CN109311604B - Robot and method for adjusting posture of robot - Google Patents
Robot and method for adjusting posture of robot Download PDFInfo
- Publication number
- CN109311604B CN109311604B CN201780030217.9A CN201780030217A CN109311604B CN 109311604 B CN109311604 B CN 109311604B CN 201780030217 A CN201780030217 A CN 201780030217A CN 109311604 B CN109311604 B CN 109311604B
- Authority
- CN
- China
- Prior art keywords
- flat plate
- robot
- sensor
- measured flat
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
Landscapes
- Manipulator (AREA)
Abstract
A robot and a method of adjusting a pose of a robot, the robot comprising a controller (30), a drive (40), at least three sensors (201, 202, 203), and a grasping assembly (10) mounted on a robotic arm of the robot; the grabbing component (10) is used for grabbing a tested flat plate (50); the at least three sensors (201, 202, 203) are used for detecting the distance between each sensor (201, 202, 203) and the measured flat plate (50); the controller (30) is used for calculating the posture of the tested flat plate (50), generating a corresponding control signal and sending the control signal to the driver (40); the driver (40) is used for responding to the control signal and adjusting the posture of the grabbing component (10). The robot can automatically adjust the posture of the grabbing component (10) according to the placing position and the posture of the measured flat plate (50).
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot and a method for adjusting the posture of the robot.
Background
The industrial robot is a multi-degree-of-freedom robot oriented to the industrial field, is widely applied to complex operations such as carrying, welding and packaging, saves a large amount of labor cost for enterprises, and greatly improves the production efficiency. As an indispensable important equipment and means in the modern industrial field, robots have become an important mark for measuring the science and technology and the manufacturing level of a country.
When an industrial robot carries a flat plate (for example, glass), the distance between the robot and the flat plate and the posture of the flat plate relative to the robot need to be acquired. Because the placing angles of each batch of flat plates are different, the postures of the robots need to be adjusted manually, and a large amount of time and labor are consumed. In order to realize automation and unmanned operation of a factory, the mechanical arm is required to automatically adjust the grabbing posture and the grabbing position according to flat plates with different shapes and postures.
Disclosure of Invention
The invention mainly solves the technical problem of providing a robot and a method for adjusting the posture of the robot, which can realize that the robot automatically adjusts the posture of a grabbing component according to the placing position and the posture of a measured flat plate.
In order to solve the above technical problem, one technical solution adopted by the present invention is to provide a robot, including: the robot comprises a controller, a driver, at least three sensors and a grabbing component arranged on a mechanical arm of the robot;
the grabbing component is used for grabbing the tested flat plate;
the at least three sensors are dispersedly arranged on the grabbing component or are dispersedly arranged at positions which have relative position relation with the grabbing component, and are used for detecting the distance between each sensor and the measured panel;
the controller is connected with each sensor and the driver and used for receiving the distance between each sensor and the measured panel, calculating the posture of the measured panel according to the distance between each sensor and the measured panel, generating corresponding control signals and sending the control signals to the driver;
the driver is connected with the grabbing component and used for responding to the control signal to adjust the posture of the grabbing component so that the posture of the grabbing component meets a preset condition.
In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a method for adjusting a robot posture, which is applied to a controller of a robot, wherein the robot further includes a driver, at least three sensors, and a grasping assembly mounted on a robot arm of the robot, and the at least three sensors are dispersedly disposed on the grasping assembly or dispersedly disposed at positions having a relative positional relationship with the grasping assembly, the method including:
detecting the distance between each sensor and the measured flat plate by using the at least three sensors;
and calculating the posture of the measured flat plate according to the distance between each sensor and the measured flat plate, generating a corresponding control signal and sending the control signal to the driver, so that the driver responds to the control signal to adjust the posture of the grabbing component, and the posture of the grabbing component meets a preset condition.
According to the invention, the posture of the grabbing component on the robot is automatically adjusted by detecting the distance between the grabbing part of the robot and the measured flat plate, so that the measured flat plate is accurately and effectively grabbed, a large amount of time and labor are saved, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic structural diagram of an embodiment of the robot of the present invention;
FIG. 2 is a schematic diagram of a grasping element of an embodiment of the robot of the present invention;
FIG. 3 is a schematic diagram of a circular plate coordinate marker of an embodiment of the robot of the present invention;
FIG. 4 is a schematic diagram of a rectangular plate coordinate marker of an embodiment of the robot of the present invention;
fig. 5 is a flowchart of an embodiment of a method for adjusting the robot posture according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, a robot embodiment of the present invention comprises: a controller 30, a drive 40, at least three sensors 201, 202 and 203, and a gripper assembly 10 mounted on a robotic arm of the robot;
the grabbing component 10 is used for grabbing the tested flat plate 50;
at least three sensors 201, 202 and 203, which are dispersedly arranged on the grabbing component 10 or dispersedly arranged at the position having the relative position relation with the grabbing component 10, and are used for detecting the distance between each sensor and the measured flat plate 50;
optionally, the grabbing component 10 is provided with at least one grabbing part 101, the three sensors 201, 202 and 203 are directly and dispersedly fixed around the grabbing part 101, and the grabbing surface defined by the grabbing part 101 faces one side of the tested flat plate 50, so that the grabbing action of the grabbing part 101 is not affected while the tested flat plate 50 is sensed, and the three sensors 201, 202 and 203 are not knocked down or damaged during grabbing. Of course, it may be integrated directly into the gripper 101.
The controller 30 is connected with each sensor and driver 40, and is used for receiving the distance between each sensor and the measured flat plate 50, calculating the posture of the measured flat plate 50 according to the distance between each sensor and the measured flat plate 50, generating a corresponding control signal and sending the control signal to the driver 40;
the driver 40 is connected to the grasping assembly 10, and is configured to adjust the attitude of the grasping assembly 10 in response to the control signal such that the attitude of the grasping assembly 10 satisfies a predetermined condition.
Alternatively, one of the predetermined conditions is to make the distances between the grasping portions 101 and the measured flat plate 50 equal, and the other predetermined condition is to make the difference between the distances between the grasping portions 101 and the measured flat plate 50 smaller than the first threshold.
Referring to fig. 1 and 2, specifically, the adjustment of the attitude of the grasping assembly 10 by the driver 40 in response to the control signal may be achieved by:
1) adjusting the attitude of the grasping assembly 10 such that a line between a first sensor 201 and a second sensor 202 of the at least three sensors 201, 202, and 203 is parallel to the first direction;
2) adjusting the posture of the grabbing component 10 to enable the grabbing component 10 to rotate around a second direction perpendicular to the first direction until the distances between the first sensor 201 and the second sensor 202 and the measured flat plate 50 are equal or the difference value is smaller than a first threshold value;
3) and adjusting the posture of the grabbing component 10 to enable the grabbing component 10 to rotate around the first direction until the distances between the first sensor 201 and the third sensor 203 and the measured flat plate 50 are equal or the difference value is smaller than the first threshold value.
Wherein the driver 40 adjusts the attitude of the grasping assembly 10 such that the at least one sensor detects that the distance from the measured flat plate 50 reaches the second threshold value, thereby positioning the measured flat plate 50 in the detection range of the robot, before the driver 40 adjusts the attitude of the grasping assembly 10 in response to the control signal. For example, the distance between the grabbing component 10 of the robot and the horizontal ground is 1.5 meters, and the measured flat plate 50 is placed on a platform with the height of 0.5 meter; during the movement of the robot to the measured flat plate 50, the sensors detect that the distance between the grabbing component 10 and the object in the grabbing direction thereof is 1.5 meters, and when the robot approaches the measured flat plate 50 and at least one sensor detects that the distance is equal to 1 meter (i.e. the second threshold) or less than 1 meter, indicating that the measured flat plate 50 is within the detection range of the sensor, the adjustment of the posture of the grabbing component 10 on the robot by the driver 40 may be started.
Optionally, the sensor is an ultrasonic sensor. Of course, other distance sensors such as laser rangefinders may be used.
In this embodiment, a center of the grasping unit 10 or a certain point on a plane where the grasping unit 10 is located is taken as an origin, a first direction and a second direction perpendicular to each other on the plane where the grasping unit 10 is located are taken as an X axis and a Y axis, respectively, and a third direction perpendicular to the plane where the grasping unit 10 is located is taken as a Z axis; wherein the line between the first sensor 201 and the second sensor 202 is parallel to the X-axis.
In an application scenario, in order to realize that the distances between each grabbing part 101 and the measured flat plate 50 are consistent, the controller 30 sends a control signal to control the driver 40 to drive the robot to move towards the measured flat plate 50, so that the distance between the at least one sensor and the measured flat plate 50 reaches a second threshold value, which indicates that the robot reaches the detection range; the controller 30 sends out a control signal again, so that the driver 40 drives the grabbing component 10 to rotate around the Y axis until the distances between the first sensor 201 and the second sensor 202 and the measured flat plate 50 are equal; and then the grabbing component 10 rotates around the X axis again until the distances between the first sensor 201 and the third sensor 203 and the measured flat plate 50 are equal, and because the connecting line between the first sensor 201 and the second sensor 202 is parallel to the X axis, at this time, the distances between the first sensor 201, the second sensor 202 and the third sensor 203 and the measured flat plate 50 are always equal, namely, the grabbing component 10 is parallel to the measured flat plate 50, and the automatic adjustment of the robot posture is completed.
Referring to fig. 2 to 4, in the present embodiment, when the measured flat plate 50 is circular, the controller 30 is further configured to control the first sensor 201 on the robot to move forward along the X-axis from any point above the circular measured flat plate 50, and when the first sensor 201 detects that the distance from the circular measured flat plate 50 changes suddenly, it indicates that the edge of the circular measured flat plate 50 is reached, and mark this point as a1(ii) a Similarly, the negative movement of the first sensor 201 on the robot along the X axis is controlled, and the point when the distance between the first sensor 201 and the measured flat plate 50 is suddenly changed is marked as B1(ii) a The controller 30 is also used to control the first sensor 201 on the robot back to the corresponding point a1At point A1Is point C1The point where the distance from the first sensor 201 to the measured plate 50 changes abruptly is marked as D by the negative movement along the Y-axis1(ii) a Using point A1、B1、C1And D1The position of the center of the circular flat plate 50 to be measured, the position of the side of the circle, and the area are calculated from the coordinates of (a) to (b), thereby obtaining the attitude of the circular flat plate 50 to be measured.
Specifically, since the X-axis is perpendicular to the Y-axis, B1And D1The connecting line of (A) passes through the center of the circular measured flat plate 50, B1D1The diameter of the round flat plate 50 to be measured is obtained, and the position of the center of the circle is point B1And point D1The midpoint of the connecting line of (a); obtaining the position of the edge of the circle according to the midpoint and the diameter; calculate point A1And point B1The difference in the X-axis direction is d1Calculating a point C1And point D1The difference in the Y-axis direction is d2The area of the circular measured flat plate 50 is obtained according to the Pythagorean theorem and the area formula of the circle
When the measured flat plate 50 is rectangular, the controller 30 is further configured to control the first sensor 201 on the robot to start the forward movement along the X-axis from any point above the rectangular measured flat plate 50, and when the first sensor 201 detects that the distance from the rectangular measured flat plate 50 changes abruptly, it indicates that the edge of the rectangular measured flat plate 50 is reached, and mark this point as a2(ii) a Similarly, the negative movement of the first sensor 201 on the robot along the X axis is controlled, and the point when the distance between the first sensor 201 and the measured flat plate 50 is suddenly changed is marked as B2(ii) a The controller 30 is further configured to control the first sensor 201 on the robot to move in the forward direction along the Y-axis from any point above the rectangular measured flat plate 50, and mark a point at which the distance from the first sensor 201 to the measured flat plate 50 changes abruptly as C2(ii) a Controlling the negative motion of the first sensor 201 on the robot along the X axis, and marking the point D when the distance between the first sensor 201 and the measured flat plate 50 is suddenly changed2B, carrying out the following steps of; using point A2、B2、C2And D2The position of the center of symmetry, the positions of the four vertices, and the area of the rectangular flat panel 50 to be measured are calculated from the coordinates of (a) to (b), thereby obtaining the posture of the rectangular flat panel 50 to be measured.
Specifically, one side of the rectangular plate 50 is parallel to the X-axis or Y-axis, and point A2And point B2The connecting line is the length (or width) of the rectangular measured flat plate 50, and the point A is calculated2And point B2The difference in the X-axis direction is d3Since the X-axis is perpendicular to the Y-axis, C2And D2The connecting line is the width (or length) of the measured plate 50, and the calculating point C2And point D2The difference in the Y-axis direction is d4Point A2And point B2Is located on a line parallel to the X-axis and point A2And point B2The intersection point of the line parallel to the Y axis where the midpoint is located is the symmetric center of the rectangular measured flat plate 50; obtaining the positions of four vertexes according to the symmetrical center, the length and the width of the rectangular measured flat plate 50 and the directions of the rectangular sides; obtaining the area of the rectangular measured flat plate 50 according to the length and the width of the rectangular measured flat plate 50 as follows:
Sr＝|d3|×|d4|。
referring to fig. 1 to 4, the controller 30 is further configured to adjust the posture of the grasping assembly 10 and the position of the grasping portion 101 according to the posture of the measured flat plate 50, and control the robot to grasp the measured flat plate 50 in the third direction.
Optionally, the grabbing part 101 is a suction cup, the grabbing component 10 is provided with at least two suction cups, and the at least two suction cups can be fixedly arranged on the grabbing component 10 or movably arranged on the grabbing component 10.
Alternatively, the grasping portion 101 may be other components having a grasping function, such as a mechanical finger.
Specifically, when the grabbing part 101 is fixedly arranged on the grabbing component 10, the grabbing component 10 is controlled to move on the plane where the grabbing component is located, so that a connecting line of the center of the grabbing component 10 and the center of the measured flat plate 50 is perpendicular to the measured flat plate 50; when the grasping portion 101 is movably disposed on the grasping unit 10, the position of the grasping unit 10 on the plane where it is located and the position of the grasping portion 101 on the grasping unit 10 are appropriately adjusted according to the shape and area of the measured flat plate 50.
Specifically, when the measured flat plate 50 is circular, the controller 30 controls the grasping portion 101 to move to the grasping point corresponding to the circular measured flat plate 50 according to the center of the circular measured flat plate 50, the position of the edge of the circle, and the area of the circular measured flat plate 50; optionally, the grabbing assembly 10 includes three grabbing portions 101, the grabbing portions 101 correspond to grabbing positions of the circular flat plate 50 to be measured, the controller 30 selects a position close to a side of a circle or a position close to a center of a circle as the grabbing position according to an area of the circular flat plate 50 to be measured, the grabbing portions 101 form an equilateral triangle, and a center of gravity of the equilateral triangle corresponds to the center of the circle of the circular flat plate 50 to be measured, so that each grabbing portion 101 is stressed the same, and the flat plate 50 to be measured can be grabbed conveniently; of course, the grasping point may be other positions for grasping the measured plate 50.
Specifically, when the measured flat plate 50 is rectangular, the controller 30 controls the grasping portion 101 to move to the grasping point corresponding to the rectangular measured flat plate 50 according to the position of the symmetric center, the positions of the four vertices, and the area of the rectangular measured flat plate 50; optionally, the grabbing assembly 10 includes two grabbing portions 101, the grabbing portions 101 correspond to grabbing positions of the rectangular flat plate 50 to be tested, the controller 30 selects positions close to four vertices or positions of a symmetrical center of the rectangle as the grabbing positions according to an area of the rectangular flat plate 50 to be tested, and centers of connecting lines of the grabbing portions 101 correspond to the symmetrical center of the rectangular flat plate 50 to be tested, so that each grabbing portion 101 is stressed the same, and the flat plate 50 to be tested is conveniently grabbed; of course, the grasping point may be other positions for grasping the measured plate 50.
The invention realizes automatic adjustment of the posture of the robot by detecting the distance between the robot gripping part and the measured flat plate; through automatic mark coordinate, realize according to the position of the gesture automatic adjustment of the dull and stereotyped portion of snatching on snatching the plane of subassembly place, snatch the dull and stereotyped of being surveyed effectively accurately, save a large amount of time and manual work, improve work efficiency.
Referring to fig. 5, an embodiment of the method for adjusting the posture of the robot according to the present invention is applied to a controller of the robot, wherein the robot further includes a driver, at least three sensors and a grabbing component mounted on a robot arm of the robot, and the at least three sensors are dispersedly disposed on the grabbing component or dispersedly disposed at positions having a relative positional relationship with the grabbing component, and the method includes:
s101, enabling at least one sensor to detect that the distance between the sensor and a measured flat plate reaches a second threshold value;
when the at least one sensor detects that the distance between the grabbing component and the object in the grabbing direction of the grabbing component is smaller than or equal to a second threshold value, the robot reaches the detection range.
S102, detecting the distance between each sensor and a measured flat plate by using at least three sensors;
s103, calculating the posture of the measured flat plate according to the distance between each sensor and the measured flat plate, generating a corresponding control signal and sending the control signal to a driver;
s1041, enabling the driver to respond to the control signal to adjust the posture of the grabbing component, and enabling a connecting line between a first sensor and a second sensor in the at least three sensors to be parallel to a first direction;
s1042, adjusting the posture of the grabbing component to enable the grabbing component to rotate around a second direction perpendicular to the first direction until the distances between the first sensor and the second sensor and the measured flat plate are equal or the difference value is smaller than a first threshold value;
and S1043, adjusting the posture of the grabbing component to enable the grabbing component to rotate around the first direction until the distances between the first sensor and the measured flat plate and the distances between the third sensor and the measured flat plate are equal or the difference values are smaller than a first threshold value.
The first direction and the second direction are on a plane where the grabbing components are located, the third direction is perpendicular to the plane where the grabbing components are located, and the first direction, the second direction and the third direction are perpendicular to each other in pairs.
Optionally, one of the predetermined conditions is that the distances between the gripping parts on the gripping assembly and the measured flat plate are equal, and the other predetermined condition is that the difference between the distances between the gripping parts and the measured flat plate is smaller than a first threshold value.
In an application scene, in order to realize that the distances between each grabbing part and the measured flat plate are consistent, the controller sends a control signal, and controls the driver to drive the robot to move towards the measured flat plate, so that the distance between the at least one sensor and the measured flat plate reaches a second threshold value, which indicates that the robot reaches a detection range; the controller sends out a control signal again to enable the driver to drive the grabbing component to rotate around the second direction until the distances between the first sensor and the second sensor and the measured flat plate are equal; and then the grabbing component rotates around the first direction until the distances between the first sensor and the measured flat plate are equal to the distances between the third sensor and the measured flat plate respectively, and because the connecting line between the first sensor and the second sensor is parallel to the first direction, the distances between the first sensor, the second sensor and the measured flat plate are always equal to each other, namely the grabbing component is parallel to the measured flat plate, and the automatic adjustment of the posture of the robot is completed.
S105, judging that the flat plate to be detected is circular or rectangular; when the measured flat plate is circular, executing the step S1061; when the measured flat plate is rectangular, step S1071 is performed. Specifically, whether the measured flat panel is circular or rectangular can be judged by receiving user input data.
S1061, when the flat plate to be measured is circular, controlling the robot to move in the forward direction along the first direction, and marking a point A when the distance between the first sensor and the flat plate to be measured is suddenly changed1Controlling the negative motion of the robot along the first direction, and marking a point B when the distance between the first sensor and the measured flat plate is suddenly changed1；
S1062, controlling the forward motion of the robot along the second direction, and marking a point C when the distance between the first sensor and the measured flat plate is suddenly changed1And controlling the negative motion of the robot along the second direction, and marking a point D when the distance between the first sensor and the measured flat plate is suddenly changed1；
S1063, utilization point A1、B1、C1And D1Calculating the posture of the measured flat plate according to the coordinates;
controller according to point A1、B1、C1And D1The controller controls the grabbing part to move to the grabbing point corresponding to the circular measured flat plate according to the posture of the measured flat plate.
Specifically, since the first direction is perpendicular to the second direction, A1And D1The connecting line of (A) passes through the center of the circular measured flat plate, A1D1The diameter of the round measured flat plate is obtained, and the position of the center of the circle is a point A1And point D1The midpoint of the connecting line of (a); obtaining the position of the edge of the circle according to the midpoint and the diameter; calculate point A1And point B1The difference in the first direction is d1Calculating a point C1And point D1The difference in the second direction is d2According to the pythagorean theorem and the area formula of the circle, the area of the circular measured flat plate is obtained
S1071, measuring the flat plateWhen the rectangular plate is rectangular, the robot is controlled to move along the positive direction of the first direction, and the point when the distance between the first sensor and the measured plate changes suddenly is marked as A2Controlling the negative motion of the robot along the first direction, and marking a point B when the distance between the first sensor and the measured flat plate is suddenly changed2；
S1072, controlling the forward motion of the robot along the second direction, and marking a point C when the distance between the first sensor and the measured flat plate is suddenly changed2And controlling the negative motion of the robot along the second direction, and marking a point D when the distance between the first sensor and the measured flat plate is suddenly changed2；
S1073, use of A2、B2、C2And D2Calculating the posture of the measured flat plate according to the coordinates;
controller according to point A2、B2、C2And D2The controller controls the grabbing part to move to the grabbing point corresponding to the circular measured flat plate according to the posture of the measured flat plate.
Specifically, one side of the rectangular measured flat plate is parallel to the first direction or the second direction, and the point A is2And point B2The connecting line is the length (or width) of the rectangular measured flat plate, and the point A is calculated2And point B2The difference in the first direction is d3Since the first direction is perpendicular to the second direction, C2And D2The connecting line is the width (or length) of the measured flat plate, and the calculating point C2And point D2The difference in the second direction is d4Point A2And point B2A line parallel to the first direction in which the midpoint is located and a point A2And point B2The intersection point of the line where the midpoint is parallel to the second direction is the symmetric center of the rectangular measured flat plate; obtaining the positions of four vertexes according to the symmetrical center, the length and the width of the rectangular measured flat plate and the direction of the rectangular side; obtaining the area of the rectangular measured flat plate according to the length and the width of the rectangular measured flat plate as follows:
Sr＝|d3|×|d4|。
and S108, adjusting the posture and the grabbing position of the grabbing component according to the posture of the measured flat plate, and controlling the robot to grab the measured flat plate along the third direction.
Specifically, the third direction is perpendicular to the first direction and the second direction, respectively.
Specifically, the grabbing position is adjusted by adjusting the position of the grabbing part on the grabbing component.
The invention realizes automatic adjustment of the posture of the robot by detecting the distance between the robot gripping part and the measured flat plate; through automatic mark coordinate, realize according to the area automatic adjustment of the dull and stereotyped area of being surveyed and snatch the position of portion on snatching the plane that the subassembly is located, snatch the dull and stereotyped of being surveyed effectively accurately, save a large amount of time and manual work, improve work efficiency.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A robot, comprising: the robot comprises a controller, a driver, at least three sensors and a grabbing component arranged on a mechanical arm of the robot;
the grabbing component is used for grabbing the tested flat plate;
the at least three sensors are dispersedly arranged on the grabbing component or are dispersedly arranged at positions which have relative position relation with the grabbing component, and are used for detecting the distance between each sensor and the measured panel;
the controller is connected with each sensor and the driver and used for receiving the distance between each sensor and the measured panel, calculating the posture of the measured panel according to the distance between each sensor and the measured panel, generating corresponding control signals and sending the control signals to the driver;
the driver is connected with the grabbing component and used for responding to the control signal to adjust the posture of the grabbing component so that the posture of the grabbing component meets a preset condition;
when the measured flat plate is circular, the controller is further used for marking the point A when the distance between the first sensor of the at least three sensors and the measured flat plate is suddenly changed when the robot is controlled to move in the forward direction along the first direction1(ii) a Marking a point B when the distance between the first sensor and the measured flat plate is suddenly changed when the robot is controlled to move in the negative direction along the first direction1(ii) a The controller is also used for marking the point C when the distance between the first sensor and the measured flat plate is suddenly changed when the robot is controlled to move in the forward direction along the second direction perpendicular to the first direction1(ii) a When the negative motion of the robot along the second direction is controlled, marking the point D when the distance between the first sensor and the measured flat plate is suddenly changed1Using said point A1、B1、C1And D1Calculating the posture of the measured flat plate according to the coordinates; or
When the measured flat plate is rectangular, the controller is also used for marking the point A when the distance between the first sensor and the measured flat plate is suddenly changed when the robot is controlled to move in the forward direction of the first direction2(ii) a Marking a point B when the distance between the first sensor and the measured flat plate is suddenly changed when the robot is controlled to move in the negative direction along the first direction2(ii) a The controller is also used for marking the point C when the distance between the first sensor and the measured flat plate is suddenly changed when the robot is controlled to move in the forward direction of the second direction2(ii) a When the negative motion of the robot along the second direction is controlled, marking the point D when the distance between the first sensor and the measured flat plate is suddenly changed2Said point A2、B2、C2And D2Respectively located on four sides of the rectangle, using the points A2、B2、C2And D2Is calculated from the coordinates ofAnd taking out the posture of the measured flat plate.
2. The robot of claim 1, wherein the driver adjusts the pose of the grasping assembly in response to the control signal, comprising:
adjusting the attitude of the grasping assembly so that a line between a first sensor and a second sensor of the at least three sensors is parallel to a first direction;
adjusting the posture of the grabbing component, and enabling the grabbing component to rotate around a second direction perpendicular to the first direction until the distances between the first sensor and the measured flat plate and the distances between the second sensor and the measured flat plate are equal or the difference value is smaller than a first threshold value;
and adjusting the posture of the grabbing component to enable the grabbing component to rotate around the first direction until the distances between the first sensor and a third sensor in the at least three sensors and the measured flat plate are equal or the difference value is smaller than a first threshold value.
3. The robot of claim 2,
before the driver adjusts the posture of the grabbing component in response to the control signal, the driver is further used for adjusting the posture of the grabbing component, so that at least one sensor detects that the distance between the at least one sensor and the measured flat plate reaches a second threshold value, and therefore the measured flat plate is located in the detection range of the robot.
4. The robot of claim 1,
the point A1And point C1And (4) overlapping.
5. The robot of claim 1,
when the measured flat plate is rectangular, one side of the measured flat plate is parallel to the first direction or the second direction, and the first direction is vertical to the second direction.
6. The robot of claim 1,
the grabbing component is provided with at least one grabbing part;
the predetermined condition is that the distance between each grabbing part on the grabbing component and the measured plane is equal or the difference value is smaller than a first threshold value.
7. The robot of any of claims 1-6,
the controller is further used for adjusting the posture and the grabbing position of the grabbing component according to the posture of the measured flat plate, and controlling the robot to grab the measured flat plate along a third direction, wherein the third direction is perpendicular to the first direction and the second direction respectively.
8. The robot of claim 6,
the grabbing part is a sucker, at least two suckers are arranged on the grabbing component, and the at least two suckers are movably arranged on the grabbing component.
9. A method for adjusting the posture of a robot is applied to a controller of the robot, wherein the robot further comprises a driver, at least three sensors and a grabbing component arranged on a mechanical arm of the robot, the at least three sensors are dispersedly arranged on the grabbing component or are dispersedly arranged at positions having a relative position relationship with the grabbing component, and the method comprises the following steps:
detecting the distance between each sensor and the measured flat plate by using the at least three sensors;
calculating the posture of the measured flat plate according to the distance between each sensor and the measured flat plate, generating a corresponding control signal and sending the control signal to a driver, so that the driver responds to the control signal to adjust the posture of the grabbing component, and the posture of the grabbing component meets a preset condition;
wherein, when the measured flat plate is circular, the method also comprises: controlling the robot to move in the forward direction along a first direction, and marking the point A when the distance between a first sensor of the at least three sensors and the measured flat plate is suddenly changed1(ii) a Controlling the robot to move in a negative direction along a first direction, and marking a point B when the distance between the first sensor and the measured flat plate changes suddenly1(ii) a Controlling the robot to move along the forward direction of a second direction perpendicular to the first direction, and marking a point C when the distance between the first sensor and the measured flat plate changes suddenly1(ii) a Controlling the robot to move in the negative direction along the second direction, and marking a point D when the distance between the first sensor and the measured flat plate changes suddenly1Using said point A1、B1、C1And D1Calculating the posture of the measured flat plate according to the coordinates; or
When the measured flat plate is rectangular, the method further comprises the following steps: controlling the robot to move along the positive direction of the first direction, and marking the point A when the distance between the first sensor and the measured flat plate changes suddenly2(ii) a Controlling the robot to move in a negative direction along a first direction, and marking a point B when the distance between the first sensor and the measured flat plate changes suddenly2(ii) a Controlling the robot to move in the forward direction along the second direction, and marking the point C when the distance between the first sensor and the measured flat plate changes suddenly2(ii) a Controlling the robot to move in the negative direction along the second direction, and marking a point D when the distance between the first sensor and the measured flat plate changes suddenly2Said point A2、B2、C2And D2Respectively located on four sides of the rectangle, using the points A2、B2、C2And D2The posture of the measured flat plate is calculated.
10. The method of claim 9, wherein causing the driver to adjust the pose of the grasping assembly in response to the control signal comprises:
adjusting the attitude of the grasping assembly so that a line between a first sensor and a second sensor of the at least three sensors is parallel to a first direction;
adjusting the posture of the grabbing component, and enabling the grabbing component to rotate around a second direction perpendicular to the first direction until the distances between the first sensor and the measured flat plate and the distances between the second sensor and the measured flat plate are equal or the difference value is smaller than a first threshold value;
and adjusting the posture of the grabbing component to enable the grabbing component to rotate around the first direction until the distances between the first sensor and a third sensor in the at least three sensors and the measured flat plate are equal or the difference value is smaller than a first threshold value.
11. The method of claim 10, wherein,
before causing the driver to adjust the attitude of the grasping assembly in response to the control signal, further causing the driver to adjust the attitude of the grasping assembly so that at least one of the sensors detects that the distance to the measured flat plate reaches a second threshold value, thereby causing the measured flat plate to be located within the detection range of the robot.
12. The method of claim 9, wherein,
the point A1And point C1The points coincide.
13. The method of claim 9, wherein,
when the measured flat plate is rectangular, one side of the measured flat plate is parallel to the first direction or the second direction, and the first direction is vertical to the second direction.
14. The method of claim 9, wherein,
the grabbing component is provided with at least one grabbing part;
the predetermined condition is that the distance between each grabbing part on the grabbing component and the measured plane is equal or the difference value is smaller than a first threshold value.
15. The method of any one of claims 9-14,
after the posture and the grabbing position of the grabbing component are adjusted according to the posture of the measured flat plate, the method further comprises the following steps: and controlling the robot to grab the tested flat plate along a third direction, wherein the third direction is respectively vertical to the first direction and the second direction.
16. The method of claim 14, wherein,
the grabbing part is a sucker, at least two suckers are arranged on the grabbing component, and the at least two suckers are movably arranged on the grabbing component.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/086362 WO2018218438A1 (en) | 2017-05-27 | 2017-05-27 | Robot and method for adjusting robot posture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109311604A CN109311604A (en) | 2019-02-05 |
| CN109311604B true CN109311604B (en) | 2021-01-08 |
Family
ID=64454116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780030217.9A Active CN109311604B (en) | 2017-05-27 | 2017-05-27 | Robot and method for adjusting posture of robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109311604B (en) |
| WO (1) | WO2018218438A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116040457A (en) * | 2023-04-03 | 2023-05-02 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504328B (en) * | 2020-05-22 | 2022-07-08 | 梅卡曼德（北京）机器人科技有限公司 | Robot motion planning method, path planning method, grabbing method and device |
| CN114059777A (en) * | 2020-08-06 | 2022-02-18 | 广东博智林机器人有限公司 | Wallboard grabbing equipment and control method thereof |
| CN117400334A (en) * | 2023-11-13 | 2024-01-16 | 山东大学 | Posture adjustment method for glass fiber composite material automobile leaf spring cutting robot |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2563683Y2 (en) * | 1992-04-15 | 1998-02-25 | セントラル硝子株式会社 | Glass plate transfer equipment |
| JPH10338346A (en) * | 1997-06-03 | 1998-12-22 | Daihen Corp | Position detecting device for liquid crystal glass board |
| IT1320825B1 (en) * | 2000-10-24 | 2003-12-10 | Bottero Spa | GLAZING SHEETS AND HANDLING EQUIPMENT. |
| DE10155596B4 (en) * | 2001-11-13 | 2008-12-11 | Grenzebach Maschinenbau Gmbh | Device for stacking plates brought up along a plate conveyor |
| CN101712157B (en) * | 2009-10-30 | 2011-06-15 | 北京航空航天大学 | Welding robot and device for adjusting posture of welding gun of welding robot |
| CN203650529U (en) * | 2013-09-18 | 2014-06-18 | 北京京东方光电科技有限公司 | Manipulator |
| CN104723360A (en) * | 2014-11-08 | 2015-06-24 | 青岛科技大学 | Robot posture adjustment device |
| CN205187347U (en) * | 2015-12-01 | 2016-04-27 | 杭州鸿福科技有限公司 | Glass carries tongs |
| WO2017132954A1 (en) * | 2016-02-04 | 2017-08-10 | 华为技术有限公司 | Data transmission method, apparatus, and device |
| CN106395383A (en) * | 2016-11-30 | 2017-02-15 | 中建材凯盛机器人（上海）有限公司 | Glass stacking device and control method thereof |
| CN107253180B (en) * | 2017-01-22 | 2023-06-16 | 梅卡曼德（北京）机器人科技有限公司 | Object posture adjusting device and method based on industrial robot |
-
2017
- 2017-05-27 WO PCT/CN2017/086362 patent/WO2018218438A1/en active Application Filing
- 2017-05-27 CN CN201780030217.9A patent/CN109311604B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116040457A (en) * | 2023-04-03 | 2023-05-02 | 四川沱江起重机有限公司 | Crane rotary grabbing system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109311604A (en) | 2019-02-05 |
| WO2018218438A1 (en) | 2018-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109311604B (en) | Robot and method for adjusting posture of robot | |
| JP6678911B1 (en) | Method of operating transfer robot, system for operating transfer robot, tangible non-transitory computer readable medium | |
| US9519736B2 (en) | Data generation device for vision sensor and detection simulation system | |
| US10279485B2 (en) | Robot system and method of detecting deformation of end effector | |
| US20150127141A1 (en) | Robot, control device, robot system and robot control method | |
| CN107009358A (en) | A kind of unordered grabbing device of robot based on one camera and method | |
| US9399293B2 (en) | Method and system for calculating weight and center of gravity of object lifted by robot | |
| US20170182665A1 (en) | Robot, robot control device, and robot system | |
| CN112123342B (en) | Robot system and measurement and control method | |
| CN105514010A (en) | Method for safely transferring silicon chips | |
| CN108818586B (en) | Object gravity center detection method suitable for automatic grabbing by manipulator | |
| CN110740841A (en) | Operation system | |
| CN110980276A (en) | Method for implementing automatic casting blanking by three-dimensional vision in cooperation with robot | |
| JP7188574B2 (en) | Suction pad and deformation measuring device | |
| KR20160144424A (en) | Method for handling an object by means of a manipulator and by means of an input tool | |
| CN111515928A (en) | Mechanical arm motion control system | |
| WO2019037013A1 (en) | Method for stacking goods by means of robot and robot | |
| CN109916346A (en) | A kind of detection device and detection method of the workpiece flatness of view-based access control model system | |
| JP5708091B2 (en) | Robot control method and robot control apparatus | |
| JP2023018122A (en) | Robot tool and method for operating the same | |
| CN110296680B (en) | Method and system for measuring attitude of robot for grabbing goods | |
| JP7275830B2 (en) | Adsorber and moving adsorber | |
| US20210146542A1 (en) | Control method for robot system | |
| Cheng et al. | Efficient hand eye calibration method for a Delta robot pick-and-place system | |
| WO2023013699A1 (en) | Robot control device, robot control system, and robot control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518063 23 Floor (Room 2303-2306) of Desai Science and Technology Building, Yuehai Street High-tech Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd. Address before: 518063 Shajing Industrial Co., Ltd. No. 3 Industrial Zone, Hexiang Road, Shajing Street, Baoan District, Shenzhen City, Guangdong Province Applicant before: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |