CN111496785B - Robot and automatic zero-returning method thereof, and computer-readable storage medium - Google Patents
Robot and automatic zero-returning method thereof, and computer-readable storage medium Download PDFInfo
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- CN111496785B CN111496785B CN202010284403.9A CN202010284403A CN111496785B CN 111496785 B CN111496785 B CN 111496785B CN 202010284403 A CN202010284403 A CN 202010284403A CN 111496785 B CN111496785 B CN 111496785B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
The invention relates to a robot, an automatic zero returning method thereof and a computer readable storage medium. When the corresponding mechanical body rotates along the first direction, the first sensor detects an obstacle and sends a first signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is located at an initial position based on the first signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to stop rotating; when the corresponding mechanical body rotates in a second direction opposite to the first direction, the second sensor detects the obstacle and sends a second signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is at the limit position based on the second signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the obstacle is detected by the first sensor. This can avoid returning to zero the operation incorrectly, also can avoid causing the potential safety hazard for operating personnel.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot and an automatic zero returning method thereof and a computer readable storage medium.
Background
Along with the continuous expansion of the application field of the industrial robot, the working environment of the industrial robot is more and more complex, and the difficulty of the faced operation task is more and more large. In the actual use process of the industrial robot, a zero returning operation needs to be performed after the industrial robot is powered on, that is, each axis of the industrial robot is returned to an initial position (which may also be referred to as a reference point or a mechanical zero point).
In the conventional technology, the zero-return operation of the industrial robot is generally realized manually, which can cause inaccurate zero-return operation and also can cause potential safety hazards to operators.
Disclosure of Invention
Therefore, it is necessary to provide a robot, an automatic zero-returning method thereof, and a computer-readable storage medium, for solving the problems that the manual zero-returning operation is inaccurate and potential safety hazards are caused to operators.
A robot, comprising: the robot comprises a robot main body, a processing module and a plurality of zero returning modules, wherein each zero returning module comprises: the robot comprises a robot main body, a first sensor, a second sensor and an obstacle, wherein the first sensor and the second sensor are arranged on corresponding machine bodies in the robot main body at intervals along the circumferential direction, and the obstacle is arranged on the machine body adjacent to the corresponding machine body;
the processing module is used for acquiring and sending a zero returning instruction, and the controller of the robot main body is used for rotating the corresponding mechanical body based on the zero returning instruction;
when the corresponding mechanical body rotates along a first direction, the first sensor is used for detecting the obstacle and sending a first signal to the processing module after the obstacle is detected, the processing module is used for determining that the corresponding mechanical body rotates to an initial position based on the first signal and sending a confirmation result to the controller, and the controller is used for stopping the corresponding mechanical body from rotating based on the confirmation result;
when the corresponding mechanical body rotates in a second direction opposite to the first direction, the second sensor is used for detecting the obstacle and sending a second signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body rotates to the limit position based on the second signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the obstacle is detected by the first sensor based on the confirmation result.
In one embodiment, the robot is further configured with a button for triggering the zero-return instruction;
the processing module is used for detecting the pressing operation on the button and acquiring the zero returning instruction after detecting the pressing operation on the button.
In one embodiment, the first sensor and the second sensor are both photoelectric proximity switches;
the first sensor and the second sensor are disposed on ends of the corresponding machine bodies, and the obstacle is disposed on an end of the adjacent machine body, wherein the end of the corresponding machine body is adjacent to the end of the adjacent machine body.
In one embodiment, the barrier has a length of 0.5mm to 1.5mm, a width of 2.5mm to 3.5mm, and a height of 55mm to 65 mm.
In one embodiment, the distance between the first sensor and the second sensor along the circumferential direction is 5cm-10 cm.
In one embodiment, the first sensor and the second sensor are detachably arranged on the corresponding machine body through a mounting bracket.
In one embodiment thereof, the mounting bracket comprises: the first mounting plate and the second mounting plate are vertically connected;
a plurality of mounting positions are arranged on the first mounting plate at intervals along the vertical direction, and the first sensor or the second sensor can be detachably mounted on any mounting position;
the second mounting plate is detachably mounted on the corresponding machine body.
In one embodiment, each mounting position is provided with a mounting hole, and the mounting end of the first sensor or the second sensor can be arranged in any mounting hole in a penetrating way and fixed on the first mounting plate through clamping of the first fastener and the second fastener.
A method of auto-zeroing of a robot according to any of the above, the method comprising:
the processing module acquires and sends a zero returning instruction, and the controller enables the corresponding mechanical body to rotate based on the zero returning instruction;
when the corresponding mechanical body rotates along a first direction, the first sensor detects an obstacle and sends a first signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is at an initial position based on the first signal and sends a confirmation result to the controller, and the controller stops the corresponding mechanical body from rotating;
when the corresponding mechanical body rotates in a second direction opposite to the first direction, the second sensor detects an obstacle and sends a second signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is at the limit position based on the second signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the obstacle is detected by the first sensor.
In one embodiment, the robot is further configured with a button for triggering the zero-return instruction;
the processing module acquires the zero returning instruction in the following mode: and detecting the pressing operation on the button, and acquiring the zero returning instruction after detecting the pressing operation on the button.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the auto-zero method described above.
According to the robot and the automatic zero returning method thereof and the computer readable storage medium, through the cooperation of the zero returning module, the processing module and the controller of the robot main body, after the controller of the robot main body receives the zero returning instruction sent by the processing module, the corresponding mechanical body rotates along the first direction until the first sensor detects the obstacle and sends a first signal to the processing module, the processing module determines that the corresponding mechanical body rotates to the initial position based on the first signal, namely, the corresponding mechanical body returns to the zero point, and sends a confirmation result to the controller, and the controller stops the corresponding mechanical body from rotating based on the confirmation result; when the corresponding mechanical body rotates in a second direction opposite to the first direction until the second sensor detects the obstacle and sends a second signal to the processing module, the processing module determines that the corresponding mechanical body rotates to the limit position based on the second signal, namely the rotation direction of the corresponding mechanical body is opposite, and sends the confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the first sensor detects the obstacle based on the confirmation result. In summary, the robot described above can achieve automatic zeroing, which can not only solve the problem of incorrect zeroing operation caused by manual error, but also avoid potential safety hazard to operators, and also improve the automation degree of the robot.
Drawings
Fig. 1 is a schematic partial structural diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic partial structure diagram of a robot according to another embodiment of the present invention;
fig. 3 is a block diagram of a robot according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating an assembly between a first sensor and a mounting bracket according to an embodiment of the present invention.
Wherein the content of the first and second substances,
100-a robot body;
110-corresponding machine body;
120-adjacent machine body;
130-a controller;
200-a zero-return module;
210-a first sensor;
220-a second sensor;
230-an obstacle;
240-mounting a bracket;
241-a first mounting plate;
242-a second mounting plate;
251-a first fastener;
252-a second fastener;
300-a processing module;
400-push buttons.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, 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 an intermediate. 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.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 and 2, fig. 1 and 2 are schematic partial structural diagrams of a robot according to an embodiment of the present invention, and the robot according to an embodiment of the present invention includes: a robot main body 100, a processing module 300, and a plurality of zeroing modules 200, wherein each zeroing module 200 includes: the robot comprises a robot main body 100, a first sensor 210, a second sensor 220 and an obstacle 230, wherein the first sensor 210 and the second sensor 220 are arranged on the corresponding machine body 110 of the robot main body 100 at intervals along the circumferential direction, and the obstacle 230 is correspondingly arranged on the machine body 120 adjacent to the corresponding machine body; the processing module 300 is configured to obtain and send a zero returning instruction, and the controller 130 of the robot main body 100 is configured to rotate the corresponding machine body 110 based on the zero returning instruction; when the corresponding machine body 110 rotates in the first direction, the first sensor 210 is configured to detect the obstacle 230 and send a first signal to the processing module 300 after the obstacle is detected, the processing module 300 is configured to determine that the corresponding machine body 110 rotates to the initial position based on the first signal and send a confirmation result to the controller 130, and the controller 130 is configured to stop the corresponding machine body 110 from rotating based on the confirmation result; when the corresponding machine body 110 rotates in a second direction opposite to the first direction, the second sensor 220 is used to detect the obstacle 230 and send a second signal to the processing module 300 after the detection, the processing module 300 determines that the corresponding machine body 110 rotates to the limit position based on the second signal and sends a confirmation result to the controller 130, and the controller 130 rotates the corresponding machine body 110 in the first direction based on the confirmation result until the first sensor 210 detects the obstacle 230.
It should be noted that the initial position is also referred to as a mechanical zero point of the machine body 110, and when the first sensor 210 on the corresponding machine body 110 detects the obstacle 230 on the adjacent machine body 120, it can be determined that the corresponding machine body 110 is at the mechanical zero point. Unlike the limit position (i.e., the maximum rotatable angle) of the machine body 110 during normal operation (i.e., non-return-to-zero operation), when the second sensor 220 of the corresponding machine body 110 detects the obstacle 230 of the adjacent machine body 120, it can be determined that the corresponding machine body 110 is rotated in the opposite direction and should be stopped immediately after receiving the return-to-zero command.
As an example, the robot main body 100 according to the present invention includes: a controller 130, a plurality of driving parts, and a plurality of machine bodies 120; each two adjacent mechanical bodies 120 are connected through a rotating shaft; each driving part includes a motor electrically connected to the controller 130 and a speed reducer coupled to an output shaft of the motor, and the output shaft of the speed reducer drives the corresponding machine body 120 to rotate through the corresponding rotating shaft. Taking a six-axis industrial robot as an example, the mechanical body 120 of the robot includes: a base, a waist, a big arm, a small arm, a wrist and a hand; a first rotating shaft is arranged between the base and the waist, and a pair of zero returning modules 200 are arranged between the two mechanical bodies; a second rotating shaft is arranged between the waist and the large arm, and a pair of zero returning modules 200 are arranged between the two mechanical bodies; a third rotating shaft is arranged between the large arm and the small arm, and a pair of zero returning modules 200 are arranged between the two mechanical bodies; a fourth rotating shaft is arranged between the forearm and the wrist, and a pair of zero returning modules 200 are arranged between the two mechanical bodies; a fifth rotating shaft and a sixth rotating shaft are arranged between the wrist and the hand, and two pairs of zero returning modules 200 are arranged between the two mechanical bodies, namely the number of the zero returning modules 200 is the same as that of the rotating shafts of the robot. The above five zeroing modules 200 other than the zeroing module 200 between the base and the waist are installed in two ways, and the zeroing module 200 of the zeroing module 200 between the waist and the upper arm is taken as an example, the first installation mode is that the first sensor 210 and the second sensor 220 are installed on the waist and the obstacle 230 is installed on the upper arm, and the second installation mode is that the first sensor 210 and the second sensor 220 are installed on the upper arm and the obstacle 230 is installed on the waist. In the zeroing module 200 between the base and the waist, since the base is fixed and cannot be controlled by the controller 130 to rotate accordingly, the first sensor 210 and the second sensor 220 are mounted on the waist, and the obstacle 230 is mounted on the base. When carrying out the operation of returning to zero to six industrial robot, can return to zero to the waist earlier, then return to zero to the big arm again, analogize in proper order, return to zero to each mechanical body one by one, until accomplishing the whole of returning to zero to industrial robot.
As an example, the processing module 300 according to the present invention may be a single chip. The processing module 300 may be electrically connected to the first sensor 210, the second sensor 220, and the controller 130 of the robot main body 100 using wires. Wherein the controller 130 of the robot main body 100 may be placed in a dedicated electric cabinet.
As described above, by the cooperation of the zeroing module 200, the processing module 300 and the controller 130 of the robot main body 100, after the controller 130 of the robot main body 100 receives the zeroing command sent by the processing module 300, the corresponding machine body 110 is rotated in the first direction until the first sensor 210 detects the obstacle 230 and sends a first signal to the processing module 300, the processing module 300 determines that the corresponding machine body 110 rotates to the initial position based on the first signal, that is, the corresponding machine body 110 has returned to the zero point, and sends a confirmation result to the controller 130, and the controller 130 stops the corresponding machine body 110 based on the confirmation result; when the corresponding machine body 110 rotates in a second direction opposite to the first direction until the second sensor 220 detects the obstacle 230 and sends a second signal to the processing module 300, the processing module 300 determines that the corresponding machine body 110 rotates to an extreme position based on the second signal, i.e., indicating that the rotation direction of the corresponding machine body 110 is reversed, and sends the confirmation result to the controller 130, and the controller 130 rotates the corresponding machine body 110 in the first direction based on the confirmation result until the first sensor 210 detects the obstacle 230. In summary, the robot described above can achieve automatic zeroing, which can not only solve the problem of incorrect zeroing operation caused by manual error, but also avoid potential safety hazard to operators, and also improve the automation degree of the robot.
As shown in fig. 3, in some embodiments of the invention, the robot is further configured with a button 400 for triggering a zero-back instruction; the processing module 300 is configured to detect a pressing operation on the button 400, and obtain a zero-returning instruction after detecting the pressing operation on the button 400. Therefore, the operator can flexibly control the zero returning operation of the robot through the button 400 according to the actual operation requirement.
In some embodiments of the present invention, the first sensor 210 and the second sensor 220 are both optoelectronic proximity switches; as shown in fig. 1 and 2, the first sensor 210 and the second sensor 220 are disposed at the end of the corresponding machine body 110, and the obstacle 230 is disposed at the end of the adjacent machine body 120, wherein the end of the corresponding machine body 110 is adjacent to the end of the adjacent machine body 120. The arrangement of the first sensor 210, the second sensor 220 and the obstacle 230 ensures that the first sensor 210 and the second sensor 220 can detect the obstacle 230, that is, the distance between the first sensor 210 and the obstacle 230 is smaller than the detection distance (for example, smaller than 18mm) of the first sensor 210 and the second sensor 220, so as to ensure the accuracy of the zeroing operation.
Alternatively, as shown in fig. 2, the first sensor 210 and the second sensor 220 of each zeroing module 200 are disposed on the tail of the corresponding machine body 110, the obstacle 230 is disposed on the head of the adjacent machine body 120, and the tail of the corresponding machine body 110 is adjacent to the head of the adjacent machine body 120. It should be noted that the head and the tail of each machine body are sequentially distributed in a direction away from the base of the robot.
Alternatively, as shown in fig. 1, the first sensor 210 and the second sensor 220 of each zeroing module 200 are disposed on the tail of the corresponding machine body 110, and the obstacle 230 is disposed on the head of the adjacent machine body 120. The obstacle 230 is provided at the tail of the base, and the first sensor 210 and the second sensor 220 are provided at the head of the machine body 110 (for example, the waist) adjacent to the tail of the base.
Further, in some embodiments of the present invention, the length of the obstacle 230 is 0.5mm to 1.5mm, for example, may be set to 0.5mm, 0.7mm, 0.9mm, 1.0mm, 1.1mm, 1.3mm, 1.5mm, etc.; a width of 2.5mm to 3.5mm, for example, 2.5mm, 2.7mm, 2.9mm, 3.0mm, 3.1mm, 3.3mm, 3.5mm, etc. may be set; the height is 55mm to 65mm, and for example, 55mm, 57mm, 59mm, 60mm, 61mm, 63mm, 65mm, or the like can be set. In this way, the obstacle 230 is sized to improve the accuracy of detection of the obstacle 230 by the first sensor 210 and the second sensor 220.
Alternatively, the obstacles 230 may be made of ferrous material and may be welded to the corresponding machine body 110 or to the adjacent machine body 120.
In some embodiments of the present invention, the distance between the first sensor 210 and the second sensor 220 along the circumferential direction is 5cm to 10cm, for example, may be set to 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, etc. Therefore, the corresponding mechanical body 110 can be prevented from rotating in the opposite direction for a long time after the zero returning command is sent, and the zero returning time can be saved.
As shown in fig. 4, in some embodiments of the present invention, the first sensor 210 and the second sensor 220 are detachably disposed on the corresponding machine body 110 through a mounting bracket 240. Thus, the first sensor 210 and the second sensor 220 can be easily mounted and dismounted.
Further, in some embodiments of the present invention, as shown in fig. 4, the mounting bracket 240 includes: a first mounting plate 241 and a second mounting plate 242 which are vertically connected; a plurality of mounting positions are arranged on the first mounting plate 241 at intervals along the vertical direction, and the first sensor 210 or the second sensor 220 can be detachably mounted on any mounting position; the second mounting plate 241 is detachably mounted on the corresponding machine body 110. In this way, the installation height of the first sensor 210 or the second sensor 220 on the first installation plate 241 can be adjusted according to the size relationship between two adjacent machine bodies 110, so as to ensure that the first sensor 210 or the second sensor 220 can detect the obstacle 230.
Alternatively, the first mounting plate 241 may be welded to the second mounting plate 242.
Alternatively, the second mounting plate 242 may be detachably mounted to the corresponding machine body 110 by a third fastener. The third fastening member may be a screw, and the second mounting plate 242 and the corresponding machine body 110 are provided with a screw through hole.
Specifically, as shown in fig. 4, each mounting position has a mounting hole, and the mounting end of the first sensor 210 or the second sensor 220 can be inserted into any one of the mounting holes and fixed on the first mounting plate by clamping the first fastener 251 and the second fastener 252.
Optionally, the first and second fasteners 251, 252 are nuts, and it is understood that the mounting end of the first or second sensor 210, 220 is provided with external threads adapted to the internal threads of the first and second fasteners 251, 252.
An embodiment of the present invention further provides an automatic zero returning method for a robot as described above, where the automatic zero returning method includes:
the processing module 300 obtains and sends a zero returning instruction, and the controller 130 controls the corresponding machine body 110 to rotate based on the zero returning instruction;
when the corresponding machine body 110 rotates in the first direction, the first sensor 210 detects the obstacle 230 and sends a first signal to the processing module 300 after the obstacle is detected, the processing module 300 determines that the corresponding machine body 110 is at the initial position based on the first signal and sends a confirmation result to the controller 130, and the controller 130 stops the corresponding machine body 110 from rotating;
when the corresponding machine body 110 rotates in a second direction opposite to the first direction, the second sensor 220 sends a second signal to the processing module 300 when and after detecting the obstacle 230, the processing module 300 determines that the corresponding machine body 110 is at the limit position based on the second signal and sends a confirmation result to the controller 130, and the controller 130 rotates the corresponding machine body 110 in the first direction until the first sensor 210 detects the obstacle 230.
As described above, according to the zero returning method of the robot, after the controller 130 of the robot main body 100 receives the zero returning command sent by the processing module 300, the controller 200, the processing module 300 and the controller 130 of the robot main body 100 cooperate to rotate the corresponding machine body 110 in the first direction until the first sensor 210 detects the obstacle 230 and sends the first signal to the processing module 300, the processing module 300 determines that the corresponding machine body 110 rotates to the initial position based on the first signal, that is, the corresponding machine body 110 has returned to the zero point, and sends the confirmation result to the controller 130, and the controller 130 stops the corresponding machine body 110 from rotating based on the confirmation result; when the corresponding machine body 110 rotates in a second direction opposite to the first direction until the second sensor 220 detects the obstacle 230 and sends a second signal to the processing module 300, the processing module 300 determines that the corresponding machine body 110 rotates to an extreme position based on the second signal, i.e., indicating that the rotation direction of the corresponding machine body 110 is reversed, and sends the confirmation result to the controller 130, and the controller 130 controls the corresponding machine body 110 to rotate in the first direction until the first sensor 210 detects the obstacle 230 based on the confirmation result. In summary, the automatic zero returning method for the robot described above can solve the problem of incorrect zero returning operation caused by manual error, can avoid potential safety hazard to operators, and can also improve the automation degree of the robot.
Further, in some embodiments of the invention, the robot is also configured with a button 400 for triggering a zero-back instruction; the processing module 300 obtains the zero-return instruction by: the pressing operation on the button 400 is detected, and when the pressing operation on the button 400 is detected, a return-to-zero instruction is acquired.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the auto-zero method described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A robot, comprising: the robot comprises a robot main body, a processing module and a plurality of zero returning modules, wherein each zero returning module comprises: the robot comprises a robot main body, a first sensor, a second sensor and an obstacle, wherein the first sensor and the second sensor are arranged on a corresponding mechanical body in the robot main body at intervals along the circumferential direction, the obstacle is arranged on the mechanical body adjacent to the corresponding mechanical body, and the first sensor and the second sensor are both photoelectric proximity switches;
the processing module is used for acquiring and sending a zero returning instruction, and the controller of the robot main body is used for rotating the corresponding mechanical body based on the zero returning instruction;
when the corresponding mechanical body rotates along a first direction, the first sensor is used for detecting the obstacle and sending a first signal to the processing module after the obstacle is detected, the processing module is used for determining that the corresponding mechanical body rotates to an initial position based on the first signal and sending a confirmation result to the controller, and the controller is used for stopping the corresponding mechanical body from rotating based on the confirmation result;
when the corresponding mechanical body rotates in a second direction opposite to the first direction, the second sensor is used for detecting the obstacle and sending a second signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body rotates to the limit position based on the second signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the obstacle is detected by the first sensor based on the confirmation result.
2. A robot according to claim 1, characterized in that the robot is further provided with a button for triggering the zero-return instruction;
the processing module is used for detecting the pressing operation on the button, and acquiring the zero returning instruction after detecting the pressing operation on the button.
3. Robot according to claim 1 or 2,
the first sensor and the second sensor are disposed on ends of the corresponding machine bodies, and the obstacle is disposed on an end of the adjacent machine body, wherein the end of the corresponding machine body is adjacent to the end of the adjacent machine body.
4. A robot as claimed in claim 3, wherein the obstacle has a length of 0.5mm to 1.5mm, a width of 2.5mm to 3.5mm and a height of 55mm to 65 mm.
5. A robot according to claim 1 or 2, characterized in that the distance between the first sensor and the second sensor in the circumferential direction is 5-10 cm.
6. A robot according to claim 1 or 2, wherein the first sensor and the second sensor are each detachably provided on the corresponding machine body by a mounting bracket.
7. The robot of claim 6, wherein the mounting bracket comprises: the first mounting plate and the second mounting plate are vertically connected;
a plurality of mounting positions are arranged on the first mounting plate at intervals along the vertical direction, and the first sensor or the second sensor can be detachably mounted on any mounting position;
the second mounting plate is detachably mounted on the corresponding machine body.
8. The robot of claim 7, wherein each mounting position has a mounting hole, and the mounting end of the first sensor or the second sensor can be inserted into any mounting hole and fixed on the first mounting plate by clamping the first fastener and the second fastener.
9. An auto-zero method of a robot according to any of claims 1-8, characterized in that the auto-zero method comprises:
the processing module acquires and sends a zero returning instruction, and the controller enables the corresponding mechanical body to rotate based on the zero returning instruction;
when the corresponding mechanical body rotates along a first direction, the first sensor detects an obstacle and sends a first signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is at an initial position based on the first signal and sends a confirmation result to the controller, and the controller stops the corresponding mechanical body from rotating;
when the corresponding mechanical body rotates in a second direction opposite to the first direction, the second sensor detects an obstacle and sends a second signal to the processing module after the obstacle is detected, the processing module determines that the corresponding mechanical body is at the limit position based on the second signal and sends a confirmation result to the controller, and the controller enables the corresponding mechanical body to rotate in the first direction until the obstacle is detected by the first sensor.
10. The auto-zero method of claim 9, wherein the robot is further configured with a button for triggering the zero-return instruction;
the processing module acquires the zero returning instruction in the following mode: and detecting the pressing operation on the button, and acquiring the zero returning instruction after detecting the pressing operation on the button.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the auto-zero method of claim 9 or 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN102837309A (en) * | 2011-06-22 | 2012-12-26 | 北京理工大学 | Anti-winding locating device for 360-degree rotary joint of robot |
| CN107589719A (en) * | 2017-07-21 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of origin apparatus resetting method and device |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| CN109623851A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm null-setting device and return to zero method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6314426B2 (en) * | 2013-10-31 | 2018-04-25 | セイコーエプソン株式会社 | Robot control apparatus and robot control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN102837309A (en) * | 2011-06-22 | 2012-12-26 | 北京理工大学 | Anti-winding locating device for 360-degree rotary joint of robot |
| CN107589719A (en) * | 2017-07-21 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of origin apparatus resetting method and device |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| CN109623851A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm null-setting device and return to zero method |
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| CN111496785A (en) | 2020-08-07 |
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