Robot enabling control method and device, electronic equipment and storage medium

Abstract

The invention relates to a robot enabling control method and device, electronic equipment and a storage medium. The method comprises the following steps: when the robot is in an enabled state, monitoring whether the robot meets a preset triggering condition or not; wherein the preset triggering condition is set based on various production halt conditions of the production line, and a motor of the robot is kept in a power-on state in an enabling state; when it is monitored that the robot meets the preset triggering condition, the robot is controlled to be switched from the enabling state to the non-enabling state; wherein the motor is kept in a power-off state in a non-enabling state. According to the scheme provided by the invention, use in various scenes can be met, energy-saving optimization is realized, manual fault manufacturing is not needed, the labor cost is reduced, and the production safety is ensured.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot enabling control method, device, electronic device and storage medium. Background Art

[0002] ABB robots are articulated robots with multiple joints in series (typically six axes). Their high flexibility makes them suitable for complex tasks such as welding, assembly, painting, and handling. When an ABB robot stops, motor control uses either a mechanical brake to maintain position or an enable function to maintain position. The mechanical brake does not consume energy, while the enable function does.

[0003] In the related art, the enabling status of the ABB robot is controlled by the master station PLC (Programmable Logic Controller). However, in the related art, the PLC will only control the robot to disconnect the enable when a fault occurs in the production line. In other cases, the enable will not be disconnected. This will cause the ABB robot's motor to still consume electricity when the production line is normally shut down, wasting energy. In addition, the method of disconnecting the enable requires artificially creating a fault. For example, the staff needs to manually open the safety door, causing the production line to malfunction. This not only wastes manpower but also poses a threat to the personal safety of the staff. Summary of the Invention

[0004] In order to solve or partially solve the problems existing in the related technologies, the present application provides a robot enabling control method, device, electronic device and storage medium, which can meet the needs of various scenarios, achieve energy saving optimization, and do not require human-made faults, reduce labor costs, and ensure production safety.

[0005] A first aspect of the present application provides a robot enabling control method, comprising: When the robot is in an enabled state, monitoring whether the robot meets a preset trigger condition; wherein the preset trigger condition is set based on various production stoppage situations of the production line, and the motor of the robot remains powered in the enabled state; When it is monitored that the robot meets the preset trigger condition, the robot is controlled to switch from the enabled state to the disabled state; wherein the motor remains in a power-off state in the disabled state. In one embodiment, the preset trigger condition includes a time trigger condition; when the robot is in the enabled state, monitoring whether the robot meets the preset trigger condition includes: When the robot is in an enabled state, determining a working area of the robot in the production line; Acquire information of a set production suspension time period matching the working area, wherein the set production suspension time period information includes a set production suspension start time; When it is monitored that the current time reaches the set production suspension start time, it is determined that the robot meets the time trigger condition.

[0006] In another embodiment, the preset trigger condition includes a standby trigger condition; when the robot is in the enabled state, monitoring whether the robot satisfies the preset trigger condition includes: When the robot is in the enabled state, if it is detected that the robot stops moving and moves to the starting position, the standby time of the robot is accumulated; When it is monitored that the standby time reaches a preset time, it is determined that the robot meets the standby trigger condition.

[0007] In another embodiment, the preset trigger condition includes a control trigger condition; when the robot is in the enabled state, monitoring whether the robot meets the preset trigger condition includes: When the robot is in an enabled state, if it is detected that a disconnection control in the human-machine interaction interface is triggered, it is determined that the robot meets the control triggering condition.

[0008] In one embodiment, the robot includes a controller and a driver; when monitoring that the robot meets the preset trigger condition, controlling the robot to switch from the enabled state to the disabled state includes: When it is monitored that the robot meets the preset trigger condition, a disconnect instruction is sent to the controller, and the disconnect instruction is used to instruct the controller to disconnect the enable signal of the driver, so that the driver stops supplying power to the motor, and then the motor stops outputting torque to the robot.

[0009] In one embodiment, after stopping the motor from outputting torque to the robot, the method further comprises: Controlling the output shaft of the motor to trigger a mechanical brake action; Push alarm information for the robot to the user through the human-computer interaction interface.

[0010] In one embodiment, the setting of the production suspension time period information further includes setting a production suspension end time; and the method further includes: After the robot switches to the disabled state, monitoring whether the current time reaches the set production suspension end time, and monitoring whether the start control in the human-computer interaction interface is triggered; When it is detected that the current time reaches the set production suspension end time, or when it is detected that the start control in the human-machine interaction interface is triggered, a start instruction is sent to the controller, wherein the start instruction is used to instruct the controller to restore the enable signal of the driver, so that the driver resumes powering the motor, and further the motor resumes outputting torque for the robot; The output shaft of the motor is controlled to release the mechanical brake.

[0011] A second aspect of the present application provides a robot enabling control device, comprising: a condition judgment module, configured to monitor whether the robot satisfies a preset trigger condition when the robot is in an enabled state; wherein the preset trigger condition is set based on various production stoppage situations of the production line, and the motor of the robot remains powered on in the enabled state; The enabling control module is used to control the robot to switch from the enabled state to the disabled state when it is monitored that the robot meets the preset trigger condition; wherein the motor remains in the power-off state in the disabled state.

[0012] A third aspect of the present application provides an electronic device, including: processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method described above.

[0013] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method described above.

[0014] A fifth aspect of the present application provides a computer program product, which includes computer instructions, and when the computer instructions are executed by a processor, implements the method described above.

[0015] The technical solution provided by this application may include the following beneficial results: The technical solution of the present application is to monitor whether the robot meets the preset trigger conditions when the robot is in the enabled state; wherein the preset trigger conditions are set based on various production stoppage situations of the production line, and the robot's motor remains powered in the enabled state; when it is monitored that the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state; wherein the motor remains powered off in the disabled state. The present application pre-sets the preset trigger conditions of the robot based on various production stoppage situations of the production line, so that when the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state to stop consuming electricity by the motor. Therefore, it can meet the use of various scenarios, achieve energy-saving optimization, and does not require artificial fault creation, reducing labor costs and ensuring production safety.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0018] Figure 1 1 is a flow chart of a robot enabling control method according to an embodiment of the present application; Figure 2 is another flowchart of the robot enabling control method shown in an embodiment of the present application; Figure 3 This is a data variable configuration diagram of a function block shown in an embodiment of the present application; Figure 4 This is a program configuration diagram of the time trigger condition shown in the embodiment of the present application; Figure 5 Schematic diagram of parameter values of time trigger conditions displayed on the HMI interface shown in an embodiment of the present application; Figure 6 is a program configuration diagram of the standby trigger condition shown in an embodiment of the present application; Figure 7 Schematic diagram of parameter values of standby trigger conditions displayed on the HMI interface shown in an embodiment of the present application; Figure 8 This is a program configuration diagram of the control triggering conditions shown in the embodiment of the present application; Figure 9 Schematic diagram of the structure of a robot enabling control device shown in an embodiment of the present application; Figure 10 It is a structural diagram of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0020] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0021] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] In the related art, the enabling status of the ABB robot is controlled by the master station PLC. However, in the related art, the PLC will only control the robot to disconnect the enable when a fault occurs in the production line, and will not disconnect the enable in other cases. This will cause the ABB robot's motor to still consume electricity when the production line is normally shut down, wasting energy. In addition, the method of disconnecting the enable requires artificially creating faults. For example, the staff needs to manually open the safety door, causing the production line to malfunction. This not only wastes manpower, but also poses a threat to the personal safety of the staff.

[0023] In response to the above problems, an embodiment of the present application provides a robot enabling control method, which pre-sets the preset trigger conditions of the robot based on various production line shutdown situations, so that when the robot meets the preset trigger conditions, the robot is controlled to switch from an enabled state to a non-enabled state to stop the motor from consuming electrical energy. Therefore, it can meet the needs of various scenarios, achieve energy saving optimization, and does not require human-made faults, reducing labor costs and ensuring production safety.

[0024] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0025] Figure 1 It is a flow chart of the robot enabling control method shown in an embodiment of the present application.

[0026] See also Figure 1 , the robot enabling control method of the present application includes: S110, when the robot is in the enabled state, monitor whether the robot meets the preset trigger conditions; wherein the preset trigger conditions are set based on various production stoppage situations of the production line, and the robot's motor remains powered on in the enabled state.

[0027] In an embodiment of the present application, it can be applied to a main control system, which includes a master station PLC and a terminal device. In the embodiment of the present application, a function block for robot enabling control is constructed on the master station PLC, and the function block stores preset trigger conditions. The preset trigger conditions are pre-set based on various production stoppage situations of the production line. Therefore, the preset trigger conditions can cover any production stoppage situation of the production line, wherein the production stoppage situation may include but is not limited to: a fixed production stoppage time of the production line, a long production stoppage time of the production line, a robot waiting for the next task, functional testing, etc.

[0028] The master PLC communicates with the robot, allowing it to obtain the robot's status information over the network. If the status information indicates the robot is enabled, the master PLC monitors whether the robot meets the preset trigger conditions in real time. If the status information indicates the robot is disabled, the master PLC proceeds to other processes.

[0029] The robot's motor is its core power source. When the robot is in the enabled state, the motor remains energized, enabling it to output torque for the robot. The enabled state can include at least one of an operating state and a standby state. When the robot is in the operating state, the master station PLC sends action commands to the motor, causing the motor to output dynamic torque and drive the robot's joints and end effectors according to the action commands to complete precise and controllable actions (such as grasping, welding, and spraying) on the production line. When the robot is in the standby state, the robot stops moving. To prevent the robot's joints from moving freely due to external forces (such as gravity and vibration), the motor outputs static torque to resist external forces and maintain the robot's posture.

[0030] S120, when it is detected that the robot meets the preset triggering condition, the robot is controlled to switch from the enabled state to the disabled state; wherein, the motor remains in the power-off state in the disabled state.

[0031] When a robot detects that it has met the preset trigger conditions, indicating that the production line has experienced any of the aforementioned production stoppages, the master PLC can control the robot to switch from an enabled state to a disabled state to prevent the motor from continuing to consume power and wasting energy. When the robot is in the disabled state, the motor remains powered off. By switching the robot from an enabled state to a disabled state, the motor stops consuming power, significantly improving the robot's standby energy consumption. For example, standby energy consumption can be reduced by 80%. Furthermore, when the robot switches to the disabled state, the cooling fan stops operating, significantly reducing on-site noise levels. For example, this can reduce noise levels by 20%. Furthermore, when the robot switches to the disabled state, the motor and control components (such as the robot controller and driver) stop operating, significantly improving their operating life and extending their lifespan. For example, operating life can be reduced by 50% and the lifespan of related components (such as the motor shaft and reducer) can be increased by 30%.

[0032] It should be noted that the embodiments of the present application can be applied to the enabling control scenarios of ABB robots, as well as to the enabling control scenarios of other types of robots, such as SCARA (horizontal articulated structure) robots, Delta (parallel structure) robots, etc., and the embodiments of the present application do not limit this.

[0033] As can be seen from this example, the solution provided by this application monitors whether the robot meets the preset trigger conditions when it is in the enabled state; wherein the preset trigger conditions are set based on various production stoppage situations of the production line, and the robot's motor remains powered in the enabled state; when it is monitored that the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state; wherein the motor remains powered off in the disabled state. This application pre-sets the preset trigger conditions of the robot based on various production stoppage situations of the production line, so that when the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state to stop consuming electricity by the motor. Therefore, it can meet the use of various scenarios, achieve energy-saving optimization, and does not require artificial fault creation, reducing labor costs and ensuring production safety.

[0034] Figure 2 It is another flowchart of the robot enabling control method shown in this application.

[0035] See also Figure 2 , the robot enabling control method of the present application includes: S210, when the robot is in the enabled state, monitor whether the robot meets the preset trigger conditions; wherein the preset trigger conditions are set based on various production stoppage situations of the production line, and the robot's motor remains powered on in the enabled state.

[0036] The embodiment of the present application constructs a function block for robot enabling control on the master station PLC, which stores preset trigger conditions. The preset trigger conditions are set in advance based on various production stoppage situations of the production line. Therefore, the preset trigger conditions can cover any production stoppage situation of the production line, where the production stoppage situation may include but is not limited to: fixed production stoppage time of the production line, long production stoppage time of the production line, robot waiting for the next task, functional testing, etc.

[0037] The master PLC communicates with the robot, allowing it to obtain the robot's status information over the network. If the status information indicates the robot is enabled, the master PLC monitors whether the robot meets the preset trigger conditions in real time. If the status information indicates the robot is disabled, the master PLC proceeds to other processes.

[0038] The robot's motor is its core power source. When the robot is enabled, the motor remains energized, enabling it to output torque for the robot. The enabled state can include at least one of an operating state and a standby state. When the robot is in the operating state, the master station PLC sends motion instructions to the motor, causing it to output dynamic torque and drive the robot's joints and end effectors according to the motion instructions to complete precise and controllable movements (such as grasping, welding, and spraying) on the production line. When the robot is in the standby state, the robot stops moving. To prevent the robot's joints from moving freely due to external forces (such as gravity and vibration), the motor outputs static torque to resist external forces and maintain the robot's posture.

[0039] In one embodiment, the preset trigger condition includes a time trigger condition; when the robot is in an enabled state, monitoring whether the robot meets the preset trigger condition may include: When the robot is in an enabled state, the working area of the robot in the production line is determined; the set production stoppage time period information matching the working area is obtained, and the set production stoppage time period information includes a set production stoppage start time; when it is monitored that the current time reaches the set production stoppage start time, it is determined that the robot meets the time trigger condition.

[0040] In order to flexibly control the robot to switch from the enabled state to the disabled state and avoid man-made faults, the function block is configured with a time period control strategy, which is applicable to the fixed downtime of the production line. Specifically, the preset trigger condition corresponding to the time period control strategy can be called a time trigger condition. In the embodiment of the present application, the data variable of the time trigger condition can be set in the function block based on the fixed downtime of the production line. Figure 3 As shown in the figure, the data variables of the time trigger condition can include PE_Auto (automatic energy saving), PE_Auto_Time1 (time period 1), PE_Auto_Time2 (time period 2), PE_Auto_Time3 (time period 3), PE_Auto_Time4 (time period 4), RB_MotorOff (robot disconnection enable), etc. After completing the configuration of the data variables of the time trigger condition, you can configure the code logic of these data variables, such as Figure 4 As shown, program segment 2 is the code logic of the data variable of the time trigger condition, wherein area a is the code logic area of time period one, and area b is the code logic area of time period two.

[0041] The terminal device provides an HMI (Human-Machine Interface) interface so that users can configure the parameter values of the data variables of the time trigger conditions based on the fixed downtime of the production line in the HMI interface, which is convenient for operation. Figure 5 As shown, the HMI interface (i.e., the robot energy-saving interface) includes multiple modes, each corresponding to each production area of the production line, and each production area corresponding to the working area of multiple robots. In each mode of the HMI interface, the user can configure the parameter values of the data variables of the time trigger conditions for the multiple robots in each production area. In actual application, when the robot is in the enabled state, the master station PLC can first determine the working area of the robot in the production line, and then obtain the set production stop time period information matching the working area from the function block. The set production stop time period information can include N set production stop time periods (N is a positive integer), each set production stop time period including a corresponding set production stop start time. The set production stop start time is a parameter value configured based on the fixed production stop time of the production line. The master station PLC can monitor in real time whether the current time reaches the set production stop start time corresponding to any set production stop time period. When the current time reaches the set production stop start time corresponding to any set production stop time period, the master station PLC can determine that the robot meets the time trigger condition and then execute the subsequent step S220 for the robot.

[0042] In one example, Figure 5As shown, assuming that mode 1 corresponds to production area 1, and production area 1 includes M robots (M is a positive integer), then area c is the configuration area of the parameter values of the data variables of the time trigger conditions of robot 1 to robot M, where time period 1 is [12:05:00~12:40:00] and time period 2 is [22:00:00~8:00:00]. Time period 1 and time period 2 are both set stoppage time periods configured based on the fixed stoppage time of the production line. Wherein, the set stoppage start time corresponding to time period 1 is [12:05:00], and the set stoppage start time corresponding to time period 2 is [22:00: 00], assuming that robot 1, robot 2 and robot M are all in the enabled state, the set production stop time period information obtained by the master station PLC is the information of area c in mode 1. The master station PLC can monitor in real time whether the current time reaches the set production stop start time corresponding to any set production stop time period in area c. When it is monitored that the current time reaches [12:05:00], or when it is monitored that the current time reaches [22:00:00], the master station PLC can determine that robot 1, robot 2 and robot M all meet the time trigger condition, and then execute the subsequent step S220 for robot 1, robot 2 and robot M respectively.

[0043] It should be noted that the number of production suspension time periods set in different modes (i.e., N) can be the same, for example Figure 5 Modes 1 to 6 all have 4 set production stoppage time periods (i.e., N=4). In addition, the number of set production stoppage time periods in different modes can also be different. In the embodiment of the present application, the number of set production stoppage time periods in different modes can be set according to the production conditions of different production areas. For example, if the output index of a production area is high, the number of set production stoppage time periods of the mode corresponding to the production area can be set to be smaller, and / or the time range of each set production stoppage time period can be set to be smaller, so as to reduce the number of times the robot switches to the non-enabled state and / or shorten the time the robot is in the non-enabled state, thereby extending the working time of the robot and increasing the production output of the production area; if the output index of a production area is low, the number of set production stoppage time periods of the mode corresponding to the production area can be set to be larger, and / or the time range of each set production stoppage time period can be set to be larger, so as to reduce the number and / or time the robot is in the standby state, thereby reducing the robot's standby energy consumption, on-site noise, and the working time of the robot's motor and control components while ensuring the production index.

[0044] In another embodiment, the preset trigger condition includes a standby trigger condition; when the robot is in the enabled state, monitoring whether the robot meets the preset trigger condition may include: When the robot is in the enabled state, if it is detected that the robot stops moving and moves to the starting position, the standby time of the robot is accumulated; when it is detected that the standby time reaches the preset time, it is determined that the robot meets the standby trigger condition.

[0045] In order to flexibly control the robot to switch from an enabled state to a disabled state and avoid man-made faults, the function block is configured with a downtime control strategy, which is applicable to situations where a production line has a long downtime, the robot is waiting for the next task, etc. Specifically, the preset trigger condition corresponding to the downtime control strategy can be called a standby trigger condition. In the embodiment of the present application, the data variable of the standby trigger condition can be set in the function block based on the long downtime of the production line, the robot is waiting for the next task, etc. Figure 3 As shown in the figure, the data variables of the standby trigger condition may include PE_Auto (automatic energy saving), Initia IPos (stop condition), Reset (time reset), Pos_Arrive Time (how long it takes to reach the position to enter the energy saving conversion to min), No Entry Condition (other prohibited energy saving conditions), PE_End (end energy saving), Zone_MotorOff (mode zone disconnection automatic), RB_MotorOff (robot disconnection enable), etc. After completing the configuration of the data variables of the standby trigger condition, you can configure the code logic of these data variables, such as Figure 6 As shown, program segment 3 is the code logic of the data variable of the standby trigger condition.

[0046] The terminal device provides an HMI interface so that users can configure the parameter values of the data variables of the standby trigger conditions in the HMI interface based on the long downtime of the production line, the robot waiting for the next task, etc., which is convenient for operation. Figure 7As shown, the parameter values of the data variables of the standby trigger condition and the parameter values of the data variables of the time trigger condition can be located in the same mode. Therefore, the user can configure the parameter values of the data variables of the standby trigger condition for multiple robots in each production area in each mode of the HMI interface. In actual applications, when the robot is in the enabled state, the master station PLC can first determine whether the enabled state is the working state or the standby state. If it is the standby state, it means that the robot has stopped moving at this time. The master station PLC can then obtain the current position information of the robot. If the current position information indicates that the robot is at the starting position, it means that the robot has moved from the working area to the starting position. The starting position refers to the original position to which the robot must return before starting and after completing work. The reason why the robot is on standby and moves to the starting position may be a malfunction in the production line, or the robot may return to the starting position after completing the current task to wait for the next task, or other reasons (such as communication between the robot and the main control system is interrupted, the robot enters the default state, etc.). When the robot is on standby and at the starting position, the master station PLC can accumulate the robot's standby time and determine the robot's working area in the production line. Then, it obtains the preset time that matches the working area from the function block. The preset time is the parameter value configured based on the long stop time of the production line and the robot waiting for the next task. The master station PLC can monitor in real time whether the standby time reaches the preset time. When it is detected that the standby time reaches the preset time, the master station PLC can determine that the robot meets the standby trigger condition and then execute the subsequent step S220 for the robot.

[0047] In another example, Figure 7 As shown, assuming that mode 1 corresponds to production area 1, which includes M robots, area d is the configuration area for the parameter values of the data variables of the standby trigger conditions of robots 1 to M, wherein the preset time (i.e., the arrival position time setting) is 60 minutes. The preset time is configured based on the time when the production line stops for a long time and the time when the robot waits for the next task. Assuming that robots 1, 2, and M are all in the standby state and move to the starting position, the preset time obtained by the master station PLC is the information in area d in mode 1. The master station PLC can accumulate the standby time corresponding to robots 1, 2, and M respectively, and then monitor whether the standby time corresponding to robots 1, 2, and M reaches the preset time (60 minutes). When it is monitored that their standby time has reached the preset time (60 minutes), the master station PLC can determine that robots 1, 2, and M all meet the standby trigger condition, and then execute the subsequent step S220 for robots 1, 2, and M respectively.

[0048] It should be noted that the preset durations of different modes can be the same or different. In the embodiment of the present application, the preset durations of different modes can be set according to the production conditions of different production areas. In particular, the shorter the preset duration is, the better, without affecting the production of the production line. However, if the preset duration is too short, for example, 1 minute, this situation is very likely to be met, which will cause the production line to stop. Therefore, in the embodiment of the present application, while ensuring the production of the production line, the shortest preset duration is reasonably configured, so as to utilize the preset duration to reduce the robot's standby energy consumption, on-site noise, and the operating time of the robot's motor and control components.

[0049] It should be noted that if the robot is on standby but stays in the working area, it may be due to other reasons (such as pausing to wait for material replenishment, the process requires the robot to maintain clamping the workpiece to wait for assembly, etc.), causing the robot to wait in the working area. In this case, the standby time is generally shorter, so the motor consumes less power. In order to avoid affecting the subsequent work of the robot, the prerequisites for the cumulative standby time in the embodiment of the present application include that the robot is in standby state and the robot is at the starting position.

[0050] In another embodiment, the preset trigger condition includes a control trigger condition; when the robot is in an enabled state, monitoring whether the robot meets the preset trigger condition may include: When the robot is in the enabled state, if it is detected that the disconnect control in the human-computer interaction interface is triggered, it is determined that the robot meets the control triggering condition.

[0051] In order to flexibly control the robot to switch from an enabled state to a disabled state and avoid man-made faults, the function block is configured with a manual one-button disconnection control strategy, which is applicable to function testing and other production stoppage situations mentioned above. Specifically, the preset trigger condition corresponding to the manual one-button disconnection control strategy can be called a control trigger condition. In the embodiment of the present application, the data variables of the control trigger condition can be set in the function block based on the function testing and other production stoppage situations mentioned above. Figure 3 As shown in the figure, the data variables of the control trigger condition may include PE_Manual (manual energy saving), No Entry Condition (other prohibited energy saving conditions), PE_End (end energy saving), Zone_MotorOff (mode zone disconnection automatic), RB_MotorOff (robot disconnection enable), etc. After completing the configuration of the data variables of the control trigger condition, you can configure the code logic of these data variables, such as Figure 8 As shown, program segment 4 is the code logic of the data variable of the control trigger condition.

[0052] The terminal device provides an HMI interface so that the user can set the disconnection control of the control trigger condition in the HMI interface based on the functional test and other production stop conditions mentioned above, which is convenient for operation. Figure 5 or Figure 7 As shown, the upper right corner of the HMI interface includes a "manual" control, and each mode includes a "manual energy saving" control. The "manual" control and the "manual energy saving" control are both disconnect controls, wherein the "manual" control is used to control the robots in all production areas, and the "manual energy saving" control is used to control the robots in the production area corresponding to the mode. The master station PLC is communicatively connected with the terminal device so that in actual applications, when the robot is in an enabled state, the terminal device can monitor in real time whether the disconnect control in the HMI interface is triggered. When it is detected that the disconnect control in the HMI interface is triggered, the terminal device can send a disconnect request to the master station PLC. Based on the disconnect request, the master station PLC determines that the robot meets the control triggering condition, and then executes the subsequent step S220 for the robot.

[0053] In another example, Figure 5 or Figure 7 As shown, assuming that mode 1 corresponds to production area 1, and production area 1 includes M robots, the "manual energy saving" control of mode 1 is a disconnection control for disconnecting robots 1 to M. The disconnection control is set based on the functional tests of robots 1 to M and the other production stoppage situations mentioned above. Assuming that robots 1, 2 and M are all in the enabled state, the master station PLC can monitor in real time whether the "manual energy saving" control of mode 1 in the HMI interface is triggered. When it is detected that the "manual energy saving" control of mode 1 is triggered, the master station PLC can determine that robots 1, 2 and M all meet the control triggering conditions, and then execute subsequent steps S220 for robots 1, 2 and M respectively.

[0054] S220, when it is monitored that the robot meets the preset trigger conditions, a disconnection instruction is sent to the robot controller, and the disconnection instruction is used to instruct the controller to disconnect the enable signal of the motor driver so that the driver stops supplying power to the motor, and then the motor stops outputting torque to the robot.

[0055] The preset trigger conditions include at least one of a time trigger condition, a standby trigger condition, and a control trigger condition. When it is detected that the robot meets the time trigger condition, it means that the current time has reached the fixed stop time of the production line. In order to prevent the motor from continuing to consume electricity and wasting energy when the production line is normally stopped, the master station PLC can control the robot to switch from an enabled state to a disabled state, so that the motor switches from a powered-on state to a powered-off state, thereby stopping the motor from consuming electricity. Alternatively, when it is detected that the robot meets the standby trigger condition, it means that the production line has failed or the robot is waiting for the next task after completing the current task. In order to prevent the motor from continuing to consume electricity and wasting energy when the production line is abnormally stopped or normally stopped, the master station PLC can control the robot to switch from an enabled state to a disabled state, so that the motor switches from a powered-on state to a powered-off state, thereby stopping the motor from consuming electricity. Alternatively, when it is monitored that the robot meets the control triggering conditions, it indicates that the functional test of the robot or other situations mentioned above is currently triggered. In order to avoid the motor continuing to consume electricity and waste energy when the production line is normally shut down or abnormally shut down, the master station PLC can control the robot to switch from an enabled state to a disabled state, so that the motor switches from a powered-on state to a powered-off state, thereby stopping the motor from consuming electricity.

[0056] It should be noted that normal shutdown of the production line includes the current time reaching the fixed shutdown time of the production line, the robot waiting for the next task after completing the current task, the current triggering of the functional test of the robot, etc. Abnormal shutdown of the production line includes production line failure, etc.

[0057] Among them, the robot includes a controller and a driver. The controller is the "brain" of the robot, which is responsible for decision-making, calculation and instruction issuance. The driver is the "execution agent" of the controller. Based on the enable signal provided by the controller, it adjusts the current of the motor winding to accurately control the output torque of the motor. Therefore, when the master station PLC detects that the robot meets any of the above preset trigger conditions, it generates a disconnect instruction and sends a disconnect instruction to the controller through the network, so that the controller responds to the disconnect instruction and disconnects the enable signal of the driver, making the enable signal invalid; the enable signal is invalid, so that the driver cuts off the current of the motor winding, that is, the driver stops supplying power to the motor, so that the motor switches from the power-on state to the power-off state; when the motor switches to the power-off state, the motor outputs zero torque, that is, the motor stops outputting torque to the robot, thereby realizing the robot switching from the enabled state to the non-enabled state.

[0058] The motor stops consuming electricity in any of the above-mentioned shutdown situations, which can greatly improve the robot's standby energy consumption. For example, the robot's standby energy consumption can be reduced by 80%. In addition, when the robot is switched to the non-enabled state, the cooling fan stops working, thereby greatly improving the on-site noise. For example, after the cooling fan stops working, the on-site noise can be reduced by 20%. In addition, when the robot is switched to the non-enabled state, the motor and control components (such as the robot's controller, driver, etc.) stop working, thereby greatly improving the working time of the motor and control components, and thus greatly improving the life of related components. For example, the working time of the motor and control components can be reduced by 50%, and the life of related components (such as motor shafts, reducers, etc.) can be increased by 30%. It should be noted that the embodiments of the present application can be applied to the enabling control scenarios of ABB robots, as well as to the enabling control scenarios of other types of robots, such as SCARA (horizontal articulated structure) robots, Delta (parallel structure) robots, etc., and the embodiments of the present application do not limit this.

[0059] S230, controlling the output shaft of the motor to trigger the mechanical brake action.

[0060] Since the motor stops outputting torque to the robot after switching to the power-off state, the robot's joints may automatically move (such as falling or deflecting) due to external forces (such as gravity or vibration). To ensure system safety, after the motor is powered off, the master station PLC immediately controls the spring force to push the brake pads to press the brake disc, physically locking the motor shaft (i.e., the motor's output shaft), thereby triggering the mechanical braking action.

[0061] S240, pushing alarm information for the robot to the user through the human-computer interaction interface.

[0062] When the robot switches to the disabled state, the terminal device can push alarm information about the robot to the user through the HMI interface, and / or the master station PLC can control the buzzer near the robot to sound an alarm, so that the user can understand the robot's situation in a timely manner.

[0063] like Figure 5 or Figure 7 As shown, if the user wants to view the specific content of the alarm information, he can trigger the "Alarm" control in the HMI interface to display the specific content of the alarm information. If the user wants to turn off the alarm sound, he can trigger the "Mute" control in the HMI interface to make the master station PLC control the buzzer to turn off the alarm sound.

[0064] In one embodiment, setting the production suspension time period information further includes setting the production suspension end time; the method may further include: After the robot switches to the non-enabled state, it monitors whether the current time reaches the set production stop end time, and monitors whether the start control in the human-computer interaction interface is triggered; when it is detected that the current time reaches the set production stop end time, or the start control in the human-computer interaction interface is triggered, a start command is sent to the robot controller. The start command is used to instruct the controller to restore the enable signal of the motor driver, so that the driver resumes power supply to the motor, and then the motor resumes output torque for the robot; the output shaft of the motor is controlled to release the mechanical brake action.

[0065] In each mode of the HMI interface, each set production suspension time period includes not only the corresponding set production suspension start time, but also the corresponding set production suspension end time, such as Figure 5 As shown, in mode one, time period one is [12:05:00~12:40:00], and time period two is [22:00:00~8:00:00], wherein [12:05:00] is the set production stop start time of time period one, [12:40:00] is the set production stop end time of time period one, [22:00:00] is the set production stop start time of time period two, and [8:00:00] is the set production stop end time of time period two. The set production stop end time is also a parameter value configured based on the fixed production stop time of the production line. The embodiment of the present application can determine whether the fixed production stop time of the production line has ended based on the set production stop end time. This method can achieve automatic reset without manual intervention, but the user needs to check whether there is any problem with the robot before reaching the set production stop end time to ensure system safety.

[0066] In a specific implementation, after the robot switches to the disabled state, the master PLC monitors in real time whether the current time has reached the set end time for any of the set downtime periods. If the current time reaches the set end time for any of the set downtime periods, indicating that the fixed downtime period for the production line has ended, the master PLC generates a start command and sends it to the controller via the network. The controller responds to the start command and restores the driver's enable signal, making the enable signal valid. This valid enable signal causes the driver to resume outputting current to the motor windings, effectively switching the motor from a de-energized state to an energized state. When the motor switches to an energized state, it resumes outputting torque to the robot, thereby switching the robot from a disabled state to an enabled state. Furthermore, after the motor is energized, the master PLC immediately controls the spring force to separate the brake pads from the brake disc, allowing the motor shaft (i.e., the motor's output shaft) to rotate freely, thereby releasing the mechanical brake.

[0067] like Figure 5 or Figure 7As shown, the HMI interface provides a "Start" control. After the user has checked that the robot is functioning properly and wants to re-enable it, the user can trigger the "Start" control in the HMI interface (for example, press and hold the "Start" control for 3 seconds). This method requires manual reset, but the operation is simple. You only need to trigger the "Start" control in the HMI interface, which is not only convenient to operate but also ensures system safety.

[0068] In a specific implementation, after the robot switches to the disabled state, the terminal device can monitor in real time whether the start control in the HMI interface has been triggered. If the start control in the HMI interface is detected to be triggered, indicating that the fixed downtime of the production line has ended, the terminal device can then send a start request to the master station PLC. In response to the start request, the master station PLC generates a start instruction and sends the start instruction to the controller via the network. The controller responds to the start instruction and restores the driver's enable signal, making the enable signal valid. The valid enable signal causes the driver to resume outputting current to the motor winding, that is, the driver resumes powering the motor, switching the motor from the de-energized state to the energized state. When the motor switches to the energized state, the motor resumes outputting torque to the robot, thereby switching the robot from the disabled state to the enabled state. In addition, after the motor is energized, the master station PLC immediately controls the spring force to push the brake pads and brake discs apart, allowing the motor shaft (i.e., the motor output shaft) to rotate freely, thereby releasing the mechanical brake.

[0069] As can be seen from this example, the solution provided by this application pre-sets the preset trigger conditions of the robot based on various production line shutdown situations, so that when the robot meets the preset trigger conditions, the robot is controlled to switch from an enabled state to a non-enabled state to stop the motor from consuming electrical energy. Therefore, it can meet the needs of various scenarios, achieve optimal energy saving, and eliminate the need for artificial faults, reducing labor costs and ensuring production safety.

[0070] Furthermore, the solution provided in this application provides three strategies: time period control strategy, downtime control strategy and manual one-button disconnection control strategy. Among them, the time period control strategy is applicable to the fixed downtime of the production line, the downtime control strategy is applicable to the long downtime of the production line, the robot waiting for the next task, etc., and the manual one-button disconnection control strategy is applicable to functional testing and the other downtime situations mentioned above. Therefore, it can meet the use of various scenarios and achieve optimal energy saving.

[0071] Furthermore, in the solution provided by the present application, the time period control strategy and the downtime control strategy both belong to the automatic energy-saving mode, which is automatically controlled by the master station PLC program and does not require human intervention. The manual one-button disconnection control strategy belongs to the manual energy-saving mode and requires human intervention. However, compared with the manual intervention method in the related technology (such as artificially created faults), it will reduce the complexity of operation and ensure user safety. Therefore, the manual one-button disconnection control strategy has the advantages of simple operation and reliability.

[0072] Furthermore, the solution provided in this application allows users to configure corresponding parameter values (such as setting the shutdown start time, setting the shutdown end time, preset duration, etc.) in the HMI interface according to the production line shutdown situation, which is convenient to operate.

[0073] Furthermore, in the solution provided by the present application, the parameter values in the HMI interface can be modified. If the production line's output indicators change, the user can modify the corresponding parameter values in the HMI interface to match the latest production indicators, which is convenient to operate.

[0074] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a robot enabling control device, electronic equipment and corresponding embodiments.

[0075] Figure 9 It is a structural schematic diagram of a robot enabling control device shown in an embodiment of the present application.

[0076] See also Figure 9 , the robot enabling control device of the present application comprises: Conditional judgment module 910, for monitoring whether the robot meets a preset trigger condition when the robot is in the enabled state; wherein the preset trigger condition is set based on various production line stoppage situations, and the robot's motor remains powered in the enabled state; The enabling control module 920 is used to control the robot to switch from an enabled state to a disabled state when it is detected that the robot meets a preset trigger condition; wherein the motor remains in a power-off state in the disabled state.

[0077] In one embodiment, the preset trigger condition includes a time trigger condition; the condition judgment module 910 may include: A working area determination submodule is used to determine the working area of the robot in the production line when the robot is in an enabled state; The submodule for obtaining information about a set production stoppage time period is used to obtain information about a set production stoppage time period that matches the work area. The information about the set production stoppage time period includes a set production stoppage start time. The time trigger condition satisfaction determination submodule is used to determine that the robot meets the time trigger condition when monitoring that the current time reaches the set production stop start time.

[0078] In another embodiment, the preset trigger condition includes a standby trigger condition; the condition judgment module 910 may include: The standby time accumulation submodule is used to accumulate the standby time of the robot when it is in the enabled state and detects that the robot has stopped moving and has moved to the starting position; The standby trigger condition satisfaction determination submodule is used to determine whether the robot meets the standby trigger condition when it is monitored that the standby time reaches a preset time.

[0079] In another embodiment, the preset trigger condition includes a control trigger condition; the condition determination module 910 may include: The control trigger condition satisfaction determination submodule is used to determine that the robot meets the control trigger condition if it detects that the disconnect control in the human-computer interaction interface is triggered when the robot is in the enabled state.

[0080] In one embodiment, the robot includes a controller and a driver; the enabling control module 920 may include: The enable signal disconnect submodule is used to send a disconnect instruction to the controller when it is detected that the robot meets the preset trigger conditions. The disconnect instruction is used to instruct the controller to disconnect the enable signal of the driver, so that the driver stops supplying power to the motor, and then the motor stops outputting torque to the robot.

[0081] In one embodiment, after stopping the motor from outputting torque to the robot, the enabling control module 920 may further include: The mechanical brake action trigger submodule is used to control the output shaft of the motor to trigger the mechanical brake action; The alarm information push submodule is used to push alarm information about the robot to the user through the human-computer interaction interface.

[0082] In one embodiment, setting the production suspension time period information further includes setting the production suspension end time; the enabling control module 920 may further include: The monitoring submodule is used to monitor whether the current time reaches the set production stop end time after the robot switches to the disabled state, and to monitor whether the start control in the human-computer interaction interface is triggered; The enable signal recovery submodule is used to send a start command to the controller when it detects that the current time reaches the set production stop end time or the start control in the human-machine interaction interface is triggered. The start command is used to instruct the controller to restore the driver's enable signal so that the driver resumes powering the motor, thereby restoring the motor to output torque for the robot; The mechanical brake release submodule is used to control the output shaft of the motor to release the mechanical brake action.

[0083] As can be seen from this example, the solution provided by this application monitors whether the robot meets the preset trigger conditions when it is in the enabled state; wherein the preset trigger conditions are set based on various production stoppage situations of the production line, and the robot's motor remains powered in the enabled state; when it is monitored that the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state; wherein the motor remains powered off in the disabled state. This application pre-sets the preset trigger conditions of the robot based on various production stoppage situations of the production line, so that when the robot meets the preset trigger conditions, the robot is controlled to switch from the enabled state to the disabled state to stop consuming electricity by the motor. Therefore, it can meet the use of various scenarios, achieve energy-saving optimization, and does not require artificial fault creation, reducing labor costs and ensuring production safety.

[0084] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0085] Figure 10 It is a structural diagram of an electronic device shown in an embodiment of the present application.

[0086] See also Figure 10 , the electronic device 1000 includes a memory 1010 and a processor 1020.

[0087] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. ROM may store static data or instructions required by processor 1020 or other computer modules. Permanent storage may be a readable and writable storage device. Permanent storage may be a non-volatile storage device that retains stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device utilizes a mass storage device (e.g., a magnetic or optical disk, flash memory). In other embodiments, the permanent storage device may be a removable storage device (e.g., a floppy disk, optical drive). System memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory (DRAM). System memory may store some or all instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), as well as magnetic disks and / or optical disks. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0088] The memory 1010 stores executable codes. When the executable codes are processed by the processor 1020 , the processor 1020 may execute part or all of the above-mentioned methods.

[0089] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0090] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium), which stores executable code (or computer program or computer instruction code) and, when executed by a processor of an electronic device (or server, etc.), enables the processor to perform part or all of the steps of the above-mentioned method according to the present application.

[0091] The present application also provides a computer program product, which includes computer instructions, and when the computer instructions are executed by a processor, the method described above is implemented.

[0092] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robot enabling control method, characterized in that: include: When the robot is in an enabled state, monitoring whether the robot meets a preset trigger condition; wherein the preset trigger condition is set based on various production stoppage situations of the production line, and the motor of the robot remains powered in the enabled state; When it is monitored that the robot meets the preset trigger condition, the robot is controlled to switch from the enabled state to the disabled state; wherein the motor remains in a power-off state in the disabled state.

2. The method according to claim 1, characterized in that The preset trigger condition includes a time trigger condition; when the robot is in the enabled state, monitoring whether the robot meets the preset trigger condition includes: When the robot is in an enabled state, determining a working area of the robot in the production line; Acquire information of a set production suspension time period matching the working area, wherein the set production suspension time period information includes a set production suspension start time; When it is monitored that the current time reaches the set production suspension start time, it is determined that the robot meets the time trigger condition.

3. The method according to claim 1, characterized in that The preset trigger condition includes a standby trigger condition; When the robot is in the enabled state, monitoring whether the robot meets a preset trigger condition includes: When the robot is in the enabled state, if it is detected that the robot stops moving and moves to the starting position, the standby time of the robot is accumulated; When it is monitored that the standby time reaches a preset time, it is determined that the robot meets the standby trigger condition.

4. The method according to claim 1, wherein The preset trigger condition includes a control trigger condition; when the robot is in the enabled state, monitoring whether the robot meets the preset trigger condition includes: When the robot is in an enabled state, if it is detected that a disconnection control in the human-machine interaction interface is triggered, it is determined that the robot meets the control triggering condition.

5. The method according to any one of claims 2 to 4, characterized in that The robot includes a controller and a driver; when monitoring that the robot meets the preset trigger condition, controlling the robot to switch from the enabled state to the disabled state includes: When it is monitored that the robot meets the preset trigger condition, a disconnect instruction is sent to the controller, and the disconnect instruction is used to instruct the controller to disconnect the enable signal of the driver, so that the driver stops supplying power to the motor, and then the motor stops outputting torque to the robot.

6. The method according to claim 5, characterized in that After stopping the motor from outputting torque to the robot, the method further includes: Controlling the output shaft of the motor to trigger a mechanical brake action; Push alarm information for the robot to the user through the human-computer interaction interface.

7. The method according to claim 6, characterized in that The setting of the production suspension time period information further includes setting the production suspension end time; the method further includes: After the robot switches to the disabled state, monitoring whether the current time reaches the set production suspension end time, and monitoring whether the start control in the human-computer interaction interface is triggered; When it is detected that the current time reaches the set production suspension end time, or when it is detected that the start control in the human-machine interaction interface is triggered, a start instruction is sent to the controller, wherein the start instruction is used to instruct the controller to restore the enable signal of the driver, so that the driver resumes powering the motor, and further the motor resumes outputting torque for the robot; The output shaft of the motor is controlled to release the mechanical brake.

8. A robot enabling control device, characterized in that: include: a condition judgment module, configured to monitor whether the robot satisfies a preset trigger condition when the robot is in an enabled state; wherein the preset trigger condition is set based on various production stoppage situations of the production line, and the motor of the robot remains powered on in the enabled state; The enabling control module is used to control the robot to switch from the enabled state to the disabled state when it is monitored that the robot meets the preset trigger condition; wherein the motor remains in the power-off state in the disabled state.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The readable storage medium stores executable code, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method according to any one of claims 1 to 7.

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