A collaborative robot brake disengagement control method, a collaborative robot, and a storage medium

Abstract

The application relates to a collaborative robot brake disengagement control method, a collaborative robot and a storage medium, and the method comprises the following steps: starting the collaborative robot; keeping the collaborative robot in a stable state; keeping all single flaps on the collaborative robot close to corresponding tooth flaps; acquiring a first motion direction of a servo motor on the collaborative robot; controlling a motion joint of the collaborative robot to move a preset angle in a second motion direction opposite to the first motion direction, so that the single flaps are disengaged from the tooth flaps; and controlling the collaborative robot to generate suction force to adsorb the single flaps to disengage the brake. The collaborative robot brake disengagement control method, the collaborative robot and the storage medium provided by the application can disengage the brake of the collaborative robot without human intervention, are convenient to operate, and are high in controllability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of collaborative robots, in particular to a collaborative robot brake disengagement control method, a collaborative robot and a storage medium. BACKGROUND

[0002] The brake method of the collaborative robot is different from that of the ordinary industrial robot. The brake disc of the collaborative robot is composed of two parts, one part uses a 6-tooth disc, and the other part uses a single paddle. In the non-enabled state, the 6-tooth disc remains stationary, and the single paddle is clamped in the gap of the 6-tooth paddle to achieve the effect of stopping the robot. When enabled, the single paddle is attracted away by electromagnetic effect, so that it is separated from the 6-tooth disc, and the robot can move.

[0003] In actual situations, the single paddle is always pressed tightly on the teeth of the 6-tooth disc under the influence of gravity, and the magnetic force cannot reach the degree of attracting the paddle away under the constraint of actual situations. In this case, if you want to attract the paddle away, you only need to move the robot a small distance in the opposite direction of the single paddle pressing the tooth disc after enabling, and then give it a signal to generate an attractive force to attract the paddle away. However, this method is very cumbersome, first of all, the direction of the robot movement needs to be known after enabling, and the movement distance of the single paddle is not easy to grasp, and the user also needs to have certain knowledge reserve, so it needs to be improved. SUMMARY

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a collaborative robot brake disengagement control method, a collaborative robot and a storage medium.

[0005] In a first aspect, the present application provides a collaborative robot brake disengagement control method, the method comprising the steps of:

[0006] starting the collaborative robot;

[0007] keeping the collaborative robot in a stable state;

[0008] keeping all single paddles on the collaborative robot close to the corresponding tooth disc;

[0009] obtaining a first movement direction of a servo motor on the collaborative robot;

[0010] controlling the movement joint of the collaborative robot to move a preset angle in a second movement direction opposite to the first movement direction to make the single paddle disengage the tooth disc;

[0011] controlling the collaborative robot to generate an attractive force to attract the single paddle to disengage the brake.

[0012] Preferably, the starting the collaborative robot comprises the steps of:

[0013] obtaining a current operation mode of the collaborative robot;

[0014] converting the collaborative robot from the current operation mode to a position mode;

[0015] controlling the collaborative robot to be in an enabled state.

[0016] Preferably, the step of maintaining the collaborative robot in a stable state comprises the steps of:

[0017] obtaining first feedback positions and first feedback forces of each servo motor on the collaborative robot in the position mode;

[0018] sending each of the first feedback positions and the first feedback forces to a corresponding one of the servo motors;

[0019] providing a corresponding first counter force to each of the servo motors to counter the corresponding first feedback force and maintain the collaborative robot in a stable state.

[0020] Preferably, the step of maintaining the collaborative robot in a stable state comprises the steps of:

[0021] obtaining second feedback positions and second feedback forces of each servo motor on the collaborative robot in the force control mode;

[0022] sending each of the second feedback positions and the second feedback forces to a corresponding one of the servo motors;

[0023] providing a corresponding second counter force to each of the servo motors to counter the corresponding second feedback force and maintain the collaborative robot in a stable state.

[0024] Preferably, the step of maintaining all the single pawls on the collaborative robot to be in close contact with corresponding toothed pieces comprises the steps of:

[0025] obtaining a current operation mode of the collaborative robot;

[0026] converting the collaborative robot from the current operation mode to a force control mode;

[0027] obtaining servo force directions of each of the servo motors on the collaborative robot;

[0028] applying a control force to a corresponding one of the single pawls of each of the servo motors in the same direction as the servo force direction to maintain the single pawl in close contact with a corresponding toothed piece.

[0029] Preferably, the preset angle is 0.4°-0.6°.

[0030] Preferably, the step of controlling the collaborative robot to generate a suction force to attract the single pawl to disengage the brake comprises the steps of:

[0031] acquire the position of each single tab on the collaborative robot;

[0032] control the corresponding suction force generation module of each single tab on the collaborative robot to generate suction force to suck the single tab away from the corresponding tooth piece.

[0033] In a second aspect, the present application provides a collaborative robot, comprising:

[0034] a robot starting module configured to start the collaborative robot;

[0035] a robot stabilizing module configured to keep the collaborative robot in a stable state;

[0036] a close-keeping module configured to keep all single tabs on the collaborative robot close to the corresponding tooth pieces;

[0037] a motion direction acquisition module configured to acquire the first motion direction of the servo motor on the collaborative robot;

[0038] a disengagement control module configured to control the motion joint of the collaborative robot to move in a second motion direction opposite to the first motion direction by a preset angle to make the single tab disengage from the tooth piece;

[0039] a brake disengagement module configured to control the collaborative robot to generate suction force to suck the single tab to disengage the brake.

[0040] In a third aspect, an electronic device is provided, comprising:

[0041] at least one processor; and

[0042] a memory in communication with the at least one processor; wherein

[0043] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the collaborative robot brake disengagement control method described in any of the preceding aspects.

[0044] In a fourth aspect, a non-transitory computer-readable storage medium is provided, which stores computer instructions for causing the computer to perform the collaborative robot brake disengagement control method described in any of the preceding aspects.

[0045] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art:

[0046] The cooperative robot brake disengagement control method, the cooperative robot and the storage medium provided by the application can disengage the brake of the cooperative robot without human intervention, are convenient to operate and have high controllability. BRIEF DESCRIPTION OF DRAWINGS

[0047] The drawings incorporated in the specification and forming a part thereof illustrate embodiments consistent with the present application and together with the description are used to explain the principles of the application.

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0049] Figure 1 is a flowchart of a cooperative robot brake disengagement control method provided by an embodiment of the present application;

[0050] Figure 2 is a structural diagram of a cooperative robot provided by an embodiment of the present application;

[0051] Figure 3 is a structural diagram of an electronic device provided by the present application;

[0052] Figure 4 is a structural diagram of a non-transitory computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of protection of the present application.

[0054] Figure 1 is a flowchart of a cooperative robot brake disengagement control method provided by an embodiment of the present application.

[0055] The present application provides a cooperative robot brake disengagement control method, which comprises the following steps:

[0056] S1: starting a cooperative robot;

[0057] In the embodiments of the present application, the step of starting the cooperative robot comprises the following steps:

[0058] acquiring a current operation mode of the collaborative robot;

[0059] converting the collaborative robot from the current operation mode to a position mode;

[0060] controlling the collaborative robot to be in an enabled state.

[0061] Specifically, when the collaborative robot is turned on, the motion mode of the collaborative robot is adjusted to the position mode, and a button on the collaborative robot is operated to make the collaborative robot in the enabled state.

[0062] S2: keeping the collaborative robot in a stable state;

[0063] In the embodiment of the present application, the step of keeping the collaborative robot in a stable state comprises:

[0064] acquiring first feedback positions and first feedback forces of each servo motor on the collaborative robot in the position mode;

[0065] sending each of the first feedback positions and the first feedback forces to the corresponding servo motor;

[0066] providing a corresponding first counteracting force to each servo motor to counteract the corresponding first feedback force and keep the collaborative robot in a stable state.

[0067] Specifically, when the collaborative robot is in the position mode, the feedback positions and feedback forces of each servo motor are first acquired. In order to ensure that the collaborative robot in this mode is stable, a corresponding counteracting force needs to be provided to counteract the feedback force of each servo motor, so that the collaborative robot maintains a balance of forces and is in a stable state.

[0068] In the embodiment of the present application, the step of keeping the collaborative robot in a stable state comprises:

[0069] acquiring second feedback positions and second feedback forces of each servo motor on the collaborative robot in the force control mode;

[0070] sending each of the second feedback positions and the second feedback forces to the corresponding servo motor;

[0071] providing a corresponding second counteracting force to each servo motor to counteract the corresponding second feedback force and keep the collaborative robot in a stable state.

[0072] Specifically, when the collaborative robot is in the force control mode, firstly, the feedback position and the feedback force of each servo motor need to be acquired. In order to ensure the stability of the collaborative robot in the mode, a corresponding counter force needs to be provided to counteract the feedback force of each servo motor, so that the collaborative robot keeps the balance of force and is in a stable state.

[0073] S3: keep all the single flippers on the collaborative robot close to the corresponding tooth flippers;

[0074] In the embodiment of the present application, the step of keeping all the single flippers on the collaborative robot close to the corresponding tooth flippers comprises the steps of:

[0075] acquiring the current running mode of the collaborative robot;

[0076] converting the collaborative robot from the current running mode to the force control mode;

[0077] acquiring the servo force direction of each servo motor on the collaborative robot;

[0078] applying a control force to each single flipper corresponding to the servo motor in the same direction as the servo force direction to make the single flipper close to the corresponding tooth flipper.

[0079] Specifically, in order to ensure that each single flipper on the collaborative robot can be close to the corresponding tooth flipper, the collaborative robot is first converted to the force control mode, then the servo force direction of each servo motor is acquired, and a control force in the same direction as the servo force direction is applied to the single flipper, so that the single flipper can be controlled to close to the tooth flipper.

[0080] S4: acquiring the first motion direction of the servo motor on the collaborative robot;

[0081] Specifically, the first motion direction of the servo motor can be acquired by reading the control program of the collaborative robot.

[0082] S5: controlling the motion joint of the collaborative robot to move in a second motion direction opposite to the first motion direction by a preset angle to make the single flipper disengage the tooth flipper;

[0083] In the embodiment of the present application, the preset angle is 0.4°-0.6°.

[0084] Specifically, it is found through experiments that when the preset angle is 0.4°-0.6°, the single flipper can be disengaged from the tooth flipper. Further, when the preset angle is 0.5°, the single flipper can be disengaged from the tooth flipper better.

[0085] S6: controlling the collaborative robot to generate a suction force to adsorb the single flipper to disengage the brake.

[0086] In the embodiment of the present application, the step of controlling the collaborative robot to generate suction force to adsorb the single-pull piece to disengage the brake comprises the steps of:

[0087] Obtaining the position of each single-pull piece on the collaborative robot;

[0088] Controlling the corresponding suction force generation module of each single-pull piece on the collaborative robot to generate suction force to adsorb the single-pull piece away from the corresponding tooth piece.

[0089] Specifically, after the operation of step S5, the single-pull piece can be slightly away from the tooth piece, and then the suction force generation module on the collaborative robot is controlled to generate suction force to adsorb the single-pull piece, so that the single-pull piece is away from the corresponding tooth piece under the action of suction force, thereby achieving the effect of disengaging the brake.

[0090] As Figure 2 , the present application provides a collaborative robot, comprising:

[0091] A robot starting module 10 is configured to start the collaborative robot;

[0092] A robot stabilizing module 20 is configured to keep the collaborative robot in a stable state;

[0093] A close-keeping module 30 is configured to keep all single-pull pieces on the collaborative robot close to the corresponding tooth pieces;

[0094] A motion direction obtaining module 40 is configured to obtain the first motion direction of the servo motor on the collaborative robot;

[0095] A disengaging control module 50 is configured to control the motion joint of the collaborative robot to move a preset angle in a second motion direction opposite to the first motion direction to make the single-pull piece disengage the tooth piece;

[0096] A brake disengaging module 60 is configured to control the collaborative robot to generate suction force to adsorb the single-pull piece to disengage the brake.

[0097] The collaborative robot provided by the present application can perform the collaborative robot brake disengaging control method provided by the above steps.

[0098] It should be understood that the above specific embodiments of the present application are only used for illustrative or explanatory purposes of the principles of the present application, and do not constitute a limitation on the present application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. In addition, the appended claims of the present application are intended to cover all variations and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

[0099] The following will be described with reference toFigure 3 The diagram illustrates a structural schematic of an electronic device 100 suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0100] like Figure 3 As shown, the electronic device 100 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 102 or a program loaded from a storage device 108 into a random access memory (RAM) 103. The RAM 103 also stores various programs and data required for the operation of the electronic device 100. The processing unit 101, ROM 102, and RAM 103 are interconnected via a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0101] Typically, the following devices can be connected to I / O interface 105: input devices 106 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 107 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 108 including, for example, magnetic tapes, hard disks, etc.; and communication devices 109. Communication device 109 allows electronic device 100 to communicate wirelessly or wiredly with other devices to exchange data. Although electronic device 100 with various devices is shown in the figure, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0102] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 109, or installed from storage device 108, or installed from ROM 102. When the computer program is executed by processing device 101, it performs the functions defined in the methods of embodiments of this disclosure.

[0103] The following is for reference. Figure 4It shows a structural schematic diagram of a computer readable storage medium suitable for being used to implement the embodiments of the present disclosure, the computer readable storage medium stores a computer program, the computer program can implement the industrial robot multi-dimensional simultaneous teaching motion control method as any one of the above when executed by a processor.

[0104] The collaborative robot brake disengagement control method, the collaborative robot and the storage medium provided by the present application can disengage the brake of the collaborative robot without human intervention, are convenient to operate, and have high controllability.

[0105] It should be noted that, in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement“comprising a……” does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0106] The above description is merely one specific implementation of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features presented herein.

Claims

1. A method of cooperative robot brake slip control, characterized by, The method comprises the steps of: starting a collaborative robot; maintaining the collaborative robot in a stable state; maintaining all single-pull pieces on the collaborative robot close to corresponding tooth pieces; obtaining a first motion direction of a servo motor on the collaborative robot; controlling a motion joint of the collaborative robot to move a preset angle in a second motion direction opposite to the first motion direction, so that the single-pull piece is disengaged from the tooth piece; controlling the collaborative robot to generate suction force to adsorb the single-pull piece to disengage the brake; the brake disc of the collaborative robot is composed of two parts, one part uses a 6-tooth disc piece, and the other part uses a single-pull piece; the step of maintaining the collaborative robot in a stable state comprises the steps of: obtaining a first feedback position and a first feedback force of each servo motor on the collaborative robot in a position mode; sending each first feedback position and first feedback force to the corresponding servo motor; providing a corresponding first counter force to each servo motor to counter the corresponding first feedback force and maintain the collaborative robot in a stable state; the step of maintaining the collaborative robot in a stable state comprises the steps of: obtaining a second feedback position and a second feedback force of each servo motor on the collaborative robot in a force control mode; sending each second feedback position and second feedback force to the corresponding servo motor; providing a corresponding second counter force to each servo motor to counter the corresponding second feedback force and maintain the collaborative robot in a stable state; the preset angle is 0.4°-0.6°; the step of maintaining all single-pull pieces on the collaborative robot close to corresponding tooth pieces comprises the steps of: obtaining the current running mode of the collaborative robot; converting the collaborative robot from the current running mode to a force control mode; obtaining the servo force direction of each servo motor on the collaborative robot; applying a control force to each single-pull piece corresponding to the servo motor in the same direction as the servo force direction to make the single-pull piece close to the corresponding tooth piece; the step of controlling the collaborative robot to generate suction force to adsorb the single-pull piece to disengage the brake comprises the steps of: obtaining the position of each single-pull piece on the collaborative robot; controlling the corresponding suction force generation module of each single-pull piece on the collaborative robot to generate suction force to adsorb the single-pull piece away from the corresponding tooth piece; the step of starting the collaborative robot comprises the steps of: obtaining the current running mode of the collaborative robot; converting the collaborative robot from the current running mode to a position mode; controlling the collaborative robot to be in an enabled state.

2. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the collaborative robot brake disengagement control method of the preceding claim 1.

3. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the collaborative robot brake disengagement control method of the preceding claim 1.

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