CN114147702A - Robot and finger tip position adjusting method - Google Patents
Robot and finger tip position adjusting method Download PDFInfo
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- CN114147702A CN114147702A CN202111298273.5A CN202111298273A CN114147702A CN 114147702 A CN114147702 A CN 114147702A CN 202111298273 A CN202111298273 A CN 202111298273A CN 114147702 A CN114147702 A CN 114147702A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000007665 sagging Methods 0.000 claims abstract description 256
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000004886 process control Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 8
- 239000000758 substrate Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 19
- 238000003860 storage Methods 0.000 description 18
- 238000004364 calculation method Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000036541 health Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 238000009826 distribution Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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- 239000011521 glass Substances 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The embodiment of the invention provides a robot and a position adjusting method of a finger end. The laser emitting device is used for emitting laser beams. The laser receiving device is used for determining the sagging amount of the finger end according to the received laser beam propagation direction and recording the sagging time of the received laser beam. The processing control device is used for obtaining the sagging amount of at least two moments, determining the average sagging speed and the average sagging amount of the finger end according to the sagging amount of at least two moments and at least two moments, and determining whether the position of the finger end needs to be adjusted according to the average sagging amount and the average sagging speed. The scheme determines whether the position of the finger end needs to be adjusted or not, so that the robot with the adjusted finger end position can take out the target object from the specified container and carry the target object to the specified position more accurately.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot and a method for adjusting positions of finger ends.
Background
With the development of industry, the application of robots is more and more extensive, some robots have been gradually applied to the production and assembly of products, adopt the robot to replace artifical, can realize action incessantly for a long time to improve production efficiency, and under certain environment harmful to human body, can replace artifical with the robot, can reduce harmful environment and to the harm of human health like this.
The existing robot is usually used for carrying the same or a plurality of substrates to be carried, one-time manual or automatic teaching can be carried out before the robot carries, taught points are stored and used all the time, and the robot possibly accompanies mechanical abrasion in the operation process to cause the finger end of the robot to droop, so that the robot can not carry the substrates from a designated container, even collision accidents can be caused, and equipment damage is caused.
Disclosure of Invention
The embodiment of the invention provides a robot and a finger tip position adjusting method, which are used for solving the problem of determining whether the position of a finger tip needs to be adjusted.
In a first aspect, a robot provided in an embodiment of the present invention includes a finger end, a mechanical arm, a laser emitting device, a laser receiving device, and a processing control device, where the laser emitting device and the laser receiving device are located at two ends of the mechanical arm. The laser emitting device is used for emitting laser beams. And the laser receiving device is used for determining the sagging amount of the finger end according to the received laser beam propagation direction and recording the sagging time of the received laser beam. The processing control device is used for obtaining the sagging amount of at least two moments, determining the average sagging speed and the average sagging amount of the finger end according to the sagging amount of the at least two moments and the at least two moments, and determining whether the position of the finger end needs to be adjusted according to the average sagging amount and the average sagging speed.
According to the technical scheme, the health condition of the finger end of the robot can be monitored according to each device in the robot, whether the position of the finger end needs to be adjusted or not is determined according to the average sagging amount and the average sagging speed, and therefore the sagging amount of the finger end is reduced, and the robot can accurately take out a target object from a designated container and convey the target object to the designated position.
Optionally, the processing control device is specifically configured to: and acquiring a first difference value between the average sagging amount and a standard sagging amount, acquiring a second difference value between the average sagging speed and the standard sagging speed, and determining that the position of the finger end needs to be adjusted if at least one of the first difference value and the second difference value is not zero.
According to the technical scheme, whether the finger end is drooped or not is detected in the working state of the robot according to the first difference value and the second difference value, and whether the position of the finger end needs to be adjusted or not is judged.
Optionally, the processing control device is specifically configured to: if the average sagging amount is within a first preset range and the average sagging speed is within a second preset range, adjusting the position of the finger end; if the average sagging amount is within the first preset range, the average sagging speed is not within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is not within the second preset range; an alarm is triggered.
According to the technical scheme, the two methods for adjusting the position of the finger end are adopted, and the position of the finger end can be adjusted through different methods under different conditions according to the four conditions, so that the sagging quantity of the finger end is compensated, and the robot can accurately take out the target object from the container.
Adding the average amount of sagging in a first direction, the first direction being a direction in which the target object to be carried by the finger end is stacked.
Among the above-mentioned technical scheme, thereby realize the position of adjustment finger end through the height of adjustment robot, compensate the sag for the robot can be comparatively accurate take out the target object from the container.
Optionally, the processing control module is further configured to: and determining that the finger end is contacted with a target object to be moved, and sending indication information to the laser emitting device, wherein the indication information is used for indicating the laser emitting device to emit the laser beam.
According to the technical scheme, the sag is obtained by emitting the laser beam, so that the subsequent comparison with the standard sag is realized, and whether the position of the finger end needs to be adjusted is determined.
Optionally, the processing control device is specifically configured to: determining at least two average sagging quantities according to the sagging quantities at the at least two moments and the corresponding standard sagging quantities; determining the average sag amount according to the mean value of the at least two sag amounts.
In the technical scheme, the average sagging amount is determined, and the average sagging speed can be combined with the following average sagging speed, so that the position of the finger end can be adjusted by judging which method needs to be used subsequently.
Optionally, the processing control device is specifically configured to: and determining at least one droop speed mean value according to the droop amount of the at least two time moments and the at least two time moments. And determining the average droop speed according to the at least one droop speed average value.
In the technical scheme, the average droop speed is determined, and the average droop amount can be combined, so that the position of the finger end can be adjusted by judging which method needs to be used subsequently.
Optionally, the laser emitting device is perpendicular to the mechanical arm. The laser receiving device is perpendicular to the mechanical arm.
In the technical scheme, the laser emitting device and the laser receiving device are placed at positions, so that the laser receiving device can correspondingly receive the laser beams emitted by the laser emitting device, and the laser receiving device can determine the sagging amount of the finger end according to the propagation direction of the laser beams.
Optionally, the processing control device includes a storage module, a calculation module, and a control module. The storage module is used for storing the standard sagging amount and the standard sagging speed of the robot, receiving the sagging amounts of the at least two moments from the laser receiving device, and if the fact that the received sagging amounts are larger than a first threshold value is determined, sending the received sagging amounts and the received sagging moments to the calculation module. The calculation module is used for receiving the droop amount and the droop time from the storage module; and calculating the average sagging amount and the average sagging speed according to the sagging amount and the sagging time, and sending the average sagging amount and the average sagging speed to the storage module. The control module is used for obtaining the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed from the storage module, and determining whether the position of the finger end needs to be adjusted according to the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed.
In the technical scheme, the judgment of the sagging amount of the finger end and the adjustment of the position of the finger end can be realized according to each module of the processing control device, so that the sagging amount of the finger end is properly compensated.
In a second aspect, an embodiment of the present invention further provides a method for adjusting a position of a finger tip, which is applied to a robot, where the robot includes a finger tip, a mechanical arm, a laser emitting device and a laser receiving device, the laser emitting device and the laser receiving device are located at two ends of the mechanical arm, the laser emitting device is used to emit a laser beam, and the laser receiving device is used to determine a sagging amount of the finger tip according to a propagation direction of the received laser beam, and record a sagging time of the received laser beam. The method comprises the following steps: the method comprises the steps of obtaining the sagging amount of at least two moments, determining the average sagging speed and the average sagging amount of the finger end according to the sagging amount of the at least two moments and the at least two moments, and determining whether the position of the finger end needs to be adjusted according to the average sagging speed and the average sagging amount.
Optionally, the determining whether the position of the finger tip needs to be adjusted according to the average sagging speed and the average sagging amount includes: and acquiring a first difference value between the average sagging amount and a standard sagging amount, acquiring a second difference value between the average sagging speed and the standard sagging speed, and determining that the position of the finger end needs to be adjusted if at least one of the first difference value and the second difference value is not zero.
Optionally, the determining whether the position of the finger tip needs to be adjusted according to the average sagging speed and the average sagging amount includes: after the position of the finger end needs to be adjusted is determined, if the average sagging amount is within a first preset range, the average sagging speed is within a second preset range, and the position of the finger end is adjusted. If the average sagging amount is within the first preset range, the average sagging speed is not within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is not within the second preset range; an alarm is triggered.
Optionally, the adjusting the position of the finger tip includes: adding the average amount of sagging in a first direction, the first direction being a direction in which the target object to be carried by the finger end is stacked.
Optionally, the obtaining of the sagging amount of at least two time instants includes: and determining that the finger end is contacted with a target object to be moved, and sending indication information to the laser emitting device, wherein the indication information is used for indicating the laser emitting device to emit the laser beam.
Optionally, the determining an average sagging speed and an average sagging amount of the finger tip according to the sagging amounts of the at least two time instants and the at least two time instants includes: determining at least two average sagging quantities according to the sagging quantities at the at least two time instants and the corresponding standard sagging quantities, and determining the average sagging quantity according to the average sagging quantities.
Optionally, the determining an average sagging speed and an average sagging amount of the finger tip according to the sagging amounts of the at least two time instants and the at least two time instants includes: and determining at least one average droop speed according to the droop amount of the at least two time moments and the at least two time moments, and determining the average droop speed according to the at least one average droop speed.
Optionally, a standard droop amount and a standard droop speed of the robot are stored, the droop amounts at the at least two moments from the laser receiving device are received, and if it is determined that the received droop amount is greater than a first threshold, the received droop amount and the received droop moment are sent to the computing module. Receiving the droop amount and the droop time from the memory module. And calculating the average sagging amount and the average sagging speed according to the sagging amount and the sagging time, and sending the average sagging amount and the average sagging speed to the storage module. Obtaining the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed from the storage module, and determining whether the position of the finger end needs to be adjusted according to the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic diagram of a possible application scenario provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a laser transmitter and a laser receiver according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a process control apparatus according to an embodiment of the present invention;
FIG. 5a is a schematic diagram of a standard finger tip location according to an embodiment of the present invention;
FIG. 5b is a schematic view of a structure of a finger end position droop according to an embodiment of the present invention;
FIG. 5c is a schematic view of another embodiment of a finger end position droop structure according to the present invention;
fig. 6 is a schematic diagram of coordinates of a robot according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a method for adjusting a position of a finger tip according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a possible application scenario provided in the embodiment of the present invention. The application scenario may include at least one robot and at least one container, and fig. 1 illustrates an example of the application scenario including one robot 101 and one container 102. Generally, in order to improve the production efficiency, the operation time of the robot 101 is required to be different from two months to half a year, that is, the robot 101 continues to operate for two months to half a year after being started, during which the robot 101 cannot stop operating unless otherwise specified. The robot 101 is operated to take out and place the substrate 104 from the container 102 to a predetermined position by the finger tip 103.
Before the robot 101 starts working, there is a manual or automatic teaching process, that is, the finger tip 103 of the robot 101 is moved to the deepest position of each layer of the container, so that the position of the container substrate can be taken out smoothly, and the taught points are stored and used all the time.
After the teaching is finished, the finger tip 103 in an ideal state is free from sagging, and the finger tip 103 of the robot 101 moves up and down in the first direction, thereby taking out and conveying the substrate of each layer in the container to a specified position. Also, since the container 102 is layered, the robot 101 can carry the substrate 104 of one layer to a specified position from one layer at a time.
However, in practical situations, as the robot 101 is used for a longer time, the problem that the finger end 103 of the robot 101 droops is inevitably caused, and the robot 101 cannot be stopped randomly in the middle of the working time because the robot 101 has a requirement on the working time, which may cause the finger end 103 of the robot 101 not only to be unable to smoothly take out the substrate 104 from the container 102, but also to collide with the container 102, resulting in damage to equipment and the like.
In view of this, the embodiment of the present invention provides a robot. The robot can judge whether the finger end of the robot has the sagging amount and how to compensate the sagging amount, so that the robot can carry the substrate from the specified container.
Fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. The robot comprises a finger tip 201, a mechanical arm 202, a laser emitting device 203, a laser receiving device 204 and a processing control device 205. The laser emitting device 203 is configured to emit a laser beam, and the laser receiving device 204 is configured to determine a sagging amount of the finger tip according to the propagation direction of the received laser beam, and record a sagging time of the received laser beam. The processing control device 204 is configured to obtain sagging amounts at least two moments, determine an average sagging speed and an average sagging amount of the finger end according to the sagging amounts at the at least two moments and the at least two moments, and determine whether to adjust the position of the finger end according to the average sagging speed and the average sagging amount.
According to the above-described devices of the robot, it is possible to determine the sagging of the finger tip of the robot based on the detected average sagging amount and average sagging speed during the transfer of the target object by the robot, and to determine whether or not the position of the finger tip needs to be adjusted based on the sagging of the finger tip.
In one possible implementation, the laser emitting device 203 is perpendicular to the robot 202, and the laser receiving device 204 is perpendicular to the robot 202, please refer to fig. 3.
For convenience of illustration, the following description will be made by taking the laser emitting device 203 as being perpendicular to the robot arm 202, and the laser receiving device 204 as being perpendicular to the robot arm 202.
For example, the robot needs to take out and transport the target object in layer 3 in the container to a designated position, specifically, the processing control device 205 may be a controller, which is used to detect whether the finger end 201 of the robot extends to the maximum depth position of layer 3 in the container, when the finger end 201 of the robot extends to the maximum depth position of layer 3, the controller sends instruction information to the laser emitting device 203, where the instruction information includes information for triggering the laser emitting device 203 to emit a laser beam, and after receiving the instruction information, the laser emitting device 203 emits the laser beam, and then the laser receiving device 204 reads the sagging amount of the finger end 201 from the scale according to the propagation direction of the received laser beam, and records the sagging time corresponding to the sagging amount. The laser receiver 204 transmits the amount of sag and the corresponding sag timing to the process controller 205. The target object may include, but is not limited to, a liquid crystal substrate, a glass substrate, an aluminum plate, and the like, and may be in a regular shape or an irregular shape, which is not limited in the embodiments of the present invention. In the following description, for convenience of explanation, the target is taken as a substrate for illustration. Fig. 4 is a schematic structural diagram of a process control apparatus according to an embodiment of the present invention. The process control means 205 comprises a memory module 401, a calculation module 402 and a control module 403. The storage module 401 is configured to store a standard droop amount and a standard droop speed of the robot, receive the droop amounts of the at least two moments from the laser receiving device, and send the received droop amounts and the received droop moments to the calculation module 402 if it is determined that the received droop amounts are greater than a first threshold. The calculation module 402 is configured to receive the droop amount and the droop time from the storage module 401; the average sag amount and the average sag speed are calculated from the sag amount and the sag time, and are sent to the storage module 401. The control module 403 is configured to obtain the average sagging amount, the average sagging speed, the standard sagging amount, and the standard sagging speed from the storage module 401, and determine whether the position of the finger tip needs to be adjusted according to the average sagging amount, the average sagging speed, the standard sagging amount, and the standard sagging speed.
A calculation module in the processing control device determines an average sag amount and an average sag speed from the sag amount and the sag timing received from the laser receiving device. Specifically, the average value of the amount of sagging of the finger tip is calculated first, since the amount of sagging Pos collected is statistically known through a plurality of testszThe data obeyed a normal distribution, and the calculation formula is as follows:
therefore, the average value mu of the finger tip sagging amount can be calculated according to the normal distribution characteristic.
Secondly, calculating the difference value of the mean values of the two previous and next drooping amounts of the finger ends, wherein the calculation formula is as follows:
Δμ＝μ2-μ1equation 2
Then, the finger end drop speed is calculated by using the difference value Δ μ between the mean values of the two finger end drops and the time interval Δ T corresponding to the two finger end drops as T2-T1, and the calculation formula is as follows:
table 1 below shows the relationship between the amount of sagging and the speed of sagging
TABLE 1 relationship between sag and sag speed
For example, the container has 4 layers, the laser receiving device sends the sagging amount and the corresponding sagging time to the storage module in the processing control device, and when the received sagging amount is determined to be more than the first threshold value, the storage module sends the received sagging amount and the received sagging time to the calculating module. The first threshold value here is two sagging amounts and sagging time instants for each layer, wherein the sagging amounts for the two time instants of the container of the first layer available according to the laser receiving apparatus are x1, T1 and x2, T2, respectively. Determining at least two average sagging quantities according to the sagging quantities at the at least two time instants and the corresponding standard sagging quantities, and determining the average sagging quantity according to the average sagging quantities. Specifically, the average μ 1 of the sagging amounts x1 and the average μ 2 of the sagging amounts x2 can be obtained according to formula 1, and the average μ 1 and μ 2 are averaged again to obtain the average sagging amount of the first layer. Then, at least one average value of the droop speed is determined according to the droop amount of the at least two time moments and the at least two time moments, and the average droop speed is determined according to the at least one average value of the droop speed. Specifically, the difference between the drooping amount μ 2 and the drooping amount μ 1 can be obtained according to equation 2, and finally the average drooping speed can be obtained through equation 3.
The average sag amount of the first layer and the average sag speed of the first layer are obtained according to formula 2 and formula 3, then a first difference between the average sag amount and a standard sag amount is obtained, and a second difference between the average sag speed and the standard sag speed is obtained. And if at least one of the average sagging amount and the second difference is not zero, determining that the position of the finger end needs to be adjusted. For example, the robot needs to take out the substrate on the 3 rd layer in the container and transfer the substrate to a designated position, and the average sagging amount of the robot on the 3 rd layer can be obtained according to the data in fig. 3 and the formulas 1 to 3
And average sag speed
If the first difference is zero, the second difference is also zero,that is to say the average amount of sag
Equal to the standard sag and average sag speed
And the standard sag speed are also equal. In this case, the robot can take out the substrate from the container and transfer the substrate to a predetermined position without adjusting the position of the finger tip. The specific value of the standard sag may be zero or not, because ideally, the finger end has no sag, i.e. the standard sag is zero. However, in practical situations, some unavoidable errors can cause the finger end to have sagging amount, i.e. the standard sagging amount is not zero. In this case, the amount of sagging is very small, and the robot does not affect the transfer of the substrate from the container. If at least one of the first difference and the second difference is not zero, i.e. the average sag
Not equal to the standard sag, or average sag speed
Not equal to the standard sag speed or average sag
Average sag speed not equal to the standard sag
And the speed is not equal to the standard sagging speed, so that the finger end of the robot can not enter the container to take out the substrate, and even the finger end of the robot collides with the container to cause damage to the machine. Therefore, when at least one of the first difference and the second difference is not zero, the position of the finger tip needs to be adjusted. Fig. 5a is a schematic structural diagram of a standard finger tip position according to an embodiment of the present invention. Wherein the manipulator described in the figures is the present inventionFinger tips in the illustrated embodiment. The position of the standard finger tip, namely the finger tip, has no sagging amount, and the position of the finger tip does not need to be adjusted. As shown in fig. 5b, which is a schematic view of a structure of a position of a finger tip hanging according to an embodiment of the present invention, if an average hanging amount is within a first preset range, and the average hanging speed is within a second preset range, the position of the finger tip is adjusted. Fig. 5c is a schematic view of another embodiment of the present invention showing a structure of a finger end position hanging down. If the average sagging amount is within a first preset range, the average sagging speed is not within a second preset range; or the average sagging amount is not in a first preset range, and the average sagging speed is in a second preset range; or the average sagging amount is not within a first preset range, and the average sagging speed is not within a second preset range; an alarm is triggered. Specifically, the control module in the process control determines two solutions based on the four situations described above. The first solution is to trigger an alarm, in one possible implementation, when the average sag is within a first preset range, the average sag speed is not within a second preset range; or the average sagging amount is not within the first preset range, and when the average sagging speed is within the second preset range, the alarm is triggered and the maintenance is prompted, the maintenance information can be displayed in a display screen mode, or the maintenance information can be sent to a mobile phone or a computer of a maintenance worker in a short message mode, and the method is not limited herein. When the average sagging amount is not within the first preset range and the average sagging speed is not within the second preset range, an alarm is triggered and trouble shooting is prompted, which can be realized by the above method or by other methods, and is not limited herein. When the average sagging amount is within the first preset range and the average sagging speed is within the second preset range, the position of the finger tip can be adjusted, and specifically, as shown in fig. 6, a robot coordinate diagram provided by the embodiment of the present invention is provided. A specific method of adjusting the position of the finger tip is to add the average sagging amount to the first direction, which is the direction in which the substrates to be carried by the finger tip are stacked. Because the position of the finger tip is not changed after the teachingThe robot is used for taking out the substrates of different layers in the container and conveying the substrates to a specified position by lifting or lowering the height of the robot, so that the position of the finger end can be adjusted by lifting or lowering the height of the robot, namely, the average sag amount is added to the current height of the robot to obtain a new height, and the height of the robot is adjusted, wherein the average sag amount can be a positive value or a negative value. For example, if the height of the robot is known to be 2m and the average sag is 8mm, the control module in the process control device of the robot will adjust the height of the robot up to 8mm from the height of 2 m.
Based on the same technical concept, as shown in fig. 7, a schematic flow chart of a method for adjusting a position of a finger tip according to an embodiment of the present invention is provided. The method may be applied to the robot in any of the embodiments described above. The method comprises the following steps:
in step 701, at least two moments of time sag are obtained.
In a possible implementation manner, it is determined that the finger tip contacts the substrate to be moved, and indication information is sent to the laser emitting device, where the indication information is used for indicating the laser emitting device to emit the laser beam.
For the step 701, reference may be made to the above description of specific examples of obtaining correspondence between the sagging amounts at least two moments, and details are not described herein again.
And step 702, determining the average sagging speed and the average sagging amount of the finger end according to the sagging amounts of the at least two time instants and the at least two time instants.
In a possible implementation manner, at least two average sagging amounts are determined according to the sagging amounts at the at least two time instants and the corresponding standard sagging amounts, and the average sagging amount is determined according to the at least two average sagging amounts. And determining at least one average droop speed according to the droop amount of the at least two time moments and the at least two time moments, and determining the average droop speed according to the at least one average droop speed.
This step 702 can be explained with reference to table 1 above, and is not described herein again.
And 703, determining whether the position of the finger end needs to be adjusted according to the average sagging speed and the average sagging amount.
In one possible implementation, a first difference between the average sag amount and a standard sag amount is obtained, a second difference between the average sag speed and a standard sag speed is obtained, and if at least one of the first difference and the second difference is not zero, it is determined that the position of the finger end needs to be adjusted.
In another possible implementation manner, after determining that the position of the finger end needs to be adjusted, if the average sagging amount is within a first preset range and the average sagging speed is within a second preset range, adjusting the position of the finger end, and if the average sagging amount is within the first preset range, the average sagging speed is not within the second preset range; or the average sagging amount is not in a first preset range, and the average sagging speed is in a second preset range; or the average sagging amount is not within a first preset range, and the average sagging speed is not within a second preset range; an alarm is triggered.
A more detailed description of this step 703 can be explained with reference to fig. 5 and 6, and is not repeated herein.
As can be seen from the above steps 701 to 703, the health condition of the robot finger tip and whether or not the position of the finger tip needs to be adjusted to reduce the amount of sagging of the finger tip can be known from the obtained average amount of sagging and average speed of sagging, so that the finger tip can smoothly take out the substrate from the container and transport the substrate to a designated position.
In one possible implementation manner, a standard droop amount and a standard droop speed of the robot are stored, the droop amounts of the at least two moments from the laser receiving device are received, and if the received droop amounts are determined to be more than a first threshold, the received droop amounts and the received droop moments are sent to the computing module. Receiving the droop amount and the droop time from the memory module. And calculating the average sagging amount and the average sagging speed according to the sagging amount and the sagging time, and sending the average sagging amount and the average sagging speed to the storage module. Obtaining the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed from the storage module, and determining whether the position of the finger end needs to be adjusted according to the average sagging amount, the average sagging speed, the standard sagging amount and the standard sagging speed.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.
Claims (15)
1. A robot is characterized by comprising a finger end, a mechanical arm, a laser emitting device, a laser receiving device and a processing control device, wherein the laser emitting device and the laser receiving device are positioned at two ends of the mechanical arm;
the laser emitting device is used for emitting laser beams;
the laser receiving device is used for determining the sagging amount of the finger end according to the received laser beam propagation direction and recording the sagging time of the received laser beam;
the processing control device is used for obtaining the sagging amount of at least two moments, determining the average sagging speed and the average sagging amount of the finger end according to the sagging amount of at least two moments and the at least two moments, and determining whether the position of the finger end needs to be adjusted according to the average sagging speed and the average sagging amount.
2. The robot of claim 1, wherein the process control device is specifically configured to:
obtaining a first difference between the average sag amount and a standard sag amount;
acquiring a second difference value between the average droop speed and a standard droop speed;
and if at least one of the first difference and the second difference is not zero, determining that the position of the finger end needs to be adjusted.
3. The robot of claim 2, wherein the process control device is specifically configured to:
if the average sagging amount is within a first preset range and the average sagging speed is within a second preset range, adjusting the position of the finger end;
if the average sagging amount is within the first preset range, the average sagging speed is not within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is not within the second preset range; an alarm is triggered.
4. A robot as claimed in claim 3, wherein the processing and control means is particularly adapted to:
adding the average amount of sagging in a first direction, the first direction being a direction in which the target object to be carried by the finger end is stacked.
5. The robot of claim 1, wherein the process control module is further configured to:
and determining that the finger end is contacted with a target object to be moved, and sending indication information to the laser emitting device, wherein the indication information is used for indicating the laser emitting device to emit the laser beam.
6. The robot of claim 1, wherein the process control device is specifically configured to:
determining at least two average sagging quantities according to the sagging quantities at the at least two moments and the corresponding standard sagging quantities;
determining the average sag amount according to the mean value of the at least two sag amounts.
7. The robot of claim 1, wherein the process control device is specifically configured to:
determining at least one droop speed mean value according to the droop amount of the at least two time moments and the at least two time moments;
and determining the average droop speed according to the at least one droop speed average value.
8. A robot as claimed in any of claims 1 to 7, wherein the laser emitting device is perpendicular to the robotic arm;
the laser receiving device is perpendicular to the mechanical arm.
9. The method for adjusting the position of the finger end is characterized by being applied to a robot, wherein the robot comprises the finger end, a mechanical arm, a laser emitting device and a laser receiving device, the laser emitting device and the laser receiving device are positioned at two ends of the mechanical arm, the laser emitting device is used for emitting laser beams, and the laser receiving device is used for determining the sagging amount of the finger end according to the propagation direction of the received laser beams and recording the sagging time of the received laser beams;
the method comprises the following steps:
acquiring the sagging amount of at least two moments;
determining an average sagging speed and an average sagging amount of the finger end according to the sagging amounts of the at least two moments and the at least two moments;
and determining whether the position of the finger end needs to be adjusted according to the average sagging speed and the average sagging amount.
10. The method of claim 9, wherein said determining whether the position of the finger tip needs to be adjusted based on the average drop speed and the average drop amount comprises:
obtaining a first difference between the average sag amount and a standard sag amount;
acquiring a second difference value between the average droop speed and a standard droop speed;
and if at least one of the first difference and the second difference is not zero, determining that the position of the finger end needs to be adjusted.
11. The method of claim 10, wherein said determining whether the position of the finger tip needs to be adjusted based on the average drop speed and the average drop amount comprises:
after the position of the finger end needs to be adjusted is determined, if the average sagging amount is within a first preset range and the average sagging speed is within a second preset range, adjusting the position of the finger end;
if the average sagging amount is within the first preset range, the average sagging speed is not within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is within the second preset range; or, the average sagging amount is not within the first preset range, and the average sagging speed is not within the second preset range; an alarm is triggered.
12. The method of claim 11, wherein said adjusting the position of said finger tip comprises:
adding the average sagging amount to a first direction, wherein the first direction is a direction in which the objects to be carried at the finger ends are stacked.
13. The method of claim 9, wherein said obtaining the amount of sag for at least said two time instants comprises:
and determining that the finger end is contacted with a target object to be moved, and sending indication information to the laser emitting device, wherein the indication information is used for indicating the laser emitting device to emit the laser beam.
14. The method of claim 9, wherein said determining an average drop velocity and an average drop amount of said finger tip based on said at least two time instants and said at least two time instants comprises:
determining at least two average sagging quantities according to the sagging quantities at the at least two moments and the corresponding standard sagging quantities;
determining the average sag amount according to the mean value of the at least two sag amounts.
15. The method of claim 9, wherein said determining an average drop velocity and an average drop amount of said finger tip based on said at least two time instants and said at least two time instants comprises:
determining at least one droop speed mean value according to the droop amount of the at least two time moments and the at least two time moments;
and determining the average droop speed according to the at least one droop speed average value.
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| CN202111298273.5A CN114147702A (en) | 2021-11-04 | 2021-11-04 | Robot and finger tip position adjusting method |
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