Redundancy error-proofing method of robot

A robot and error-proof technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as missed detection, sensor damage, etc.

Inactive Publication Date: 2012-03-21
SHANGHAI TRACTOR & INTERNAL COMBUSTION ENGINE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a redundant error-proofing method for robots to solve the problem of missed detection caused by sensor damage

Method used

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  • Redundancy error-proofing method of robot
  • Redundancy error-proofing method of robot

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Embodiment Construction

[0013] In the following, the embodiment of the present invention will be described in detail by taking a welding robot as an example in conjunction with the accompanying drawings.

[0014] Such as figure 1 As shown, when the robot using this redundant error-proofing method is working, it first performs step S100: set the task execution condition, the task execution condition is the state of the sensor in the state of no missing parts; then execute step S110, read the state of the sensor , then execute step S120, compare the state of the read sensor with the set task execution condition, if the read sensor state is not the same as the set task execution condition, then execute step S130, the robot does not perform the operation task and Carry out alarm display. The alarm information at this time indicates that there are missing parts on the welding assembly. The operator should check the welding assembly in time and install the missing parts; such as the read sensor status and ...

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Abstract

The invention discloses a redundancy error-proofing method of a robot. The method comprises the following steps of: detecting whether a part is on a workpiece by a sensor; carrying out a corresponding operation task on the part by the robot controlled by an PLC (Programmable Logic Controller); when the robot finishes the operation task once, scanning the state of the sensor; if a conversion state from a 'part' effective state to a 'no-part' ineffective state appears in the state of the sensor, executing the next time of operation task by the robot; or else, stopping executing the next time of operation task. According to the method, the robot can be controlled to stop executing the next time of operation till faults on the sensor are eliminated, therefore the problem of part missing can be avoided, the level of part error proofing is increased, the possibility of part missing is reduced, the finished product rate of the workpiece can be also improved, and the production cost of enterprises is reduced.

Description

technical field [0001] The invention relates to an error prevention method for robot operation, in particular to a redundant error prevention method for robot operation. Background technique [0002] Robot technology is widely used in production fields such as welding, handling, and assembly. When robots are used in these fields, sensors are often used to detect whether there are parts on the station. If there are parts, the PLC controls the robot to complete the inspection. Operations such as welding, handling or assembly of parts. However, in actual production work, due to the large number of parts on the production line, if there is a problem with the detection of the sensor, the entire workpiece may be scrapped. [0003] Take the welding production of auto parts as an example: the assembly of an automobile or mechanical parts is assembled by many large and small parts, each part has an assembly sequence, and the corresponding parts are assembled step by step . In orde...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 褚卫东张青亮
Owner SHANGHAI TRACTOR & INTERNAL COMBUSTION ENGINE
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