operation data online through monitoring equipment. The robot fault data unit obtains robot fault data through monitoring equipment and historical fault data. The robot performance data unit, the robot operation data unit and the robot fault data unit collect statistics on the internal data of the unit and then connect to the data analysis module through the network.

[0022] The data analysis module includes a robot displacement overlap unit, a robot displacement fault unit and a robot positioning unit. The robot displacement overlap unit calculates the robot displacement overlap index based on the robot operation data. The robot displacement fault unit calculates the robot displacement fault occurrence rate based on the robot fault data The robot positioning unit calculates the robot positioning accuracy based on the robot performance data ,After the robot displacement overlap unit, the robot displacement fault unit and the robot positioning unit calculate the data, they are connected with the data optimization module through the network.

[0023] The robot performance data includes recording the coordinates of the position the robot actually reaches and the coordinates of the target position, and numbering the data. The coordinate number of the position the robot actually reaches is , the coordinate number of the robot's target position is .

[0024] The robot operation data includes the statistics of the robot's displacement deviation on the X axis, the robot's displacement deviation on the Y axis, the robot's displacement deviation on the Z axis, and the number of times the task is performed after the i-th task is performed, and the data are numbered. The robot's displacement deviation on the X axis, the robot's displacement deviation on the Y axis, the robot's displacement deviation on the Z axis, and the number of times the task is performed are numbered as , , , By counting the above data, the displacement deviation of the robot on the X, Y, and Z axes can be monitored in real time.

[0025] The robot failure data counts the total number of operations performed by the robot and the number of robot displacement failures within a period of time, and numbers the data. The total number of operations performed by the robot and the number of robot displacement failures within a period of time are numbered as , .

[0026] The robot displacement overlap unit calculates the robot displacement overlap index based on the robot operation data , and its calculation formula is: In the formula, represents the robot displacement coincidence index, , , , They represent the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis and the number of times the task is performed after the i-th task is performed. , , They represent the expected displacement of the robot on the X axis, the expected displacement of the robot on the Y axis, and the expected displacement of the robot on the Z axis. represents the expected displacement.

[0027] The advantages are: by introducing the robot displacement coincidence index Calculation of the robot displacement coincidence index When it is close to 1, it means that the deviation between the actual displacement of the robot and the expected displacement is small, indicating that the robot is stable when performing the task. On the contrary, when the robot displacement coincides with the index When it is far from 1, it means that the robot is unstable when performing the task. The system can adjust the robot displacement based on the robot displacement coincidence index. The robot can determine stability within the index range, issue an alarm in time and take corresponding safety measures, such as pausing the robot's motion or adjusting its motion parameters, so as to adjust the robot's motion trajectory in time to ensure that it moves along the expected path, which helps to reduce the risk of collision caused by inaccurate displacement.

[0028] The robot displacement fault unit calculates the robot displacement fault occurrence rate based on the robot fault data , and its calculation formula is: In the formula, represents the robot displacement failure rate, , They represent the total number of operations performed by the robot and the number of robot displacement failures in a period of time, respectively.

[0029] Advantages: By online calculation and analysis of the robot displacement failure rate The system can monitor the robot's operating status in real time. When the abnormal increase is more than 2%, the system will immediately issue a warning and automatically perform a system maintenance check to avoid potential collision accidents.

[0030] The robot positioning unit calculates the robot positioning accuracy based on the robot performance data , and its calculation formula is: In the formula, Indicates the robot positioning accuracy. Indicates the actual position coordinates reached by the robot. represents the coordinates of the robot's target position, Indicates the maximum acceptable deviation distance in the positioning task.

[0031] Advantages: By calculating the robot positioning accuracy , robot positioning accuracy It provides a quantitative indicator for robot performance evaluation. By comparing the positioning accuracy in different tasks or different time periods, it helps to evaluate the performance of the robot under different working conditions, and then optimize the robot's control strategy and working parameters. When the robot frequently has large positioning deviations during the execution of tasks, the positioning accuracy It can help engineers quickly locate problems, such as sensor failure, mechanical structure wear or control obstacles, which helps the system to diagnose and repair faults in a timely manner and reduce downtime.

[0032] The data optimization module is based on the robot displacement overlap index Positioning accuracy with robot , adjust the maximum translation speed, minimum translation speed, maximum translation angle and minimum translation angle in the module, according to the robot displacement failure rate Acceleration limits, target tolerance parameters and oscillation reset distance in the regulation module; The data control module issues optimization implementation commands based on the adjusted parameters.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A displacement control method for an industrial robot, characterized in that: The following steps are involved: Step 1: Establish a data storage module, a data analysis module, a data optimization module and a data control module; Step 2: Storing industrial data and collecting robot activity trajectory data in the data storage module; Step 3: Perform data calculation in the data analysis module; Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function; Step 5: Issue optimization implementation commands in the data control module.

2. The method for controlling displacement of an industrial robot according to claim 1, characterized in that: The data storage module includes a robot performance data unit, a robot operation data unit and a robot fault data unit. The robot performance data unit obtains robot performance data through position sensors, speed sensors and torque sensors installed in the system. The robot operation data unit obtains robot operation data online through monitoring equipment. The robot fault data unit obtains robot fault data through monitoring equipment and historical fault data. The robot performance data unit, robot operation data unit and robot fault data unit collect statistics on the internal data of the units and then connect to the data analysis module through the network.

3. The displacement control method of an industrial robot according to claim 1, characterized in that: The data analysis module includes a robot displacement overlap unit, a robot displacement fault unit and a robot positioning unit. The robot displacement overlap unit calculates the robot displacement overlap index according to the robot operation data. The robot displacement fault unit calculates the robot displacement fault occurrence rate according to the robot fault data The robot positioning unit calculates the robot positioning accuracy based on the robot performance data The robot displacement overlap unit, the robot displacement fault unit and the robot positioning unit calculate the data and then connect with the data optimization module through the network.

4. The method for controlling displacement of an industrial robot according to claim 1, characterized in that: The robot performance data includes recording the coordinates of the position actually reached by the robot and the coordinates of the target position, and numbering the data. The coordinates of the position actually reached by the robot are numbered as follows: , the coordinate number of the robot's target position is .

5. The displacement control method of an industrial robot according to claim 1, characterized in that: The robot operation data includes statistics of the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis, and the number of times the task is performed after the i-th task is performed, and the data are numbered. The displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis, and the number of times the task is performed are numbered respectively. , , , .

6. The displacement control method of an industrial robot according to claim 1, characterized in that: The robot failure data counts the total number of operations performed by the robot and the number of robot displacement failures within a period of time, and numbers the data. The total number of operations performed by the robot and the number of robot displacement failures within the period of time are numbered as , .

7. The displacement control method of an industrial robot according to claim 5, characterized in that: The robot displacement overlap unit calculates the robot displacement overlap index according to the robot operation data , and its calculation formula is: In the formula, represents the robot displacement coincidence index, , , , They represent the displacement deviation of the robot on the X axis, the displacement deviation of the robot on the Y axis, the displacement deviation of the robot on the Z axis and the number of times the task is performed after the i-th task is performed. , , They represent the expected displacement of the robot on the X-axis, the expected displacement of the robot on the Y-axis, and the expected displacement of the robot on the Z-axis. represents the expected displacement.

8. The method for controlling displacement of an industrial robot according to claim 6, characterized in that: The robot displacement fault unit calculates the robot displacement fault occurrence rate according to the robot fault data , and its calculation formula is: In the formula, represents the robot displacement failure rate, , They represent the total number of operations performed by the robot and the number of robot displacement failures in a period of time, respectively.

9. The method for controlling displacement of an industrial robot according to claim 4, characterized in that: The robot positioning unit calculates the robot positioning accuracy based on the robot performance data , and its calculation formula is In the formula, Indicates the robot positioning accuracy. Indicates the actual position coordinates reached by the robot. represents the coordinates of the robot's target position, Indicates the maximum acceptable deviation distance in the positioning task.

10. The displacement control method of an industrial robot according to claim 1, characterized in that: The data optimization module is based on the robot displacement overlap index Positioning accuracy with robot , adjust the maximum translation speed, minimum translation speed, maximum translation angle and minimum translation angle in the module, according to the robot displacement failure rate Acceleration limits, target tolerance parameters and oscillation reset distance in the regulation module; The data control module issues optimization implementation commands according to the adjusted parameters.

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