Robot, automatic zero returning method thereof and computer readable storage medium

Abstract

The invention relates to a robot, an automatic zero returning method thereof and a computer readable storage medium. When a corresponding machine body rotates in the first direction, a first sensor detects an obstacle and sends a first signal to a processing module after the obstacle is detected, the processing module determines the initial position where the corresponding machine body is locatedon the basis of the first signal and sends the confirmation result to a controller, and the controller enables the corresponding machine body to stop rotation. When the corresponding machine body rotates in the second direction opposite to the first direction, a second sensor detects an obstacle and sends a second signal to the processing module after the obstacle is detected, the processing module determines the limit position where the corresponding machine body is located on the basis of the second signal and sends the confirmation result to the controller. The controller enables the corresponding machine body to rotate in the first direction till the first sensor detects the obstacle. The phenomenon that the zero returning operation is not correct can be avoided, and potential safety hazards of operators can also be avoided.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot, its automatic zero return method, and a computer-readable storage medium. Background technique [0002] With the continuous expansion of the application field of industrial robots, the working environment of industrial robots is becoming more and more complex, and the tasks they face are becoming more and more difficult. In the actual use of industrial robots, it is necessary to perform a zero return operation after the industrial robot is powered on, that is, to return each axis of the industrial robot to the initial position (also called a reference point or a mechanical zero point). [0003] In traditional technology, the zero return operation of industrial robots is generally realized manually, which will not only cause inaccurate zero return operation, but also cause safety hazards to operators. Contents of the invention [0004] Based on this, it is ne...

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Problems solved by technology

[0004] Based on this, it is necessary to provide a robot, an automatic zero-return method, and a computer-readable storage medium for the problem that the manual zero-return operation is inaccurate and will also cause potential safety hazards for operators.

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