CN115256426A - Point inspection system, method, equipment and medium for taking out manipulator - Google Patents

Abstract

The invention discloses a point inspection system, a point inspection method, a point inspection device and a point inspection medium for a taking-out manipulator. A point inspection system for a take-out robot, comprising: the system comprises a point inspection confirming module and a taking-out manipulator, wherein the point inspection confirming module is used for carrying out first gas adjusting action according to an article grabbing instruction; after receiving the article release instruction, performing a second gas adjusting action according to the current position signal of the taking-out manipulator; the taking-out manipulator is used for taking out the target object according to the first gas adjusting action; and after the displacement is completed, sending a current position signal to the point inspection confirming module, and releasing the target object according to the second adjustment action of the gas. According to the technical scheme of the embodiment of the invention, the external point inspection can be carried out on the taking-out manipulator on the premise of not influencing normal production, so that potential safety hazards caused by the internal point inspection are avoided.

Description

Point inspection system, method, equipment and medium for taking out manipulator

Technical Field

The invention relates to the technical field of automation, in particular to a point inspection system, a point inspection method, a point inspection device and a point inspection medium for a taking-out manipulator.

Background

With the improvement of the automation level, the mechanical arm can be taken out to well complete part of action tasks in the production line.

Due to the increase of the production load of the forming machine, the use frequency of the taking-out manipulator is continuously improved, the abnormal taking-out manipulator can be found in time through point inspection of the taking-out manipulator, and then the abnormal taking-out manipulator is maintained.

However, the mobile phone of the taking-out machine cannot realize the operation of point inspection outside the machine, when the taking-out mechanical hand performs point inspection in the machine, normal production cannot be caused, and because the space in the machine is small, the potential safety hazard is easily caused by point inspection in the machine.

Disclosure of Invention

The invention provides a point inspection system, a point inspection method, a point inspection device and a point inspection medium for a taking-out manipulator, which can carry out external point inspection on the taking-out manipulator on the premise of not influencing normal production, and avoid potential safety hazards caused by internal point inspection.

According to an aspect of the present invention, there is provided a spot inspection system of an extraction robot, including: a point inspection confirming module and a taking-out manipulator, wherein,

the point inspection confirming module is used for carrying out first gas adjusting action according to the article grabbing instruction; after receiving the article release instruction, performing a second gas adjusting action according to the current position signal of the taking-out manipulator;

the taking-out manipulator is used for taking out the target object according to the first adjustment action of the gas; and after the displacement is completed, sending a current position signal to the point inspection confirming module, and releasing the target object according to the second adjustment action of the gas.

According to another aspect of the present invention, there is provided a spot inspection method of an extraction robot, including:

performing a first gas regulating action according to an article grabbing instruction through a point inspection confirming module; after receiving an article release instruction, performing a second gas adjusting action according to a current position signal of the taking-out manipulator;

taking out the target object through the taking-out manipulator according to the first adjustment action of the gas; and after the displacement is completed, sending a current position signal to the point inspection confirming module, and releasing the target object according to the second adjustment action of the gas.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of spot inspection by a pick-up robot according to any of the embodiments of the invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method for performing a spot inspection of a picking manipulator according to any one of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the point inspection confirming module and the taking-out manipulator form a point inspection system of the taking-out manipulator, and the point inspection confirming module performs a first gas adjusting action according to an article grabbing instruction, so that the taking-out manipulator takes out a target article according to the first gas adjusting action. And after receiving the article release instruction, the point inspection confirming module performs a second gas adjusting action according to the current position signal of the taking-out manipulator, so that the taking-out manipulator sends the current position signal to the point inspection confirming module after completing the displacement, and releases the target article according to the second gas adjusting action. The system is examined to point through the machine of taking out in this scheme can realize examining the machine exterior point of taking out the manipulator, makes the production line normally function, practices thrift manufacturing cost, has solved the interior point and has examined the problem of difficulty, influence production and have the potential safety hazard of examining the point that exists, under the prerequisite that does not influence normal production, can carry out the machine exterior point to taking out the manipulator and examine, avoids the interior point to examine the potential safety hazard that leads to.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

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 creative efforts.

Fig. 1 is a schematic view of a point inspection system of a take-out robot according to an embodiment of the present invention;

figure 2 is a schematic diagram of an ATC modular jack provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a socket jack of a take-out robot according to an embodiment of the present invention;

fig. 4 is a schematic circuit diagram of a point inspection system of a pick-up robot according to a second embodiment of the present invention;

fig. 5 is a schematic view illustrating an operation principle of a point inspection system of a pick-up robot according to a second embodiment of the present invention;

fig. 6 is a schematic view illustrating a positional relationship of a vent hole communicating between the pick-up robot and the spot inspection confirming module according to the second embodiment of the present invention;

fig. 7 is a flowchart of a spot inspection method for a pick-up robot according to a second embodiment of the present invention;

FIG. 8 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a schematic view of a point inspection system of a takeout robot according to an embodiment of the present invention, as shown in fig. 1, the point inspection system of the takeout robot may include a point inspection confirming module 110 and a takeout robot 120, where the point inspection confirming module 110 is configured to perform a first adjustment operation of gas according to an article grabbing command; after receiving the article release instruction, performing a second gas adjustment action according to the current position signal of the take-out manipulator 120; a take-out robot 120 for taking out the target article according to the first adjustment action of the gas; after the displacement is completed, the current position signal is sent to the spot check validation module 110 and the target item is released according to the second adjustment action of the gas.

The spot check confirming module 110 may be a device for performing a spot check on the takeout robot 120. The takeout robot 120 may be a robot having an article grasping and releasing function. The article grasping instructions may be used to verify the article grasping action of the takeout robot 120. The first gas adjusting operation may be a gas adjusting operation performed by the spot check confirmation module 110 according to the article grabbing command, and is used to make the fetching robot 120 grab the article. Alternatively, the first gas adjusting operation may be an operation of generating a vacuum by a gas cylinder (which is ventilated through a gas pipe or the like to the gas hole of the spot check confirmation module 110 and the takeout robot 120). The target article may be an article that the takeout robot 120 needs to grasp when verifying the grasping action of the takeout robot 120. The current position signal may be used to characterize the current spatial position of the extraction robot 120. The second gas adjusting operation may be an operation in which the spot check confirmation module 110 adjusts the gas in accordance with the current position signal of the takeout robot 120, and the second gas adjusting operation may cause the takeout robot 120 to release the article. Alternatively, the second gas regulating operation may be an operation of removing vacuum by a gas cylinder (which is ventilated through a gas pipe or the like to the air hole of the spot check confirmation module 110 and the takeout robot 120).

In the embodiment of the present invention, after the point inspection confirming module 110 obtains the object grabbing instruction, the cylinder (which is ventilated with the air holes of the point inspection confirming module 110 and the fetching manipulator 120 through the air pipe and the like) may be subjected to the first gas adjusting operation, so that the fetching manipulator 120 may perform the action adjustment of clamping by the gas claw and increasing the suction force of the suction cup according to the first gas adjusting operation, and further fetch the object by the gas claw and the suction cup, and grab the object to a corresponding position, thereby achieving the displacement of the object. After the target object is transferred to the corresponding position by the taking-out manipulator 120, a current position signal is acquired, the current position signal is sent to the point inspection confirming module 110, the point inspection confirming module 110 compares a position coordinate corresponding to the current position signal of the taking-out manipulator 120 with an object release position coordinate corresponding to an object release instruction, if the two position coordinates meet a preset position error, a second gas adjusting action is performed on the gas cylinder, so that the taking-out manipulator 120 can perform action adjustment of gas claw loosening and suction force releasing of the suction disc according to the second gas adjusting action, and the target object is released. If the two position coordinates do not meet the preset position error, the taking-out manipulator 120 continues to move the target object according to the difference value of the two position coordinates and the first gas adjusting action until the two position coordinates meet the preset position error, so that the taking-out manipulator 120 can complete the release of the target object according to the second gas adjusting action.

Note that the spot check confirming module 110 is not installed in the molding machine, and one spot check confirming module 110 may perform spot check on different takeout robots 120, that is, the spot check confirming module 110 may be handled as a separate device, such as being transported, loaded, and unloaded. When the picking manipulator 120 and the spot inspection confirming module 110 form a spot inspection system of the picking manipulator, the picking manipulator 120 can realize spot inspection outside the molding machine without influencing the production of the molding machine.

In an optional embodiment of the present invention, the point inspection confirming module may include a power module, an ATC (Automatic Traction Control) module, an air tube connecting component, and an electric wire; the power supply module is connected with the ATC module through a wire, and the ATC module is connected with the air cylinder through an air pipe connecting part and an air pipe; the ATC module can be used for performing a first gas adjusting action and a second gas adjusting action through the gas pipe, the gas pipe connecting part and the cylinder; and the power supply module can be used for providing electric energy for the ATC module and the taking-out manipulator.

The power supply module can provide voltage required by the ATC module and the taking-out manipulator. For example, the power module may provide 24V. The embodiment of the present invention does not limit the specific value of the voltage provided by the power module. The type of the socket of the ATC module connected with the power module can be different from the type of the socket of the taking-out manipulator connected with the power module. For example, the ATC module may be connected to the outlet socket of the power module as shown in fig. 2, and the removal robot may be connected to the outlet socket of the power module as shown in fig. 3. Fig. 2 and 3 are merely examples of receptacle jacks, and embodiments of the present invention do not limit the specific distribution of the ATC module and the receptacle jacks of the takeout robot connection power module.

In the embodiment of the invention, the power supply module in the point inspection confirmation module is connected with the ATC module and the extraction manipulator and other devices needing to be electrified through wires, and provides electric energy for the ATC module and the extraction manipulator and the like. One end of an air pipe in the point inspection confirming module is connected with the air cylinder through an air pipe connecting part, the other end of the air pipe is in air communication with an air claw and a sucking disc of the taking-out mechanical arm through an ATC module and an air hole of the taking-out mechanical arm, so that when the ATC module carries out first air adjusting action on the air cylinder according to an article grabbing instruction, the air pipe connecting part and the air pipe transmit the adjusted air to the air claw and the sucking disc of the taking-out mechanical arm, and when second air adjusting action is carried out on the air cylinder according to an article releasing instruction, the air pipe connecting part and the air pipe transmit the adjusted air to the air claw and the sucking disc of the taking-out mechanical arm.

In an alternative embodiment of the present invention, the takeout robot may be configured to acquire an item contact signal based on the first conditioning action of the gas and send the item contact signal to the spot check confirmation module.

Wherein the article contact signal may be a signal that the takeout robot contacts the target article.

In the embodiment of the invention, after the point inspection determining module finishes the first gas adjusting action, the taking-out manipulator clamps the gas claw according to the first gas adjusting action, when the gas claw contacts the target object, an object contact signal is generated and sent to the point inspection confirming module, and the point inspection confirming module continues to carry out the first gas adjusting action according to the object contact signal, so that the suction of the suction cup of the taking-out manipulator is increased, namely the suction of the moving target object is generated.

In an alternative embodiment of the invention, the take-out robot may include a light-sensitive stopper; and the light sensing limiter is used for generating an article contact signal when the gas claw of the taking-out manipulator is in contact with the target article.

In the embodiment of the invention, the light sensing limiter in the taking-out manipulator can detect the optical signal between the gas claw of the taking-out manipulator and the target object, and when the gas claw of the taking-out manipulator is contacted with the target object, the optical signal between the gas claw of the taking-out manipulator and the target object disappears to trigger the generation of the object contact signal.

In an optional embodiment of the present invention, the take-out robot may include a suction cup air volume adjustment display and a suction cup suction force adjustment module; the sucking disc air volume adjusting display is used for displaying the current suction data of the sucking disc of the taking-out manipulator and sending the current suction data to the sucking disc suction adjusting module; and the sucking force adjusting module of the sucker is used for generating a sucking force adjusting instruction according to the current sucking force data and the preset sucking force data so as to adjust the sucking force of the sucker of the taking-out manipulator through the sucking force adjusting instruction.

Wherein, sucking disc tolerance adjustment display can be used for showing and takes out manipulator sucking disc suction value. The current suction data may be a current suction value of the take out robot chuck. The suction adjustment module of the sucker can be used for adjusting the device for taking out the suction of the sucker of the manipulator. The suction adjustment command may be a command for adjusting the suction of the pick-up robot chuck. The preset suction data may be a suction value required for the takeout robot to fix the target item through the suction cup.

In the embodiment of the invention, the sucker air volume adjusting display can display the current suction data of the sucker of the taking-out manipulator, so that a maintainer can intuitively obtain the suction value of the sucker, the sucker air volume adjusting display also sends the current suction data to the sucker suction adjusting module, the sucker suction adjusting module determines whether the suction of the sucker needs to be adjusted or not by comparing the current suction data with the preset suction data, and if the current suction data is not equal to the preset suction data, a suction adjusting instruction is generated according to the difference value between the current suction data and the preset suction data, so that the suction of the sucker of the taking-out manipulator is adjusted according to the suction adjusting instruction.

In an optional embodiment of the invention, the point inspection confirming module is connected with the taking-out mechanical arm through a gas lock.

The gas lock can be a lock formed by gas and a gas pipeline.

In the embodiment of the invention, the point inspection confirming module can flush the gas in the cylinder into a gas pipeline forming a gas lock between the point inspection confirming module and the taking-out manipulator through the gas pipe and the gas pipe connecting part, and the point inspection confirming module and the taking-out manipulator are interlocked through the gas in the gas pipeline.

Assuming that the time length of point inspection in the machine is one hour, the production cycle of each flow line product is 30s, and the cost of each flow line product is 200 yuan, the point inspection system of the taking-out manipulator can inspect the products outside the machine without influencing production, the cost of 2400 yuan can be reduced every hour, and if the point inspection is performed once every day, the cost of 62400 yuan can be saved every month.

Generally, two operation and maintenance personnel are needed for gas claw spot inspection and abnormal maintenance, the abnormality can be eliminated after 1 hour of work, one operation and maintenance personnel can work for 0.5 hour through the spot inspection system of the mechanical arm for taking out, 13 (26 working days in one month) hours of operation and maintenance time can be saved in one month if the spot inspection is carried out once a day, and one operation and maintenance personnel can be saved.

According to the technical scheme of the embodiment of the invention, the point inspection confirming module and the taking-out manipulator form a point inspection system of the taking-out manipulator, and the point inspection confirming module performs a first gas adjusting action according to an article grabbing instruction, so that the taking-out manipulator takes out a target article according to the first gas adjusting action. And after receiving the article release instruction, the point inspection confirming module performs a second gas adjusting action according to the current position signal of the taking-out manipulator, so that the taking-out manipulator sends the current position signal to the point inspection confirming module after completing the displacement, and releases the target article according to the second gas adjusting action. The system is examined to point through the machine of taking out in this scheme can realize examining the machine exterior point of taking out the manipulator, makes the production line normally function, practices thrift manufacturing cost, has solved the interior point and has examined the problem of difficulty, influence production and have the potential safety hazard of examining the point that exists, under the prerequisite that does not influence normal production, can carry out the machine exterior point to taking out the manipulator and examine, avoids the interior point to examine the potential safety hazard that leads to.

Example two

The present embodiment is described based on the first embodiment, with respect to the circuit connection and the operation principle of the point inspection system of the pick-up robot.

Fig. 4 is a circuit schematic diagram of a point inspection system of a taking-out manipulator according to a second embodiment of the present invention, where as shown in fig. 4, one end of a power supply module is connected to an anode of an ATC module, the anode of the ATC module is connected to an anode of the taking-out manipulator, the other end of the power supply module is connected to a cathode of the ATC module, and the cathode of the ATC module is connected to a cathode of the taking-out manipulator. The light sensation limiter is connected with the sucker air quantity adjusting display in parallel, one end of the light sensation limiter is connected with the positive electrode of the taking-out manipulator, and the other end of the light sensation limiter is connected with the negative electrode of the taking-out manipulator. One end of the sucking disc air quantity adjusting display is connected with the positive electrode of the taking-out manipulator, and the other end of the sucking disc air quantity adjusting display is connected with the negative electrode of the taking-out manipulator.

Fig. 5 is a schematic view of the operation principle of the spot inspection system of the takeout manipulator according to the second embodiment of the present invention, as shown in fig. 5, the spot inspection confirming module performs the first adjustment operation, the air cylinder compresses air, and at this time, the mixed vacuum air in the air cylinder blows into the air gripper and the suction cup of the takeout manipulator through the air tube in the air hole of the spot inspection confirming module, so that the air gripper grips and the suction cup grips the object, thereby realizing the gripping operation of the object. The point inspection confirming module performs a second adjusting action, the air cylinder compresses air, the air cylinder performs vacuum removal at the moment, and air in the air cylinder is filled in an air claw and a sucker of the taking-out manipulator through an air pipe in an air hole of the point inspection confirming module, so that the air claw is loosened, and the releasing action of the target object is realized.

The position relationship of the vent hole communicated between the taking-out manipulator and the point inspection confirming module is shown in fig. 6, wherein the vent hole a of the point inspection confirming module is filled with air to form a gas lock between the point inspection confirming module and the taking-out manipulator. The air hole b1 of the point inspection confirming module and the air hole b2 of the taking-out manipulator are used for inflating the air claw to clamp the air claw, the air hole c1 of the point inspection confirming module and the air hole c2 of the taking-out manipulator are used for inflating the sucker, and the air hole d1 of the point inspection confirming module and the air hole d2 of the taking-out manipulator are used for inflating the air claw to loosen the air claw. Alternatively, the air hole b1, the air hole b2, the air hole c1 and the air hole c2 may be inflated by one air tube.

The point inspection system for the manipulator provided by the embodiment of the invention also has the beneficial effects described in the above embodiments, and details are not repeated herein.

EXAMPLE III

Fig. 7 is a flowchart of a point inspection method for a picking robot according to a second embodiment of the present invention, where this embodiment is applicable to a situation of external point inspection of the picking robot, and the method may be executed by a point inspection system of the picking robot, and the point inspection system of the picking robot may be implemented in a form of hardware and/or software, and the point inspection system of the picking robot may be configured in an electronic device. As shown in fig. 7, the method includes:

s310, performing a first gas adjusting action according to the article grabbing instruction through a point inspection confirming module; and after receiving the article release instruction, performing a second gas adjusting action according to the current position signal of the taking-out manipulator.

S320, taking out the target object through the taking-out manipulator according to the first adjustment action of the gas; and after the displacement is completed, sending a current position signal to a point inspection confirming module, and releasing the target object according to a second gas adjusting action.

In an optional embodiment of the present invention, the method for performing a spot inspection by a pick-up robot may further include: displaying the current suction data of the sucker of the taking-out manipulator through a sucker air volume adjusting display of the taking-out manipulator, and sending the current suction data to a sucker suction adjusting module; and generating a suction adjusting instruction according to the current suction data and the preset suction data by a suction adjusting module of the sucker of the taking-out manipulator so as to adjust the sucker suction of the taking-out manipulator through the suction adjusting instruction.

Optionally, the method for checking the point of the taking-out manipulator may further include acquiring, by the taking-out manipulator, an article contact signal according to the first adjustment action of the gas, and sending the article contact signal to the point checking confirmation module.

Optionally, the taking out the manipulator, obtaining an article contact signal according to the first adjustment action of the gas, includes: and generating an article contact signal when the gas claw of the taking-out manipulator is in contact with the target article through the light sensing limiter.

Optionally, the point inspection confirming module is connected with the taking-out manipulator through a gas lock.

According to the technical scheme of the embodiment of the invention, the point inspection confirming module is used for carrying out a first gas regulating action according to the article grabbing instruction, so that after an article releasing instruction is received, a second gas regulating action is carried out according to a current position signal of the taking-out manipulator, the target article is taken out according to the first gas regulating action through the taking-out manipulator, and then after displacement is completed, the current position signal is sent to the point inspection confirming module, and the target article is released according to the second gas regulating action. The system is examined to point through the machine of taking out in this scheme can realize examining the machine exterior point of taking out the manipulator, makes the production line normally function, practices thrift manufacturing cost, has solved the interior point and has examined the problem of difficulty, influence production and have the potential safety hazard of examining the point that exists, under the prerequisite that does not influence normal production, can carry out the machine exterior point to taking out the manipulator and examine, avoids the interior point to examine the potential safety hazard that leads to.

Example four

FIG. 8 illustrates a block diagram of an electronic device that may be used to implement embodiments of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as the point inspection method of the take-out robot.

In some embodiments, the point inspection method of the takeout robot may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described point inspection method of the takeout robot may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g. by means of firmware) to perform a point check method of the take-out robot.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A spot inspection system for a take-out robot, comprising: a point inspection confirming module and a taking-out manipulator, wherein,

the point inspection confirming module is used for carrying out first gas adjusting action according to the article grabbing instruction; after receiving an article release instruction, performing a second gas adjusting action according to the current position signal of the taking-out manipulator;

the taking-out manipulator is used for taking out the target object according to the first gas adjusting action; and after the displacement is finished, sending the current position signal to the point inspection confirming module, and releasing the target object according to the second gas adjusting action.

2. The system of claim 1, wherein the spot check confirmation module comprises a power supply module, a traction control system (ATC) module, an air pipe connecting part and an electric wire;

the power supply module is connected with the ATC module through a wire, and the ATC module is connected with the air cylinder through an air pipe connecting part and an air pipe;

the ATC module is used for performing a first gas regulating action and a second gas regulating action through a gas pipe, a gas pipe connecting part and a cylinder;

and the power supply module is used for providing electric energy for the ATC module and the taking-out mechanical arm.

3. The system of claim 1, wherein the takeout robot is configured to acquire an item contact signal based on the first conditioning action of the gas and to send the item contact signal to the point check confirmation module.

4. The system of claim 3, wherein the extraction robot comprises a light sensitive stop;

and the light sensing limiter is used for generating an article contact signal when the gas claw of the taking-out manipulator is in contact with the target article.

5. The system of claim 1, wherein the extraction robot comprises a suction cup air volume adjustment display and a suction cup suction force adjustment module;

the sucking disc air volume adjusting display is used for displaying the current suction data of the sucking disc of the taking-out manipulator and sending the current suction data to the sucking disc suction adjusting module;

and the sucking force adjusting module of the sucking disc is used for generating a sucking force adjusting instruction according to the current sucking force data and preset sucking force data so as to adjust the sucking force of the sucking disc of the taking-out manipulator through the sucking force adjusting instruction.

6. The system of claim 1, wherein the spot check confirmation module is coupled to the takeout robot via a gas lock.

7. A point inspection method for a take-out manipulator is characterized by comprising the following steps:

performing a first gas regulating action according to an article grabbing instruction through a point inspection confirming module; after receiving an article release instruction, performing a second gas adjusting action according to the current position signal of the taking-out manipulator;

taking out the target object through the taking-out manipulator according to the first adjustment action of the gas; and after the displacement is finished, sending the current position signal to the point inspection confirming module, and releasing the target object according to the second gas adjusting action.

8. The method of claim 7, further comprising:

displaying current suction data of a sucker of the taking-out manipulator through a sucker air volume adjusting display of the taking-out manipulator, and sending the current suction data to a sucker suction adjusting module;

and generating a suction adjusting instruction according to the current suction data and the preset suction data through a suction adjusting module of the sucking disc of the taking-out manipulator, so that the suction of the sucking disc of the taking-out manipulator is adjusted through the suction adjusting instruction.

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the pick-up robot spot check method of any one of claims 7-8.

10. A computer-readable storage medium storing computer instructions for causing a processor to perform the method of spot inspection by a takeout robot of any one of claims 7-8 when executed.

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