CN111469132B - Robot assembly and control method thereof - Google Patents
Robot assembly and control method thereof Download PDFInfo
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- CN111469132B CN111469132B CN202010594135.0A CN202010594135A CN111469132B CN 111469132 B CN111469132 B CN 111469132B CN 202010594135 A CN202010594135 A CN 202010594135A CN 111469132 B CN111469132 B CN 111469132B
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- photoelectric sensor
- rotating arm
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- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to the field of manipulators, and provides a manipulator assembly and a control method thereof. The manipulator assembly comprises a rotating shaft, a rotating arm, a controller, a driving piece, a first photoelectric sensor and a second photoelectric sensor; a limit baffle extending along the circumferential direction of the side wall of the rotating shaft is formed on the side wall of the rotating shaft, and a first shielding area, a second shielding area and a third shielding area are sequentially formed on the limit baffle along the anticlockwise direction; a step notch is formed at the edge of the second shielding area, a first step surface is formed between the first shielding area and the step notch, a second step surface is formed in the middle of the step notch, and a third step surface is formed between the step notch and the third shielding area; the sensing end of the first photoelectric sensor is positioned on the rotation path of the second step surface, and the sensing end of the second photoelectric sensor is positioned on the rotation paths of the first step surface and the third step surface. The invention can realize the limit, zero return and abnormal monitoring of the rotating arm by means of two sensors, thereby obviously reducing the cost.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator assembly and a control method thereof.
Background
The robot assembly is an automated handling device capable of grasping, carrying objects or handling tools according to a fixed program. The manipulator assembly is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to the fields of mechanical manufacture, metallurgy, semiconductors, solar energy, liquid crystal panels, electronics and the like.
Taking the robot assembly to transport the liquid crystal panel as an example, since the liquid crystal panel is very thin and expensive, the robot assembly needs to ensure that the operation range is within the designated work area during the operation process so as to prevent the liquid crystal panel from touching other objects. At present, in order to ensure that the manipulator assembly operates in a designated working area, at least 4 sensors are usually arranged on the manipulator assembly, two of the sensors are arranged at the limit position of the designated working area, the other sensor is arranged at the zero return position of the manipulator assembly, and the last sensor is arranged in a material area of the designated working area, so that the manipulator assembly is prevented from being positioned in the area to damage materials during initialization. Due to the fact that the number of the sensors is large, cost is increased, and troubleshooting of the sensors is complex and complicated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art. Therefore, the manipulator assembly provided by the invention has a simple structure and is convenient to operate, the limit, zero return and abnormity monitoring of the rotating arm can be realized only by two sensors, and the cost is obviously reduced.
The manipulator assembly comprises a rotating shaft, a rotating arm, a controller, a driving piece, a first photoelectric sensor and a second photoelectric sensor, wherein the driving piece is electrically connected with the controller; the driving piece is connected with the rotating shaft and used for driving the rotating shaft to rotate; one end of the rotating arm is fixedly connected with the rotating shaft, and the other end of the rotating arm is connected with the manipulator; a limit baffle extending along the circumferential direction of the rotating shaft is formed on the side wall of the rotating shaft, and a first shielding area, a second shielding area and a third shielding area are sequentially formed on the limit baffle along the anticlockwise direction; a step notch is formed at the edge of the second shielding area, a first step surface is formed between the first shielding area and the step notch, a second step surface is formed in the middle of the step notch, and a third step surface is formed between the step notch and the third shielding area; first photoelectric sensor with second photoelectric sensor is fixed in proper order along the anticlockwise the outside of spacing separation blade, second step face and the interval between the third step face are greater than first photoelectric sensor with interval between the second photoelectric sensor, just first photoelectric sensor's response end is located on the rotation route of second step face, second photoelectric sensor's response end is located first step face with on the rotation route of third step face.
According to the manipulator assembly provided by the embodiment of the invention, the controller can realize the limiting and zero returning operations of the rotating arm according to the connection or interruption of the feedback signals of the first photoelectric sensor and the second photoelectric sensor, and can judge whether the first sensor and the second sensor are abnormal or not.
In addition, the manipulator assembly according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, the step notch includes a first notch adjacent to the first shielding area and a second notch adjacent to the third shielding area, a depth of the first notch is smaller than a depth of the second notch, and the second step surface is formed between the first notch and the second notch.
According to an embodiment of the present invention, an included angle is formed between the sensing end of the first photosensor and the sensing end of the second photosensor.
According to an embodiment of the present invention, a relative positional relationship of the first step surface and the third step surface satisfies: the rotation angle of the rotating arm relative to the horizontal line is less than
Under the condition of (1), the sensing end of the second photoelectric sensor is shielded by the third shielding area; the rotation angle of the rotating arm relative to the horizontal line is larger than
Under the condition that the sensing end of the second photoelectric sensor is shielded by the first shielding region, wherein
。
According to one embodiment of the invention, the rotation angle of the rotating arm relative to the horizontal is larger than
Under the condition of (1), the sensing end of the first photoelectric sensor is shielded by the second shielding area; the rotation angle of the rotating arm relative to the horizontal line is less than
In the case of (1), the sensing end of the first photosensor is shielded by the third shielding region, wherein,
，
。
according to one embodiment of the invention, the intelligent control system further comprises a first alarm and a second alarm which are connected with the controller, wherein the first alarm is used for alarming when the first photoelectric sensor fails, and the second alarm is used for alarming when the second photoelectric sensor fails.
A control method of a robot assembly according to a second aspect of the embodiment of the present invention includes the steps of:
acquiring feedback signals of the first photoelectric sensor and the second photoelectric sensor;
if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotation angle of the rotating arm relative to the horizontal line is larger than
And is less than
(ii) a Under the condition, if zero returning is required, the rotating arm is controlled to rotate clockwise around the rotating shaft through the driving piece until the feedback signal of the second photoelectric sensor is interrupted, and then the rotating arm is controlled to rotate anticlockwise around the rotating shaft through the driving piece
；
If the feedback signal of the first photoelectric sensor is not received and the feedback signal of the second photoelectric sensor is received, the rotation angle of the rotating arm relative to the horizontal line is larger than that of the rotating arm
And is less than
(ii) a In this case, if the zero return is to be performed, the rotating arm is controlled by the driving member to rotate clockwise around the rotating shaft: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled to rotate clockwise around the rotating shaft through the driving piece
Completing zero returning; and if the feedback signal of the second photoelectric sensor is interrupted and the feedback signal of the first photoelectric sensor is not received all the time, starting the first alarm.
According to one embodiment of the invention, the method further comprises the following steps:
if the feedback signal of the first photoelectric sensor is received and the feedback signal of the second photoelectric sensor is not received, the rotation angle of the rotating arm relative to the horizontal line is less than
And is greater than-
(ii) a In this case, if the zero return is to be performed, the rotating arm is controlled to rotate counterclockwise around the rotating shaft by the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled to rotate around the rotating arm continuously through the driving pieceThe rotating shaft rotates anticlockwise
Completing zero returning; and if the feedback signal of the first photoelectric sensor is interrupted and the feedback signal of the second photoelectric sensor is not received all the time, starting the second alarm.
According to one embodiment of the invention, the method further comprises the following steps:
if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are not received at the same time, the rotation angle of the rotating arm relative to the horizontal line is larger than that of the rotating arm
Or less than-
；
If the rotation angle of the rotating arm relative to the horizontal line is larger than
And controlling the rotating arm to rotate clockwise around the rotating shaft through the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled by the driving piece to rotate clockwise around the rotating shaft
Completing zero returning; if the feedback signal of the first photoelectric sensor is received and the feedback signal of the second photoelectric sensor is not received all the time, starting the second alarm; if the feedback signal of the second photoelectric sensor is interrupted again after the feedback signal of the second photoelectric sensor is received, and the feedback signal of the first photoelectric sensor is not received all the time in the process, starting the first alarm;
if the rotation angle of the rotation arm relative to the horizontal line is smaller than
And controlling the rotating arm to rotate around the rotating shaft anticlockwise through the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled by the driving piece to rotate anticlockwise around the rotating shaft
Completing zero returning; if the feedback signal of the second photoelectric sensor is received and the feedback signal of the first photoelectric sensor is not received all the time, starting the first alarm; and if the feedback signal of the first photoelectric sensor is interrupted again after the feedback signal of the first photoelectric sensor is received, and the feedback signal of the second photoelectric sensor is not received all the time in the process, starting the second alarm.
One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:
according to the invention, the side wall of the rotating shaft is provided with the limiting blocking piece with the step gap, the second photoelectric sensor is arranged on the rotating path of the first step surface and the third step surface of the step gap, and the first photoelectric sensor is arranged on the rotating path of the second step surface of the step gap, so that the controller can realize the limiting and zero returning operation of the rotating arm according to the connection or disconnection of the feedback signals of the first photoelectric sensor and the second photoelectric sensor, and can judge whether the first sensor and the second sensor are abnormal or not. Therefore, the invention can realize the limit, zero return and abnormal monitoring of the rotating arm only by two sensors, thereby obviously reducing the cost. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Figure 1 is a schematic top view of a robot assembly according to an embodiment of the invention;
FIG. 2 is a schematic top view of a limiting baffle according to an embodiment of the present invention;
FIG. 3 shows the rotation of the rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly;
FIG. 4 shows the rotation of the rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly;
FIG. 5 shows rotation of a rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly;
FIG. 6 shows rotation of a rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly;
FIG. 7 shows rotation of a rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly;
FIG. 8 shows rotation of a rotating arm in an embodiment of the present invention
A schematic top view of the robot assembly.
Reference numerals:
100. a rotating shaft; 200. a rotating arm; 300. a limiting baffle plate; 310. a first occlusion region; 320. a second occlusion region; 321. a first step surface; 322. a second step surface; 323. a third step surface; 330. a third occlusion region; 400. a first photosensor; 500. a second photosensor; 600. a mounting seat; 700. a material area.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Referring to fig. 1 to 8, an embodiment of the present invention provides a robot assembly, including a rotation shaft 100, a rotation arm 200, a controller, and a driving member electrically connected to the controller, a first photo sensor 400 and a second photo sensor 500; the driving member is connected with the rotating shaft 100 and is used for driving the rotating shaft 100 to rotate; one end of the rotating arm 200 is fixedly connected with the rotating shaft 100, and the other end is connected with the manipulator; a limit baffle 300 extending along the circumferential direction is formed on the side wall of the rotating shaft 100, and a first shielding area 310, a second shielding area 320 and a third shielding area 330 are sequentially formed on the limit baffle 300 along the counterclockwise direction; a step notch is formed at the edge of the second shielding region 320, a first step surface 321 is formed between the first shielding region 310 and the step notch, a second step surface 322 is formed at the middle of the step notch, and a third step surface 323 is formed between the step notch and the third shielding region 330; the first photoelectric sensor 400 and the second photoelectric sensor 500 are sequentially fixed on the outer side of the limiting stopper 300 along the counterclockwise direction, the distance between the second step surface 322 and the third step surface 323 is greater than the distance between the first photoelectric sensor 400 and the second photoelectric sensor 500, the sensing end of the first photoelectric sensor 400 is located on the rotation path of the second step surface 322, and the sensing end of the second photoelectric sensor 500 is located on the rotation path of the first step surface 321 and the third step surface 323. It should be noted that, when the limiting stopper 300 is in a ring structure, the first shielding region 310 and the third shielding region 330 are communicated.
As shown in fig. 4, when the limiting stopper 300 rotates to a side where the first step surface 321 abuts against the second photosensor 500 and faces the first photosensor 400, the position where the rotating arm 200 is located is referred to as a first boundary; as shown in fig. 3, when the limiting stopper 300 rotates to a side where the second step surface 322 abuts against the first photosensor 400 and faces away from the second photosensor 500, the position of the rotating arm 200 is referred to as a second boundary; as shown in fig. 5, when the limiting stopper 300 rotates to a side where the third step face 323 abuts against the second photosensor 500 and faces away from the first photosensor 400, the position where the rotating arm 200 is located is referred to as a third boundary. The area between the first boundary and the third boundary is set as the actual working area of the rotary arm 200, and the area between the first boundary and the second boundary is set as the defined working area of the rotary arm 200, i.e. the defined working area of the rotary arm 200 is located in the material area 700.
During operation, the manipulator on the swinging boom 200 snatchs, carries or operates at the actual work area material, and the controller just can carry out spacingly to swinging boom 200 according to first photoelectric sensor 400 and second photoelectric sensor 500's feedback signal, specifically:
if the controller can receive the feedback signal of the first photo sensor 400 but not the feedback signal of the second photo sensor 500 during the clockwise rotation of the rotary arm 200, it indicates that the position of the rotary arm 200 is between the positions of the rotary arm 200 shown in fig. 5 and 6, the sensing end of the second photo sensor 500 is blocked by the third blocking area 330, and the rotary arm 200 has crossed the third boundary line. At this time, the controller needs to control the rotating arm 200 to rotate counterclockwise through the driving member until receiving the feedback signal of the second photo sensor 500, which indicates that the rotating arm 200 has returned to the actual working area again.
If the controller cannot receive the feedback signals of the first photo sensor 400 and the second photo sensor 500 at the same time during the counterclockwise rotation of the rotating arm 200, it indicates that the rotating arm 200 is located at the position shown in fig. 7, the sensing ends of the first photo sensor 400 and the second photo sensor 500 are both blocked by the first blocking area 310, and the rotating arm 200 has crossed the first boundary line. At this time, the controller needs to control the rotating arm 200 to rotate clockwise through the driving member until the controller receives the feedback signal of the second photoelectric sensor 500, which indicates that the rotating arm 200 has returned to the actual working area again.
In addition, the controller may also control the rotary arm 200 to return to zero according to feedback signals of the first and second photosensors 400 and 500, specifically:
as shown in fig. 5, when the third step 323 of the pre-measuring limiting block 300 abuts against the side of the second photo-sensor 500 opposite to the first photo-sensor 400, the angle between the rotating arm 200 and the horizontal line is measured
(ii) a Meanwhile, as shown in fig. 3, when the second step surface 322 of the pre-measuring limiting block 300 abuts against the side of the first photoelectric sensor 400 opposite to the second photoelectric sensor 500, the included angle between the rotating arm 200 and the horizontal line is measured
。
If the rotating arm 200 is located in the actual working area, two situations are divided:
in the first case, if the controller receives the feedback signals of the first photo sensor 400 and the second photo sensor 500 at the same time, it indicates that the rotating arm 200 is located between the second boundary line and the third boundary line, that is, as shown in fig. 3 and 5, the rotating arm 200 is opposite to the waterThe rotation angle of the flat line is in
And
in the meantime. In this case, if the zeroing is to be performed, the controller controls the rotating arm 200 to rotate clockwise around the rotating shaft 100 through the driving member until the feedback signal of the second photo sensor 500 is interrupted and the third step surface 323 just passes through the second photo sensor 500, and then controls the rotating arm 200 to rotate counterclockwise around the rotating shaft 100 through the driving member
That is, the rotating arm 200 coincides with the horizontal line and returns to the zero point.
In the second case, if the controller receives only the feedback signal of the second photo sensor 500 but not the feedback signal of the first photo sensor 400, it indicates that the rotating arm 200 is located between the first boundary line and the second boundary line, i.e. the material area 700, i.e. as shown in fig. 3 and 4, the rotating angle of the rotating arm 200 relative to the horizontal line is located at the position of the material area 700
And
in the meantime. If the rotating arm 200 is located in the material area 700 during initialization, it may be an error operation, and at this time, it needs to be manually determined whether the rotating arm 200 will impact the material in the zero returning direction, and if so, the material that may be impacted is removed. When the rotation axis returns to zero, the controller controls the rotation arm 200 to rotate clockwise around the rotation axis 100 through the driving member until the controller simultaneously receives the feedback signals of the first photo sensor 400 and the second photo sensor 500, that is, when the second step surface 322 just passes through the first photo sensor 400, the controller continues to control the rotation arm 200 to rotate clockwise around the rotation axis 100 through the driving member
That is, the rotating arm 200 coincides with the horizontal line and returns to the zero point. It should be noted that, in the process of returning to zero, if the controller does not receive the feedback signal of the first photosensor 400 all the time before the feedback signal of the second photosensor 500 is interrupted, that is, before the third step surface 323 passes through the second photosensor 500, it indicates that the first photosensor 400 is faulty.
If the rotating arm 200 is located outside the actual working area, three situations are divided:
in the first case, as shown in fig. 5 and 6, if the controller can receive the feedback signal of the first photosensor 400 but cannot receive the feedback signal of the second photosensor 500, it is described that the rotating arm 200 has passed the third boundary line but the third step surface 323 has not passed the first photosensor 400. In this case, if the zeroing is to be performed, the controller controls the rotating arm 200 to rotate around the rotating shaft 100 counterclockwise through the driving member until the feedback signals of the first photo sensor 400 and the second photo sensor 500 are received simultaneously, that is, the third step surface 323 just passes through the second photo sensor 500, and the controller continues to control the rotating arm 200 to rotate around the rotating shaft 100 counterclockwise through the driving member
And (4) finishing. At this point the rotating arm 200 coincides with the horizontal line, returning to zero. It should be noted that, in the process of returning to zero, if the controller does not receive the signal of the second photosensor 500 all the time before the feedback signal of the first photosensor 400 is interrupted, that is, before the second step surface 322 passes through the first photosensor 400, it indicates that the second photosensor 500 is faulty.
In case two, as shown in fig. 6 and 8, if the controller cannot receive the feedback signals of the first photosensor 400 and the second photosensor 500 at the same time, it indicates that the rotating arm 200 has crossed the third boundary line and the third step surface 323 has passed the first photosensor 400, and both the first photosensor 400 and the second photosensor 500 are blocked by the third blocking area 330. In this case, if the zero return is to be performed, the controllerThe driving member controls the rotating arm 200 to rotate counterclockwise around the rotating shaft 100 until the controller receives the feedback signals of the first photo sensor 400 and the second photo sensor 500 at the same time, that is, the third step surface 323 passes through the second photo sensor 500, and the controller continues to control the rotating arm 200 to rotate counterclockwise around the rotating shaft 100 through the driving member
And (4) finishing. At this point the rotating arm 200 coincides with the horizontal line, returning to zero. In the process of returning to zero, if the controller can receive the feedback signal of the second photosensor 500 and does not receive the feedback signal of the first photosensor 400 all the time, it indicates that the first photosensor 400 is faulty. If the controller receives the feedback signal of the first photosensor 400 and then interrupts the feedback signal of the first photosensor 400 again, that is, the controller does not receive the feedback signal of the second photosensor 500 until the second step surface 322 passes through the first photosensor 400, it indicates that the second photosensor 500 is faulty.
In case three, as shown in fig. 4 and 7, if the controller does not receive the feedback signals of the first and second photosensors 400 and 500 at the same time, it indicates that the rotary arm 200 has crossed the first boundary line. In this case, if the zeroing is to be performed, the controller controls the rotating arm 200 to rotate clockwise around the rotating shaft 100 through the driving member until the controller receives the feedback signals of the first photo sensor 400 and the second photo sensor 500 at the same time, that is, the first step surface 321 abuts against the side of the first photo sensor 400 opposite to the second photo sensor 500, and then the controller controls the rotating arm 200 to rotate clockwise around the rotating shaft 100 through the driving member
And (4) finishing. At this point the rotating arm 200 coincides with the horizontal line, returning to zero. In the process of returning to zero, if the controller receives the feedback signal of the first photosensor 400 and does not receive the feedback signal of the second photosensor 500 all the time, it indicates that the second photosensor 500 is not receiving the feedback signal of the second photosensor 500A failure occurs. If the controller receives the feedback signal of the second photosensor 500 and then interrupts the feedback signal of the second photosensor 500 again, that is, the controller does not receive the feedback signal of the first photosensor 400 until the third step surface 323 passes through the second photosensor 500, it indicates that the first photosensor 400 is faulty.
As can be seen, in the manipulator assembly of this embodiment, the side wall of the rotating shaft 100 is provided with the limiting stopper 300 having a step gap, the second photoelectric sensor 500 is disposed on the rotation path of the first step surface 321 and the third step surface 323 of the step gap, and the first photoelectric sensor 400 is disposed on the rotation path of the second step surface 322 of the step gap, so that the controller can not only limit and zero the rotating arm 200 according to the connection or disconnection of the feedback signals of the first photoelectric sensor 400 and the second photoelectric sensor 500, but also determine whether the first sensor and the second sensor are abnormal. Therefore, the manipulator assembly can realize the limiting, zero returning and abnormal monitoring of the rotating arm 200 only by means of two sensors, and the cost is obviously reduced.
As shown in fig. 2, the step gap includes a first gap adjacent to the first shielding region 310 and a second gap adjacent to the third shielding region 330, the depth of the first gap is smaller than that of the second gap, and a second step surface 322 is formed between the first gap and the second gap. Further, the extension length of the second notch is larger than that of the first notch. The "extension length of the first notch" refers to the dimension of the first notch along the circumferential direction of the rotary shaft 100, and similarly, the "extension length of the second notch" refers to the dimension of the second notch along the circumferential direction of the rotary shaft 100.
Further, an included angle is formed between the sensing end of the first photosensor 400 and the sensing end of the second photosensor 500, and the first photosensor 400 and the second photosensor 500 are fixed on the mounting base 600. Wherein the included angle is preferably of a magnitude
. Of course, the first photosensor 400 and the second photosensor 500 except that the included angles are formed between the two stop pieces and are arranged on the same horizontal plane, the two stop pieces can be arranged at different heights, and the limit stop piece 300 can be rotated by a specified angle to shield the induction end.
Further, the relative positional relationship of the first step surface 321 and the third step surface 323 satisfies: the rotation angle of the rotation arm 200 relative to the horizontal line is less than
In the case of (1), the sensing end of the second photosensor 500 is shielded by the third shielding region 330; the rotation angle of the rotary arm 200 relative to the horizontal line is larger than
In this case, the sensing terminal of the second photosensor 500 is shielded by the first shielding region 310, wherein
(ii) a The rotation angle of the rotary arm 200 relative to the horizontal line is larger than
In this case, the sensing end of the first photosensor 400 is shielded by the second shielding region 320; the rotation angle of the rotation arm 200 relative to the horizontal line is less than
In this case, the sensing end of the first photosensor 400 is shielded by the third shielding region 330, wherein,
，
。
in order to remind the operator in time, the manipulator assembly further comprises a first alarm and a second alarm which are connected with the controller. When the first photoelectric sensor 400 has a fault, the controller controls the first alarm to be started, and when the second photoelectric sensor 500 has a fault, the controller controls the second alarm to be started. The first alarm and the second alarm can be but not limited to buzzers or warning lamps.
In addition, the embodiment of the invention also provides a control method of the manipulator assembly, which comprises the following steps:
acquiring feedback signals of the first photosensor 400 and the second photosensor 500;
if the feedback signals of the first photo-sensor 400 and the second photo-sensor 500 are received at the same time, it indicates that the rotation angle of the rotation arm 200 relative to the horizontal line is greater than-
And is less than
I.e. the rotary arm 200 is located between the second and third boundary lines; in this case, if the return to zero is to be performed, the driving member controls the rotating arm 200 to rotate clockwise around the rotating shaft 100 until the feedback signal of the second photo sensor 500 is interrupted, and then the driving member controls the rotating arm 200 to rotate counterclockwise around the rotating shaft 100
；
If the feedback signal of the first photo-sensor 400 is not received and the feedback signal of the second photo-sensor 500 is received, it indicates that the rotation angle of the rotary arm 200 relative to the horizontal line is greater than the rotation angle of the horizontal line
And is less than
I.e. the rotary arm 200 is located between the first and second boundary lines; in this case, if the return to zero is to be performed, the driving member controls the rotating arm 200 to rotate clockwise around the rotating shaft 100: if the feedback signals of the first and second photoelectric sensors 400 and 500 are received at the same time, the driving member continues to control the rotating arm 200 to windThe rotary shaft 100 rotates clockwise
Completing zero returning; if the feedback signal of the second photosensor 500 is interrupted and the feedback signal of the first photosensor 400 is not received all the time, it indicates that the first photosensor 400 is in failure, and the controller starts a first alarm to warn a worker;
if the feedback signal of the first photo-sensor 400 is received and the feedback signal of the second photo-sensor 500 is not received, it indicates that the rotation angle of the rotation arm 200 relative to the horizontal line is smaller than-
And is greater than-
(ii) a In this case, if the return to zero is to be performed, the rotating arm 200 is controlled by the driving member to rotate counterclockwise around the rotating shaft 100: if the feedback signals of the first and second photosensors 400 and 500 are received simultaneously, the driving member controls the rotating arm 200 to rotate counterclockwise around the rotating shaft 100
Completing zero returning; if the feedback signal of the first photoelectric sensor 400 is interrupted and the feedback signal of the second photoelectric sensor 500 is not received all the time, it indicates that the second photoelectric sensor 500 is in failure, and the controller starts a second alarm to warn a worker;
if the feedback signals of the first and second photosensors 400 and 500 are not received at the same time, and the rotary arm 200 crosses the first boundary line, that is, the rotation angle of the rotary arm 200 relative to the horizontal line is larger than
Then, the rotating arm 200 is controlled to rotate clockwise around the rotating shaft 100 by the driving member: if the feedback signals of the first photoelectric sensor 400 and the second photoelectric sensor 500 are received at the same time, the rotation is controlled by the driving memberThe arm 200 rotates clockwise about the rotation axis 100
Completing zero returning; if the feedback signal of the first photoelectric sensor 400 is received and the feedback signal of the second photoelectric sensor 500 is not received all the time, it indicates that the second photoelectric sensor 500 is in failure, and the controller starts a second alarm; if the feedback signal of the second photosensor 500 is interrupted again after receiving the feedback signal of the second photosensor 500, and the feedback signal of the first photosensor 400 is not received all the time in the process, it indicates that the first photosensor 400 is in failure, and the controller starts a first alarm;
if the feedback signals of the first and second photosensors 400 and 500 are not received at the same time, and the rotary arm 200 crosses the third boundary line, that is, the rotation angle of the rotary arm 200 relative to the horizontal line is smaller than-
Then, the rotating arm 200 is controlled to rotate counterclockwise around the rotating shaft 100 by the driving member: if the feedback signals of the first and second photosensors 400 and 500 are received simultaneously, the driving member controls the rotating arm 200 to rotate counterclockwise around the rotating shaft 100
Completing zero returning; if the feedback signal of the second photosensor 500 is received and the feedback signal of the first photosensor 400 is not received all the time, it indicates that the first photosensor 400 is in failure, and the controller starts a first alarm; if the feedback signal of the first photosensor 400 is interrupted again after receiving the feedback signal of the first photosensor 400, and the feedback signal of the second photosensor 500 is not received all the time in the process, it indicates that the second photosensor 500 is faulty, and the controller starts the second alarm.
Therefore, the control method can realize the limit, zero returning and abnormal monitoring of the rotating arm 200 only by the feedback signals of the first photoelectric sensor 400 and the second photoelectric sensor 500, and the cost is obviously reduced.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A manipulator assembly is characterized by comprising a rotating shaft, a rotating arm, a controller, a driving piece, a first photoelectric sensor and a second photoelectric sensor, wherein the driving piece, the first photoelectric sensor and the second photoelectric sensor are electrically connected with the controller; the driving piece is connected with the rotating shaft and used for driving the rotating shaft to rotate; one end of the rotating arm is fixedly connected with the rotating shaft, and the other end of the rotating arm is connected with the manipulator; a limit baffle extending along the circumferential direction of the rotating shaft is formed on the side wall of the rotating shaft, and a first shielding area, a second shielding area and a third shielding area are sequentially formed on the limit baffle along the anticlockwise direction; a step notch is formed at the edge of the second shielding area, a first step surface is formed between the first shielding area and the step notch, a second step surface is formed in the middle of the step notch, and a third step surface is formed between the step notch and the third shielding area; first photoelectric sensor with second photoelectric sensor is fixed in proper order along the anticlockwise the outside of spacing separation blade, second step face and the interval between the third step face are greater than first photoelectric sensor with interval between the second photoelectric sensor, just first photoelectric sensor's response end is located on the rotation route of second step face, second photoelectric sensor's response end is located first step face with on the rotation route of third step face.
2. The robot assembly of claim 1, wherein the stepped notch includes a first notch adjacent the first shield region and a second notch adjacent the third shield region, the first notch having a depth less than a depth of the second notch, the first notch and the second notch forming the second stepped surface therebetween.
3. The robot assembly of claim 2, wherein an angle is formed between a sensing end of the first photosensor and a sensing end of the second photosensor.
4. The robot assembly of claim 2 or 3, wherein the relative positional relationship of the first step surface and the third step surface satisfies: the rotation angle of the rotating arm relative to the horizontal line is less than
Under the condition of (1), the sensing end of the second photoelectric sensor is shielded by the third shielding area; the rotation angle of the rotating arm relative to the horizontal line is larger than
Under the condition that the sensing end of the second photoelectric sensor is shielded by the first shielding region, wherein
。
5. The robot assembly of claim 4, wherein the angle of rotation of the pivot arm relative to horizontal is greater than
Under the condition of (1), the sensing end of the first photoelectric sensor is shielded by the second shielding area; the rotation angle of the rotating arm relative to the horizontal line is less than
In the case of (1), the sensing end of the first photosensor is shielded by the third shielding region, wherein,
，
。
6. the manipulator assembly according to claim 5, further comprising a first alarm and a second alarm connected to the controller, the first alarm being configured to alarm when the first photosensor fails and the second alarm being configured to alarm when the second photosensor fails.
7. The control method of the robot assembly according to claim 6, comprising the steps of:
acquiring feedback signals of the first photoelectric sensor and the second photoelectric sensor;
if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotation angle of the rotating arm relative to the horizontal line is larger than
And is less than
(ii) a Under the condition, if zero returning is required, the rotating arm is controlled to rotate clockwise around the rotating shaft through the driving piece until the feedback signal of the second photoelectric sensor is interrupted, and then the rotating arm is controlled to rotate anticlockwise around the rotating shaft through the driving piece
；
If the first signal is not receivedThe feedback signal of the photoelectric sensor is received, and the receiving of the feedback signal of the second photoelectric sensor indicates that the rotation angle of the rotating arm relative to the horizontal line is larger than that of the rotating arm
And is less than
(ii) a In this case, if the zero return is to be performed, the rotating arm is controlled by the driving member to rotate clockwise around the rotating shaft: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled to rotate clockwise around the rotating shaft through the driving pieceCompleting zero returning; and if the feedback signal of the second photoelectric sensor is interrupted and the feedback signal of the first photoelectric sensor is not received all the time, starting the first alarm.
8. The method of controlling a robot assembly according to claim 7, further comprising the steps of:
if the feedback signal of the first photoelectric sensor is received and the feedback signal of the second photoelectric sensor is not received, the rotation angle of the rotating arm relative to the horizontal line is less than
And is greater than-
(ii) a In this case, if the zero return is to be performed, the rotating arm is controlled to rotate counterclockwise around the rotating shaft by the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled to rotate around the rotating shaft by the driving pieceRotate counterclockwise
Completing zero returning; and if the feedback signal of the first photoelectric sensor is interrupted and the feedback signal of the second photoelectric sensor is not received all the time, starting the second alarm.
9. The method of controlling a robot assembly according to claim 7, further comprising the steps of:
if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are not received at the same time, the rotation angle of the rotating arm relative to the horizontal line is larger than that of the rotating arm
Or less than-
；
If the rotation angle of the rotating arm relative to the horizontal line is larger than
And controlling the rotating arm to rotate clockwise around the rotating shaft through the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled by the driving piece to rotate clockwise around the rotating shaft
Completing zero returning; if the feedback signal of the first photoelectric sensor is received and the feedback signal of the second photoelectric sensor is not received all the time, starting the second alarm; if the feedback signal of the second photoelectric sensor is interrupted again after the feedback signal of the second photoelectric sensor is received, and the feedback signal of the first photoelectric sensor is not received all the time in the process, starting the first alarm;
if the rotation angle of the rotation arm relative to the horizontal line is smaller than
And controlling the rotating arm to rotate around the rotating shaft anticlockwise through the driving piece: if the feedback signals of the first photoelectric sensor and the second photoelectric sensor are received at the same time, the rotating arm is controlled by the driving piece to rotate anticlockwise around the rotating shaft
Completing zero returning; if the feedback signal of the second photoelectric sensor is received and the feedback signal of the first photoelectric sensor is not received all the time, starting the first alarm; and if the feedback signal of the first photoelectric sensor is interrupted again after the feedback signal of the first photoelectric sensor is received, and the feedback signal of the second photoelectric sensor is not received all the time in the process, starting the second alarm.
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Citations (4)
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| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| EP3276387A1 (en) * | 2016-07-29 | 2018-01-31 | Seiko Epson Corporation | Optical connection device, optical communication device, displacement detection device, and robot |
| CN108268041A (en) * | 2018-01-23 | 2018-07-10 | 南京阿凡达机器人科技有限公司 | A kind of obstacle detection method and system for robot |
| CN109798901A (en) * | 2019-03-18 | 2019-05-24 | 国网江苏省电力有限公司电力科学研究院 | A kind of archives robot and its navigation positioning system and navigation locating method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7143131B2 (en) * | 2018-07-11 | 2022-09-28 | 株式会社Fuji | End effector device and articulated robot |
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2020
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| EP3276387A1 (en) * | 2016-07-29 | 2018-01-31 | Seiko Epson Corporation | Optical connection device, optical communication device, displacement detection device, and robot |
| CN108268041A (en) * | 2018-01-23 | 2018-07-10 | 南京阿凡达机器人科技有限公司 | A kind of obstacle detection method and system for robot |
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