An inspection system, method, device, and medium for a retrieval robot

Abstract

The application discloses a kind of taking-out manipulator's point inspection system, method, equipment and medium.Taking-out manipulator's point inspection system includes: point inspection confirmation module and taking-out manipulator, point inspection confirmation module is used to carry out gas first adjusting action according to article grabbing instruction;After receiving article release instruction, according to the current position signal of taking-out manipulator, carry out gas second adjusting action;Taking-out manipulator is used to take out target article according to gas first adjusting action;After displacement is completed, current position signal is sent to point inspection confirmation module, and target article is released according to gas second adjusting action.The technical scheme of the embodiment of the application can carry out off-machine point inspection to taking-out manipulator without affecting normal production, to avoid the security risk caused by in-machine point inspection.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to an inspection system, method, device and medium for removing a robotic arm. Background Technology

[0002] With the improvement of automation, robotic arms can effectively complete some of the tasks in the production line.

[0003] As the production load of molding machines increases, the frequency of use of the take-out robot is also constantly increasing. By conducting spot checks on the take-out robot, abnormal take-out robots can be detected in a timely manner, and then repaired.

[0004] However, removing the robotic arm from the machine makes it impossible to perform external inspections. When the robotic arm is removed and inspected inside the machine, it will cause production disruptions. Furthermore, due to the limited space inside the machine, internal inspections can easily lead to safety hazards. Summary of the Invention

[0005] This invention provides an inspection system, method, equipment, and medium for a robotic arm that can perform external inspections of the robotic arm without affecting normal production, thus avoiding safety hazards caused by internal inspections.

[0006] According to one aspect of the present invention, an inspection system for retrieving a robotic arm is provided, comprising: an inspection confirmation module and a robotic arm for retrieving the robotic arm, wherein,

[0007] The inspection and confirmation module is used to perform the first gas adjustment action according to the item gripping command; after receiving the item release command, it performs the second gas adjustment action according to the current position signal of the extraction robot.

[0008] The robotic arm is used to remove the target item according to the first gas adjustment action; after completing the displacement, the current position signal is sent to the inspection and confirmation module, and the target item is released according to the second gas adjustment action.

[0009] According to another aspect of the present invention, a method for inspecting the removal of a robotic arm is provided, comprising:

[0010] The inspection and confirmation module performs the first gas adjustment action according to the item grabbing command; after receiving the item release command, it performs the second gas adjustment action according to the current position signal of the retrieval robot.

[0011] The robot arm is used to retrieve the target item according to the first gas adjustment action. After the displacement is completed, the current position signal is sent to the inspection and confirmation module, and the target item is released according to the second gas adjustment action.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the inspection method for retrieving the robotic arm according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the inspection method for retrieving a robotic arm as described in any embodiment of the present invention.

[0017] The technical solution of this invention comprises an inspection system for a take-up robot, consisting of an inspection confirmation module and a take-up robot. The inspection confirmation module performs a first gas adjustment action based on the item gripping command, enabling the take-up robot to remove the target item according to this action. Upon receiving an item release command, the inspection confirmation module performs a second gas adjustment action based on the current position signal of the take-up robot, causing the take-up robot to send its current position signal back to the inspection confirmation module after completing its displacement, and then release the target item according to the second gas adjustment action. This inspection system for the take-up robot enables external inspection of the robot, allowing the production line to operate normally, saving production costs, and solving the problems of difficulty in internal inspection, production disruption, and safety hazards. It allows for external inspection of the take-up robot without affecting normal production, avoiding the safety hazards caused by internal inspection.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an inspection system for retrieving a robotic arm provided in Embodiment 1 of the present invention;

[0021] Figure 2 This is a schematic diagram of an ATC module socket provided in Embodiment 1 of the present invention;

[0022] Figure 3 This is a schematic diagram of a robotic arm socket provided in Embodiment 1 of the present invention;

[0023] Figure 4 This is a circuit diagram of an inspection system for retrieving a robotic arm provided in Embodiment 2 of the present invention;

[0024] Figure 5 This is a schematic diagram of the operating principle of an inspection system for retrieving a robotic arm provided in Embodiment 2 of the present invention;

[0025] Figure 6 This is a schematic diagram showing the positional relationship of the air vents connecting the extraction robot and the inspection and confirmation module provided in Embodiment 2 of the present invention;

[0026] Figure 7 This is a flowchart of an inspection method for removing a robotic arm according to Embodiment 2 of the present invention;

[0027] Figure 8 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a schematic diagram of an inspection system for retrieving a robotic arm according to Embodiment 1 of the present invention, as shown below. Figure 1 As shown, the inspection system for the retrieval robot can include an inspection confirmation module 110 and a retrieval robot 120. The inspection confirmation module 110 is used to perform a first gas adjustment action according to the item gripping instruction; after receiving the item release instruction, it performs a second gas adjustment action according to the current position signal of the retrieval robot 120; the retrieval robot 120 is used to retrieve the target item according to the first gas adjustment action; after completing the displacement, it sends the current position signal to the inspection confirmation module 110 and releases the target item according to the second gas adjustment action.

[0032] The inspection and confirmation module 110 can be a device for inspecting the retrieval robot 120. The retrieval robot 120 can be a robot with item grasping and releasing functions. Item grasping commands can be used to verify the item grasping action of the retrieval robot 120. The first gas adjustment action can be a gas adjustment action performed by the inspection and confirmation module 110 according to the item grasping command, used to enable the retrieval robot 120 to grasp the item. Optionally, the first gas adjustment action can be an action of creating a vacuum using a cylinder (through an air pipe, etc., connected to the inspection and confirmation module 110 and the air vents of the retrieval robot 120). The target item can be the item that the retrieval robot 120 needs to grasp during the inspection of its grasping action. The current position signal can be used to characterize the current spatial position of the retrieval robot 120. The second gas adjustment action can be a gas adjustment action performed by the inspection and confirmation module 110 according to the current position signal of the retrieval robot 120, used to enable the retrieval robot 120 to release the item. Optionally, the second gas adjustment action can be the action of the cylinder (ventilating through the air holes of the inspection and confirmation module 110 and the take-up robot 120 via air pipes, etc.) to remove the vacuum.

[0033] In this embodiment of the invention, after the inspection and confirmation module 110 receives the item grasping command, it can perform a first gas adjustment action on the cylinder (which is ventilated through the air vents of the inspection and confirmation module 110 and the extraction robot 120 via air pipes, etc.). This allows the extraction robot 120 to adjust its gripper clamping and suction cup suction based on the first gas adjustment action, thereby retrieving the target item using the gripper and suction cup and moving it to the appropriate position. After the extraction robot 120 moves the target item to the appropriate position, it collects the current position signal and sends it to the inspection and confirmation module 110. The inspection and confirmation module 110 compares the position coordinates corresponding to the current position signal of the extraction robot 120 with the corresponding item release position coordinates in the item release command. If the two position coordinates meet a preset position error, it performs a second gas adjustment action on the cylinder. This allows the extraction robot 120 to adjust its gripper release and suction cup suction based on the second gas adjustment action, releasing the target item. If the two position coordinates do not meet the preset position error, the extraction robot 120 will continue to move the target item according to the difference between the two position coordinates and the first gas adjustment action until the two position coordinates meet the preset position error, so that the extraction robot 120 can release the target item according to the second gas adjustment action.

[0034] It should be noted that the inspection and confirmation module 110 is not installed inside the molding machine. One inspection and confirmation module 110 can perform inspections on different take-off robots 120. That is, the inspection and confirmation module 110 can be used as an independent device for handling, loading and unloading, and other operations. When the take-off robot 120 and the inspection and confirmation module 110 constitute the inspection system of the take-off robot, the take-off robot 120 can perform inspections outside the molding machine without affecting the production of the molding machine.

[0035] In an optional embodiment of the present invention, the inspection and confirmation module may include a power module, an ATC (Automatic Traction Control) module, an air pipe, an air pipe connection component, and a wire; the power module is connected to the ATC module via the wire, and the ATC module is connected to the cylinder via the air pipe connection component and the air pipe; the ATC module can be used to perform a first gas adjustment action and a second gas adjustment action via the air pipe, the air pipe connection component, and the cylinder; the power module can be used to provide electrical energy to the ATC module and the retrieval robot.

[0036] The power module provides the voltage required for both the ATC module and the retrieval robot. For example, the power module can provide 24V. This embodiment of the invention does not limit the specific value of the voltage provided by the power module. The type of socket used to connect the ATC module to the power module can be different from the type of socket used to connect the retrieval robot to the power module. For example, the socket for connecting the ATC module to the power module can be as follows: Figure 2 As shown, the socket for connecting the power module to the robotic arm can be removed as follows: Figure 3 As shown. Figure 2 and Figure 3 This is merely an example of a socket; the embodiments of the present invention do not limit the specific distribution of the sockets for the ATC module and the power module connected to the extraction robot.

[0037] In this embodiment of the invention, the power module in the inspection and confirmation module is connected to the ATC module and other devices requiring power, such as the retrieval robot, via wires, providing power to the ATC module and the retrieval robot. One end of the air pipe in the inspection and confirmation module is connected to the cylinder via an air pipe connector, and the other end is connected to the gripper and suction cup of the retrieval robot via the air ports of the ATC module and the retrieval robot. Thus, when the ATC module performs a first gas adjustment action on the cylinder according to the item gripping command, the adjusted gas is transmitted to the gripper and suction cup of the retrieval robot via the air pipe connector and the air pipe. Similarly, when the ATC module performs a second gas adjustment action on the cylinder according to the item release command, the adjusted gas is transmitted to the gripper and suction cup of the retrieval robot via the air pipe connector and the air pipe.

[0038] In an optional embodiment of the present invention, the robotic arm can be used to acquire an object contact signal based on the first gas adjustment action and send the object contact signal to the inspection and confirmation module.

[0039] Among them, the object contact signal can be the signal that the robotic arm comes into contact with the target object.

[0040] In this embodiment of the invention, after the inspection and confirmation module completes the first gas adjustment action, the take-out robot performs a gripper clamping action according to the first gas adjustment action. When the gripper contacts the target item, an item contact signal is generated and sent to the inspection and confirmation module. The inspection and confirmation module continues to perform the first gas adjustment action according to the item contact signal, so that the suction cup of the take-out robot increases the suction force, that is, it generates a suction force to move the target item.

[0041] In an optional embodiment of the present invention, the retrieval robot may include a photosensitive limiter; the photosensitive limiter is used to generate an item contact signal when the gripper of the retrieval robot contacts the target item.

[0042] In this embodiment of the invention, the optical sensor limiter in the extraction robot can detect the optical signal between the extraction robot's gripper and the target item. When the extraction robot's gripper comes into contact with the target item, the optical signal between the extraction robot's gripper and the target item disappears, triggering the generation of an item contact signal.

[0043] In an optional embodiment of the present invention, the extraction robot may include a suction cup air volume adjustment display and a suction cup suction force adjustment module; the suction cup air volume adjustment display is used to display the current suction force data of the suction cup of the extraction robot and send the current suction force data to the suction cup suction force adjustment module; the suction cup suction force adjustment module is used to generate a suction force adjustment command based on the current suction force data and preset suction force data, so as to adjust the suction force of the suction cup of the extraction robot through the suction force adjustment command.

[0044] The suction cup air volume adjustment display shows the suction power of the robotic arm's suction cup. The current suction power data indicates the current suction power of the robotic arm's suction cup. The suction cup suction power adjustment module adjusts the suction power of the robotic arm's suction cup. The suction power adjustment command adjusts the suction power of the robotic arm's suction cup. The preset suction power data sets the required suction power for the robotic arm to secure the target item using the suction cup.

[0045] In this embodiment of the invention, the suction cup air volume adjustment display can display the current suction force data of the suction cup of the extraction robot, so that maintenance personnel can intuitively obtain the suction force value of the suction cup. The suction cup air volume adjustment display also sends the current suction force data to the suction cup suction force adjustment module. The suction cup suction force adjustment module determines whether the suction force of the suction cup needs to be adjusted by comparing the current suction force data with the preset suction force data. If the current suction force data is not equal to the preset suction force data, a suction force adjustment command is generated based on the difference between the current suction force data and the preset suction force data, thereby adjusting the suction force of the extraction robot's suction cup according to the suction force adjustment command.

[0046] In an optional embodiment of the present invention, the inspection and confirmation module is connected to the retrieval robot via a gas lock.

[0047] Among them, gas locks can be locks made of gas and gas pipelines.

[0048] In this embodiment of the invention, the inspection and confirmation module can use an air pipe and an air pipe connecting component to inject gas from the cylinder into the gas pipeline that forms a gas lock between the inspection and confirmation module and the retrieval robot, thereby interlocking the inspection and confirmation module and the retrieval robot through the gas in the gas pipeline.

[0049] Assuming the in-machine inspection time is one hour, the production cycle of each product on the production line is 30 seconds, and the cost of each product on the production line is 200 yuan, the inspection system of the robot arm in this solution can be used for inspection outside the machine without affecting production. It can reduce the cost by 2,400 yuan per hour. If the inspection is carried out once a day, the cost can be saved by 62,400 yuan per month.

[0050] Normally, it takes two maintenance personnel and one hour to troubleshoot and repair a pneumatic gripper. However, with the inspection system for the robotic arm in this solution, only one maintenance personnel needs to troubleshoot in 0.5 hours. If an inspection is performed once a day, 13 hours of maintenance time can be saved per month (based on a 26-working-day month), and one maintenance personnel can also be saved.

[0051] The technical solution of this invention comprises an inspection system for a take-up robot, consisting of an inspection confirmation module and a take-up robot. The inspection confirmation module performs a first gas adjustment action based on the item gripping command, enabling the take-up robot to remove the target item according to this action. Upon receiving an item release command, the inspection confirmation module performs a second gas adjustment action based on the current position signal of the take-up robot, causing the take-up robot to send its current position signal back to the inspection confirmation module after completing its displacement, and then release the target item according to the second gas adjustment action. This inspection system for the take-up robot enables external inspection of the robot, allowing the production line to operate normally, saving production costs, and solving the problems of difficulty in internal inspection, production disruption, and safety hazards. It allows for external inspection of the take-up robot without affecting normal production, avoiding the safety hazards caused by internal inspection.

[0052] Example 2

[0053] This embodiment is based on Embodiment 1 and introduces the circuit connection and operating principle of the inspection system for retrieving the robotic arm.

[0054] Figure 4 This is a circuit diagram of an inspection system for retrieving a robotic arm according to Embodiment 2 of the present invention, as shown below. Figure 4 One end of the power module is connected to the positive terminal of the ATC module, which in turn is connected to the positive terminal of the extraction robot. The other end of the power module is connected to the negative terminal of the ATC module, which in turn is connected to the negative terminal of the extraction robot. The optical limiter and the suction cup air volume adjustment display are connected in parallel. One end of the optical limiter is connected to the positive terminal of the extraction robot, and the other end is connected to the negative terminal. The suction cup air volume adjustment display is also connected to the positive terminal of the extraction robot, and the other end is connected to the negative terminal.

[0055] Figure 5This is a schematic diagram illustrating the operational principle of an inspection system for retrieving a robotic arm, as provided in Embodiment 2 of the present invention. Figure 5 As shown, the inspection and confirmation module performs the first adjustment action: the cylinder compresses air. At this time, the mixed vacuum air in the cylinder is blown into the gripper and suction cup of the extraction robot through the air pipe in the air port of the inspection and confirmation module, causing the gripper to clamp and the suction cup to grasp the item, thus achieving the grasping action of the target item. The inspection and confirmation module performs the second adjustment action: the cylinder compresses air, at which time the vacuum in the cylinder is released. The air in the cylinder is filled into the gripper and suction cup of the extraction robot through the air pipe in the air port of the inspection and confirmation module, causing the gripper to release, thus achieving the release action of the target item.

[0056] The positional relationship of the air vent between the robotic arm and the inspection and confirmation module is as follows: Figure 6 As shown, air vent a of the inspection and confirmation module forms a gas lock between the inspection and confirmation module and the extraction robot by filling it with air. Air vent b1 of the inspection and confirmation module and air vent b2 of the extraction robot are used to inflate the gripper to clamp it. Air vent c1 of the inspection and confirmation module and air vent c2 of the extraction robot are used to inflate the suction cup. Air vent d1 of the inspection and confirmation module and air vent d2 of the extraction robot are used to inflate the gripper to release it. Optionally, air vents b1, b2, c1, and c2 can be inflated via an air tube.

[0057] The inspection system for the robotic arm provided in this embodiment of the invention also has the beneficial effects described in the above embodiments, and will not be repeated here.

[0058] Example 3

[0059] Figure 7 This is a flowchart of an inspection method for a robotic arm that is being retrieved, according to Embodiment 2 of the present invention. This embodiment is applicable to the external inspection of the retrieved robotic arm. The method can be executed by an inspection system for the retrieved robotic arm, which can be implemented in hardware and / or software and can be configured in an electronic device. For example... Figure 7 As shown, the method includes:

[0060] S310. Through the inspection and confirmation module, the first gas adjustment action is performed according to the item grabbing instruction; after receiving the item release instruction, the second gas adjustment action is performed according to the current position signal of the extraction robot.

[0061] S320: By taking out the robotic arm, the target item is taken out according to the first gas adjustment action; after the displacement is completed, the current position signal is sent to the inspection confirmation module, and the target item is released according to the second gas adjustment action.

[0062] In an optional embodiment of the present invention, the inspection method for the extraction robot may further include: displaying the current suction force data of the extraction robot's suction cup via a suction cup air volume adjustment display, and sending the current suction force data to a suction cup suction force adjustment module; and generating a suction force adjustment command based on the current suction force data and preset suction force data through the suction force adjustment module, so as to adjust the suction force of the extraction robot's suction cup via the suction force adjustment command.

[0063] Optionally, the inspection method for removing the robotic arm may further include obtaining an item contact signal based on a first gas adjustment action by removing the robotic arm, and sending the item contact signal to the inspection confirmation module.

[0064] Optionally, the step of obtaining an item contact signal by retrieving the robotic arm and adjusting the gas flow according to the first gas adjustment action includes: generating an item contact signal by using a photosensitive limiter when the gripper of the robotic arm contacts the target item.

[0065] Optionally, the inspection and confirmation module is connected to the extraction robot via a gas lock.

[0066] The technical solution of this invention, through an inspection and confirmation module, performs a first gas adjustment action based on the item grasping instruction. Upon receiving an item release instruction, it performs a second gas adjustment action based on the current position signal of the extraction robot. The extraction robot then extracts the target item according to the first gas adjustment action. After completing the displacement, the current position signal is sent to the inspection and confirmation module, and the target item is released according to the second gas adjustment action. This extraction robot inspection system enables external inspection of the extraction robot, allowing the production line to operate normally, saving production costs, and solving the problems of difficult inspections, production disruptions, and safety hazards associated with internal inspections. It allows for external inspection of the extraction robot without affecting normal production, avoiding the safety hazards caused by internal inspections.

[0067] Example 4

[0068] Figure 8A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0069] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0070] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0071] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the inspection method for retrieving a robotic arm.

[0072] In some embodiments, the inspection method for retrieving the robotic arm can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the inspection method for retrieving the robotic arm described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the inspection method for retrieving the robotic arm by any other suitable means (e.g., by means of firmware).

[0073] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0074] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0076] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0077] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0078] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0079] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0080] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An inspection system for retrieving a robotic arm, characterized in that, include: The inspection and confirmation module and the robotic arm for removal, among which, The inspection and confirmation module is used to perform the first gas adjustment action according to the item grabbing instruction; Upon receiving the item release command, the second gas adjustment action is performed based on the current position signal of the extraction robot. The extraction robot is used to extract the target item according to the first gas adjustment action; after completing the displacement, it sends the current position signal to the inspection and confirmation module, and releases the target item according to the second gas adjustment action; the extraction robot includes a photosensitive limiter; the photosensitive limiter is used to generate an item contact signal when the gripper of the extraction robot contacts the target item; The inspection and confirmation module is connected to the extraction robot arm via a gas lock. The inspection and confirmation module and the extraction robot each include at least one first air hole, which is used to inflate the gripper to clamp it; the inspection and confirmation module and the extraction robot each include at least one second air hole, which is used to inflate the suction cup; the inspection and confirmation module and the extraction robot each include at least one third air hole, which is used to inflate the gripper to release it; the inspection and confirmation module includes a fourth air hole, which forms a gas lock between the inspection and confirmation module and the extraction robot by filling it with air. The inspection and confirmation module is used as an independent device for handling and loading / unloading, and one of the inspection and confirmation modules performs inspection on at least one of the take-out robotic arms.

2. The system according to claim 1, characterized in that, The inspection and confirmation module includes a power module, a traction control system (ATC) module, an air tube, air tube connection components, and wires. The power module is connected to the ATC module via a wire, and the ATC module is connected to the cylinder via an air pipe connection component and an air pipe. The ATC module is used to perform the first gas regulation action and the second gas regulation action through the air pipe, the air pipe connecting component and the cylinder; The power module is used to provide electrical energy to the ATC module and the extraction robot.

3. The system according to claim 1, characterized in that, The robotic arm is used to acquire an object contact signal based on the first gas adjustment action and send the object contact signal to the inspection and confirmation module.

4. The system according to claim 1, characterized in that, The extraction robotic arm includes a suction cup air volume adjustment display and a suction cup suction force adjustment module; The suction cup air volume adjustment display is used to display the current suction force data of the suction cup of the extraction robot, and send the current suction force data to the suction cup suction force adjustment module; The suction cup suction force adjustment module is used to generate a suction force adjustment command based on the current suction force data and the preset suction force data, so as to adjust the suction force of the suction cup of the extraction robot arm through the suction force adjustment command.

5. A method for inspecting a retrieval robot, applied to the inspection system for the retrieval robot according to any one of claims 1-4, characterized in that, include: The inspection and confirmation module performs a first gas adjustment action based on the item grabbing command; after receiving the item release command, it performs a second gas adjustment action based on the current position signal of the extraction robot; the inspection and confirmation module is connected to the extraction robot via a gas lock. The target item is removed by the extraction robot arm according to the first gas adjustment action; after the displacement is completed, the current position signal is sent to the inspection and confirmation module, and the target item is released according to the second gas adjustment action; the step of obtaining the item contact signal by the extraction robot arm according to the first gas adjustment action includes: generating an item contact signal when the gripper of the extraction robot arm contacts the target item through a photosensitive limiter.

6. The method according to claim 5, characterized in that, Also includes: The suction cup air volume adjustment display of the extraction robot shows the current suction force data of the extraction robot's suction cup, and sends the current suction force data to the suction cup suction force adjustment module; The suction force adjustment module of the extraction robot generates a suction force adjustment command based on the current suction force data and preset suction force data, so as to adjust the suction force of the extraction robot's suction cup through the suction force adjustment command.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the inspection method of the retrieval robot as described in any one of claims 5-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the inspection method for the retrieval robot arm as described in any one of claims 5-6.

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