CN112158587A - Method for adjusting a workpiece gripping device and workpiece gripping device - Google Patents
Method for adjusting a workpiece gripping device and workpiece gripping device Download PDFInfo
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- CN112158587A CN112158587A CN202011079599.4A CN202011079599A CN112158587A CN 112158587 A CN112158587 A CN 112158587A CN 202011079599 A CN202011079599 A CN 202011079599A CN 112158587 A CN112158587 A CN 112158587A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention provides an adjusting method of a workpiece grabbing device and the workpiece grabbing device, wherein the adjusting method of the workpiece grabbing device comprises an angle adjusting step, and the angle adjusting step comprises the following steps: detecting the distance between a first position m on a first side of the manipulator and a second position n on a first side wall of the rack to obtain a first distance Y1(ii) a Detecting the distance between the third position o on the first side and the fourth position p on the first side wall to obtain a second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Calculating a first deflection reference angle theta of the manipulator relative to the goods shelf1(ii) a Determining a compensation angle theta; and controlling the manipulator to rotate relative to the goods shelf by the same angle as the compensation angle theta. The adjusting method of the workpiece grabbing device solves the problem that in the prior art, the precision of controlling the manipulator of the workpiece grabbing device is poorAnd (5) problems are solved.
Description
Technical Field
The invention relates to the field of manipulator control, in particular to an adjusting method of a workpiece grabbing device and the workpiece grabbing device.
Background
Robots are used in a wide variety of mechanized production operations, and are commonly used to perform transfer or machining operations on workpieces. In use, the workpiece is typically placed on a pallet and the robot needs to move precisely to the pallet to grasp the workpiece.
At present, the control precision of a manipulator is low in a mode of controlling the manipulator to move by a visual detection technology, and the requirement on the machining precision is difficult to meet; the mode of controlling the manipulator to work through the pre-stored instruction can lead to the fact that the working mode of the manipulator is too rigid, and when the environment changes (for example, a goods shelf is shifted), the operation of the manipulator is easy to be wrong.
Therefore, the existing method for controlling the manipulator of the workpiece grabbing device has the defect of poor control precision.
Disclosure of Invention
The invention mainly aims to provide an adjusting method of a workpiece grabbing device and the workpiece grabbing device, and aims to solve the problem that in the prior art, the precision of controlling a manipulator of the workpiece grabbing device is poor.
In order to achieve the above object, according to one aspect of the present invention, there is provided an adjusting method of a workpiece gripping device including a robot arm and a robot arm rotatably connected to the robot arm, the adjusting method of the workpiece gripping device including an angle adjusting step of adjusting an angle of the robot arm with respect to a rack, the angle adjusting step including: detecting the distance between a first position m on a first side of the manipulator and a second position n on a first side wall of the rack to obtain a first distance Y1(ii) a Detecting the distance between the third position o on the first side and the fourth position p on the first side wall to obtain a second distance Y2(ii) a Wherein the third position o and the first position m are arranged at intervals along the first direction, and the third position o and the first position m are arranged at intervals along the first directionThe distance between the first positions m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Calculating a first deflection reference angle theta of the manipulator relative to the goods shelf1(ii) a Determining a compensation angle theta; and controlling the manipulator to rotate relative to the goods shelf by the same angle as the compensation angle theta.
Furthermore, a connecting line between the first position m and the second position n is perpendicular to the first side edge, and a connecting line between the third position o and the fourth position p is perpendicular to the first side edge; according to a first distance Y1A second distance Y2A third distance Z1Calculating a first deflection reference angle theta of the manipulator1Comprises the following steps: according to the formula
Calculating a first deflection reference angle theta1。
Further, the step of determining the compensation angle θ includes: make the first deflection reference angle theta1Equal to the compensation angle theta, after the manipulator is rotated relative to the shelf by the same angle as the compensation angle theta, so that the first side is parallel to the first side wall.
Further, the angle adjusting step includes: detecting the distance between a fifth position q on the second side of the manipulator and a sixth position r on the second side wall of the shelf to obtain a fourth distance X1(ii) a Detecting the distance between the seventh position s on the second side and the eighth position t on the second side wall to obtain a fifth distance X2(ii) a The seventh position s and the eighth position t are arranged at intervals along the second direction, a preset included angle is formed between the second direction and the first direction, and the distance between the fifth position q and the seventh position s is a sixth distance Z2(ii) a According to a fourth distance X1A fifth distance X2A sixth distance Z2Calculating a second deflection reference angle theta of the manipulator2(ii) a Wherein the step of determining the compensation angle θ comprises: according to a first deflection reference angle theta1And a second deflection reference angle theta2A compensation angle theta is determined.
Further, a fifth position q and a sixth position rThe connecting line between the seventh position s and the eighth position t is perpendicular to the second side edge; according to a fourth distance X1A fifth distance X2A sixth distance Z2Calculating a second deflection reference angle theta of the manipulator2Comprises the following steps: according to the formula
Calculating a second deflection reference angle theta2。
Further, according to the first deflection reference angle theta1And a second deflection reference angle theta2The step of determining the compensation angle θ includes: according to the formula
And calculating a compensation angle theta.
Further, the workpiece grabbing device also comprises a telescopic cylinder; the manipulator is hinged with the mechanical arm through a first hinge point A, the telescopic cylinder comprises a cylinder body and a telescopic rod, one of the cylinder body and the telescopic rod is hinged with the manipulator through a second hinge point B, and the other of the cylinder body and the telescopic rod is hinged with the mechanical arm through a third hinge point C; a triangular structure is formed among the first hinge point A, the second hinge point B and the third hinge point C; wherein, before the step of controlling the manipulator to rotate relative to the rack by the same angle as the compensation angle θ, the adjusting method further comprises: detecting the size of a & lt BAC of a triangular structure to obtain an initial angle beta; the step of controlling the manipulator to rotate relative to the shelf by the same angle as the compensation angle theta includes: determining the expansion amount M of the telescopic rod according to the distance AB between the first hinge point A and the second hinge point B, the distance AC between the first hinge point A and the third hinge point C, the initial angle beta and the compensation angle theta; and controlling the telescopic rod to extend or retract according to the telescopic amount M.
Further, the step of determining the expansion amount M of the telescopic rod according to the distance AB between the first hinge point a and the second hinge point B, the distance AC between the first hinge point a and the third hinge point C, the initial angle β and the compensation angle θ comprises: according to the formula
And solving the expansion amount M of the expansion link.
Further, after the angle adjusting step, the adjusting method further includes a displacement adjusting step of controlling the robot to move, the displacement adjusting step including: detecting the distance between the first side edge of the manipulator and the first side wall of the goods shelf to obtain a seventh distance Y3(ii) a Detecting the distance between the second side edge of the manipulator and the second side wall of the goods shelf to obtain an eighth distance X3(ii) a According to a first preset distance Y0A second predetermined distance X0A seventh distance Y3An eighth distance X3Determining a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta; the manipulator is controlled to move in the first direction according to the first compensation distance DeltaX, and the manipulator is controlled to move in the second direction according to the second compensation distance DeltaY.
Further, the first direction is perpendicular to the second direction; wherein, according to the first preset distance Y0A second predetermined distance X0A seventh distance Y3An eighth distance X3The step of determining the first compensation distance delta X and the second compensation distance delta Y by the compensation angle theta comprises the following steps: according to the formula Δ X ═ X (X)3-X0)cosθ+(Y3-Y0) sin theta obtains a first compensation distance delta X; according to the formula Δ Y ═ X3-X0)sinθ+(Y3-Y0) cos θ finds the second compensation distance Δ Y.
According to another aspect of the present invention, there is provided a workpiece gripping device including a robot arm and a robot arm rotatably connected to the robot arm, the workpiece gripping device further including: a first distance measuring sensor arranged at the first side of the manipulator and used for measuring a first distance Y between a first position m on the first side and a second position n on the first side wall of the shelf1(ii) a Wherein, the connecting line between the first position m and the second position n is vertical to the first side edge; the second distance measuring sensor is arranged on the first side edge of the manipulator, the second distance measuring sensor and the first distance measuring sensor are arranged at intervals along the first direction, and the second distance measuring sensor is used for measuring a third position o on the first side edge and the first side wallA second distance Y between the fourth position p on2(ii) a Wherein, the connecting line between the third position o and the fourth position p is vertical to the first side edge; a controller connected with the first distance measuring sensor and the second distance measuring sensor and used for detecting the first distance Y according to the first distance measuring sensor1A second distance Y detected by the second distance measuring sensor2And a third distance Z between the first and second ranging sensors1Determining a first deflection reference angle theta1And controlling the manipulator to rotate relative to the goods shelf.
Further, the workpiece gripping device further includes: a third distance measuring sensor arranged on the second side of the manipulator and used for measuring a fourth distance X between a fifth position q on the second side and a sixth position r on the second side wall of the shelf1(ii) a The fourth ranging sensor is arranged on the second side edge of the manipulator, the fourth ranging sensor and the third ranging sensor are arranged at intervals along the second direction, and the fourth ranging sensor is used for measuring a fifth distance X between a seventh position s on the second side edge and an eighth position t on the second side wall2(ii) a Wherein, the third distance measuring sensor and the fourth distance measuring sensor are both connected with the controller, and the controller detects the fourth distance X according to the third distance measuring sensor1A fifth distance X detected by the fourth distance measuring sensor2And a sixth distance Z between the third and fourth ranging sensors2Determining a second deflection reference angle theta2The controller is based on the first deflection reference angle theta1And a second deflection reference angle theta2Controls the manipulator rotation compensation angle theta.
Further, the controller comprises a control module and a calculation module, wherein the calculation module is used for calculating the first preset distance Y after the manipulator rotates for compensating the angle theta0A second predetermined distance X0A seventh distance Y between the first side edge and the first side wall3An eighth distance X between the second side edge and the second side wall3Calculating a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta; the mechanical arm comprises a first driving structure, a second driving structure, a control module and a first driving structureThe mechanism is connected, so that the control module controls the first driving mechanism to drive the manipulator to move along the first direction according to the first compensation distance delta X; the control module is connected with the second driving structure, so that the control module controls the second driving structure to drive the manipulator to move along the second direction according to the second compensation distance delta Y.
The adjusting method of the workpiece grabbing device applying the technical scheme of the invention comprises an angle adjusting step, wherein the angle adjusting step comprises the following steps: detecting the distance between a first position m on a first side of the manipulator and a second position n on a first side wall of the rack to obtain a first distance Y1(ii) a Detecting the distance between the third position o on the first side and the fourth position p on the first side wall to obtain a second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Calculating a first deflection reference angle theta of the manipulator relative to the goods shelf1(ii) a Determining a compensation angle theta; and controlling the manipulator to rotate relative to the goods shelf by the same angle as the compensation angle theta. With the arrangement, the distance between the manipulator and the goods shelf is directly detected, so that the first distance Y can be detected1A second distance Y2And a known third distance Z1Obtaining a first deflection reference angle theta1The manipulator adjusting device has the advantages that the relative position relation between the manipulator and the goods shelf can be accurately mastered, the compensation angle theta can be determined according to requirements, and the manipulator can be adjusted according to the compensation angle theta, so that the angle of the manipulator can be adjusted in real time according to the relative position relation between the manipulator and the goods shelf, the accuracy of adjustment of the manipulator is effectively improved, the precision of the manipulator for operating workpieces in the goods shelf is improved, and the problem of poor control precision of the manipulator in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic view of the relationship between a robot and a rack to which an embodiment of the adjustment method of the work gripping apparatus of the present invention is applied;
fig. 2 is a schematic view showing a positional relationship between a robot and a rack before an angle adjustment step is performed in an embodiment of an adjustment method of a work gripping apparatus according to the present invention;
fig. 3 is a schematic view showing a positional relationship between the robot and the rack after performing an angle adjustment step according to an embodiment of the adjustment method of the work gripping apparatus of the present invention;
fig. 4 is a schematic view showing a connection relationship among a robot arm, and a telescopic cylinder of the work gripping apparatus to which the adjustment method of the work gripping apparatus of the present invention is applied;
fig. 5 shows a schematic view of a telescopic cylinder of a workpiece gripping device in two telescopic states, to which the adjustment method of the workpiece gripping device according to the invention is applied;
FIG. 6 shows a schematic structural view of an embodiment of a workpiece gripping device according to the present invention;
FIG. 7 shows a schematic view of an embodiment of a workpiece gripping device according to the present invention when operating on a workpiece on a pallet;
fig. 8 shows a schematic structural view of a robot hand of an embodiment of the workpiece gripping device according to the invention;
fig. 9 shows a schematic flow diagram of a first embodiment of an adjustment method of a workpiece gripping device according to the invention;
fig. 10 shows a schematic flow diagram of a second exemplary embodiment of an adjusting method of a workpiece gripping device according to the invention.
Wherein the figures include the following reference numerals:
100. a manipulator; 101. a first side edge; 102. a second side edge; 200. a shelf; 201. a first side wall; 202. a second side wall; 300. a mechanical arm; 301. a first drive structure; 302. a second drive structure; 303. a third drive structure; 400. a telescopic cylinder; 401. a cylinder body; 402. a telescopic rod; 1. a first ranging sensor; 2. a second ranging sensor; 3. a third ranging sensor; 4. and a fourth ranging sensor.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In the embodiment of the invention, the workpiece to be grabbed or placed is a reinforcement cage. The invention provides an adjusting method of a workpiece grabbing device, aiming at improving the accuracy of grabbing or placing a reinforcement cage and ensuring the accuracy of grabbing the reinforcement cage.
Referring to fig. 1 to 5 and 9 to 10, the present invention provides an adjusting method of a workpiece gripping device, the workpiece gripping device includes a robot 300 and a robot 100 rotatably connected to the robot 300, and for convenience of representing various parameters, a coordinate system is established with a rotation center of the robot 100 as an origin, a first direction as an X-axis, and a second direction as a Y-axis. The adjusting method of the workpiece gripping device includes an angle adjusting step of adjusting an angle of the robot 100 with respect to the shelf 200, the angle adjusting step including: detecting a distance between a first position m on the first side 101 of the robot 100 and a second position n on the first side 201 of the rack 200 to obtain a first distance Y1(ii) a Detecting the distance between the third position o on the first side 101 and the fourth position p on the first side wall 201 to obtain the second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Determining a first deflection reference angle theta of the robot 100 relative to the rack 2001(ii) a Determining a compensation angle theta; the robot arm 100 is controlled to rotate by the same angle as the compensation angle theta with respect to the rack 200.
The adjusting method of the workpiece gripping device of the invention comprises an angle adjusting step, wherein the angle adjusting step comprises the following steps: detecting a first position m on a first side 101 of a robot 100 and a first side wall of a rack 200A distance between the second positions n on 201, obtaining a first distance Y1(ii) a Detecting the distance between the third position o on the first side 101 and the fourth position p on the first side wall 201 to obtain the second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Determining a first deflection reference angle theta of the robot 100 relative to the rack 2001(ii) a Determining a compensation angle theta; the robot arm 100 is controlled to rotate by the same angle as the compensation angle theta with respect to the rack 200. With the above arrangement, the distance between the robot 100 and the shelf 200 is directly detected, and when the determined first distance Y is detected1A second distance Y2And a known third distance Z1In this case, the relative angle between the manipulator 100 and the rack 200 is a fixed value, and the first deflection reference angle θ can be obtained from the mathematical knowledge1The relative position relationship between the manipulator 100 and the shelf 200 can be accurately grasped, the compensation angle theta is determined according to the requirement, and the manipulator 100 is adjusted according to the compensation angle theta, so that the angle of the manipulator can be adjusted in real time according to the relative position relationship between the manipulator 100 and the shelf 200, the adjustment accuracy of the manipulator 100 is effectively improved, the precision of the manipulator 100 for operating workpieces in the shelf 200 is improved, and the problem of poor control accuracy of the manipulator in the prior art is solved.
In the step of determining the compensation angle θ, the compensation angle θ and the first yaw reference angle θ may be freely determined according to actual requirements1The relationship between them. For example, the compensation angle θ and the first deflection reference angle θ may be set1And the two are equal, or a certain multiple relation exists between the two, or a certain difference value exists between the two. The specific determination rule of the compensation angle theta can be determined according to actual requirements.
For example, for the sake of understanding, in one embodiment, the robot 100 has a square structure, and the space inside the shelf 200 has a square space, in which case the first side 101 of the robot 100 is one side wall thereof, and the first side 201 of the shelf 200 is one inner wall thereof, and both of them have a continuous plane structure. Of course, the embodiments of the method of adjusting the workpiece gripping device of the present invention are also applicable to situations where the robot 100 and/or the pallet 200 are not completely regular structures, and do not require complete regularity in shape. It will be appreciated that a partial continuous or planar segment of the robot 100 may be considered the first side edge 101, as long as it is present. For example, in another embodiment, the robot arm 100 is an i-shaped structure composed of two side beams and a cross beam, wherein one side beam is the second side 102, and the same end of the two side beams in the second direction is the first side 101.
In one embodiment of the present invention, a line between the first position m and the second position n is perpendicular to the first side 101, and a line between the third position o and the fourth position p is perpendicular to the first side 101; as shown in fig. 2, a perpendicular line of the line segment op is drawn through n points, an included angle between the perpendicular line and the first side wall 201 of the shelf 200 is a deflection angle of the manipulator 100 relative to the shelf 200, and the deflection angle is determined according to the first distance Y1A second distance Y2A third distance Z1The first deflection reference angle theta of the robot 100 is obtained1Comprises the following steps: according to the formula
Calculating a first deflection reference angle theta1。
It should be noted that a connection line between the first position m and the second position n may not be perpendicular to the first side 101, and a connection line between the third position o and the fourth position p may not be perpendicular to the first side 101; at this time, the first distance Y1Corresponding line segment, the firstTwo distances Y2Corresponding line segment, third distance Z1The corresponding line segments may not be in the same plane, but at this time, the relative angle between the manipulator 100 and the shelf 200 is also a fixed value, and the line segments corresponding to the three distances can be easily converted into a form in the same plane according to the cosine law, so as to meet the subsequent calculation requirement of the arctan function.
Of course, the second distance Y2May be greater than the first distance Y1A second distance Y2May also be less than the first distance Y1When the second distance Y is2Greater than the first distance Y1The first yaw reference angle theta1Is positive when the second distance Y is2Less than the first distance Y1The first yaw reference angle theta1In both cases, the rotation direction of the manipulator 100 needs to be controlled to be opposite.
In an embodiment of the present invention, the step of determining the compensation angle θ comprises: make the first deflection reference angle theta1Equal to the compensation angle theta, after the robot 100 is rotated with respect to the rack 200 by the same angle as the compensation angle theta, so that the first side 101 is parallel to the first side wall 201.
As shown in fig. 2, the angle adjusting step includes: detecting the distance between the fifth position q on the second side 102 of the robot 100 and the sixth position r on the second side 202 of the rack 200, a fourth distance X is obtained1(ii) a Detecting the distance between the seventh position s on the second side 102 and the eighth position t on the second side wall 202, obtaining a fifth distance X2(ii) a The seventh position s and the eighth position t are arranged at intervals along the second direction, a preset included angle is formed between the second direction and the first direction, and the distance between the fifth position q and the seventh position s is a sixth distance Z2(ii) a According to a fourth distance X1A fifth distance X2A sixth distance Z2Calculating a second deflection reference angle theta of the robot 1002(ii) a Wherein the step of determining the compensation angle θ comprises: according to a first deflection reference angle theta1And a second deflection reference angle theta2A compensation angle theta is determined. In this embodiment, the predetermined included angle isThe predetermined included angle is 90 deg., although other angles are possible.
With the above arrangement, the first deflection reference angle theta is utilized1And a second deflection reference angle theta2Determining a compensation angle theta effective to reduce the first deflection reference angle theta1Or second deflection reference angle theta2The influence of the error on the control of the robot 100 can improve the accuracy of the adjustment of the robot 100.
In this embodiment, a connection between the fifth position q and the sixth position r is perpendicular to the second side 102, and a connection between the seventh position s and the eighth position t is perpendicular to the second side 102; similarly, as shown in fig. 2, a perpendicular line of the line st is drawn through the point r, and an included angle between the perpendicular line and the second side wall 202 of the rack 200 also represents a deflection angle of the manipulator 100 relative to the rack 200; according to a fourth distance X1A fifth distance X2A sixth distance Z2Calculating a second deflection reference angle theta of the robot 1002Comprises the following steps: according to the formula
Calculating a second deflection reference angle theta2。
In order to increase the accuracy of the determined compensation angle theta, the reference angle theta is determined as a function of the first deflection1And a second deflection reference angle theta2The step of determining the compensation angle θ includes: according to the formula
And calculating a compensation angle theta.
In this embodiment, the workpiece gripping device further includes a telescopic cylinder 400; the manipulator 100 is hinged to the manipulator 300 through a first hinge point a, the telescopic cylinder 400 comprises a cylinder 401 and a telescopic rod 402, one of the cylinder 401 and the telescopic rod 402 is hinged to the manipulator 100 through a second hinge point B, and the other of the cylinder 401 and the telescopic rod 402 is hinged to the manipulator 300 through a third hinge point C; a triangular structure is formed among the first hinge point A, the second hinge point B and the third hinge point C; before the step of controlling the manipulator 100 to rotate relative to the shelf 200 by the same angle as the compensation angle θ, the adjusting method further includes: detecting the size of a & lt BAC of a triangular structure to obtain an initial angle beta; the step of controlling the robot 100 to rotate by the same angle as the compensation angle θ with respect to the rack 200 includes: determining the expansion amount M of the expansion link 402 according to the distance AB between the first hinge point A and the second hinge point B, the distance AC between the first hinge point A and the third hinge point C, the initial angle beta and the compensation angle theta; the telescopic rod 402 is controlled to extend or retract according to the telescopic amount M.
In this way, the extension and retraction of the telescopic rod 402 of the telescopic cylinder 400 can be precisely controlled, so that the rotation of the manipulator 100 can be precisely controlled, and the workpiece can be accurately grabbed or placed.
As shown in FIG. 5, BC represents the extension length of the telescoping rod 402 in the initial state, B1C represents the extended length of the telescoping pole 402 after it has extended the same length as the amount of telescoping M.
Of course, the expansion amount M may be a positive value or a negative value, when the expansion amount M is a positive value, it indicates that the expansion rod 402 needs to be controlled to extend out of the cylinder 401 for a certain distance, when the expansion amount M is a negative value, it indicates that the expansion rod 402 needs to be controlled to retract into the cylinder 401 for a certain distance, and the expansion or contraction size of the expansion rod 402 is an absolute value of the expansion amount M.
Specifically, the step of determining the expansion amount M of the expansion link 402 according to the distance AB between the first hinge point a and the second hinge point B, the distance AC between the first hinge point a and the third hinge point C, the initial angle β, and the compensation angle θ includes: according to the formula
The expansion amount M of the expansion link 402 is obtained.
In addition, after the angle adjusting step, the adjusting method further includes a displacement adjusting step of controlling the movement of the manipulator 100, the displacement adjusting step including: detecting the distance between the first side 101 of the robot 100 and the first side 201 of the shelf 200 to obtain a seventh distance Y3(ii) a The distance between the second side 102 of the robot 100 and the second side 202 of the rack 200 is detected to obtain an eighth distance X3(ii) a According to a first preset distance Y0A second predetermined distance X0A seventh distance Y3An eighth distance X3Determining a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta; the movement of the robot 100 in the first direction is controlled according to the first compensation distance Δ X, and the movement of the robot 100 in the second direction is controlled according to the second compensation distance Δ Y. In this way, the position of the robot 100 in the horizontal direction can be adjusted, so that the angle and position of the robot 100 can be accurately controlled, and the accuracy of the position of the robot 100 can be ensured.
A first predetermined distance Y0And a second predetermined distance X0All the parameters are preset parameters and can be set according to actual requirements or actual experience of operators. Specifically, the first preset distance Y0Represents the distance between the first side 101 of the robot 100 and the first side wall 201 of the rack 200 in an ideal state; second predetermined distance X0Which represents the distance between the second side 102 of the robot 100 and the second side wall 202 of the rack 200 in an ideal situation.
Here, the first direction and the second direction are both the directions in the initial state, that is, the first direction and the second direction are maintained unchanged throughout the manipulator adjusting process, and the first direction and the second direction are the same as the first direction and the second direction before the angle adjusting step is performed.
In this embodiment, the first direction is perpendicular to the second direction; wherein, according to the first preset distance Y0A second predetermined distance X0A seventh distance Y3An eighth distance X3The step of determining the first compensation distance delta X and the second compensation distance delta Y by the compensation angle theta comprises the following steps: according to the formula Δ X ═ X (X)3-X0)cosθ+(Y3-Y0) sin theta obtains a first compensation distance delta X; according to the formula Δ Y ═ X3-X0)sinθ+(Y3-Y0) cos θ finds the second compensation distance Δ Y.
Wherein (X)3-X0) cos θ is a value representing the eighth distance X3At a second predetermined distance X0An amount of offset in the first direction caused by the deviation therebetween; (Y)3-Y0) sin θ is forDistance Y3At a first predetermined distance Y0An amount of offset in the first direction caused by the deviation therebetween; (X)3-X0) sin θ is a value representing the eighth distance X3At a second predetermined distance X0An amount of deviation in the second direction caused by the deviation therebetween; (Y)3-Y0) cos θ is the seventh distance Y3At a first predetermined distance Y0The deviation therebetween causes an offset amount in the second direction.
By the above arrangement, the first preset distance Y is used0A second predetermined distance X0A seventh distance Y3An eighth distance X3And determining the deviation of the manipulator 100 relative to the shelf 200, determining the offset of each deviation in the first direction and the second direction according to the compensation angle theta, and finally obtaining the final offset of the manipulator 100 in the first direction and the second direction, so that the manipulator 100 can be accurately controlled to move in the first direction and the second direction for offset compensation, and the accuracy of the relative position between the manipulator 100 and the shelf 200 is improved.
In addition, as shown in fig. 6 to 8, the present invention also provides a workpiece gripping apparatus, including a robot arm 300 and a robot arm 100 rotatably connected to the robot arm 300, the workpiece gripping apparatus further including: a first distance measuring sensor 1 disposed at the first side 101 of the manipulator 100, the first distance measuring sensor 1 being used for measuring a first distance Y between a first position m on the first side 101 and a second position n on the first side 201 of the shelf 2001(ii) a Wherein a connection line between the first position m and the second position n is perpendicular to the first side 101; a second distance measuring sensor 2 disposed at the first side 101 of the manipulator 100, the second distance measuring sensor 2 and the first distance measuring sensor 1 being disposed at an interval along the first direction, the second distance measuring sensor 2 being used for measuring a second distance Y between a third position o on the first side 101 and a fourth position p on the first side wall 2012(ii) a Wherein a connection line between the third position o and the fourth position p is perpendicular to the first side 101; a controller connected to the first and second distance measuring sensors 1 and 2 and detecting a first distance Y from the first distance measuring sensor 11A second distance Y detected by the second distance measuring sensor 22Andthird distance Z between first distance measuring sensor 1 and second distance measuring sensor 21Determining a first deflection reference angle theta1And controls the robot 100 to rotate with respect to the rack 200.
The first distance Y can be measured by the first distance measuring sensor 11The second distance Y is measured by a second distance measuring sensor2In combination with a third distance Z between the first and second known distance measuring sensors 1, 21The controller may determine the deflection angle (first deflection reference angle θ) of the robot 100 with respect to the shelf 2001) The manipulator 100 is controlled to rotate relative to the shelf 200 through the controller, so that the angle of the manipulator 100 relative to the shelf 200 can be adjusted, the precision of angle control of the manipulator 100 can be improved by adopting the structural design, and the problem that the control precision of a workpiece grabbing device in the prior art to the manipulator is poor is solved.
Specifically, the workpiece gripping device further includes a third ranging sensor 3 and a fourth ranging sensor 4 respectively disposed at the second side edge 102 of the robot 100. The third distance measuring sensor 3 is used to measure a fourth distance X between a fifth position q on the second side 102 and a sixth position r on the second side 202 of the shelf 2001(ii) a The fourth distance measuring sensor 4 and the third distance measuring sensor 3 are arranged at an interval along the second direction, the fourth distance measuring sensor 4 is used for measuring a fifth distance X between a seventh position s on the second side 102 and an eighth position t on the second side wall 2022(ii) a Wherein, the third distance measuring sensor 3 and the fourth distance measuring sensor 4 are both connected with the controller, and the controller detects the fourth distance X according to the third distance measuring sensor 31A fifth distance X detected by the fourth distance measuring sensor 42And a sixth distance Z between the third and fourth distance measuring sensors 3, 42Determining a second deflection reference angle theta2The controller is based on the first deflection reference angle theta1And a second deflection reference angle theta2Controls the robot 100 to rotate by the compensation angle theta.
The fourth distance X can be measured by the third distance measuring sensor 31A fifth distance X is measured by a fourth distance measuring sensor2Then are combinedA sixth distance Z between the third known distance measuring sensor 3 and the fourth distance measuring sensor 42The controller calculates a deflection angle (second deflection reference angle θ) of the robot 100 with respect to the shelf 2002) By reference to the first deflection reference angle theta1And a second deflection reference angle theta2The average value is taken, so that the deviation rectification precision of the manipulator 100 by the controller can be further improved, and the relative position precision between the manipulator 100 and the shelf 200 is improved.
Specifically, the controller includes a control module and a calculation module, wherein the calculation module is used for calculating the first preset distance Y after the manipulator 100 rotates for the compensation angle theta0A second predetermined distance X0A seventh distance Y between the first side 101 and the first side wall 2013An eighth distance X between the second side 102 and the second sidewall 2023Calculating a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta; the robot arm 300 comprises a first driving structure 301 and a second driving structure 302, and the control module is connected with the first driving structure 301, so that the control module controls the first driving structure 301 to drive the robot arm 100 to move along the first direction according to the first compensation distance Δ X; the control module is connected to the second driving mechanism 302, so that the control module controls the second driving mechanism 302 to drive the robot 100 to move in the second direction according to the second compensation distance Δ Y.
As with the above arrangement, after the angle adjustment of the manipulator 100, the seventh distance Y between the manipulator 100 and the shelf 200 may be further determined by the first distance measuring sensor 1 and/or the second distance measuring sensor 23The eighth distance X between the robot 100 and the shelf 200 may be determined by the third and fourth distance measuring sensors 3 and 43Then, in combination with the known compensation angle θ, the controller can calculate the offset of the robot 100 relative to the shelf 200 in the first direction and the second direction, and control the robot 100 to move in the first direction and the second direction to eliminate the offset error, so as to ensure the accuracy of the relative position between the robot 100 and the shelf 200 and the grabbing accuracy of the robot 100.
In addition, as shown in fig. 6, in the embodiment of the present invention, the robot arm 300 further includes a third driving structure 303, and the third driving structure 303 is connected to the control module, so that the control module controls the third driving structure 303 to drive the robot arm 100 to ascend and descend. In particular, the second driving structure 302 is arranged on the first driving structure 301, such that the second driving structure 302 is driven by the first driving structure 301 to move in a first direction; the third driving structure 303 is arranged on the second driving structure 302, so that the third driving structure 303 is driven to move along the second direction by the second driving structure 302; the manipulator 100 is installed on the third drive structure 303 to drive the manipulator 100 through the third drive structure 303 and go up and down, like this, realized the translation of manipulator 100 in three-dimensional space through first drive structure 301, second drive structure 302 and third drive structure 303, rethread control manipulator 100 rotates for the arm 300, can realize the angle modulation to manipulator 100, thereby make manipulator 100 can adapt to various positions of grabbing.
The first driving structure 301, the second driving structure 302, and the third driving structure 303 may be selected from various practical implementations, for example, a servo driving structure including a slide rail, a slider, a lead screw, a nut, and a motor is selected, and the lead screw is driven by the motor to rotate, so that the nut drives the manipulator 100 to move along the slide rail.
Preferably, the motors in the first driving structure 301, the second driving structure 302 and the third driving structure 303 may be connected to a controller, so that the controller may control the actions of the first driving structure 301, the second driving structure 302 and the third driving structure 303, so as to adjust the rotation angle and the displacement in the horizontal plane of the manipulator 100 of the workpiece gripping device in real time by using the aforementioned adjusting method, and control the displacement of the manipulator 100 in the vertical direction, thereby ensuring the position accuracy of gripping the workpiece.
Specifically, the manipulator 100 includes two sets of jaws arranged in pairs, the two sets of jaws being spaced apart along a first direction, the two sets of jaws being arranged relatively close to and far from each other; every group clamping jaw all includes two clamping jaws, and two clamping jaws of every group clamping jaw set up along the second direction interval, and two clamping jaws of every group clamping jaw can be close to relatively and set up with keeping away from.
In this embodiment, the first direction and the second direction are two directions perpendicular to each other in the same horizontal plane.
In this embodiment, the shelf 200 is used for storing reinforcement cages, and the manipulator 100 is used for grabbing reinforcement cages in the shelf 200.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the adjusting method of the workpiece gripping device of the invention comprises an angle adjusting step, wherein the angle adjusting step comprises the following steps: detecting a distance between a first position m on the first side 101 of the robot 100 and a second position n on the first side 201 of the rack 200 to obtain a first distance Y1(ii) a Detecting the distance between the third position o on the first side 101 and the fourth position p on the first side wall 201 to obtain the second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1(ii) a According to a first distance Y1A second distance Y2A third distance Z1Determining a first deflection reference angle theta of the robot 100 relative to the rack 2001(ii) a Determining a compensation angle theta; the robot arm 100 is controlled to rotate by the same angle as the compensation angle theta with respect to the rack 200. With the above arrangement, the distance between the robot 100 and the shelf 200 is directly detected, so that it is possible to detect the first distance Y based on the detected distance1A second distance Y2And a known third distance Z1Obtaining a first deflection reference angle theta1The relative position relationship between the manipulator 100 and the shelf 200 can be accurately grasped, the compensation angle theta is determined according to the requirement, and the manipulator 100 is adjusted according to the compensation angle theta, so that the angle of the manipulator can be adjusted in real time according to the relative position relationship between the manipulator 100 and the shelf 200, the adjustment accuracy of the manipulator 100 is effectively improved, the precision of the manipulator 100 for operating workpieces in the shelf 200 is improved, and the problem of poor control accuracy of the manipulator in the prior art is solved.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application 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 application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A method of adjusting a workpiece gripping device, the workpiece gripping device including a robot arm and a manipulator rotatably coupled to the robot arm, the method comprising an angle adjusting step of adjusting an angle of the manipulator relative to a rack, the angle adjusting step comprising:
detecting a distance between a first position m on a first side of the manipulator and a second position n on a first side wall of the rack to obtain a first distance Y1；
Detecting the distance between the third position o on the first side and the fourth position p on the first side wall to obtain a second distance Y2(ii) a The third position o and the first position m are arranged at intervals along the first direction, and the distance between the third position o and the first position m is a third distance Z1；
According to the first distance Y1The second distance Y2The third distance Z1Determining a first deflection reference angle theta of the manipulator relative to the rack1；
Determining a compensation angle theta;
and controlling the manipulator to rotate relative to the shelf by the same angle as the compensation angle theta.
2. Method for adjusting a workpiece gripping device according to claim 1, characterized in that a line between the first position m and the second position n is perpendicular to the first side, and a line between the third position o and the fourth position p is perpendicular to the first side; said basis isThe first distance Y1The second distance Y2The third distance Z1Calculating a first deflection reference angle theta of the manipulator1Comprises the following steps:
according to the formula
Calculating the first deflection reference angle theta1。
3. The method of adjusting a workpiece gripping device according to claim 1, wherein the step of determining the compensation angle θ comprises:
making the first deflection reference angle theta1Equal to the compensation angle theta, after the manipulator is rotated relative to the shelf by the same angle as the compensation angle theta, so that the first side edge is parallel to the first side wall.
4. The method of adjusting a workpiece gripping device according to claim 1 or 2, wherein the angle adjusting step comprises:
detecting the distance between a fifth position q on the second side of the manipulator and a sixth position r on the second side wall of the shelf to obtain a fourth distance X1；
Detecting a distance between a seventh position s on the second side and an eighth position t on the second side wall, obtaining a fifth distance X2(ii) a The seventh position s and the eighth position t are arranged at intervals along a second direction, a preset included angle is formed between the second direction and the first direction, and the distance between the fifth position q and the seventh position s is a sixth distance Z2；
According to the fourth distance X1The fifth distance X2The sixth distance Z2Calculating a second deflection reference angle theta of the manipulator2；
Wherein the step of determining the compensation angle θ comprises: according to the first deflection reference angle theta1And said second deflection referenceAngle theta2The compensation angle theta is determined.
5. Method for adjusting a workpiece holding device according to claim 4, characterized in that a line between the fifth position q and the sixth position r is perpendicular to the second side edge and a line between the seventh position s and the eighth position t is perpendicular to the second side edge; according to the fourth distance X1The fifth distance X2The sixth distance Z2Calculating a second deflection reference angle theta of the manipulator2Comprises the following steps:
according to the formula
Calculating the second deflection reference angle theta2。
6. Method for adjusting a workpiece-gripping device according to claim 4, characterised in that it is based on the first deflection reference angle θ1And the second deflection reference angle theta2The step of determining the compensation angle θ comprises:
according to the formula
And solving the compensation angle theta.
7. The method of adjusting a workpiece gripping device according to claim 1 or 6, wherein the workpiece gripping device further comprises a telescopic cylinder; the mechanical arm is hinged with the mechanical arm through a first hinge point A, the telescopic cylinder comprises a cylinder body and a telescopic rod, one of the cylinder body and the telescopic rod is hinged with the mechanical arm through a second hinge point B, and the other of the cylinder body and the telescopic rod is hinged with the mechanical arm through a third hinge point C; a triangular structure is formed among the first hinge point A, the second hinge point B and the third hinge point C; wherein, before the step of controlling the manipulator to rotate by the same angle as the compensation angle θ with respect to the shelf, the adjustment method further comprises:
detecting the size of a & BAC of the triangular structure to obtain an initial angle beta;
the step of controlling the robot to rotate relative to the shelf by the same angle as the compensation angle θ includes:
determining the expansion amount M of the telescopic rod according to the distance AB between the first hinge point A and the second hinge point B, the distance AC between the first hinge point A and the third hinge point C, the initial angle beta and the compensation angle theta;
and controlling the telescopic rod to extend or retract according to the telescopic amount M.
8. The method of adjusting a workpiece gripping device according to claim 7, wherein the step of determining the amount M of expansion and contraction of the telescopic rod based on the distance AB between the first hinge point A and the second hinge point B, the distance AC between the first hinge point A and the third hinge point C, the initial angle β and the compensation angle θ comprises:
according to the formula
And solving the expansion amount M of the expansion link.
9. The adjustment method of a workpiece holding device according to claim 4, characterized in that after the angle adjustment step, the adjustment method further comprises a displacement adjustment step of controlling the robot arm to move, the displacement adjustment step comprising:
detecting a distance between the first side of the manipulator and the first side wall of the shelf to obtain a seventh distance Y3(ii) a Detecting a distance between the second side of the manipulator and the second side wall of the rack to obtain an eighth distance X3；
According to a first preset distance Y0A second predetermined distance X0The seventh distance Y3The above-mentionedThe eighth distance X3Determining a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta;
and controlling the manipulator to move along the first direction according to the first compensation distance delta X, and controlling the manipulator to move along the second direction according to the second compensation distance delta Y.
10. The method of adjusting a workpiece gripping device of claim 9, wherein the first direction is perpendicular to the second direction; wherein, according to the first preset distance Y0A second predetermined distance X0The seventh distance Y3The eighth distance X3The step of determining the first compensation distance Δ X and the second compensation distance Δ Y by the compensation angle θ includes:
according to the formula Δ X ═ X (X)3-X0)cosθ+(Y3-Y0) sin theta obtains the first compensation distance delta X;
according to the formula Δ Y ═ X3-X0)sinθ+(Y3-Y0) cos θ finds the second compensation distance Δ Y.
11. The utility model provides a workpiece grabbing device, including the arm and with the manipulator that the arm rotated to be connected, its characterized in that, workpiece grabbing device still includes:
a first ranging sensor disposed at a first side of the manipulator, the first ranging sensor being configured to measure a first distance Y between a first position m on the first side and a second position n on a first side wall of the rack1(ii) a Wherein a line between the first position m and the second position n is perpendicular to the first side;
a second distance measuring sensor arranged at the manipulator and the first side edge, wherein the second distance measuring sensor and the first distance measuring sensor are arranged at intervals along the first direction, and the second distance measuring sensor is used for measuring a second distance Y between a third position o on the first side edge and a fourth position p on the first side wall2(ii) a Wherein the third position o is the same as the first positionA connecting line between the four positions p is vertical to the first side edge;
a controller connected with the first distance measuring sensor and the second distance measuring sensor, wherein the controller detects the first distance Y according to the first distance measuring sensor1The second distance Y detected by the second distance measuring sensor2And a third distance Z between the first and second ranging sensors1Determining a first deflection reference angle theta1And controlling the manipulator to rotate relative to the shelf.
12. The workpiece grasping device according to claim 11, characterized in that the workpiece grasping device further comprises:
a third ranging sensor disposed at a second side of the manipulator, the third ranging sensor being configured to measure a fourth distance X between a fifth position q on the second side and a sixth position r on a second sidewall of the rack1；
A fourth distance measuring sensor arranged on the second side of the manipulator, the fourth distance measuring sensor and the third distance measuring sensor are arranged at intervals along the second direction, the fourth distance measuring sensor is used for measuring a fifth distance X between a seventh position s on the second side and an eighth position t on the second side wall2；
The third distance measuring sensor and the fourth distance measuring sensor are both connected with the controller, and the controller detects the fourth distance X according to the third distance measuring sensor1The fifth distance X detected by the fourth distance measuring sensor2And a sixth distance Z between the third and fourth ranging sensors2Determining a second deflection reference angle theta2Said controller being dependent on said first deflection reference angle θ1And the second deflection reference angle theta2Controls the robot rotation compensation angle theta.
13. The workpiece gripping apparatus of claim 12,
the controller comprises a control module and a calculation module, wherein the calculation module is used for rotating the manipulator for compensating the angle theta according to a first preset distance Y0A second predetermined distance X0A seventh distance Y between the first side edge and the first side wall3An eighth distance X between the second side edge and the second side wall3Calculating a first compensation distance delta X and a second compensation distance delta Y by the compensation angle theta;
the mechanical arm comprises a first driving structure and a second driving structure, and the control module is connected with the first driving structure so as to control the first driving structure to drive the mechanical arm to move along the first direction according to the first compensation distance delta X; the control module is connected with the second driving structure, so that the control module controls the second driving structure to drive the manipulator to move along the second direction according to the second compensation distance delta Y.
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