CN114012787B - Robot and device and method for judging idle rotation of motor of robot - Google Patents
Robot and device and method for judging idle rotation of motor of robot Download PDFInfo
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- CN114012787B CN114012787B CN202111333668.4A CN202111333668A CN114012787B CN 114012787 B CN114012787 B CN 114012787B CN 202111333668 A CN202111333668 A CN 202111333668A CN 114012787 B CN114012787 B CN 114012787B
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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
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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Abstract
The invention discloses a robot and a device and a method for judging idle running of a motor of the robot, wherein the robot at least comprises a first mechanical arm and a second mechanical arm which are connected through a rotating shaft, and a gap is formed between the first mechanical arm and the second mechanical arm along the central axis direction of the rotating shaft; the device comprises a first position sensor and a first detection plate, wherein the first position sensor and the first detection plate are both positioned in a gap, the first position sensor and the first detection plate are oppositely arranged along the direction of a central axis, the first position sensor moves coaxially with one mechanical arm, and the first detection plate moves coaxially with the other mechanical arm; the thickness of the first detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, and the first position sensor is used for acquiring a first distance between the first position sensor and the first detection plate; the controller is used for judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table, so that the robot is prevented from colliding between the mechanical arms in the working process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot and a device and a method for judging whether a motor of the robot idles.
Background
With the development of society, the robot is used for replacing manual operation in various industries, so that the labor cost is saved, the operation is more accurate and rapid, and the automation degree is high. However, the problem existing in the current robot is that the mechanical arm may cause idling of the motor due to the problems of belt breakage between the motor and the speed reducer, pulley damage and the like in the operation process of the robot. For example, the robot arm includes a first robot arm and a second robot arm, and although the controller controls the first motor rotating the first robot arm to rotate, the first motor does not drive the first robot arm to rotate to a designated position (i.e., the first motor idles), so that when the controller controls the second motor to rotate again to allow the second robot arm to execute a next action, the second robot arm may not reach the designated position, and in addition, the first robot arm, the second robot arm and other robot arms may collide with each other, so that the robot is damaged.
Disclosure of Invention
The invention aims to: the robot and the device and the method for judging the idle running of the motor of the robot can judge whether the motor driving the mechanical arms to work idles during the work of the robot, so that the mechanical arms are prevented from colliding and being damaged.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, a device for judging whether a robot motor idles is provided, where the robot includes at least a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are connected by a rotating shaft, and a gap is formed between the first mechanical arm and the second mechanical arm along a central axis direction of the rotating shaft;
the device comprises: a first position sensor and a first detection plate, both of which are located in the gap, and the first position sensor and the first detection plate are oppositely arranged along the direction of the central axis of the rotating shaft, the first position sensor and the first mechanical arm move coaxially, and the first detection plate and the second mechanical arm move coaxially, or the first position sensor and the second mechanical arm move coaxially, and the first detection plate and the first mechanical arm move coaxially;
the thickness of the first detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, the thickness of the first detection plate is the same along the same radial direction of the rotating shaft, and the first position sensor is used for acquiring a first distance between the first position sensor and the first detection plate;
and the controller is connected with the first position sensor and used for judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table.
As a preferable mode of the means for judging the occurrence of the idling of the robot motor, the first position sensor is located on a surface of one side of the first robot arm adjacent to the second robot arm in the gap; the first detection plate is positioned on one side surface of the second mechanical arm adjacent to the first mechanical arm in the gap;
alternatively, the first position sensor is located on a side surface of the second robot arm adjacent to the first robot arm in the gap; the first detection plate is located on a side surface of the first robot arm adjacent to the second robot arm in the gap.
As a preferable mode of the apparatus for judging the occurrence of the idling of the motor of the robot, the robot further includes: the motor and the speed reducer are connected through a belt, a shaft of the speed reducer is connected with the rotating shaft, the motor is positioned in the first mechanical arm, and the motor drives the speed reducer to rotate through the belt so as to drive the rotating shaft to rotate;
the first position sensor is located on one side of a connecting line of central axes of the motor and the speed reducer, the vertical projection of the first detection plate along the direction of the central axis is located on one side, adjacent to the motor, of the speed reducer, and the first detection plate is arranged along the rotary shaft in the circumferential direction.
As a preferable mode of the apparatus for judging the occurrence of the idling of the robot motor, the apparatus further includes: a second position sensor and a second detection plate, both of which are located in the gap, and the second position sensor and the second detection plate are oppositely arranged along the direction of the central axis of the rotating shaft, the second position sensor moves coaxially with the first mechanical arm, and the second detection plate moves coaxially with the second mechanical arm, or the second position sensor moves coaxially with the second mechanical arm, and the second detection plate moves coaxially with the first mechanical arm;
the thickness of the second detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, and the second position sensor is used for acquiring a second distance between the second position sensor and the second detection plate;
a vertical projection connecting line of the second position sensor and the first position sensor on the first mechanical arm along the central axis direction of the rotating shaft extends along the radial direction of the rotating shaft; the vertical projections of the first detection plate and the second detection plate on the first mechanical arm along the central axis direction of the rotating shaft do not overlap;
the controller is connected with the second position sensor and used for judging whether the first mechanical arm and the second mechanical arm are in an initial delivery position after being remounted according to the second distance and a pre-stored second distance data table.
As a preferable embodiment of the device for determining that the robot motor idles, when the first detection plate and the second detection plate are both located on the surface of the same robot arm, the first detection plate and the second detection plate are integrally formed, and the integrally formed thickness gradually increases or decreases in the circumferential direction of the rotating shaft and is the same in the same radial direction of the rotating shaft.
As a preferable mode of the device for judging the idling of the robot motor, both the first position sensor and the second position sensor are acoustic wave sensors.
As a preferable mode of the apparatus for judging the occurrence of the idling of the robot motor, the apparatus further includes: and the controller is used for controlling the reminding module to warn when the motor is judged to idle or the first mechanical arm and/or the second mechanical arm is not at the factory initial position after being remounted.
In a second aspect, a method for determining the occurrence of an idle rotation of a robot motor is provided, where the method is implemented based on the foregoing apparatus for determining the occurrence of an idle rotation of a robot motor, and the method includes the following steps:
acquiring a first spacing between the first position sensor and the first sensing plate;
and judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table, wherein the first distance data table is calibrated according to pulses recorded by an encoder of the motor.
As a preferable scheme of the method for judging the idle rotation of the robot motor, judging whether the motor driving the rotating shaft to work idles according to the first distance and a pre-stored first distance data table comprises:
when the first distance is inconsistent with a first distance calibrated according to pulses recorded by an encoder of the motor in the first distance data table, judging that the motor idles;
when the first distance is consistent with a first distance calibrated according to pulses recorded by an encoder of the motor in the first distance data table, judging that the motor does not idle;
the device also comprises a reminding module, and after the motor idles, the device also comprises:
and controlling the reminding module to warn.
In a third aspect, a robot is provided, which includes the device for judging the robot motor is idling as described above.
The beneficial effects of the invention are as follows: the robot and the device and the method for judging the idle rotation of the motor of the robot are provided by the embodiment of the invention, wherein the robot at least comprises a first mechanical arm and a second mechanical arm which are connected through a rotating shaft, and a gap is formed between the first mechanical arm and the second mechanical arm along the central axis direction of the rotating shaft; the device comprises a first position sensor and a first detection plate, wherein the first position sensor and the first detection plate are both positioned in a gap, the first position sensor and the first detection plate are oppositely arranged along the direction of a central axis, the first position sensor moves coaxially with one mechanical arm, and the first detection plate moves coaxially with the other mechanical arm; the thickness of the first detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, the thickness of the first detection plate is the same along the same radial direction of the rotating shaft, and the first position sensor is used for acquiring a first distance between the first position sensor and the first detection plate; the controller is used for judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table, so that the robot is prevented from colliding between mechanical arms in the working process and being damaged.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
FIG. 1 is a schematic diagram of a robot in the prior art;
fig. 2 is a schematic structural diagram of an apparatus for determining that a robot motor idles according to an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of FIG. 1 with the addition of a first position sensor;
FIG. 4 is a schematic view of the bottom view of FIG. 3 with the addition of a second position sensor;
fig. 5 is a schematic structural diagram of a first detection plate and a second detection plate in the device for judging the idle rotation of the robot motor according to the embodiment of the invention;
fig. 6 is a block diagram illustrating an apparatus for determining an idle rotation of a motor of a robot according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for determining that a robot motor idles according to an embodiment of the present invention.
In fig. 1 to 6:
100. a first robot arm; 200. a second robot arm; 300. a rotating shaft; 400. a gap; 500. a third mechanical arm; 600. a first position sensor; 700. a first detection board; 00. a robot; 001. a motor; 002. a speed reducer; 003. a belt; 004. a second position sensor; 005. a second detection board; 010. a controller; 020. a reminding module; 011. the center axis of the rotating shaft.
Detailed Description
Advantages and features of the present invention and methods of accomplishing the same will become apparent with reference to the following detailed description of the embodiments when considered in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, which are provided only to complete the disclosure of the present invention and make those skilled in the art sufficiently understand the scope of the present invention, and the present invention is limited only by the scope of the claims. Like reference numerals denote like constituent elements throughout the specification.
Hereinafter, the present invention is described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a robot in the prior art. As shown in fig. 1, in the prior art, panel transportation is completed through an upper robot arm unit and a lower robot arm unit together, where the upper robot arm unit includes a first robot arm 100, a second robot arm 200, and a third robot arm 500, the lower robot arm unit and the upper robot arm unit are symmetrically disposed, processing is performed through the upper robot arm unit and the lower robot arm unit, for example, after the first robot arm 100 moves to a designated position, the second robot arm 200 is controlled to move to the designated position, and if a motor controlling the second robot arm 200 idles at this time, the second robot arm 200 cannot reach the designated position, and even if the motor controlling the third robot arm 500 does not idle, the third robot arm 500 cannot reach the designated position, and at this time, the second robot arm 200 and the third robot arm 500 in the upper robot arm unit may collide with the second robot arm and the third robot arm in the lower robot arm unit, thereby causing damage to a robot.
In order to solve the above problems, embodiments of the present invention provide a robot and a device and a method for determining that a motor of the robot idles, which can prompt an operator in time when the motor of a certain mechanical arm idles, so as to avoid collision between the mechanical arms due to the idling of the motor, so that the robot is damaged.
Fig. 2 is a schematic structural diagram of a device for determining that a robot motor idles according to an embodiment of the present invention. As shown in fig. 1 and fig. 2, the robot 00 includes at least a first robot arm 100 and a second robot arm 200, the first robot arm 100 and the second robot arm 200 are connected by a rotating shaft 300, and a gap 400 is provided between the first robot arm 100 and the second robot arm 200 along a direction of a central axis 011 of the rotating shaft 300;
as shown in fig. 2, the apparatus includes: the first position sensor 600 and the first detection plate 700 are both located in the gap 400, the first position sensor 600 and the first detection plate 700 are oppositely arranged along the direction of the central axis 011, the first position sensor 600 moves coaxially with the first mechanical arm 100, and the first detection plate 700 moves coaxially with the second mechanical arm 200, or the first position sensor 600 moves coaxially with the second mechanical arm 200, and the first detection plate 700 moves coaxially with the first mechanical arm 100;
wherein, in the circumferential direction of the rotating shaft, the thickness of the first sensing plate 700 is gradually increased or decreased, in the same radial direction of the rotating shaft 300, the thickness of the first sensing plate 700 is the same, and the first position sensor 600 is used for acquiring a first distance between the first position sensor 600 and the first sensing plate 700;
and a controller 010 (as shown in fig. 6), wherein the controller 010 is connected to the first position sensor 600, and is configured to determine whether the motor driving the rotating shaft 300 to work idles according to the first distance and a pre-stored first distance data table.
It is to be understood that the first position sensor 600 may be disposed on the first robot arm 100 or the second robot arm 200, the first detection plate 700 may be disposed on the second robot arm 200 when the first position sensor 600 is disposed on the first robot arm 100, and the first detection plate 700 may be disposed on the first robot arm 100 when the first position sensor 600 is disposed on the second robot arm 200, which is not a specific limitation of the present invention, and it is sufficient to ensure that the first detection plate 700 and the first position sensor 600 are opposite to each other. The following description will be given taking an example in which the first detection plate 700 is provided on the second robot arm 200 when the first position sensor 600 is provided on the first robot arm 100.
As shown in fig. 2, the first position sensor 600 is disposed on a side surface of the first robot arm 100 adjacent to the second robot arm 200, and the first detection plate 700 is disposed on a side surface of the second robot arm 200 adjacent to the first robot arm 100. It should be noted that the first detection plate 700 (only a part of which is shown in fig. 2) is disposed along the circumferential direction of the rotating shaft 300, for example, the thickness of the first detection plate 700 increases gradually from thin to thick along the counterclockwise direction of the rotating shaft 300 (in another embodiment, the thickness of the first detection plate 700 may also increase gradually from thin to thick along the clockwise direction of the rotating shaft 300, which is not particularly limited by the present invention), when the first mechanical arm 100 and the second mechanical arm 200 rotate relatively, for example, the first mechanical arm 100 remains stationary along the rotating shaft 300, and the second mechanical arm 200 moves along the circumferential direction of the rotating shaft 300, during which the first distance between the first position sensor 600 and the first detection plate 700 may be different according to the relative positions of the two mechanical arms, that is, the first distance detected by the rotation of the two mechanical arms may be smaller.
It can be known that, every mechanical arm all drives rotatoryly through the motor, when the motor that drives second mechanical arm 200 receives control command, for example, the corotation is 10 °, first mechanical arm 100 keeps motionless, so can mark the interval between two mechanical arms first position sensor 600 and the first detection board 700 under this position in advance, in the same way, can traverse between first mechanical arm 100 and second mechanical arm 200, first interval between first position sensor 600 and the arbitrary position on first detection board 700, form first interval data table, this first interval data table can prestore in advance in controller 010.
In an actual operation process, when the controller 010 sends a control command to a motor controlling the second mechanical arm 200, a position parameter (for example, 10 ° forward rotation) of the second mechanical arm 200 may be calculated according to a pulse of an encoder in the motor, at this time, the controller 010 may obtain, according to the position parameter and a first distance data table, a first distance between the first position sensor 600 and the first detection plate 700 under the position parameter, and at the same time, the first position sensor 600 may obtain, in real time, the first distance between the first position sensor 600 and the first detection plate 700, and when the two pieces of first distance data are consistent, it is indicated that the motor driving the second mechanical arm 200 does not idle, and conversely, when the two pieces of first distance data are inconsistent, it is indicated that the motor driving the second mechanical arm 200 idles, that is, the motor driving the second mechanical arm 200 does not contribute to the motion of the second mechanical arm 200.
Based on this, by providing the first position sensor 600 and the first detection plate 700, it is possible to detect whether the motor driving the second robot arm 200 idles when the first robot arm 100 and the second robot arm 200 rotate relatively, so that the operator is prompted to take measures when the motor idles, and the second robot arm 200 that idles collides with another robot arm to avoid damage to the robot.
In one embodiment, as shown in FIG. 2, the first position sensor 600 is located on a side surface of the first robot arm 100 adjacent to the second robot arm 200 in the gap 400; the first detection plate 700 is located on a side surface of the second robot arm 200 adjacent to the first robot arm 100 in the gap 400;
alternatively, the first position sensor 600 is located on a side surface of the second robot arm 200 adjacent to the first robot arm 100 in the gap 400; the first detection plate 700 is located on a side surface of the first robot arm 100 adjacent to the second robot arm 200 in the gap 400.
Note that the sum of the length of the first position sensor 600 in the direction of the center axis 011 of the rotary shaft 300 and the thickness of the thickest portion of the first detection plate 700 in the direction of the center axis 011 of the rotary shaft 300 is smaller than the length of the gap 400 in the direction of the center axis 011 of the rotary shaft 300. In addition, the first position sensor 600 may be attached directly to a side surface of the first robot arm 100 adjacent to the second robot arm 200, or a side surface of the second robot arm 200 adjacent to the first robot arm 100. When the first position sensor 600 may be directly attached to a side surface of the first robot arm 100 adjacent to the second robot arm 200, the first detection plate 700 is directly attached to a side surface of the second robot arm 200 adjacent to the first robot arm 100; when the first position sensor 600 is attached to the surface of the second robot arm 200 adjacent to the first robot arm 100, the first sensing plate 700 may be directly attached to the surface of the first robot arm 100 adjacent to the second robot arm 200. Or the first sensing plate 700 and the first position sensor 600 may be fixed using rivets or the like. The fixing method may be a fixing method commonly used in the art, and the present invention is not particularly limited thereto. The setting mode is simple and convenient, and is easy to operate.
In one embodiment, as shown in fig. 3 and 4, robot 00 further includes: the motor 001 and the speed reducer 002 are connected through a belt 003, the shaft of the speed reducer 002 is connected with the rotating shaft 300, the motor 001 is positioned in the first mechanical arm 100, and the motor 001 drives the speed reducer 002 to rotate through the belt 003 so as to drive the rotating shaft 300 to rotate;
the first position sensor 600 is located on one side of a central axis line of the motor 001 and the speed reducer 002, a vertical projection of the first detection plate 700 in the direction of the central axis 011 of the rotary shaft 300 is located on one side of the speed reducer 002 adjacent to the motor 001, and the first detection plate 700 is annularly arranged along the rotary shaft 300.
That is, the first position sensor 600 may be located on one side of a line connecting the central axes of the motor 001 and the reducer 002, as indicated in fig. 4, and when the first position sensor 600 is located there, it may move from the initial position of the first detection plate 700 to the end position of the first detection plate 700, and the range of traversal is wider.
In one embodiment, as shown in fig. 4 and 5, the apparatus further comprises: a second position sensor 004 and a second detection plate 005 which are both located in the gap 400, and the second position sensor 004 and the second detection plate 005 are oppositely arranged along the direction of the central axis 011 of the rotating shaft 300, the second position sensor 004 moves coaxially with the first mechanical arm 100, and the second detection plate 005 moves coaxially with the second mechanical arm 200, or the second position sensor 004 moves coaxially with the second mechanical arm 200, and the second detection plate 005 moves coaxially with the first mechanical arm 100;
wherein, in the circumferential direction of the rotating shaft 300, the thickness of the second detection plate 005 gradually increases or decreases, and the second position sensor 004 is used for acquiring a second distance between the second position sensor 004 and the second detection plate 005;
a vertical projection connecting line of the second position sensor 004 and the first position sensor 600 on the first robot arm 100 along the central axis 011 direction of the rotating shaft 300 extends in the radial direction of the rotating shaft 300; the first detection plate 700 and the second detection plate 005 do not overlap in vertical projection on the first robot arm 100 in the direction of the central axis 011 of the rotary shaft 300;
the controller 010 is connected to the second position sensor 004, and configured to determine whether the first mechanical arm 100 and the second mechanical arm 200 are in an original factory position after being remounted according to the second distance and a pre-stored second distance data table.
It can be understood that, based on the installation of the first position sensor 600 and the first detection board 700, after the idle rotation of the motor is detected, the robot arm needs to be disassembled for maintenance, and after the maintenance, the robot arm needs to be re-installed, and after the robot arm is re-installed, the motor encoder will lose data, and it is critical how to quickly retrieve the factory origin position of the robot arm.
Based on this, a second position sensor 004 and a second detection plate 005 are added to the device, wherein it should be noted that the arrangement of the second position sensor 004 and the second detection plate 005 can be referred to the arrangement of the first position sensor 600 and the first detection plate 700, and the description thereof is omitted. The first position sensor 600 and the second position sensor 004 can be arranged on the same mechanical arm, or can be arranged on two mechanical arms respectively, and detection plates corresponding to the position sensors are arranged correspondingly respectively, so that only the first position sensor 600 is required to be corresponding to the first detection plate 700, and the second position sensor 004 is required to be corresponding to the second detection plate 005.
Specifically, the second distance data table may be calibrated in advance and pre-stored in the controller 010 in such a manner that, when the first robot arm 100 and the second robot arm 200 are both in the initial installation position, the second distance between the second position sensor 004 and the second detection plate 005 at this time is recorded, and the second distance is recorded in the second distance table. Since the second distance data table only needs to retrieve the factory origin, that is, the initial mounting positions of the first robot arm and the second robot arm, (the data range is narrow), the arc length of the second sensing plate 005 in the circumferential direction of the rotating shaft 300 may be smaller than the arc length of the first sensing plate 700. When actual verification is carried out, the second position sensor 004 acquires that the second distance between the second position sensor 004 and the second detection plate 005 is the preset second distance, the factory origin is found, the mode is simple, and time is saved.
It should be noted that, regardless of whether the first position sensor 600 and the second position sensor 004 are mounted on the same robot arm surface, the vertical projections of the first detection plate 700 and the second detection plate 005 (shown in fig. 5) on the first robot arm 100 in the direction of the central axis 011 of the rotary shaft 300 do not overlap, preventing the data detected by the first position sensor 600 from being a first distance from the first detection plate 700 and the data detected by the second position sensor 004 from being a second distance from the second detection plate 005.
In addition, a line connecting the vertical projections of first position sensor 600 and second position sensor 004 on first robot arm 100 in the direction of central axis 011 of rotary shaft 300 extends in the radial direction of rotary shaft 300 (as shown in fig. 4), and at this time, second detection plate 005 is arranged annularly around rotary shaft 300, and first detection plate 700 is arranged annularly around second detection plate 005. The thickness change directions of the first sensing plate 700 and the second sensing plate 005 may be the same or different. The present invention is not particularly limited in this regard.
In one embodiment, as shown in fig. 5, when the first detection plate 700 and the second detection plate 005 are both located on the surface of the same robot arm, the first detection plate 700 and the second detection plate 005 are integrally formed, and the thickness after the integral formation gradually increases or decreases along the circumferential direction of the rotating shaft 300 and is the same along the same radial direction of the rotating shaft 300.
For example, when the first position sensor 600 and the second position sensor 004 are both located on the side surface of the first robot arm 100 adjacent to the second robot arm 200 and the positional relationship is as shown in fig. 4, the first detection plate 700 and the second detection plate 005 are both located on the side surface of the second robot arm 200 adjacent to the first robot arm 100, and at this time, the first detection plate 700 and the second detection plate 005 may be integrally formed and gradually become thicker in the clockwise direction or the counterclockwise direction of the rotation shaft 300, wherein the thicknesses in the radial direction of the rotation shaft 300 are the same, and thus, the arrangement may simplify the mounting steps, simplify the process, and reduce the mounting complexity.
In one embodiment, first position sensor 600 and second position sensor 004 are both acoustic wave sensors. Since the gap 400 between the first robot arm 100 and the second robot arm 200 is narrow, the use of the acoustic wave sensor enables more accurate measurement of the distance between the sensor and the detection plate.
In one embodiment, as shown in fig. 6, the apparatus further comprises: reminding module 020 is connected with controller 010, and controller 010 is used for when judging that the motor takes place the idle running, perhaps, first arm and/or second arm do not control reminding module 020 and warn when dispatching from the factory initial position after reinstalling.
Wherein, remind module 020 can be devices that can warn such as bee calling organ, warning light, and when the motor of arbitrary arm took place to idle, controller 010 can all control and remind module 020 to warn. Or when the first mechanical arm and/or the second mechanical arm is not in the factory initial position after being remounted, the alarm is given to warn an operator.
It is understood that the above-described embodiment arranges the device only between the first robot arm 100 and the second robot arm 200, and on the basis of this embodiment, the device may be arranged in the gap of the rotation axis between any two robot arms, or may be arranged according to actual requirements.
Fig. 7 is a flowchart of a method for determining that a robot motor idles according to an embodiment of the present invention.
The method is implemented based on the previous device for judging the idle rotation of the robot motor, and as shown in fig. 7, the method comprises the following steps:
s101, acquiring a first distance between a first position sensor and a first detection plate;
and S102, judging whether the motor driving the rotating shaft to work idles or not according to the first interval and a pre-stored first interval data table, wherein the first interval data table is calibrated according to pulses recorded by an encoder of the motor.
The first distance data table is calibrated according to pulses recorded by an encoder of the motor, namely, in a calibration stage, the position of the current mechanical arm can be recorded according to the pulses recorded by the encoder of the motor, the first distance between the first position sensor and the first detection plate is recorded at the same time, and in the actual operation process, the position of the current mechanical arm is recorded according to the pulses recorded by the encoder of the motor, the corresponding first distance in the table is found through the first distance data table, and then the first distance is compared with the first distance obtained by the first position sensor, so that whether the motor idles or not is finally judged.
In one embodiment, the determining whether the motor driving the rotating shaft to work idles according to the first distance and a pre-stored first distance data table includes:
when the first distance is inconsistent with a first distance calibrated according to pulses recorded by an encoder of the motor in a first distance data table, judging that the motor idles;
when the first distance is consistent with a first distance calibrated according to pulses recorded by an encoder of the motor in a first distance data table, judging that the motor does not idle;
the device still includes reminding the module, still includes after the idle running takes place for the motor:
and controlling the reminding module to warn.
That is, when the first distance obtained by the first position sensor in real time is consistent with the first distance specified according to the pulse recorded by the encoder of the motor in the first distance data table, the motor does not idle, otherwise, when the first distance obtained by the first position sensor in real time is inconsistent with the first distance specified according to the pulse recorded by the encoder of the motor in the first distance data table, the motor idles. Where the data identity may be the same or similar, when similar, for example, the difference between the two data is within a threshold range (± α). The value of α can be set according to the actual situation. If inconsistent, the motor takes place the idle running promptly, at this moment, need remind operating personnel, warn operating personnel.
The embodiment of the invention also provides a robot, which comprises the device for judging the idling of the robot motor.
In summary, the robot and the apparatus and method for determining the occurrence of the idle rotation of the motor thereof according to the embodiments of the present invention include at least a first robot arm and a second robot arm, which are connected to each other through a rotating shaft, and a gap is formed between the first robot arm and the second robot arm along a central axis direction of the rotating shaft; the device comprises a first position sensor and a first detection plate, wherein the first position sensor and the first detection plate are both positioned in a gap, the first position sensor and the first detection plate are oppositely arranged along the direction of a central axis, the first position sensor moves coaxially with one mechanical arm, and the first detection plate moves coaxially with the other mechanical arm; the thickness of the first detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, and the first position sensor is used for acquiring a first distance between the first position sensor and the first detection plate; the controller is used for judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table, so that the robot is prevented from colliding between mechanical arms in the working process and being damaged.
Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above embodiments, but may be manufactured in various forms, and those skilled in the art will appreciate that the present invention may be embodied in other specific forms without changing the technical spirit or essential features of the invention. It is therefore to be understood that the above described embodiments are illustrative and not restrictive in all respects.
Claims (10)
1. A device for judging whether a robot motor idles or not is provided, wherein the robot at least comprises a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are connected through a rotating shaft, and a gap is formed between the first mechanical arm and the second mechanical arm along the central axis direction of the rotating shaft; it is characterized in that the preparation method is characterized in that,
the device comprises: a first position sensor and a first detection plate, which are both located in the gap, and the first position sensor and the first detection plate are oppositely arranged along the direction of the central axis of the rotating shaft, the first position sensor and the first mechanical arm move coaxially, and the first detection plate and the second mechanical arm move coaxially, or the first position sensor and the second mechanical arm move coaxially, and the first detection plate and the first mechanical arm move coaxially;
the thickness of the first detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, the thickness of the first detection plate is the same along the same radial direction of the rotating shaft, and the first position sensor is used for acquiring a first distance between the first position sensor and the first detection plate;
and the controller is connected with the first position sensor and used for judging whether a motor driving the rotating shaft to work idles or not according to the first distance and a pre-stored first distance data table.
2. The apparatus for judging occurrence of idle rotation of a motor of a robot according to claim 1,
the first position sensor is located on a side surface of the first robot arm adjacent to the second robot arm in the gap; the first detection plate is positioned on one side surface of the second mechanical arm adjacent to the first mechanical arm in the gap;
alternatively, the first position sensor is located on a side surface of the second robot arm adjacent to the first robot arm in the gap; the first detection plate is located on a side surface of the first robot arm adjacent to the second robot arm in the gap.
3. The apparatus for judging an occurrence of an idling of a motor of a robot according to claim 1 or 2, wherein the robot further comprises: the motor is connected with the speed reducer through a belt, a shaft of the speed reducer is connected with the rotating shaft, the motor is positioned in the first mechanical arm, and the motor drives the speed reducer to rotate through the belt so as to drive the rotating shaft to rotate;
the first position sensor is positioned on one side of a connecting line of central axes of the motor and the speed reducer, the vertical projection of the first detection plate along the direction of the central axis of the rotating shaft is positioned on one side of the speed reducer, which is adjacent to the motor, and the first detection plate is annularly arranged along the rotating shaft.
4. The apparatus for determining an idle rotation of a motor of a robot according to claim 1, further comprising: a second position sensor and a second detection plate, which are both located in the gap and are oppositely arranged along the direction of the central axis of the rotating shaft, wherein the second position sensor moves coaxially with the first mechanical arm and the second detection plate moves coaxially with the second mechanical arm, or the second position sensor moves coaxially with the second mechanical arm and the second detection plate moves coaxially with the first mechanical arm;
the thickness of the second detection plate is gradually increased or decreased along the circumferential direction of the rotating shaft, and the second position sensor is used for acquiring a second distance between the second position sensor and the second detection plate;
a vertical projection connecting line of the second position sensor and the first position sensor on the first mechanical arm along the central axis direction of the rotating shaft extends along the radial direction of the rotating shaft; the vertical projections of the first detection plate and the second detection plate on the first mechanical arm along the central axis direction of the rotating shaft do not overlap;
the controller is connected with the second position sensor and used for judging whether the first mechanical arm and the second mechanical arm are in an original factory position after being remounted according to the second distance and a pre-stored second distance data table.
5. The apparatus according to claim 4, wherein when the first detection plate and the second detection plate are both located on the same arm surface, the first detection plate and the second detection plate are integrally formed, and the thickness of the integrally formed detection plates gradually increases or decreases in the circumferential direction of the rotating shaft and is the same in the same radial direction of the rotating shaft.
6. The apparatus of claim 4, wherein the first position sensor and the second position sensor are both acoustic sensors.
7. The apparatus of claim 4, further comprising: and the controller is used for controlling the reminding module to warn when the motor is judged to idle or the first mechanical arm and/or the second mechanical arm is not at the factory initial position after being remounted.
8. A method for judging the idling of a robot motor, which is realized based on the device for judging the idling of a robot motor according to any one of claims 1-7, and comprises the following steps:
acquiring a first spacing between the first position sensor and the first sensing plate;
and judging whether a motor driving the rotating shaft to work idles or not according to the first interval and a prestored first interval data table, wherein the first interval data table is calibrated according to pulses recorded by an encoder of the motor.
9. The method for determining whether the motor of the robot idles according to claim 8, wherein the determining whether the motor driving the rotating shaft to operate idles according to the first distance and a pre-stored first distance data table comprises:
when the first distance is inconsistent with a first distance calibrated according to pulses recorded by an encoder of the motor in the first distance data table, judging that the motor idles;
when the first distance is consistent with a first distance calibrated according to pulses recorded by an encoder of the motor in the first distance data table, judging that the motor does not idle;
the device also comprises a reminding module, and after the motor idles, the device also comprises:
and controlling the reminding module to warn.
10. A robot, characterized in that it comprises a device for judging the occurrence of an idling of a robot motor according to any of claims 1-7.
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