Cable clamping method and device, and electronic equipment

Abstract

The present application provides a cable clamping method and device, and electronic equipment. The method is applied to a robot, wherein a robotic arm is installed on the robot, a force sensor is installed at the end of the robotic arm, and a clamp is installed at the end of the force sensor. The method includes: obtaining cable position information and moving to the cable position according to the cable position information; controlling the clamp to clamp the cable and move to the target point; in the process of moving to the target point, adjusting the rotation angle and rotation direction of the clamp according to the torque information of the clamp detected by the force sensor. The present application adjusts the posture of the sixth joint of the robotic arm through the torque information detected by the force sensor, and then adjusts the rotation angle and rotation direction of the clamp in real time. This method effectively solves the problem of the motor overload protection power failure of the robotic arm due to excessive torque, avoids the clamp and cable from getting stuck, and makes the robot operation process smoother.

Description

Technical Field

[0001] The present application relates to the technical field of live-working robots for distribution networks, and more specifically, to a cable clamping method and device, and electronic equipment. Background Art

[0002] Live working is a method of inspecting and repairing power grid equipment while maintaining power supply. Currently, the vast majority of maintenance and incident handling work in distribution networks can be completed while live. Therefore, implementing live working can significantly reduce the duration and frequency of power outages for users, improving power supply reliability.

[0003] When operating live-wire robots on cables, they must grip the wires to be connected using the end-of-arm gripper and lift them to the wiring location. They then move the robot to the target location for wiring, stripping, and other operations. However, as the robot grips and lifts the cable, the center of gravity of the cable constantly shifts. Since the cable is flexible and the end of the gripper is rigid, the cable and the end-of-arm gripper can become stuck during gripping and moving back and forth. This can cause a sudden increase in force and torque on the end-of-arm joint, leading to motor overload protection and a power outage, making it impossible to continue the operation.

[0004] To reduce the risk of the fixture and cable getting stuck, the typical approach is to improve the fixture structure by installing rollers at the end of the fixture where the cable contacts the cable, changing sliding friction to rolling friction. This reduces friction between the cable and the fixture, allowing the robotic arm to move smoothly along the cable. However, friction is affected by many factors, including the contact material and positive pressure, which can lead to the risk of the fixture and cable getting stuck again. Furthermore, modifying the fixture structure, from design to manufacturing, is prohibitively expensive and time-consuming. Therefore, there is an urgent need to address the issue of excessive torque at the end of the robotic arm causing the motor to lock and stop working. Summary of the Invention

[0005] The purpose of this application is to provide a cable clamping method, which can effectively solve the problem of motor overload protection power failure caused by excessive torque of the robotic arm, so that the clamp at the end of the robotic arm can adjust its posture in real time to avoid getting stuck with the cable when clamping the cable for cutting or other operations, making the robot operation process smoother.

[0006] A first aspect of an embodiment of the present application provides a cable clamping method, the method being applied to a robot, wherein the robot is provided with a robotic arm, a force sensor is provided at the end of the robotic arm, and a clamp is provided at the end of the force sensor. The method comprises:

[0007] Acquire cable location information and move to the location of the cable according to the cable location information;

[0008] Controlling the clamp to lift the cable and move it to a target point;

[0009] During the movement toward the target point, the rotation angle and rotation direction of the clamp are adjusted according to the torque information of the clamp detected by the force sensor.

[0010] In one embodiment, the robotic arm is equipped with an image acquisition device, and the acquiring of the cable position information and the moving to the location of the cable according to the cable position information include:

[0011] The cable position information is acquired through the image acquisition device, and the clamp is controlled to move to the position where the cable is located according to the cable position information.

[0012] In one embodiment, before controlling the clamp to lift the cable and move it toward the target point, the method further includes:

[0013] Adjust the angle between the clamp and the cable so that the clamp and the cable remain perpendicular.

[0014] In one embodiment, the torque information of the clamp detected by the force sensor includes:

[0015] According to a preset conversion relationship, the first torque information detected by the force sensor is converted into the torque information corresponding to the clamp.

[0016] In one embodiment, converting the first torque information detected by the force sensor into the torque information corresponding to the clamp according to a preset conversion relationship includes:

[0017] Acquiring coordinate information of the force sensor and the first torque information detected by the force sensor;

[0018] Obtaining positional relationship information between the fixture and the force sensor according to a conversion relationship between the coordinate information of the force sensor and the coordinate information of the center of mass of the fixture;

[0019] The torque information corresponding to the clamp is obtained according to the positional relationship information between the clamp and the force sensor, and the first torque information detected by the force sensor.

[0020] In one embodiment, adjusting the rotation angle and rotation direction of the clamp according to the torque information of the clamp detected by the force sensor includes:

[0021] Obtaining a torque change threshold corresponding to the clamp, wherein the torque change threshold is a change in the torque information detected within a preset time interval;

[0022] determining the rotation angle and the rotation direction of the clamp according to the torque change threshold;

[0023] The clamp is adjusted based on the rotation angle and the rotation direction.

[0024] In one embodiment, after obtaining the torque change threshold corresponding to the clamp, the method further includes:

[0025] determining a motion state of the robotic arm;

[0026] If the robotic arm moves, the step of determining the rotation angle and the rotation direction of the clamp according to the torque change threshold is performed.

[0027] In one embodiment, determining the rotation angle and the rotation direction of the clamp according to the torque change threshold comprises:

[0028] When the torque change threshold is within a preset range, determining a first rotation angle and a first rotation direction of the clamp, and controlling the clamp to adjust according to the first rotation angle and the first rotation direction;

[0029] When the torque change threshold is within a second preset range, a second rotation angle and a second rotation direction of the clamp are determined, and the clamp is controlled to be adjusted according to the second rotation angle and the second rotation direction.

[0030] A second aspect of an embodiment of the present application provides a cable clamping and lifting device, comprising:

[0031] An acquisition module, configured to acquire cable location information and move to the location of the cable according to the cable location information;

[0032] A control module, configured to control the clamp to lift the cable and move it toward a target point;

[0033] The adjustment module is used to adjust the rotation angle and direction of the clamp according to the torque information of the clamp detected by the force sensor during the process of moving toward the target point.

[0034] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising:

[0035] processor;

[0036] a memory for storing processor-executable instructions;

[0037] The processor is configured to execute the method described in any one of the embodiments of the first aspect of the present application.

[0038] Compared with the prior art, the present invention has the following advantages: it uses torque information detected by the force sensor to adjust the posture of the sixth joint of the robotic arm, thereby adjusting the rotation angle and direction of the fixture in real time. This method can effectively solve the problem of the robotic arm's motor overload protection power failure caused by excessive torque. It enables the fixture at the end of the robotic arm to adjust its posture in real time during the process of clamping and lifting the cable to avoid the fixture and cable from getting stuck, making the robot operation process smoother and solving the problem of motor locking and stopping due to excessive torque at the end of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application;

[0041] Figure 2 A schematic diagram of the structure of a robotic arm provided in one embodiment of the present application;

[0042] Figure 3 A schematic diagram of a process flow of a cable clamping method provided in one embodiment of the present application;

[0043] Figure 4 A schematic diagram of a robot end coordinate system provided in one embodiment of the present application;

[0044] Figure 5 A schematic diagram of a robotic arm coordinate system provided in one embodiment of the present application;

[0045] Figure 6 A schematic flow chart of a cable clamping method according to another embodiment of the present application;

[0046] Figure 7 This is a schematic structural diagram of a cable clamping device provided in one embodiment of the present application.

[0047] icon:

[0048] 10-Robotic arm; 20-End flange; 30-Force sensor; 40-Output flange; 50-Clamp. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0050] Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0051] Please refer to Figure 1 , which is a schematic diagram of the structure of an electronic device 100 provided in one embodiment of the present application. The electronic device 100 includes: one or more processors 120 and one or more memories 104 storing instructions executable by the processors 120. The processors 120 are configured to execute the cable clamping method provided in the following embodiments of the present application.

[0052] The processor 120 can be a gateway, a smart terminal, or a device including a central processing unit (CPU), a graphics processing unit (GPU), or other forms of processing units with data processing capabilities and / or instruction execution capabilities. It can process data from other components in the electronic device 100 and control other components in the electronic device 100 to perform desired functions.

[0053] The memory 104 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, or flash memory. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 120 may execute the program instructions to implement the cable clamping method described below. Various applications and data, such as data used and / or generated by the applications, may also be stored on the computer-readable storage media.

[0054] In one embodiment, Figure 1 The electronic device 100 may further include an input device 106, an output device 108, and a data acquisition device 110, which are interconnected via a bus system 112 and / or other forms of connection mechanisms (not shown). Figure 1 The components and structures of the electronic device 100 shown are merely exemplary and non-limiting. The electronic device 100 may also have other components and structures as needed.

[0055] The input device 106 can be a device used by a user to input instructions, and can include one or more of a keyboard, a mouse, a microphone, and a touch screen. The output device 108 can output various information (e.g., images or sounds) to the outside (e.g., a user), and can include one or more of a display, a speaker, etc. The data acquisition device 110 can capture images of an object and store the captured images in the memory 104 for use by other components. For example, the data acquisition device 110 can be a camera.

[0056] In one embodiment, the various components in the example electronic device 100 for implementing the cable clamping method of the embodiment of the present application can be integrated or dispersed, such as integrating the processor 120, memory 104, input device 106 and output device 108 into one body, while separating the data acquisition device 110.

[0057] In one embodiment, the electronic device 100 for implementing the cable clamping method of the present invention may be a robot capable of performing live operations. Figure 2 The entire live working robot end effector force detection system includes a robot arm 10 body, an end flange 20, a force sensor 30, an output flange 40, a clamp 50, and a teaching pendant for controlling the robot arm 10 ( Figure 2 Not shown) and the host computer ( Figure 2 The robot is equipped with a robotic arm 10, with a force sensor 30 mounted at the end of the arm. A clamp 50 for gripping cables or other objects is mounted at the end of the force sensor 30. To further prevent the clamp 50 from shaking during movement, which could cause errors in the torque information detected by the force sensor 30, a terminal flange 20 is installed at the end of the robotic arm 10 to secure the force sensor 30. The force sensor 30 is mounted at the terminal flange 20, and the other end of the force sensor 30 is connected to an output flange 40. The clamp 50 is mounted at the end of the output flange 40.

[0058] For example, the force sensor 30 can be a strain gauge six-axis force sensor commonly used in robots. The six-axis force sensor is generally divided into a fixed end (for connecting to the robot's mechanical arm 10) and a loading end (for connecting to tools such as a fixture 50). The six-axis force sensor can detect three forces and three moments simultaneously. The wires and connectors are fixed to the fixed end. To prevent the wires from swinging or pulling and affecting the measurement of the force sensor 30, one end of the fixed end needs to be fixed, and the external force is applied from the loading end. The contact force fed back by the robot to the host computer is provided by the six-axis force sensor installed at the end of the end flange 20.

[0059] Please refer to Figure 3, which is a flow chart of a cable clamping method provided in one embodiment of the present application. The method is performed by a robot and includes the following steps S310 to S330.

[0060] Step S310: Acquire cable location information and move to the location of the cable according to the cable location information.

[0061] The cable used in this application is a 20mm diameter cable with an outer layer of insulation, which provides a certain degree of toughness. Before gripping the cable, the clamp 50 on the robot arm 10 must first identify the cable's location. For example, this can be done using an infrared sensor or a monitoring device such as a camera.

[0062] In one embodiment, an image acquisition device is mounted on the robotic arm 10, which acquires cable location information through the image acquisition device. Based on this cable location information, the clamp 50 is controlled to move to the cable location. For example, the image acquisition device may be a depth camera. An electronic map of the robot's live working area may be pre-planned, with each cable location mapped to a node on the electronic map, thereby generating cable location information. For example, the cable location information may include the cable's spatial coordinate information. The depth camera's image detection function captures the cable location information, identifies the cable, and selects it, then controls the robotic arm 10 to move to the cable location.

[0063] After identifying the location of the cable, the robot adjusts the posture of the robotic arm 10 and adjusts the angle between the clamp 50 and the cable so that the clamp 50 and the cable remain perpendicular, that is, the angle between the clamp 50 and the cable is kept at 90°.

[0064] Step S320: Control the clamp 50 to clamp the cable and move it toward the target point.

[0065] In step S310, after adjusting the posture of the clamp 50, keep the clamp 50 perpendicular to the cable, control the clamp 50 to open, clamp the cable, and then control the robot arm 10 to lift the cable upward and move it toward the target point.

[0066] Step S330 : During the process of moving toward the target point, the rotation angle and rotation direction of the clamp 50 are adjusted according to the torque information of the clamp 50 detected by the force sensor 30 .

[0067] As the clamp 50 lifts the cable, one end of the cable is fixed while the other end is gripped and lifted upward. During this movement, the force sensor 30 continuously detects force and torque information. The principle by which the force sensor 30 detects torque information is that when relative forces are applied to the fixed and loaded ends of the force sensor 30, the force sensor 30 undergoes elastic deformation, causing a change in the resistance of the strain gauge within the force sensor 30. This change is then converted into a voltage signal and transmitted to the motor.

[0068] At the beginning, the clamp 50 is at a vertical angle to the cable. Although the cable is deformed, the force between the clamp 50 and the cable is still relatively small. The load at the end of the robotic arm 10 is within the tolerance threshold (for example, the load at the end of the robotic arm 10 is 25 kg). The clamp 50 of the robotic arm 10 can continue to clamp the cable and move it towards the target point.

[0069] When the clamp 50 grips the cable and moves further upward, the cable is fixed at one end while the other moves upward, and the position of the end of the clamp 50 remains unchanged, causing the angle at the contact surface between the cable and the clamp 50 to further deviate. When a force is applied to the cable that hinders the upward movement of the robot arm 10, the end of the clamp 50 will be subjected to an obstructing torque, causing the angle between the cable and the clamp 50 to deviate further, thereby causing the cable and the clamp 50 to become stuck. At this time, the force sensor 30 detects a sudden change in torque, and the resistance will suddenly change, causing a sudden change in voltage, causing the motor to overload protection. Therefore, if the rotation angle and rotation direction of the clamp 50 are not adjusted in time, the joints of the robot arm 10 will be overloaded, and the robot arm 10 will stop moving.

[0070] During this process, since the torque that is most affected and changes most significantly when clamping the cable is in the Z-axis direction, the force sensor 30 only receives the Z-axis torque information at the end of the clamp 50 as a basis for determining whether the clamp 50 and the cable are stuck. The rotation angle and direction of the clamp 50 are adjusted based on the Z-axis torque information detected by the force sensor 30.

[0071] In one embodiment, the torque information of the clamp 50 detected by the force sensor 30 includes: converting the first torque information detected by the force sensor 30 into torque information corresponding to the clamp 50 according to a preset conversion relationship.

[0072] During the movement of the clamp 50 to lift the cable, under different cable postures, due to the effect of gravity (considering only static or low-speed movement), the end of the clamp 50 will have an impact on the torque information detected by the force sensor 30, which cannot fully reflect the force situation at the end of the clamp 50, because this part of the torque information is also mixed with the influence of the gravity of the clamp 50. When the clamp 50 clamps the cable, the torque information collected by the force sensor 30 is not the force of the clamp 50 actually contacting the cable, but the force at the contact surface between the force sensor 30 and the end flange 20. Even if the end of the robot's mechanical arm 10 does not contact any object, it will still generate force due to the influence of the gravity of the clamp 50, thereby affecting the accuracy of the torque information detected by the force sensor 30. Therefore, in order to accurately obtain the torque information of the clamp 50, it is necessary to perform parameter identification and gravity compensation to transform the torque information detected by the force sensor 30 into torque information in the coordinate system where the clamp 50 is located.

[0073] In one embodiment, a teach pendant can be used for parameter identification and gravity compensation. First, the teach pendant is used to adjust the robotic arm 10 to a suitable position to ensure it does not collide with the surrounding environment and does not experience singularities. The clamp 50 clamps the cable, and the teach pendant is then used to perform parameter identification, identifying the coordinates of the center of mass of the robotic arm 10 and the load mass.

[0074] The specific operation is as follows: Make sure that the robot arm 10 is well connected to the control cabinet and that the communication between the controller and the machine position is normal. Open the control cabinet and the force sensor 30, enter the IP address of the robot arm 10 on the teach pendant to connect to the robot arm 10, and control the movement of the robot arm 10 through the teach pendant. Confirm whether the current posture of the robot arm 10 is consistent with the posture of the real robot arm 10, set the starting position and ending position of the robot arm 10, and control the robot arm 10 to move the 4th, 5th, and 6th joints ( Figure 2 ), the motion range of joints 4, 5, and 6 of the robot arm 10 is within ±90°, and the teach pendant records and generates load data within this range. While ensuring that the motion does not interfere, the larger the motion range of joints 4, 5, and 6 of the robot arm 10, the more accurate the identification result. During measurement, the load mass data can be measured several times and the average value of the load mass is calculated. For example, the load mass data is measured 10 times, and the average load mass of the robot arm 10 is obtained as m = 0.166.

[0075] As described above, according to the preset conversion relationship, the first torque information detected by the force sensor 30 is converted into the torque information corresponding to the clamp 50. The specific steps include: step S331 to step S333.

[0076] Step S331 : Acquire the coordinate information of the force sensor 30 and the first torque information detected by the force sensor 30 .

[0077] Please refer to Figure 4 、 Figure 5 , where E is the end flange coordinate system; S is the force sensor coordinate system; T is the fixture coordinate system; C is the center of mass coordinate system, whose coordinate system posture is the same as the robot wrist coordinate system N; and B is the robot base coordinate system. The end flange 20 is installed at the end of the robot arm 10, and the force sensor 30, output flange 40, and fixture 50 are installed at the end flange 20. The load mass and center of mass coordinate information of the robot arm 10 are obtained through the teaching pendant. The load mass m = m s +m t The teaching pendant obtains the coordinate information of the center of mass of the force sensor 30 and the fixture 50 in the N coordinate system. For example, the center of mass coordinate information of the force sensor 30 and the clamp 50 in the N coordinate system is C (0.611, -0.217, 8.232).

[0078] During the movement of the clamp 50 gripping the cable, the force sensor 30 continuously detects the torque information in the Z-axis direction, which is referred to as the first torque information. According to the robot modeling relationship, the conversion relationship between the end flange coordinate system E and the center of mass coordinate information is obtained as formula (1):

[0079]

[0080] in, It is the force sensor coordinate information and the center of mass coordinate information of the fixture in the end flange coordinate system E.

[0081]

[0082] Step S332 : obtaining positional relationship information between the clamp 50 and the force sensor 30 based on the conversion relationship between the coordinate information of the force sensor 30 and the coordinate information of the center of mass of the clamp 50 .

[0083] Given the mass m of the force sensor 30 s , and the conversion relationship between the end flange coordinate system E and the force sensor coordinate system S is formula (3):

[0084]

[0085] set up is the force sensor coordinate information in the end flange coordinate system E. For simplicity, It is further determined that the mass of the fixture 50 is mt=m-me, and the coordinate information of the center of mass of the fixture 50 in the end flange coordinate system E is As shown below, formula (4) and formula (5).

[0086]

[0087]

[0088] It can be seen that the coordinate information of the center of mass of the fixture 50 in the force sensor coordinate system S is expressed as formula (6):

[0089]

[0090] The mass mt of the fixture 50 and the coordinate information of the center of mass of the fixture 50 can be obtained.

[0091] Step S333 : obtaining torque information corresponding to the clamp 50 according to the positional relationship information between the clamp 50 and the force sensor 30 and the first torque information detected by the force sensor 30 .

[0092] A coordinate system is established at the center of mass tC of the fixture 50, which is consistent with the robot base coordinate system B, as shown in Figure 5 As shown. Then the force and moment generated by gravity at the center of mass tC of the fixture 50 are expressed as equations (7) and (8):

[0093]

[0094]

[0095] in With respect to the center of mass tC of the fixture 50 or the robot base coordinate system B, if the gravity is downward along the z-axis of the robot base coordinate system B, then

[0096]

[0097]

[0098] After calculation, the force acting on the fixture 50 coordinate system T is expressed as Equation (11) and Equation (12):

[0099]

[0100]

[0101] in, Then external force and The forces and moments generated at the end flange coordinate system E are respectively expressed as equations (13) and (14):

[0102]

[0103]

[0104] By using the method described in the above steps, the first torque information detected by the force sensor 30 is converted into the torque borne by the end of the clamp 50, ensuring that the torque information detected by the force sensor 30 is the torque information in the coordinate system where the clamp 50 is located.

[0105] In one embodiment, step S330 further includes steps S334 to S337.

[0106] Step S334: Obtain a torque change threshold corresponding to the clamp 50, wherein the torque change threshold is a change in torque information detected within a preset time interval.

[0107] In this step, ensure that the robotic arm 10 and the host computer are connected to the same network segment through a wired network. This will ensure smoother control of the robotic arm 10. ROS (Robot Operating System) communication requires the construction of a message publisher and subscriber. The publisher receives the torque information of the force sensor 30 in the Z-axis direction and passes the torque information to the callback function, which then transmits it to the subscriber.

[0108] Based on this, as the robotic arm 10 controls the gripper 50 to grip the cable and move toward the target point, the force sensor 30 detects changes in torque information at preset time intervals, i.e., the torque change threshold described in this step, and transmits the torque change threshold to the subscriber via the publisher. For example, the force sensor 30 detects changes in torque information at a frequency of 10 times / s, i.e., once every Δt = 0.1s.

[0109] Assuming the change in torque information within adjacent time intervals is 1 N.m, the Z-axis torque information T1 is detected once at time t1, and the torque information T2 is detected again at time t1+Δt. The torque change threshold ΔT = T2 - T1. For example, if the force sensor 30 detects torque information T1 once at t1 = 0.05s, and then detects torque information T2 again at the next time t2 = 0.05s, the difference between the two values ​​is the torque change threshold for each adjacent 0.05s.

[0110] Step S335: Determine the motion state of the robotic arm 10; if the robotic arm 10 is moving, execute step S336.

[0111] After the subscriber receives the Z-axis torque change threshold value published by the publisher, it first determines whether the robot arm 10 is moving. If the robot arm 10 is moving, the gripper 50 is not controlled to move. If the robot arm 10 is moving, step S336 is executed.

[0112] Step S336: Determine the rotation angle and rotation direction of the clamp 50 according to the torque change threshold.

[0113] In step S335, if movement of the robotic arm 10 is detected, the rotation angle and direction of the clamp 50 are determined based on the torque change threshold and the direction indicated by the torque change threshold. As previously described, if the torque change threshold ΔT is detected to be very small, it indicates that the clamp 50 and the cable are not stuck. If the torque change threshold ΔT is detected to be suddenly increased, it indicates that the clamp 50 and the cable are stuck. In this case, the rotation angle and direction of the clamp 50 need to be adaptively adjusted to avoid the risk of the clamp 50 and the cable being stuck.

[0114] Step S337: Adjust the clamp 50 based on the rotation angle and the rotation direction.

[0115] Specifically, when the torque change threshold is within a first preset range, a first rotation angle and a first rotation direction of the clamp 50 are determined, and the clamp 50 is controlled to be adjusted according to the first rotation angle and the first rotation direction.

[0116] Exemplarily, the first preset range is -1 to 0. If the movement of the robotic arm 10 is detected, when -1 < torque change threshold △T < 0, since the monitored torque change threshold is a vector, the symbol represents the direction. The negative sign indicates that the torque direction is clockwise, and the sixth joint of the robotic arm 10 rotates counterclockwise. At this time, the sixth joint of the robotic arm 10 is controlled to rotate counterclockwise by 0.25 rad, 0.25 rad is the first rotation angle, and counterclockwise is the first rotation direction. Since the end of the sixth joint of the robotic arm 10 is connected to the force sensor 30 through the end flange 20, and the end of the force sensor 30 is connected to the clamp 50 through the output flange 40, the first rotation angle and the first rotation direction of the sixth joint of the robotic arm 10 are the first rotation angle and the first rotation direction of the clamp 50.

[0117] When the torque change threshold is within the second preset range, the second rotation angle and the second rotation direction of the clamp 50 are determined, and the clamp 50 is controlled to be adjusted according to the second rotation angle and the second rotation direction.

[0118] Exemplarily, the second preset range is 0 to 1. If movement of the robotic arm 10 is detected, and 0 < torque change threshold ΔT < 1, since the detected torque change threshold is a vector, the sign represents the direction. A positive sign indicates that the torque direction is counterclockwise, and the sixth joint of the robotic arm rotates clockwise. At this time, the sixth joint of the robotic arm 10 is controlled to rotate clockwise by 0.25 rad, where 0.25 rad is the second rotation angle, and clockwise is the second rotation direction. As previously mentioned, the second rotation angle and second rotation direction of the sixth joint of the robotic arm 10 are the second rotation angle and second rotation direction of the clamp 50.

[0119] During the process of the clamp 50 clamping the cable and moving it toward the target point, the force sensor 30 continuously detects the torque change threshold. As long as it is detected that the torque change threshold exceeds the first preset range of -1 to 0, or exceeds the second preset range of 0 to 1, the rotation direction and rotation angle of the 6th joint of the robot arm 10 are adjusted according to the method described in steps S336-S337, and then the rotation direction and rotation angle of the clamp 50 are adjusted.

[0120] Therefore, according to the torque change threshold detected by the force sensor 30, the robot arm 10 is controlled to fine-tune the rotation of the clamp 50 along with the cable in real time, thereby solving the problem of the clamp 50 getting stuck and avoiding the motor breakpoint protection caused by the sudden change of the robot arm 10, which causes the robot to lose power.

[0121] Please refer to Figure 6 , which is a flow chart of a cable clamping method provided by another embodiment of the present application. The method is executed by a robot and specifically includes steps S610 to S690.

[0122] Step S610: Obtain the cable location information and move to the location of the cable according to the cable location information. This step can be specifically described with reference to the content of step S310, which will not be repeated here.

[0123] Step S620: Control the clamp 50 to lift the cable and move it toward the target point. This step can be specifically described with reference to step S320, and will not be repeated here.

[0124] Step S630: During the movement toward the target point, the rotation angle and rotation direction of the clamp 50 are adjusted according to the torque information of the clamp 50 detected by the force sensor 30. This step can be specifically described with reference to the content of step S330 and will not be repeated here.

[0125] Step S640: According to a preset conversion relationship, the first torque information detected by the force sensor 30 is converted into torque information corresponding to the clamp 50. This step can be specifically described in the description of steps S331 to S333, and will not be repeated here.

[0126] Step S650: Determine whether the robot arm 10 moves. If so, execute step S660; if not, return to step S630.

[0127] Step S660: Determine the rotation angle and direction of the clamp 50 based on the torque change threshold. Multiple experiments show that when the clamp 50 at the end of the robotic arm 10 grips the cable and moves normally without getting stuck, the torque change threshold detected by the force sensor 30 is ΔT = 0.48 Nm.

[0128] The end of the clamp 50 specifically includes step S670 and step S680.

[0129] Step S670: When the torque change threshold is within the second preset range, the second rotation angle and the second rotation direction of the clamp 50 are determined, and the clamp 50 is controlled to adjust according to the second rotation angle and the second rotation direction.

[0130] Step S680: When the torque change threshold is within the second preset range, the second rotation angle and the second rotation direction of the clamp 50 are determined, and the clamp 50 is controlled to adjust according to the second rotation angle and the second rotation direction.

[0131] The above step S660 can be specifically described with reference to the content of steps S336 and S337, which will not be repeated here.

[0132] Step S690: The robot arm 10 moves along the original planned path until it reaches the target point.

[0133] The robotic arm 10 controls the gripper 50 to lift the cable and move it along the planned path toward the target point. Upon reaching the target point, the cable is then cut. If the target point has not been reached, the process returns to steps S610 through S680. In this embodiment, the planned path can be a pre-calculated path for live-line operation.

[0134] In summary, the present application uses the torque information detected by the force sensor 30 to adjust the posture of the sixth joint of the robotic arm 10, thereby adjusting the rotation angle and direction of the clamp 50 in real time. This method can effectively prevent the robotic arm 10 from powering off due to excessive torque, causing the motor overload protection. This allows the clamp 50 at the end of the robotic arm 10 to adjust its posture in real time while gripping and lifting the cable, preventing it from becoming stuck between the clamp 50 and the cable. This makes the robot's operation smoother and solves the problem of motor locking and stopping due to excessive torque at the end of the robotic arm.

[0135] Please refer to Figure 7 , which is a schematic diagram of the structure of a cable clamping device provided in an embodiment of the present application. The cable clamping device includes: an acquisition module 400, a control module 500, and an adjustment module 600.

[0136] The acquisition module 400 is used to acquire the cable position information and move to the location of the cable according to the cable position information.

[0137] The control module 500 is used to control the clamp 50 to clamp the cable and move it toward the target point.

[0138] The adjustment module 600 is used to adjust the rotation angle and direction of the clamp 50 according to the torque information of the clamp 50 detected by the force sensor during the process of moving to the target point.

[0139] The implementation process of the functions and effects of each module in the above device is specifically described in the implementation process of the corresponding steps above, which will not be repeated here.

[0140] In several embodiments provided in this application, the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of code, and the module, program segment, or a portion of code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, may be implemented using a dedicated hardware-based system that performs the specified functions or actions, or may be implemented using a combination of dedicated hardware and computer instructions.

[0141] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

Claims

1. A cable clamping method, characterized in that: The method is applied to a robot, wherein a mechanical arm is installed on the robot, a force sensor is installed at the end of the mechanical arm, and a clamp is installed at the end of the force sensor. The method includes: Acquire cable location information and move to the location of the cable according to the cable location information; Controlling the clamp to lift the cable and move it to a target point; During the movement toward the target point, adjusting the rotation angle and rotation direction of the clamp according to the torque information of the clamp detected by the force sensor; The adjusting the rotation angle and rotation direction of the clamp according to the torque information of the clamp detected by the force sensor includes: Obtaining a torque change threshold corresponding to the clamp, wherein the torque change threshold is a change in the torque information detected within a preset time interval; determining the rotation angle and the rotation direction of the clamp according to the torque change threshold; adjusting the clamp based on the rotation angle and the rotation direction; After obtaining the torque change threshold corresponding to the clamp, the method further includes: determining a motion state of the robotic arm; If the robotic arm moves, performing the step of determining the rotation angle and the rotation direction of the clamp according to the torque change threshold; The determining the rotation angle and the rotation direction of the clamp according to the torque change threshold comprises: When the torque change threshold is within a preset range, determining a first rotation angle and a first rotation direction of the clamp, and controlling the clamp to adjust according to the first rotation angle and the first rotation direction; When the torque change threshold is within a second preset range, a second rotation angle and a second rotation direction of the clamp are determined, and the clamp is controlled to be adjusted according to the second rotation angle and the second rotation direction.

2. The method according to claim 1, characterized in that The robotic arm is provided with an image acquisition device, and the acquisition of cable position information and the movement to the location of the cable according to the cable position information include: The cable position information is acquired through the image acquisition device, and the clamp is controlled to move to the position where the cable is located according to the cable position information.

3. The method according to claim 1, characterized in that Before controlling the clamp to lift the cable and move it to the target point, the method further includes: Adjust the angle between the clamp and the cable so that the clamp and the cable remain perpendicular.

4. The method according to claim 1, wherein The torque information of the clamp detected by the force sensor includes: According to a preset conversion relationship, the first torque information detected by the force sensor is converted into the torque information corresponding to the clamp.

5. The method according to claim 4, characterized in that The converting the first torque information detected by the force sensor into the torque information corresponding to the clamp according to a preset conversion relationship includes: Acquiring coordinate information of the force sensor and the first torque information detected by the force sensor; Obtaining positional relationship information between the fixture and the force sensor according to a conversion relationship between the coordinate information of the force sensor and the coordinate information of the center of mass of the fixture; The torque information corresponding to the clamp is obtained according to the positional relationship information between the clamp and the force sensor, and the first torque information detected by the force sensor.

6. A cable clamping device, characterized in that: include: An acquisition module, configured to acquire cable location information and move to the location of the cable according to the cable location information; A control module, used for controlling the clamp to lift the cable and move it to a target point; an adjustment module, configured to adjust the rotation angle and direction of the clamp according to the torque information of the clamp detected by the force sensor during the process of moving toward the target point; The adjustment module is further configured to: Obtaining a torque change threshold corresponding to the clamp, wherein the torque change threshold is a change in the torque information detected within a preset time interval; determining the rotation angle and the rotation direction of the clamp according to the torque change threshold; adjusting the clamp based on the rotation angle and the rotation direction; The adjustment module is further configured to: Determine the motion state of the robotic arm; If the robotic arm moves, performing the step of determining the rotation angle and the rotation direction of the clamp according to the torque change threshold; The adjustment module is further configured to: When the torque change threshold is within a preset range, determining a first rotation angle and a first rotation direction of the clamp, and controlling the clamp to adjust according to the first rotation angle and the first rotation direction; When the torque change threshold is within a second preset range, a second rotation angle and a second rotation direction of the clamp are determined, and the clamp is controlled to be adjusted according to the second rotation angle and the second rotation direction.

7. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method according to any one of claims 1 to 5.

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