WO2018218438A1

WO2018218438A1 - Robot and method for adjusting robot posture

Info

Publication number: WO2018218438A1
Application number: PCT/CN2017/086362
Authority: WO
Inventors: 刘子雨; 索利洋
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-05-27
Filing date: 2017-05-27
Publication date: 2018-12-06
Also published as: CN109311604B; CN109311604A

Abstract

A robot and a method for adjusting robot posture, the robot comprising: a controller (30), a driver (40), at least three sensors (201, 202, 203), and a gripping assembly that is mounted on a robotic arm of the robot (10); the gripping assembly (10) is used for gripping a tested plate (50); the at least three sensors (201, 202, 203) are used for detecting the distance between each sensor (201, 202, 203) and the tested plate (50); the controller (30) is used for calculating the posture of the tested plate (50), generating a corresponding control signal and sending the same to the driver (40); and the driver (40) is used for responding to the control signal and adjusting the posture of the gripping assembly (10). The robot may automatically adjust the posture of the gripping assembly (10) according to the placement position and posture of the tested plate (50).

Description

Robot and method for adjusting robot posture

[Technical Field]

The present invention relates to the field of robot technology, and in particular, to a robot and a method for adjusting a posture of a robot.

【Background technique】

Industrial robots are multi-degree-of-freedom robots for the industrial field. They are widely used in complex operations such as handling, welding and packaging, which saves the company a lot of labor costs and greatly improves production efficiency. As an indispensable equipment and means in the modern industrial field, robots have become an important indicator of a country's level of technology and manufacturing.

When an industrial robot carries a flat plate (for example, glass), it is necessary to acquire the distance between the robot and the flat plate and the posture of the flat plate relative to the robot. Since the placement angle of each batch of plates is different, the posture of the robot needs to be adjusted manually, which consumes a lot of time and labor. In order to automate and unmann the factory, the robotic arm is required to automatically adjust the gripping posture and the gripping position according to the flat plate of different shapes and postures.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a robot and a method for adjusting the posture of the robot, which can automatically adjust the posture of the grasping assembly according to the placement position and posture of the tested tablet.

In order to solve the above technical problem, one technical solution adopted by the present invention is to provide a robot including: a controller, a driver, at least three sensors, and a grabbing assembly mounted on a robot arm of the robot;

The grasping component is configured to grab the tested tablet;

The at least three sensors are disposed on the grasping assembly or are disposed in a position in a relative position relationship with the grasping assembly for detecting a distance between each sensor and the measured flat member;

The controller is coupled to each of the sensors and the driver for receiving each of the sensors and Calculating the posture of the tested tablet according to the distance between each measured panel and the measured tablet, generating a corresponding control signal and transmitting the corresponding control signal to the driver;

The driver is coupled to the gripping assembly for adjusting a posture of the gripping assembly in response to the control signal such that a posture of the gripping assembly satisfies a predetermined condition.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a method for adjusting a posture of a robot, which is applied to a controller of a robot, wherein the robot further includes a driver, at least three sensors, and a robot mounted on the robot. a gripping assembly on the robot arm, the at least three sensors are disposed on the gripping assembly or disposed at a position in a relative positional relationship with the gripping assembly, the method comprising:

Detecting a distance between each sensor and the measured panel by using the at least three sensors;

Calculating a posture of the tested panel according to a distance between each sensor and the measured panel, generating a corresponding control signal and transmitting the signal to the driver, so that the driver adjusts the posture of the grabbing component in response to the control signal The posture of the gripping assembly is made to satisfy a predetermined condition.

The invention realizes the automatic adjustment of the posture of the grasping component on the robot by detecting the distance between the gripping portion of the robot and the tested flat plate, accurately and efficiently grabs the tested flat plate, saves a lot of time and labor, and improves work efficiency.

[Description of the Drawings]

1 is a schematic structural view of an embodiment of a robot of the present invention;

2 is a schematic structural view of a gripping assembly of an embodiment of the robot of the present invention;

3 is a schematic diagram of a circular plate coordinate mark of an embodiment of the robot of the present invention;

4 is a schematic diagram of a rectangular plate coordinate mark of an embodiment of the robot of the present invention;

FIG. 5 is a flow chart of an embodiment of a method for adjusting a posture of a robot according to the present invention.

【detailed description】

The technical solution in the embodiment of the present invention will be clarified in the following with reference to the accompanying drawings in the embodiments of the present invention. Chu, complete description.

Referring to Figure 1, the robot embodiment of the present invention comprises: a controller 30, a driver 40, at least three

sensors

201, 202 and 203 and a gripping assembly 10 mounted on the robot arm of the robot;

Grasping assembly 10 for grabbing the tested panel 50;

The at least three

sensors

201, 202, and 203 are disposed on the grasping assembly 10 or are disposed in a position relative to the grasping assembly 10 for detecting the distance between each sensor and the measured panel 50;

Optionally, the gripping assembly 10 is provided with at least one gripping portion 101. The three

sensors

201, 202 and 203 are directly dispersed and fixed around the gripping portion 101, and the gripping surface defined by the gripping portion 101 is directly opposite. The side of the flat plate 50 to be tested can sense the flat plate 50 to be tested without affecting the grasping action of the gripping portion 101, and does not knock or damage the three

sensors

201, 202, and 203 at the time of grasping. Of course, it can also be directly integrated inside the gripping unit 101.

The controller 30 is connected to each of the sensors and the driver 40 for receiving the distance between each sensor and the measured panel 50, and calculating the posture of the tested panel 50 according to the distance between each sensor and the measured panel 50, and generating corresponding Control signal is sent to the driver 40;

The driver 40 is coupled to the gripping assembly 10 for adjusting the attitude of the gripping assembly 10 in response to a control signal such that the attitude of the gripping assembly 10 satisfies a predetermined condition.

Optionally, one of the predetermined conditions is that the distance between each of the gripping portions 101 and the measured plate 50 is equal, and a predetermined condition is that the difference between the distances of the gripping portions 101 and the measured plate 50 is less than the first threshold.

Referring to FIG. 1 and FIG. 2, in particular, the driver 40 adjusts the posture of the gripping assembly 10 in response to the control signal by using the following steps:

1) adjusting the attitude of the gripping assembly 10 such that the line between the first sensor 201 and the second sensor 202 of the at least three

sensors

201, 202 and 203 is parallel to the first direction;

2) adjusting the posture of the gripping assembly 10 to rotate the gripping assembly 10 in a second direction perpendicular to the first direction until the distance between the first sensor 201 and the second sensor 202 and the panel 50 to be tested are equal or poor The value is less than the first threshold;

3) Adjusting the posture of the gripping assembly 10 to rotate the gripping assembly 10 in the first direction until the distance between the first sensor 201 and the third sensor 203 and the panel 50 to be tested is equal or the difference is less than the first threshold.

Wherein, before the driver 40 adjusts the posture of the gripping assembly 10 in response to the control signal, the driver 40 adjusts the posture of the gripping assembly 10 such that the at least one sensor detects that the distance from the measured panel 50 reaches a second threshold, thereby The measuring plate 50 is located in the detection range of the robot. For example, the distance between the gripping assembly 10 of the robot and the horizontal ground is 1.5 meters, and the flat plate 50 to be tested is placed on the platform of 0.5 meters high; during the movement of the robot to the tested flat 50, the sensor detects the gripping assembly 10 and The distance of the object in the grasping direction is 1.5 meters. When the robot is close to the measured plate 50, at least one sensor detects that the distance is equal to 1 meter (ie, the second threshold) or less than 1 meter, indicating that the measured plate 50 is already in the sensor. Within the detection range, at this time, the posture of the gripping assembly 10 on the robot can be adjusted by the driver 40.

Optionally, the sensor is an ultrasonic sensor. Of course, it can also be other distance sensors such as laser range finder.

In this embodiment, a point on the plane of the gripping assembly 10 or the plane on which the gripping assembly 10 is located is taken as an origin, and the first direction and the second direction perpendicular to each other on the plane where the gripping assembly 10 is located are respectively X. The shaft and the Y-axis are Z-axis in a third direction perpendicular to the plane in which the gripping assembly 10 is located; wherein the line between the first sensor 201 and the second sensor 202 is parallel to the X-axis.

In an application scenario, in order to achieve uniformity between the respective grabbing portions 101 and the measured tablet 50, the controller 30 sends a control signal, and the control driver 40 drives the robot to move to the tested tablet 50, so that at least one sensor detects and is The distance between the measuring plate 50 reaches a second threshold, indicating that the robot reaches the detection range; the controller 30 re-issues the control signal, causing the driver 40 to drive the gripping assembly 10 to rotate about the Y axis until the first sensor 201 and the second sensor 202 are respectively The distance between the measuring plates 50 is equal; then the grasping assembly 10 is rotated about the X axis until the distance between the first sensor 201 and the third sensor 203 and the measured plate 50 is equal, due to the first sensor 201 and the first The connection between the two sensors 202 is parallel to the X axis. At this time, the first sensor 201, the second sensor 202, and the third sensor 203 are necessarily present. The distance between the measured plate 50 and the measured plate 50 is equal, that is, the grasping assembly 10 is parallel to the measured plate 50, and the automatic adjustment of the robot posture is completed.

Referring to FIG. 2 to FIG. 4, in the embodiment, when the panel 50 to be tested is circular, the controller 30 is further configured to control the first sensor 201 on the robot to start from any point above the circular panel 50. The positive movement of the X-axis, when the first sensor 201 detects a sudden change in the distance from the circular plate 50 to be tested, indicates that it reaches the side of the circular plate 50 to be tested, and marks this point as A ₁ ; controlling the first sensor on the robot 201 along the X axis negative direction, when the marker 201 to the measured distance between the first sensor plate 50 is mutated B _1; controller 30 is further configured to control the robot The first sensor 201 returns to the position corresponding to the point A ₁ , and the point A ₁ is the point C ₁ , and the negative movement along the Y axis indicates that the point at which the distance between the first sensor 201 and the measured plate 50 is abrupt is D ₁ ; The coordinates of the points A ₁ , B ₁ , C ₁ and D ₁ are used to calculate the position of the center of the circular plate 50 to be measured, the position and the area of the side of the circle, thereby obtaining the posture of the circular plate 50 to be measured.

Specifically, since the X axis is perpendicular to the Y axis, the line connecting B ₁ and D ₁ passes through the center of the circular plate 50 to be measured, and B ₁ D ₁ is the diameter of the circular plate 50 to be measured, and the position of the center of the circle is obtained as point B. the midpoints of the points D ₁ and _1; according to the midpoint of the diameter of a circle obtained edge position; point C ₁ and point difference calculating point and the point a ₁ B ₁ in the X-axis direction is d _1, is calculated The difference of D ₁ in the Y-axis direction is d ₂ , and the area of the circular measured panel 50 is obtained according to the Pythagorean theorem and the area formula of the circle.

When the measured plate 50 is rectangular, the controller 30 is further configured to control the first sensor 201 on the robot to start the positive movement along the X axis from any point above the rectangular measured plate 50, when the first sensor 201 detects When the distance between the rectangular measured panels 50 is abrupt, it indicates that the edge of the rectangular measured panel 50 is reached, and the point is marked as A ₂ ; similarly, the negative movement of the first sensor 201 on the robot along the X-axis is controlled. The point at which the distance between the first sensor 201 and the measured plate 50 is abruptly changed is B ₂ ; the controller 30 is further configured to control the first sensor 201 on the robot to start from any point above the rectangular measured plate 50 along the Y The forward running of the shaft, the point at which the distance between the first sensor 201 and the measured plate 50 is abruptly changed is C ₂ ; the negative movement of the first sensor 201 on the control robot along the X axis is marked, and the first sensor 201 is marked. The point at which the distance between the measured plates 50 is abruptly changed is D ₂ , and the coordinates of the points A ₂ , B ₂ , C _{2 ,} and D ₂ are used to calculate the position of the symmetric center of the rectangular plate 50 to be tested, four The position and area of the vertex, resulting in a rectangle Measuring the attitude of the plate 50.

Specifically, one side of the rectangular measured plate 50 is parallel to the X axis or the Y axis, and the line connecting the point A ₂ and the point B ₂ is the length (or width) of the rectangular measured plate 50, and the point A ₂ and the point B _{2 are} calculated. The difference in the X-axis direction is d ₃ , since the X-axis is perpendicular to the Y-axis, the line connecting C ₂ and D ₂ is the width (or length) of the plate 50 to be tested, and the calculation point C ₂ and point D ₂ are the difference in the Y-axis direction is d _4, Y-axis line parallel to the midpoint of the point a ₂ and point B ₂ is located in a line parallel to the X axis and the point a ₂ and point B ₂ of the points of intersection where It is the symmetrical center of the rectangular plate 50 to be tested; the positions of the four vertices are obtained according to the symmetry center, the length, the width and the direction of the rectangular side of the rectangular plate 50; the rectangular test plate is obtained according to the length and width of the rectangular plate 50 to be tested. The area of 50 is:

S _r =|d ₃ |×|d ₄ |.

Referring to FIG. 1 to FIG. 4, the controller 30 is further configured to adjust the posture of the gripping assembly 10 and the position of the gripping portion 101 according to the posture of the tested tablet 50, and control the robot to grasp the panel 50 to be tested in the third direction.

Optionally, the gripping portion 101 is a suction cup, and the gripping assembly 10 is provided with at least two suction cups, and at least two suction cups can be fixedly disposed on the gripping assembly 10 or can be movably disposed on the gripping assembly 10.

Optionally, the gripping portion 101 may also be a part with a gripping function such as a mechanical finger.

Specifically, when the gripping portion 101 is fixedly disposed on the gripping assembly 10, the gripping assembly 10 is controlled to move on its own plane, so that the center of the gripping assembly 10 and the center of the tested tablet 50 are connected and The measuring plate 50 is vertical; when the gripping portion 101 is movably disposed on the gripping assembly 10, the position of the gripping assembly 10 on its own plane and the gripping portion 101 are appropriately adjusted according to the shape and area of the plate 50 to be tested. The position on the grab assembly 10.

Specifically, when the measured flat plate 50 is circular, the controller 30 controls the movement of the gripping portion 101 according to the position of the center of the circular measured flat plate 50 and the position of the circular side of the circle, and the area of the circular measured plate 50. The grabbing point corresponding to the circular measuring plate 50; optionally, the gripping assembly 10 includes three gripping portions 101, the gripping portion 101 corresponds to the gripping position of the circular measured panel 50, and the controller 30 according to the circle The area of the shape-measuring plate 50 is selected to be close to the edge of the circle or the position near the center of the circle is the grasping position, the gripping portion 101 forms an equilateral triangle, and the center of gravity of the equilateral triangle corresponds to the center of the circular plate 50 to be measured, so that Each grab The force of 101 is the same, which is convenient for grasping the plate 50 to be tested; of course, the grabbing point may also be other positions for easily grasping the plate 50 to be tested.

Specifically, when the measured flat panel 50 is rectangular, the controller 30 controls the gripping portion 101 to move to the corresponding rectangular measured flat panel according to the position of the symmetric center of the rectangular measured flat panel 50, the position and the area of the four vertices. The gripping point of 50; optionally, the gripping assembly 10 includes two gripping portions 101, the gripping portion 101 corresponds to the gripping position of the rectangular panel 50 to be tested, and the controller 30 selects the proximity according to the area of the rectangular panel 50 to be tested. The position of the four vertices of the rectangle or the position of the center of symmetry is the gripping position, and the center of the line of the gripping portion 101 corresponds to the center of symmetry of the rectangular plate 50 to be tested, so that the force of each gripping portion 101 is the same, which is convenient. The plate to be tested 50 is grasped; of course, the grabbing point may also be other positions for easily grasping the plate 50 to be tested.

The invention automatically adjusts the posture of the robot by detecting the distance between the gripping portion of the robot and the flat plate to be tested; and automatically adjusts the position of the gripping portion on the plane of the gripping component according to the posture of the tested flat plate by automatically marking the coordinates, Accurate and effective capture of the tested flat panel, saving a lot of time and labor, and improving work efficiency.

Referring to FIG. 5, a method embodiment of the present invention for adjusting a posture of a robot is applied to a controller of a robot, wherein the robot further includes a driver, at least three sensors, and a gripping assembly mounted on the robot arm of the robot, at least three sensors. Dispersingly disposed on the grasping component or dispersedly disposed at a position in a relative position relationship with the grasping component, the method includes:

S101, causing at least one sensor to detect that the distance from the measured panel reaches a second threshold;

The robot reaches the detection range when the at least one sensor detects that the distance of the gripping component from the object in its gripping direction is less than or equal to the second threshold.

S102. Detecting, by using at least three sensors, a distance between each sensor and the tested slab;

S103: Calculate a posture of the tested tablet according to a distance between each sensor and the measured tablet, generate a corresponding control signal, and send the signal to the driver;

S1041, causing a driver to adjust a posture of the grabbing component in response to the control signal, so that a line between the first sensor and the second sensor of the at least three sensors is parallel to the first direction;

S1042, adjusting a posture of the gripping component, so that the gripping component rotates in a second direction perpendicular to the first direction Moving until the distance between the first sensor and the second sensor and the measured panel are equal or the difference is less than the first threshold;

S1043: Adjust the posture of the grasping component to rotate the grasping component in the first direction until the distance between the first sensor and the third sensor and the measured panel are equal or the difference is less than the first threshold.

The first direction and the second direction are on a plane where the gripping component is located, and the third direction is perpendicular to a plane in which the gripping component is located, and the first direction, the second direction, and the third direction are perpendicular to each other.

Optionally, one of the predetermined conditions is that the distance between each of the grasping parts on the grasping component and the measured flat plate is equal, and a predetermined condition is that the difference between the distances of the grabbing parts and the measured flat plate is less than the first threshold. .

In an application scenario, in order to achieve the same distance between each grabbing unit and the measured panel, the controller sends a control signal, and the control driver drives the robot to move to the tested tablet, so that at least one sensor detects that the distance from the measured panel reaches a second threshold, indicating that the robot reaches the detection range; the controller then sends a control signal to cause the driver to drive the gripping assembly to rotate in the second direction until the distance between the first sensor and the second sensor and the panel to be tested are equal; The grasping assembly is further rotated in the first direction until the distance between the first sensor and the third sensor and the measured plate are equal, because the connection between the first sensor and the second sensor is parallel to the first direction, The distance between the first sensor, the second sensor, and the third sensor and the measured plate must be equal, that is, the grasping component is parallel to the measured flat plate, and the automatic adjustment of the robot posture is completed.

S105, determining that the measured flat plate is circular or rectangular; when the measured flat plate is circular, step S1061 is performed; and when the measured flat plate is rectangular, step S1071 is performed. Specifically, whether the measured flat panel is circular or rectangular can be determined according to the received user input data.

S1061, the test plate is circular, the control forward motion of the robot in a first direction, a first sensor mark distance between the point mutation is measured plates A _1, negative control of the robot in a first direction To the movement, the point at which the distance between the first sensor and the plate to be tested is abrupt is B ₁ ;

S1062, control the forward motion of the robot in a second direction, a first sensor mark distance between the point mutation is measured plates C _1, the control of the robot in the second direction to the negative direction, the first mark sensor The point at which the distance between the tested plates is abrupt is D ₁ ;

S1063. Calculate the posture of the tested tablet by using coordinates of points A ₁ , B ₁ , C _{1 ,} and D ₁ ;

According to the coordinates of the points A ₁ , B ₁ , C ₁ and D ₁ , the controller can determine the position of the center of the circular plate to be measured, the position and the area of the side of the circle, that is, the posture of the plate to be tested, and the controller according to the plate to be tested The attitude control gripper moves to the grab point of the corresponding circular test panel.

Specifically, since the first direction is perpendicular to the second direction, the line connecting A ₁ and D ₁ passes through the center of the circular measuring plate, and A ₁ D ₁ is the diameter of the circular measuring plate, and the center position is the point A. ₁ point and the midpoint D _1; obtained according to the midpoint of the diameter and position of the edge of the circle; a ₁ point and calculating the difference between _a point B in the first direction is d _1, and calculates _a point C The difference of the point D ₁ in the direction of the second direction is d ₂ , and the area of the circular measured plate is obtained according to the Pythagorean theorem and the area formula of the circle.

S1071: When the measured flat plate is rectangular, the forward movement of the robot in the first direction is controlled, and the point at which the distance between the first sensor and the tested flat plate is abrupt is A ₂ , and the negative direction of the controlling robot in the first direction is controlled. Movement, the point at which the distance between the first sensor and the measured plate is abrupt is B ₂ ;

S1072, control the forward motion of the robot in a second direction, a first sensor to the point marking the measured distance between the plates is mutated C _2, the control of the robot in the second direction to the negative direction, the first mark sensor The point at which the distance between the tested plates is abrupt is D ₂ ;

S1073, calculating coordinates of the measured panel by using coordinates of A ₂ , B ₂ , C _{2 ,} and D ₂ ;

According to the coordinates of the points A ₂ , B ₂ , C ₂ and D ₂ , the controller can determine the position of the symmetry center of the rectangular measured plate, the position and area of the four vertices, that is, the posture of the tested plate, and the controller is determined according to the measured The attitude control of the tablet moves to the grab point of the corresponding circular test panel.

Specifically, one side of the rectangular test panel is parallel to the first direction or the second direction, and the line connecting the point A ₂ and the point B ₂ is the length (or width) of the rectangular measured panel, and the point A ₂ and the point B _{2 are} calculated. The difference in the direction of the first direction is d ₃ , and since the first direction is perpendicular to the second direction, the line connecting C ₂ and D ₂ is the width (or length) of the panel to be tested, and the point C ₂ and point D are calculated. ₂ difference in the second direction is d _4, the midpoint of the second direction line parallel to the first direction and the point a ₂ and point B is a midpoint point a ₂ and point B ₂ where ₂ is located The intersection of the parallel lines is the symmetry center of the rectangular measured plate; the positions of the four vertices are obtained according to the symmetry center, the length, the width and the direction of the rectangular side of the rectangular measured plate; the rectangle is obtained according to the length and width of the rectangular measured plate The area of the measuring plate is:

S _r =|d ₃ |×|d ₄ |.

S108. Adjust the posture of the grabbing component and the grab position according to the posture of the tested tablet, and control the robot to grab the measured panel in the third direction.

Specifically, the third direction is perpendicular to the first direction and the second direction, respectively.

Specifically, the position of the gripping portion is adjusted by adjusting the position of the gripping portion on the gripping assembly.

The invention automatically adjusts the posture of the robot by detecting the distance between the gripping portion of the robot and the flat plate to be tested; and automatically adjusts the position of the gripping portion on the plane of the gripping component according to the area of the tested flat plate by automatically marking the coordinates, Accurate and effective capture of the tested flat panel, saving a lot of time and labor, and improving work efficiency.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A robot, comprising: a controller, a driver, at least three sensors, and a gripping assembly mounted on a robot arm of the robot;

The grasping component is configured to grab the tested tablet;

The at least three sensors are disposed on the grasping component or are disposed in a position in a relative position relationship with the grasping component for detecting a distance between each sensor and the measured panel;

The controller is connected to each sensor and the driver, and is configured to receive a distance between each sensor and the measured panel, and calculate a measured tablet according to a distance between each sensor and the measured panel. Gesture, generating a corresponding control signal and transmitting to the driver;

The driver is coupled to the gripping assembly for adjusting a posture of the gripping assembly in response to the control signal such that a posture of the gripping assembly satisfies a predetermined condition.
The robot of claim 1, wherein the driver adjusts a posture of the gripping component in response to the control signal, comprising:

Adjusting a posture of the gripping assembly such that a line between the first sensor and the second sensor of the at least three sensors is parallel to the first direction;

Adjusting a posture of the gripping assembly to rotate the gripping assembly in a second direction perpendicular to the first direction until a distance between the first sensor and the second sensor and the panel to be tested Equal or difference is less than the first threshold;

Adjusting the posture of the gripping assembly to rotate the gripping assembly about the first direction until the distance between the first sensor and the third sensor and the measured panel are equal or different Less than the first threshold.
The robot according to claim 2, wherein

The driver is further configured to adjust a posture of the gripping component before the driver adjusts a posture of the gripping component in response to the control signal, so that at least one of the sensors detects the tablet to be tested The distance reaches a second threshold, so that the tested tablet is located in the detection of the robot range.
The robot according to claim 1, wherein

When the measured slab is circular, the controller is further configured to mark a sudden change in the distance between the first sensor and the tested slab when controlling the forward movement of the robot in the first direction The point at the time is A 1 ; when controlling the negative movement of the robot in the first direction, the point at which the distance between the first sensor and the measured plate is abruptly changed is B 1 ; The device is further configured to, when controlling the forward movement of the robot in a second direction perpendicular to the first direction, mark a point when the distance between the first sensor and the tested plate is abruptly changed to C 1; in a second direction to control the robot movement negative, marking the first sensor to a point when the measured distance between the plates D 1 is mutated, with the point a 1, B The coordinates of 1 , C 1 and D 1 are used to calculate the attitude of the plate under test.
The robot according to claim 4, wherein

The point A 1 coincides with the point C 1.
The robot according to claim 1, wherein

When the measured flat plate is rectangular, the controller is further configured to mark a sudden change in the distance between the first sensor and the tested flat plate when controlling the forward movement of the robot in the first direction The point is A 2 ; when controlling the negative movement of the robot in the first direction, the point at which the distance between the first sensor and the measured plate is abruptly changed is B 2 ; And when used to control the forward movement of the robot in the second direction, the point at which the distance between the first sensor and the measured plate is abruptly changed is C 2 ; In the negative direction movement in the two directions, the point at which the distance between the first sensor and the measured plate is abruptly changed is D 2 , and the points A 2 , B 2 , C 2 and D 2 are respectively located On the four sides of the rectangle, the coordinates of the points A 2 , B 2 , C 2 and D 2 are used to calculate the attitude of the plate under test.
The robot according to claim 6, wherein

One side of the measured flat plate is parallel to the first direction or the second direction, and the first direction is perpendicular to the second direction.
The robot according to claim 1, wherein

The grabbing assembly is provided with at least one gripping portion;

The predetermined condition is that the distance between each of the gripping portions on the gripping component and the measured panel is equal or the difference is less than a first threshold.
A robot according to any one of claims 1 to 8, wherein

The controller is further configured to adjust a posture and a grab position of the gripping component according to the posture of the measured tablet, and control the robot to grasp the measured panel in a third direction, where the third direction is respectively Vertical to the first direction and the second direction.
The robot according to claim 8, wherein

The gripping portion is a suction cup, and the gripping assembly is provided with at least two suction cups, and the at least two suction cups are disposed on the gripping assembly.
A method for adjusting a posture of a robot is applied to a controller of a robot, wherein the robot further includes a driver, at least three sensors, and a gripping assembly mounted on a robot arm of the robot, the at least three sensors being dispersedly disposed And at a position on the grasping component or dispersedly disposed in a relative position relationship with the grasping component, the method includes:

Detecting a distance between each sensor and the measured panel by using the at least three sensors;

Calculating a posture of the tested panel according to a distance between each sensor and the measured panel, generating a corresponding control signal and transmitting the signal to the driver, so that the driver adjusts the posture of the grabbing component in response to the control signal The posture of the gripping assembly is made to satisfy a predetermined condition.
The method of claim 11 wherein

Having the driver adjust the posture of the grabbing component in response to the control signal, including:

Adjusting a posture of the gripping assembly such that a line between the first sensor and the second sensor of the at least three of the sensors is parallel to the first direction;

Adjusting a posture of the gripping assembly to rotate the gripping assembly in a second direction perpendicular to the first direction until a distance between the first sensor and the second sensor and the panel to be tested Equal or difference is less than the first threshold;

Adjusting the posture of the gripping assembly to rotate the gripping assembly about the first direction until The distance between the first sensor and the third sensor and the measured panel is equal or the difference is less than the first threshold.
The method of claim 12, wherein

And causing the driver to adjust a posture of the gripping component before causing the driver to adjust a posture of the gripping component in response to the control signal, so that at least one of the sensors detects the tablet to be tested The distance reaches a second threshold such that the plate under test is within the detection range of the robot.
The method of claim 13 wherein

When the measured flat plate is circular, the method further includes: controlling a forward movement of the robot in the first direction, and marking a point when the distance between the first sensor and the tested flat plate is abruptly changed. is a 1; controlling the robot in a first direction, the negative direction, marking the first sensor to a point when the measured distance between the plates is mutated B 1; controlling the robot in a direction perpendicular to the a forward movement in a second direction of the first direction, a point at which a sudden change in the distance between the first sensor and the plate to be tested is C 1 ; controlling the negative movement of the robot in the second direction a point at which a sudden change in the distance between the first sensor and the measured plate is D 1 , and the coordinates of the points A 1 , B 1 , C 1 and D 1 are used to calculate the Measure the posture of the tablet.
The method of claim 14 wherein

The point A 1 coincides with the point C 1 point.
The method of claim 11 wherein

When the measured flat plate is rectangular, the method further includes: controlling a forward movement of the robot in a first direction, and marking a point at which a distance between the first sensor and the tested flat plate is abrupt a 2; the negative control movements of the robot in a first direction, the first mark sensor to a point when the measured distance between the plates is mutated B 2; controlling the robot in a second direction a forward motion, a point at which a sudden change in a distance between the first sensor and the measured plate is C 2 ; controlling a negative movement of the robot in a second direction, marking the first sensor to the The point at which the distance between the measured plates is abrupt is D 2 , and the points A 2 , B 2 , C 2 and D 2 are respectively located on the four sides of the rectangle, using the points A 2 , B 2. The coordinates of C 2 and D 2 are used to calculate the attitude of the plate under test.
The method of claim 16 wherein

One side of the measured flat plate is parallel to the first direction or the second direction, and the first direction is perpendicular to the second direction.
The method of claim 11 wherein

The grabbing assembly is provided with at least one gripping portion;

The predetermined condition is that the distance between each of the gripping portions on the gripping component and the measured panel is equal or the difference is less than a first threshold.
A method according to any one of claims 11-18, wherein

After adjusting the posture and the grasping position of the gripping assembly according to the posture of the measured tablet, the method further includes: controlling the robot to grasp the measured panel in a third direction, wherein the third direction is vertical In the first direction and the second direction.
The method of claim 18, wherein

The gripping portion is a suction cup, and the gripping assembly is provided with at least two suction cups, and the at least two suction cups are disposed on the gripping assembly.