CN115781663A - Automatic identification method, device and robot for alarm event of additional robot equipment - Google Patents

Abstract

The invention provides a method and a device for automatically identifying an alarm event of robot additional equipment and a robot, wherein the method comprises the following steps: acquiring a manufacturer alarm event list of additional equipment, and mapping the content in the manufacturer alarm event list to an operation control alarm event list of a robot operation control system; and opening the operation control alarm event list for searching according to the error reporting information uploaded by the additional equipment, and pushing the operation control alarm event list to a display terminal after matching the corresponding alarm content. The invention can realize that no matter which manufacturer uses the additional equipment, when the alarm event of the additional equipment occurs in the using process, detailed alarm information can be checked at the display terminal at the first time without manually searching for an additional equipment use manual to search for corresponding alarm information, thereby providing great convenience for users to use.

Description

Automatic recognition method, device and robot for alarm event of additional robot equipment

technical field

The invention relates to the technical field of robots, in particular to a method, a device and a robot for automatically identifying alarm events of additional equipment of a robot.

Background technique

With the widespread application of industrial robots in the field of intelligent manufacturing technology, the requirements for the automation of conventional six-axis industrial robot application scenarios are getting higher and higher, and even the six-axis of the main body is required to be linked with external equipment. At this time, it is necessary to add additional equipment to the six-axis industrial robot, so as to realize the cooperation between the six-axis of the main body and the external additional equipment.

For the application of adding additional equipment to six-axis industrial robots, most manufacturers customize according to actual user needs. However, the alarm event information of additional equipment from different manufacturers is inconsistent, and the processing methods are inconsistent, which leads to customized additional equipment functions that cannot satisfy different manufacturers at the same time. Additional equipment alarm events. At present, the processing method of many manufacturers is to directly push and display the error information uploaded by the additional equipment, such as KEBA, when the additional axis alarms, it directly pushes and displays the error code of the additional axis, and then the user finds the additional equipment by itself according to the error code. Refer to the manufacturer's user manual to determine the specific content of the additional axis alarm and its solution. Such an alarm event processing method is very inconvenient for the user to use, and cannot directly and intuitively view the alarm information of the additional device.

Contents of the invention

The purpose of the present invention is to provide a method, device and robot for automatic identification of alarm events of additional equipment for robots, so as to solve the problem that the existing robot operation control alarm event push function cannot be compatible with automatic identification of alarm events for additional equipment from different manufacturers.

In order to achieve the above object, according to one aspect of the present invention, a method for automatic recognition of alarm events of robot additional equipment is provided, including:

Obtain the manufacturer's alarm event list of the additional equipment, and map the content in the manufacturer's alarm event list to the operation control alarm event list of the robot operation control system;

According to the error information uploaded by the additional equipment, the operation control alarm event list is opened to search, and after the corresponding alarm content is matched, it is pushed to the display terminal.

Further, mapping the content in the factory alarm event list to the operation control alarm event list includes:

Open the manufacturer's alarm event list, and add a corresponding mapping mark in the corresponding content in the manufacturer's alarm event list according to the content in the operation control alarm event list;

Name the manufacturer's alarm event list added with the mapping mark with the unique identifier of the additional equipment to obtain the additional equipment alarm event list, and save it in the robot operation control system in xml format;

In the initialization phase of the robot operation control system, determine the additional equipment of the robot, open the corresponding additional equipment alarm event list according to the unique identifier of the additional equipment, and map the content with the mapping mark in the additional equipment alarm event list to the operation control alarm in the event list.

Further, the content in the operation control alarm event list includes: serial number, alarm code, alarm content, alarm reason, solution and alarm reset.

Further, the unique identifier of the additional device is the product ID of the additional device.

Further, according to the error information uploaded by the additional equipment, the operation control alarm event list is opened for searching, and if the corresponding alarm content is not matched, the error information uploaded by the additional equipment is directly pushed to the display terminal.

Further, the additional equipment is an additional shaft.

Further, the display terminal is a teaching pendant or a PC.

According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the automatic recognition of the above-mentioned alarm event of the robot attachment is realized. method.

According to another aspect of the present invention, there is provided an automatic identification device for alarm events of robot attachments, including a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor When the computer program is executed, the method for automatically identifying alarm events of robot attachments according to any one of claims 1-7 is realized.

According to another aspect of the present invention, a robot is provided, including the above automatic recognition device for alarm events of additional equipment of the robot.

Applying the technical solution of the present invention, by mapping the content of the alarm event list provided by different additional equipment manufacturers to the operation control alarm event list of the robot operation control system, no matter which manufacturer’s additional equipment is used, it can be realized when additional equipment appears. When the equipment alarms, the detailed alarm information is displayed on the display terminal, and there is no need to manually search for the corresponding alarm information in the manual of the additional axis equipment, thus providing great convenience for users.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

Fig. 1 is a schematic flow chart of a method for automatically identifying alarm events of additional equipment of a robot.

Fig. 2 is a flow chart of adding a mapping mark to the manufacturer's alarm event list of the additional device.

Fig. 3 is a flow chart of automatic identification, push and display of additional equipment alarm events.

Figure 4 shows the alarm information displayed by the display terminal.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined without conflict.

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

At present, the application of adding additional equipment to six-axis industrial robots is customized by most manufacturers according to actual user needs. However, there are many types of additional equipment manufacturers, and each manufacturer has inconsistent definitions for alarms. Every time an additional equipment is added from a manufacturer, it must be modified. The controller and the teach pendant program to match the alarm events of the additional equipment, resulting in a very heavy workload, and the unified maintenance of the system cannot be achieved. Therefore, the processing method of many manufacturers is to directly push and display the error information uploaded by the additional equipment, such as KEBA. Refer to the user manual of the axis manufacturer to determine the specific content of the additional axis alarm and the solution.

Such an alarm event processing method is very inconvenient for the user to use, and cannot directly and intuitively view the alarm information of the additional device.

For this reason, this application proposes a method, device and robot for automatic recognition of alarm events of robot additional equipment to solve one or more of the above problems, and further realize that no matter which manufacturer’s additional equipment is used, it can be displayed on the display terminal. Detailed alarm information provides great convenience for users.

As shown in Figure 1, an embodiment of the present invention provides a method for automatic recognition of alarm events of additional equipment for robots, including:

Obtain the manufacturer's alarm event list of the additional equipment, and map the content in the manufacturer's alarm event list to the operation control alarm event list of the robot operation control system;

According to the error information uploaded by the additional equipment, the operation control alarm event list is opened to search, and after the corresponding alarm content is matched, it is pushed to the display terminal.

In this way, by mapping the content of the alarm event list provided by different additional equipment manufacturers to the operation control alarm event list of the robot operation control system, since the operation control alarm event list can be recognized by the robot operation control system, there is no need to change the robot operation control system and The program of the display terminal can display detailed alarm information on the display terminal, so that no matter which manufacturer’s additional equipment is used, when an additional equipment alarm event occurs, the detailed alarm information can be viewed on the display terminal at the first time , there is no need to manually search for the corresponding alarm information in the manual of the additional axis equipment, thus providing great convenience for users.

The method for automatic identification of alarm events of robot attachments in this embodiment will be described exemplarily below with reference to FIG. 2 to FIG. 4 .

In this embodiment, the additional equipment is exemplified by an additional axis, and the display terminal is exemplified by a teaching pendant or a PC. It is easy to understand that the present invention can be applied to any type of At the same time, the operation control alarm event list is stored in the robot operation control system (referred to as operation control) in the form of files, so the display terminal is not limited to the teaching pendant or PC, and can also be displayed on other display devices.

Specifically, the operation control alarm event list is shown in Table 1, which is a template formulated by the robot operation control system that can store all alarm events.

Table 1: Operation control alarm event list

serial number alarm code Alarm content Alarm reason solution alarm reset 0 1 2 ... 997 998 999

Exemplarily, the operation control alarm event list can store 10,000 alarm events, and classify different types of alarm events, wherein the alarm events of the main axis and the additional axis are stored in the serial numbers of 0-999 (wherein 0-499 stores the main body Axis alarm events, 500-999 store additional axis alarm events, the classification here can be adjusted according to the actual needs of users), other types of alarm events can continue to select different serial number spaces for classification according to actual needs, in this embodiment, the main It is aimed at the additional axis alarm event.

In Table 1, the format of the alarm event list with serial numbers 0-999 is consistent, and the content of each row includes: serial number, alarm code, alarm content, alarm cause, solution, and alarm reset. Among them, the alarm code represents the alarm code or error code fed back by the body axis or the additional axis (such as 181, displayed as decimal data); the alarm content is the alarm information corresponding to the alarm code (such as motor stall); the alarm reason is the cause of the alarm. Possible factors (such as the difference between the motor speed command and the actual speed is greater than the set value, the stall protection is triggered, and the control parameters are inappropriate); the solution is to remove the alarm (such as adjusting the control parameters); the options corresponding to the alarm reset are YES and NO, YES means whether the alarm can be cleared by the upper signal, no need to power off and restart, NO means the alarm signal must be restarted to reset.

As shown in Figure 2, in the process of mapping the contents of the manufacturer’s alarm event list of the additional axis to the robot’s motion control alarm event list, first, the robot motion control system opens the manufacturer’s alarm event list of the additional axis, as shown in Table 2 Show:

Table 2: Manufacturer alarm event list

In Table 2, content that does not correspond to Table 1 is indicated by omitting "...". Then, compare the content in Table 1, add * before the error code in Table 2 to correspond to the alarm code in Table 1; add ** before the alarm name in Table 2, corresponding to the alarm content in Table 1; Add *** before the content, corresponding to the alarm cause in Table 1; add **** before the inspection and treatment in Table 2, corresponding to the solution in Table 1; add *** before the alarm reset/alarm reset in Table 2 **, corresponding to the alarm reset in Table 1. Among them, "*", "**", etc. represent different mapping marks, and the specific content can be set according to the robot operation and control system, as long as the content in the table can be distinguished.

Subsequently, the table 2 with the added mapping mark is named with the unique identifier of the additional axis (such as the product ID) to facilitate subsequent identification, save it as a file in xml format, and obtain the list of alarm events of the additional axis, as shown in Table 3, and store it in the robot operating system. file under the control system.

Table 3: List of additional axis alarm events

At this point, the step of adding the mapping mark is completed. The main purpose of this step is to unify the identification format, because there are differences in the writing methods of the manufacturer's alarm event list for each additional axis. By adding the mapping mark, the reporting operation control based on the robot can be realized. The alarm event list is used to unify the alarm events of each additional axis.

As shown in Figure 3, when the robot operation control system is powered on, in the initialization stage, the topology is automatically scanned through the bus to determine the model of the main body axis and the additional axis, and then open the corresponding additional axis alarm event list according to the unique identifier of the additional axis, that is, Table 3 According to different mapping marks, map the marked content in the additional axis alarm event list to the corresponding position in the operation control alarm event list one by one. After the mapping work is completed, the operation control initialization phase ends. In this embodiment, the content with the mapping mark in Table 3 is mapped to the 501-700 serial number space in Table 1. In this way, the robot alarm information and the additional axis alarm information are stored in different areas of the table. When an alarm occurs, The robot operation control system will first determine whether it is the robot or the additional axis alarming, and then search for the alarm event information in the corresponding area, so as to avoid the inability to distinguish whether it is a robot fault or an additional axis fault when the error code of the additional axis is the same as the alarm code of the robot .

Finally, during the normal operation of the robot operation control system, according to the error code uploaded by the additional axis, open the operation control alarm event list to search. "Cause of alarm. Solution. Alarm reset" pushes the alarm event (such as accessory shaft 1.181 motor stall), and all the corresponding detailed information is pushed to the teach pendant or PC for detailed viewing, as shown in Figure 4. At the same time, the alarm reset information is also extracted to the operation control program, so that the operation control program can determine whether this alarm can be cleared without power off. If the corresponding alarm code is not matched in the operation control alarm event list, the additional axis number + error code will be directly pushed to the teach pendant or PC.

It can be seen that, adopting the automatic recognition method for the alarm event of the robot additional equipment of the present application, a unified alarm event log table is made at the operation control end, and the alarm event tables of different additional axes are converted into a unified operation control alarm event table according to the requirements. axis, only need to update the operation control alarm event table, without changing the operation control and teach pendant programs, the detailed alarm information can be displayed on the teach pendant or PC, which provides great convenience for users.

According to an embodiment of the present invention, there is also provided a computer-readable storage medium corresponding to a method for automatically identifying an alarm event of a robot attachment, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor Realize the automatic recognition method for the alarm event of the robot additional equipment as above.

Since the processing and functions implemented by the computer-readable storage medium in this embodiment basically correspond to the embodiments, principles and examples of the methods shown in FIGS. Refer to relevant descriptions in the foregoing embodiments, and details are not repeated here.

According to an embodiment of the present invention, there is also provided a robot additional equipment alarm event automatic recognition device and a robot having it. Similarly, because the processing and functions realized by it basically correspond to the methods shown in the aforementioned Figures 1 to 4 For the embodiments, principles and examples of this embodiment, for details not described in this embodiment, you can refer to the relevant descriptions in the foregoing embodiments, and details are not repeated here.

In describing the present invention, it should be understood that the terms "center", "front, back, up, down, left, right", "transverse, vertical, vertical, horizontal" and "top, bottom" etc. indicate The orientation or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. In the absence of a contrary statement, these orientation words do not indicate or imply the referred device Or components must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present invention; the orientation words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of the present invention.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A method for automatic identification of robot additional equipment alarm events, characterized in that: comprising: Obtain the manufacturer's alarm event list of the additional equipment, and map the content in the manufacturer's alarm event list to the operation control alarm event list of the robot operation control system; According to the error information uploaded by the additional equipment, the operation control alarm event list is opened to search, and after the corresponding alarm content is matched, it is pushed to the display terminal. 2. The automatic identification method for robot additional equipment alarm events according to claim 1, characterized in that: the content in the manufacturer's alarm event list is mapped to the operation control alarm event list, including: Open the manufacturer's alarm event list, and add a corresponding mapping mark in the corresponding content in the manufacturer's alarm event list according to the content in the operation control alarm event list; Name the manufacturer's alarm event list added with the mapping mark with the unique identifier of the additional equipment to obtain the additional equipment alarm event list, and save it in the robot operation control system in xml format; In the initialization phase of the robot operation control system, determine the additional equipment of the robot, open the corresponding additional equipment alarm event list according to the unique identifier of the additional equipment, and map the content with the mapping mark in the additional equipment alarm event list to the operation control alarm in the event list. 3. The automatic identification method for robot additional equipment alarm event according to claim 2, characterized in that: the content in the operation control alarm event list includes: serial number, alarm code, alarm content, alarm reason, solution and alarm reset . 4. The method for automatically identifying alarm events of robot attachments according to claim 2, characterized in that: the unique identifier of the attachment is the product ID of the attachment. 5. The method for automatically identifying alarm events of additional equipment for a robot according to claim 1, characterized in that: according to the error message uploaded by the additional equipment, the operation control alarm event list is opened for searching, and when the corresponding alarm content is not matched, Push the error message uploaded by the additional device directly to the display terminal. 6. The method for automatically identifying alarm events of robot attachments according to claim 1, characterized in that: the attachments are attachment axes. 7. The method for automatic recognition of alarm events of robot additional equipment according to claim 1, characterized in that: the display terminal is a teaching pendant or a PC. 8. A computer-readable storage medium, the computer-readable storage medium is stored with a computer program, characterized in that, when the computer program is executed by a processor, the robot attachment device according to any one of claims 1-7 is realized Automatic identification method of alarm event. 9. A device for automatically identifying alarm events of additional robot equipment, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that: the processor executes the computer program The program realizes the automatic identification method of the robot additional equipment alarm event as described in any one of claims 1-7. 10. A robot, characterized in that it comprises the automatic recognition device for alarm events of the robot's additional equipment as claimed in claim 9.

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