CN113715006B

CN113715006B - Driving method of mechanical arm

Info

Publication number: CN113715006B
Application number: CN202110954573.8A
Authority: CN
Inventors: 盛彪
Original assignee: Suzhou HYC Technology Co Ltd
Current assignee: Suzhou HYC Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2023-01-31
Anticipated expiration: 2041-08-19
Also published as: CN113715006A

Abstract

The invention relates to a driving method of a mechanical arm, which comprises the following steps: dividing the moving area into a plurality of areas based on the position and the structure of the interference mechanism; acquiring a region where the current position of the mechanical arm is located and taking the region as a starting point region; acquiring a region where a target position of the mechanical arm is located and taking the region as an end point region; determining movement paths according to the starting point region and the end point region, wherein each movement path avoids the interference mechanism; and controlling the mechanical arm to move according to the moving path. The invention effectively avoids the collision between the mechanical arm and the interference mechanism.

Description

Driving method of mechanical arm

Technical Field

The invention relates to the technical field of automatic control of mechanical arms, in particular to a driving method of a mechanical arm.

Background

With the development of the robot automation control technology, in order to improve the moving efficiency of the robot from the current position to the target position, the time for the robot to pick up and carry the workpiece is shortened, and further the working efficiency and the productivity are improved. The method generally used for driving the robot is to drive the robot from the current position to move along the X-axis and the Y-axis simultaneously to the target position.

Although the existing driving mode can improve the working efficiency and the productivity, when an interference mechanism exists in the moving area of the mechanical arm, the driving mode along the X axis and the Y axis has a high collision risk, that is, the mechanical arm is likely to collide with the interference mechanism in the moving process, and further the operation of the mechanical arm is affected, which causes adverse effects of reducing the working efficiency and the productivity.

Disclosure of Invention

In view of this, it is necessary to provide a method for driving a robot arm, which addresses the problem that the risk of the robot arm colliding with an interference mechanism during movement is high.

A driving method of a mechanical arm is applied to a driving device comprising the mechanical arm and an interference mechanism, wherein the mechanical arm moves in a moving area, and the interference mechanism is at least partially positioned in the moving area, and the driving method comprises the following steps:

dividing the moving area into a plurality of areas based on the position and the structure of the interference mechanism;

acquiring an area where the current position of the mechanical arm is located and taking the area as a starting area;

acquiring a region where the target position of the mechanical arm is located and taking the region as an end point region;

determining movement paths according to the starting point region and the end point region, wherein each movement path avoids the interference mechanism;

and controlling the mechanical arm to move according to the moving path.

According to the driving method of the mechanical arm, before the moving path is planned, the collision risk of the mechanical arm and the interference mechanism is considered, the moving area is partitioned according to the position and the structure of the interference mechanism, the starting area where the current position is located and the destination area where the target position is located are obtained, the moving path is determined according to the starting area and the destination area, each moving path avoids the interference mechanism, the mechanical arm and the interference mechanism are prevented from colliding, and the working efficiency and the productivity are improved.

The technical solution of the present application is further explained as follows:

in one embodiment, the mechanical arm moves in a first direction and a second direction which are perpendicular to each other in the moving area;

the dividing the moving area into a plurality of areas based on the position and the structure of the interference mechanism comprises:

dividing the movement area into a first area, a second area and a third area based on the position and the structure of the interference mechanism;

determining a starting point of interference with the interference mechanism when the mechanical arm moves in the first direction, and determining a set of the starting points as a first area;

determining a starting point of interference with the interference mechanism when the mechanical arm moves in the second direction, and determining a set of the starting points as a second area;

and determining a starting point which does not interfere with the interference mechanism when the mechanical arm moves in the first direction and the second direction respectively, and determining the set of the starting points as a third area.

the dividing the moving area into a plurality of areas based on the position and structure of the interference mechanism comprises:

determining a reference plane parallel to the first direction and the second direction;

determining the projection of the moving area on the reference surface as a first projection area;

determining the projection of the interference mechanism on the reference surface as a second projection area;

determining the overlapped part of the first projection area and the second projection area as an interference projection area;

determining an avoidance area according to the interference projection area, wherein the avoidance area completely covers the interference projection area and is positioned in the first projection area;

cutting the moving area by taking the boundary of the avoidance area as a reference;

determining a region adjacent to the avoidance region in the first direction as a first region;

determining a region adjacent to the avoidance region in the second direction as a second region;

and determining an area except the first area, the second area and the avoidance area in the moving area as a third area.

In one embodiment, the determining an avoidance region according to the interference projection region includes: and determining a circumscribed rectangle of the interference projection area and taking the circumscribed rectangle as the avoidance area.

In one embodiment, the movement path avoids the avoidance zone.

In one embodiment, the cutting the moving region with the boundary of the avoidance region as a reference includes:

determining a boundary of the avoidance region along the first direction as a first collision avoidance boundary;

determining a first segmentation plane which is perpendicular to the reference plane according to the first anti-collision boundary;

determining a boundary of the avoidance region along the second direction as a second collision avoidance boundary;

determining a second division plane perpendicular to the reference plane according to the second anti-collision boundary;

cutting the moving area with the first and second dividing planes.

In one embodiment, the determining a movement path according to the starting area and the ending area, each of the movement paths avoiding the interference mechanism includes:

if the starting point area is located in the first area and the end point area is located in the second area, selecting a third area which is adjacent to the starting point area and the end point area at the same time as a transfer area; determining the movement path comprises: moving from the current position to the transfer area in a second direction, and then moving from the transfer area to the target position in the first direction and the second direction at the same time; and/or comprises:

if the starting area is located in the second area and the ending area is located in the first area, selecting the third area which is adjacent to the starting area and the ending area at the same time as a transfer area;

determining the movement path comprises: and moving the current position to the transfer area in the first direction, and then moving the transfer area to the target position in the first direction and the second direction at the same time.

In one embodiment, the moving path includes a broken line, and a turning point of the broken line is located at the intersection of the starting area and the transit area.

if the starting area is located in the first area or the second area, and the ending area is located in the third area adjacent to the starting area;

determining the movement path comprises: and simultaneously moving the current position to the target position in a first direction and a second direction.

In one embodiment, the determining a movement path according to the starting area and the ending area, and each of the movement paths avoiding the interference mechanism includes:

if the starting point region is located in the third region, and the ending point region is located in the first region or the second region adjacent to the starting point region;

Drawings

FIG. 1 is a flowchart illustrating a driving method of a robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving device (gantry driving device) according to an embodiment of the present invention;

FIG. 3 is a schematic view of the reference surface position determined by the driving apparatus of FIG. 2;

FIG. 4 is a schematic diagram of a moving path on a reference surface in an embodiment of the present invention (the interference mechanism is disposed at one of the corners of the moving area, and the projection of the interference mechanism on the reference surface is rectangular);

FIG. 5 is a schematic diagram of a moving path on a reference surface in an embodiment of the present invention (the interference mechanism is disposed at one of the corners of the moving area, and the projection of the interference mechanism on the reference surface is an irregular pattern);

FIG. 6 is a schematic diagram of a moving path on a reference plane in an embodiment of the present invention (the interference mechanism is disposed at a middle position of the moving region, and a projection of the interference mechanism on the reference plane is a rectangle);

fig. 7 is a schematic diagram of a moving path on the reference surface in an embodiment of the present invention (the interference mechanism is disposed at an intermediate position of the moving region, and a projection of the interference mechanism on the reference surface is an irregular pattern).

Reference numerals:

10. a drive device; 100. a robot arm; 200. an interference mechanism; 210. a first interference portion; 220. a second interference portion; 300. a first drive assembly; 310. a first body; 320. a second body; 330. a first driving member; 400. a second drive assembly; 410. a third body; 420. a second driving member; 20. a reference plane; 21. a first projection area; 22. a second projection area; 23. an interference projection region; 24. an avoidance area; 24a, a first collision avoidance boundary; 24b, a second collision avoidance boundary; 26. a first dividing plane; 27. a second dividing plane; 30. a moving area; 31. a first region; 32. a second region; 33. and a third region.

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.

Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a method for driving a robot, which is applied to a driving apparatus 10 including a robot 100 and an interference mechanism 200, wherein the robot 100 moves in a moving area 30, and the interference mechanism 200 is at least partially located in the moving area 30, and the method for driving the robot includes:

step S01, the movement region 30 is divided into a plurality of regions based on the position and structure of the interference mechanism 200.

Step S02, acquiring a region where the current position of the mechanical arm 100 is located and taking the region as a starting point region; the area where the target position of the robot arm 100 is located is acquired and serves as the end area.

Step S03 determines movement paths based on the start point region and the end point region, and each movement path avoids the interference mechanism 200.

Step S04, the robot arm 100 is controlled to move along the movement path.

Before planning a moving path, the driving method of the robot arm takes the collision risk between the robot arm 100 and the interference mechanism 200 into consideration, divides the moving area 30 according to the position and structure of the interference mechanism 200, obtains the starting area where the current position is located and the ending area where the target position is located, determines the moving path according to the starting area and the ending area, and avoids the interference mechanism 200 for each moving path, thereby avoiding the collision between the robot arm 100 and the interference mechanism 200 and improving the working efficiency and the productivity. In addition, compared with a mode of monitoring the position of the mechanical arm in real time, acquiring the coordinate of the mechanical arm, calculating the distance between the mechanical arm and the interference mechanism, further judging the collision risk and planning a path, the driving method of the mechanical arm only needs to judge a starting point area where the current position is located and an end point area where the target position is located for partitioning the moving area 30, and then the moving path is determined according to the starting point area and the end point area, so that the method for determining the moving path is simplified to a certain extent.

Further, in some embodiments, the driving method further comprises: before step S02, different starting point regions and ending point regions are selected from the plurality of regions, mapping relationships among the starting point regions, the ending point regions, and the moving paths are established, and the mapping relationships are stored. When step S03 is executed, a corresponding movement path is retrieved according to the start point region and the end point region acquired in step S02. The driving method of the mechanical arm avoids collision between the mechanical arm 100 and the interference mechanism 200, and when the mechanical arm 100 is driven, only the current starting point region and the current end point region need to be acquired to call the corresponding moving path, so that compared with a driving method of real-time avoidance, complex coordinate operation is not needed, and the driving efficiency of the mechanical arm 100 is further improved.

Referring to fig. 2 and 3, in some embodiments, the robot 100 moves in a first direction and a second direction perpendicular to each other within the moving area 30, wherein the first direction and the second direction may be any two directions perpendicular to each other. As an example, the first direction is the x-direction shown in fig. 2, and the second direction is the y-direction shown in fig. 2. The structure and the form of the power source for driving the robot arm 100 to move along the x direction/y direction are not limited, referring to fig. 2, in some embodiments, the driving device 10 is a gantry driving device 10 provided with an interference mechanism 200, and the gantry driving device 10 includes a first driving assembly 300 for driving the robot arm 100 to move in the second direction (y direction) and a second driving assembly 400 for driving the robot arm 100 to move in the first direction (x direction). The first driving assembly 300 includes a first body 310 and a second body 320 disposed opposite to each other in a first direction, and a first driving member 330 disposed on the first body 310, the first driving member 330 being capable of moving in a second direction relative to the first body 310; the second driving assembly 400 includes a third body 410 disposed on the first driving member 330 along the second direction and a second driving member 420 capable of moving along the first direction relative to the third body 410, wherein the robot arm 100 is fixed on the second driving member 420. The robot arm 100 moves within a cubic movement region 30 by the gantry driving apparatus 10. The interference mechanism 200 may be a supporting bracket as shown in fig. 2 and 3, or an interference boss located inside the moving region 30. In addition, the driving device 10 may have other forms as long as it has the interference mechanism 200, and the interference mechanism 200 is at least partially located in the moving region 30. For example, in an embodiment, the driving device does not adopt a gantry structure, but the first body and the second body are both provided as guide rails directly mounted on the worktable, the third body is driven by a power source such as a linear motor to drive the robot arm to move along the second direction, the robot arm is driven by a power source such as a linear motor to move along the first direction, and the interference boss is arranged inside the moving area.

Further, referring to fig. 4, in an embodiment, the specific method for dividing the moving area 30 into several areas based on the structure of the interference mechanism 200 in step S01 includes: the movement region 30 is divided into a first region 31, a second region 32, and a third region 33 based on the configuration of the interference mechanism 200. The starting point at which the robot arm 100 interferes with the interference mechanism 200 when moving in the first direction (x direction in fig. 4) is determined, and the set of starting points is determined as the first region 31, that is, the robot arm 100 starts at any point in the first region 31 and runs in the first direction, and there is a risk of collision with the interference mechanism 200. The starting points of interference with the interference mechanism 200 when the robot arm 100 moves in the second direction (y direction in fig. 4) are determined, and the set of starting points is determined as the second region 32, that is, the robot arm 100 starts at any point in the second region 32 and runs in the second direction, and there is a risk of collision with the interference mechanism 200. A starting point at which the robot arm 100 does not interfere with the interference mechanism when moving in the first direction and the second direction (x direction and y direction in fig. 4), respectively, is determined, and a set of starting points is determined as the third region 33, that is, starting from any point in the third region 33, the robot arm 100 runs in the first direction, and runs a risk of colliding with the interference mechanism 200, and running from that point in the second direction, runs a risk of colliding with the interference mechanism 200.

It should be noted that the number of the first region 31, the second region 32 and the third region 33 may be one or more, and as shown in fig. 4 and 5, when the interference mechanism 200 is disposed at one of the top corners of the moving region 30, the first region 31, the second region 32 and the third region 33 are all divided into one. As shown in fig. 6 and 7, when the interference mechanism 200 is disposed at the middle position of the movement region 30, two first regions 31, two second regions 32, and four third regions 33 may be defined.

In order to make the above-mentioned driving method of the robot arm have better avoidance effect on the interference mechanism 200 with irregular shape, referring to fig. 3 and 4, in another embodiment, the specific method for dividing the moving area 30 into a plurality of areas based on the position and structure of the interference mechanism 200 in step S01 includes:

a reference plane 20 is defined parallel to the first and second directions. As an example, referring to fig. 3 in combination, a plane where the position of the gantry driving apparatus 10 near the top is located may be used as the reference plane 20, and the reference plane 20 is perpendicular to the third direction (z direction in fig. 3), and it should be noted that the reference plane 20 may also be another plane parallel to the first direction and the second direction. Referring to fig. 4, further, a projection of the moving area 30 on the reference plane 20 is determined as a first projection area 21; determining the projection of the interference mechanism 200 on the reference plane 20 as a second projection region 22; determining the overlapping part of the first projection area 21 and the second projection area 22 as an interference projection area 23 (an area shown by a cross section line in fig. 4); and determining an avoidance region 24 based on the interference projection region 23, as shown in fig. 4, in some embodiments, the determined avoidance region 24 is a rectangular region, and the avoidance region 24 completely covers the interference projection region 23 and is located inside the first projection region 21. As shown in fig. 4, the travel path avoids the avoidance area 24. When the interference mechanism 200 has an irregular structure, the projection on the reference surface 20 may be an irregular pattern as shown in fig. 5, and when the avoidance area 24 is determined, it is only necessary that the avoidance area 24 completely covers the interference projection area 23 and is located inside the first projection area 21, and each movement path avoids the avoidance area 24.

In addition, when determining the avoidance region 24, the area of the rectangular region is made as small as possible, and preferably, in an embodiment, determining the avoidance region 24 according to the interference projection region 23 includes: determining a circumscribed rectangle of the interference projection area 23 and using the circumscribed rectangle as an avoidance area 24, or enabling the determined avoidance area 24 to cover the interference projection area 23 and be slightly larger than the interference projection area 23, so as to increase the sum of the volumes of the divided first area 31, second area 32 and third area 33 on the basis of avoiding collision, namely, to expand the movable range of the mechanical arm 100.

Further, referring to fig. 3 and 4, the moving area 30 is cut based on the boundary of the avoidance area 24; a region adjacent to the avoidance region 24 in the first direction is determined as a first region 31; a region adjacent to the avoidance region 24 in the second direction is determined as a second region 32; a region other than the first region 31, the second region 32, and the escape region 24 in the movement region 30 is determined as a third region 33.

Specifically, referring to fig. 4, in one embodiment, a specific method for cutting the moving area 30 based on the boundary of the avoidance area 24 includes: determining a boundary of the avoidance region 24 along the first direction as a first collision avoidance boundary 24a; determining a first dividing plane 26 perpendicular to the reference plane 20, based on the first collision-avoidance boundary 24a; determining a boundary of the avoidance region 24 along the second direction as a second collision avoidance boundary 24b; a second dividing plane 27 is defined, which is perpendicular to the reference plane 20, in accordance with the second bump boundary 24 b. The moving area 30 is cut by the first dividing plane 26 and the second dividing plane 27 to obtain a first area 31, a second area 32 and a third area 33. Referring to fig. 3 in combination, in an embodiment, the interference mechanism 200 includes a first interference portion 210 disposed along the second direction and a second interference portion 220 disposed along the first direction, and projections of the first interference portion 210 and the second interference portion 220 on the reference plane 20 are two vertical edges of the interference projection area 23. The determination of the first collision avoidance boundary 24a requires that the robot arm 100 be as close as possible to the first interference portion 210 of the interference mechanism 200 in the second direction without colliding with the first interference portion 210, and similarly, the determination of the second collision avoidance boundary 24b requires that the robot arm 100 be as close as possible to the first interference portion 210 of the interference mechanism 200 in the first direction without colliding with the first interference portion 210.

In the above method for driving the robot arm, the first projection area 21 of the movement area 30 on the reference plane 20 is determined, the second projection area 22 of the interference mechanism 200 on the reference plane 20 is further determined, and the overlapping area of the two areas is determined as the interference projection area 23, so that the boundary to be avoided of the interference mechanism 200 with an irregular shape can be conveniently determined, and a better avoiding effect can be achieved.

Referring to fig. 4, in an embodiment, the step S03 of determining the moving paths according to the starting point region and the ending point region, and each moving path avoiding the interference mechanism 200 includes the specific steps of:

if the starting point region (the region at the point m1 in fig. 4) is located in the first region 31, the ending point region (the region at the point n1 in fig. 4) is located in the second region 32, i.e. the current position is located in the first region 31, and the target position is located in the second region 32. The third area 33 adjacent to both the start area (the area where the point m1 in fig. 4 is located) and the end area (the area where the point n1 in fig. 4 is located) is selected as the relay area.

Determining the movement path includes: the current position (point m1 in fig. 4) is moved to the transit area in the second direction, and then the transit area is moved to the target position (point n1 in fig. 4) in the first direction and the second direction. The moving path may be various, and as shown by the dotted lines and the solid lines of m1 to n1 in fig. 4, the avoidance interference mechanism 200 may be realized. Preferably, as shown by the solid lines from m1 to n1 in fig. 4, the moving path is a broken line, and in an embodiment, the turning point of the moving path is located at the boundary between the starting region and the transit region. Thus, when the robot arm 100 moves from the current position to the boundary between the starting area and the transferring area and starts to move in the first direction and the second direction at the same time, the robot arm 100 can enter the driving state of moving in the first direction and the second direction at the same time earlier, thereby improving the moving efficiency and further improving the working efficiency and the productivity. Of course, if the interference mechanism 200 can be avoided by moving in a linear manner, the robot arm 100 may move in the first direction and the second direction at the same time. When selecting a route, a route that is shorter in time can be selected with priority.

With continued reference to fig. 4, in an embodiment, the determining the moving paths according to the starting point region and the ending point region in step S03, and each moving path avoiding the interference mechanism 200 includes the specific steps of:

if the starting region (the region where the point m2 is located in the figure) is located in the second region 32, the ending region (the region where the point n2 is located in the figure) is located in the first region 31; selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m2 in the figure) moves to the transit area in the first direction, and then moves from the transit area to the target position (point n2 in the figure) in the first direction and the second direction simultaneously. It should be noted that the moving path may be various, and as shown by the dotted line and the solid lines of m2 to n2 in fig. 4, the interference avoiding mechanism 200 may be realized. Preferably, as shown by the solid lines from m2 to n2 in fig. 4, the moving path is a broken line, and in one embodiment, the turning point of the moving path is located at the intersection of the starting region and the transit region. Thus, when the robot arm 100 moves from the current position to the boundary between the starting area and the transferring area and starts to move in the first direction and the second direction at the same time, the robot arm 100 can enter the driving state of moving in the first direction and the second direction at the same time earlier, thereby improving the moving efficiency and further improving the working efficiency and the productivity.

In addition, with continued reference to the solid lines m3 to n3 in fig. 4, in an embodiment, the movement paths are determined according to the starting area and the ending area, and each movement path avoids the interference mechanism 200, which includes the following specific steps: if the starting area is located in the first area 31 or the second area 32, the ending area is located in the third area 33; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction.

With continued reference to the solid lines m4 to n4 in fig. 4, in another embodiment, the movement paths are determined according to the starting area and the ending area, and each movement path avoids the interference mechanism 200 by the specific steps including: if the starting area is located in the third area 33, the ending area is located in the first area 31 or the second area 32 adjacent to the starting area; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction.

Referring to fig. 5, in some embodiments, if the shape of the interference mechanism 200 located in the moving region 30 is irregular, the projection of the interference mechanism 200 on the reference plane 20 is an irregular pattern, and the robot 100 is driven in the same manner, if the starting region (the region at the point m5 in fig. 5) is located in the first region 31, the ending region (the region at the point n5 in fig. 5) is located in the second region 32, that is, the current position is located in the first region 31, and the target position is located in the second region 32. Selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m5 in fig. 5) is moved to the transit area in the second direction, and then the transit area is moved to the target position (point n5 in fig. 5) in the first direction and the second direction. If the starting region (the region at the point m6 in fig. 5) is located in the second region 32, the ending region (the region at the point n6 in fig. 5) is located in the first region 31; selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m6 in fig. 5) is moved to the transit area in the first direction, and then the transit area is moved to the target position (point n6 in fig. 5) in the first direction and the second direction.

In addition, with continued reference to the solid lines m7 to n7 and the solid lines m8 to n8 in fig. 5, in one embodiment, if the starting region is located in the first region 31 or the second region 32, the ending region is located in the third region 33; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction. If the starting area is located in the third area 33, the ending area is located in the first area 31 or the second area 32 adjacent to the starting area; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction.

In some embodiments, when the interference mechanism 200 is located completely inside the moving area 30, the first area 31, the second area 32, and the third area 33 may be divided into different areas. As an example, referring to fig. 6, when the interference mechanism 200 is disposed at the middle position of the moving area 30, two first areas 31, two second areas 32, and four third areas 33 are defined. It should be noted that the driving manner when the interference mechanism 200 is completely located inside the moving region 30 is similar to the driving manner when the interference mechanism 200 is disposed at one of the top corners of the moving region 30, and the difference is that the first region 31, the second region 32 and the third region 33 are not unique, and then an appropriate region needs to be selected from the third region 33 as a relay region, and the relay region selects the third region 33 which is adjacent to the starting region and the ending region at the same time, so that the robot arm 100 can be driven to move to the adjacent third region 33, so as to shorten the moving path and further improve the moving efficiency. Specifically, if the starting point region (the region at the point m9 in fig. 6) is located in the first region 31, the ending point region (the region at the point n9 in fig. 6) is located in the second region 32, that is, the current position is located in the first region 31, and the target position is located in the second region 32. Selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m9 in fig. 6) is moved to the transit area in the second direction, and then the transit area is moved to the target position (point n9 in fig. 6) in the first direction and the second direction. If the starting region (the region where the point m10 in fig. 6 is located) is located in the second region 32, the ending region (the region where the point n10 in fig. 6 is located) is located in the first region 31; selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m10 in fig. 6) is moved to the transit area in the first direction, and then the transit area is moved to the target position (point n10 in fig. 6) in the first direction and the second direction.

In addition, with continued reference to the solid lines m11 to n11 and the solid lines m12 to n12 in fig. 6, in an embodiment, if the starting region is located in the first region 31 or the second region 32, the ending region is located in the third region 33; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction. If the starting area is located in the third area 33, the ending area is located in the first area 31 or the second area 32 adjacent to the starting area; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction.

Referring to fig. 7, in an embodiment, when the interference mechanism 200 is disposed at the middle position of the moving region 30 and the projection of the interference mechanism 200 on the reference plane 20 is an irregular pattern, two first regions 31, two second regions 32, and four third regions 33 are defined. Specifically, if the starting point region (the region at the point m13 in fig. 7) is located in the first region 31, the ending point region (the region at the point n13 in fig. 7) is located in the second region 32, that is, the current position is located in the first region 31, and the target position is located in the second region 32. Selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m13 in fig. 7) is moved to the transit area in the second direction, and then the transit area is moved to the target position (point n13 in fig. 7) in the first direction and the second direction. If the starting region (the region at the point m14 in fig. 7) is located in the second region 32, the ending region (the region at the point n14 in fig. 7) is located in the first region 31; selecting a third area 33 adjacent to the starting area and the ending area at the same time as a transfer area; determining the movement path includes: the current position (point m14 in fig. 7) is moved to the transit area in the first direction, and then the transit area is moved to the target position (point n14 in fig. 7) in the first direction and the second direction.

With continued reference to the solid lines m15 to n15 and the solid lines m16 to n16 in fig. 7, in one embodiment, the movement paths are determined according to the start area and the end area, and each movement path avoids the interference mechanism 200, and the specific steps include: if the starting area is located in the first area 31 or the second area 32, the ending area is located in the third area 33; determining the movement path includes: and simultaneously moving the current position to the target position in the first direction and the second direction.

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 interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. 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.

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 specific and detailed, but not to be understood 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

1. A method for driving a robot arm is characterized in that,

the driving device is applied to a driving device comprising a mechanical arm and an interference mechanism, wherein the mechanical arm moves along a first direction and a second direction which are perpendicular to each other in a moving area, and the interference mechanism is at least partially positioned in the moving area, and the driving method comprises the following steps:

based on the position and structure of the interference mechanism, dividing the moving area into a plurality of areas, including:

determining a reference plane parallel to the first direction and the second direction; determining the projection of the moving area on the reference surface as a first projection area; determining the projection of the interference mechanism on the reference surface as a second projection area; determining the overlapped part of the first projection area and the second projection area as an interference projection area; determining an avoidance area according to the interference projection area, wherein the avoidance area completely covers the interference projection area and is positioned in the first projection area; cutting the moving area by taking the boundary of the avoidance area as a reference; determining a region adjacent to the avoidance region in the first direction as a first region; determining a region adjacent to the avoidance region in the second direction as a second region; determining a region except the first region, the second region and the avoidance region in the moving region as a third region;

acquiring a region where the current position of the mechanical arm is located and taking the region as a starting point region;

and controlling the mechanical arm to move according to the moving path.

2. The method for driving a robot arm according to claim 1, wherein the determining an avoidance region according to the interference projection region includes:

and determining a circumscribed rectangle of the interference projection area and taking the circumscribed rectangle as the avoidance area.

3. The method of driving a robot arm according to claim 1, wherein the travel path avoids the avoidance area.

4. The method of driving a robot arm according to claim 1, wherein the cutting the travel region based on the boundary of the avoidance region includes:

cutting the moving area with the first and second dividing planes.

5. The method of claim 1, wherein the dividing the movement area into a plurality of areas based on the position and the structure of the interference mechanism further comprises:

when the interference mechanism is arranged at one of the top corners of the moving area, the first area, the second area and the third area are divided into one.

6. The method of claim 1, wherein the dividing the movement area into a plurality of areas based on the position and the structure of the interference mechanism further comprises:

when the interference mechanism is completely positioned in the moving area, the first area, the second area and the third area are not only divided.

7. The method of driving a robot arm according to any one of claims 1 to 6,

the determining a movement path according to the starting point region and the ending point region, each movement path avoiding the interference mechanism, includes:

if the starting point area is located in the first area and the end point area is located in the second area, selecting a third area which is adjacent to the starting point area and the end point area at the same time as a transfer area;

determining the movement path comprises: moving from the current position to the transfer area in a second direction, and then moving from the transfer area to the target position in the first direction and the second direction at the same time;

and/or comprises:

8. The method of claim 7, wherein the moving path comprises a polygonal line, and a turning point of the polygonal line is located at an intersection of the starting area and the transition area.

9. The method of driving a robot arm according to any one of claims 1 to 6,

10. The method of driving a robot arm according to any one of claims 1 to 6,