End of arm abort distance measurement system and method

Abstract

The application relates to a kind of end emergency stop distance measuring system and method of mechanical arm.The system includes indicating table and inductive switch;Wherein, the inductive switch is connected in series in the emergency stop circuit of the mechanical arm, and located in the side of the first movement path of the end, the inductive switch is used to make the emergency stop circuit open circuit when sensing the end;Wherein, the first movement path is the movement path of the end before the emergency stop circuit open circuit;The indicating table includes dial and measuring rod, the axis of the measuring rod is collinear with the second movement path of the end, and the measuring head of the measuring rod corresponds with the trigger position of the inductive switch;Wherein, the second movement path is the movement path of the end after the emergency stop circuit open circuit, and the trigger position is the position for sensing the end in the inductive switch.Using the system can reduce the cost of dynamic emergency stop distance measurement of the end of the mechanical arm.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a system and method for measuring the end-effector emergency stop distance of a robotic arm. Background Technology

[0002] The emergency stop distance is the distance the robot travels after the emergency stop button is pressed. Emergency stop distance includes static emergency stop distance and dynamic emergency stop distance. Dynamic emergency stop distance refers to the emergency stop distance of the robot while it is in motion. Because it needs to be measured while the robot is in motion, the measurement method for dynamic emergency stop distance is relatively complex.

[0003] In traditional technology, a laser tracker is typically used to measure the dynamic emergency stop distance. This method involves installing a target ball at the end of the robot and connecting an emergency stop button to the laser tracker so that the emergency stop signal can be transmitted to the laser tracker. When the robot is in motion, pressing the emergency stop button will stop the robot. The dynamic emergency stop distance of the robot can be obtained by measuring the distance the target ball moves before and after the laser tracker receives the emergency stop signal.

[0004] However, due to the high cost of laser trackers, current technologies for measuring the end-effector stop distance of robotic arms are costly. Summary of the Invention

[0005] Therefore, it is necessary to provide a cost-effective end-effector emergency stop distance measurement system, method, apparatus, computer equipment, and computer-readable storage medium for addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a system for measuring the end-effector emergency stop distance of a robotic arm. The system includes an indicator and a sensor switch; wherein,

[0007] The inductive switch is connected in series in the emergency stop circuit of the robotic arm and is located on the side of the first movement path of the end effector. The inductive switch is used to disconnect the emergency stop circuit when the end effector is sensed; wherein, the first movement path is the movement path of the end effector before the emergency stop circuit is disconnected.

[0008] The indicator includes a dial and a measuring rod. The axis of the measuring rod is collinear with the second movement path of the end, and the measuring head of the measuring rod corresponds to the trigger position of the inductive switch. The second movement path is the movement path of the end after the emergency stop circuit is broken, and the trigger position is the position of the inductive switch used to sense the end.

[0009] In one embodiment, the inductive switch is a proximity switch.

[0010] In one embodiment, the inductive switch is a photoelectric switch, which includes a transmitter and a receiver, and the transmitter and the receiver are located on opposite sides of the first motion path, respectively.

[0011] In one embodiment, the indicator table is a ten-point table, a percentage table, or a thousand-point table.

[0012] In one embodiment, the second motion path is a straight line segment.

[0013] Secondly, this application provides a method for measuring the end-effector emergency stop distance of a robotic arm, applied to the end-effector emergency stop distance measurement system of the robotic arm described in the above embodiments. The method includes:

[0014] Control the end effector to move along the first motion path;

[0015] The emergency stop distance of the end effector is determined based on the reading on the dial when the end effector stops moving.

[0016] In one embodiment, before controlling the end effector to move along the first motion path, the method further includes:

[0017] Determine the trigger position of the inductive switch.

[0018] In one embodiment, determining the trigger position of the inductive switch includes:

[0019] The end effector is controlled to move along a third motion path; wherein the speed of the end effector along the third motion path does not exceed a preset speed threshold.

[0020] The position where the end stops moving is defined as the target position, and the position in the inductive switch corresponding to the target position is taken as the trigger position.

[0021] In one embodiment, determining the emergency stop distance of the end effector based on the dial reading when the end effector stops moving includes:

[0022] Obtain the initial reading of the dial of the indicator, and the target reading of the dial of the indicator when the end stops moving;

[0023] The difference between the target reading and the initial reading is determined as the emergency stopping distance at the end.

[0024] In one embodiment, before controlling the end effector to move along the first motion path, the method further includes:

[0025] An initial indicator is determined based on the estimated emergency stop distance; the range of the initial indicator is greater than the estimated emergency stop distance.

[0026] Based on the initial indication table, determine the initial emergency stop distance at the end;

[0027] The indicator is determined based on the initial emergency stop distance; the range of the indicator is greater than the initial emergency stop distance.

[0028] Thirdly, this application also provides a device for measuring the end-effector emergency stop distance of a robotic arm. The device includes:

[0029] The control module is used to control the end effector to move along the first motion path;

[0030] A measurement module is used to determine the emergency stop distance of the end effector based on the readings on the dial when the end effector stops moving.

[0031] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0032] Control the end effector to move along the first motion path;

[0033] The emergency stop distance of the end effector is determined based on the reading on the dial when the end effector stops moving.

[0034] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0035] Control the end effector to move along the first motion path;

[0036] The emergency stop distance of the end effector is determined based on the reading on the dial when the end effector stops moving.

[0037] The aforementioned system, method, apparatus, computer equipment, and storage medium for measuring the end-effector emergency stop distance of a robotic arm include an inductive switch connected in series in the robotic arm's emergency stop circuit and located on the side of the first movement path of the end-effector. This switch is used to disconnect the emergency stop circuit when the end-effector is sensed. The indicator includes a dial and a measuring rod, the axis of which is collinear with the second movement path of the end-effector, and the measuring head of the measuring rod corresponds to the trigger position of the inductive switch. When the end-effector of the robotic arm moves to the trigger position, the inductive switch is triggered, disconnecting the emergency stop circuit and causing the robotic arm to stop abruptly. The end-effector then impacts the measuring rod of the indicator. The end-effector emergency stop distance of the robotic arm is measured by reading the dial of the indicator. Since a laser tracker is not required, the cost of measuring the dynamic emergency stop distance of the robotic arm's end-effector is reduced.

[0038] Moreover, since only inductive switches and indicators are needed for measurement, the operation is simple. By selecting a suitable indicator, the accuracy of measuring the emergency stop distance at the end of the robotic arm can also be improved. Attached Figure Description

[0039] Figure 1 This is a structural block diagram of the end-effector emergency stop distance measurement system of a robotic arm in one embodiment;

[0040] Figure 2 This is a schematic diagram of the end-effector emergency stop distance measurement system of a robotic arm in one embodiment;

[0041] Figure 3 This is a schematic diagram of an end-stop distance measurement system using a proximity switch in one embodiment;

[0042] Figure 4 This is a wiring diagram of a proximity switch in one embodiment;

[0043] Figure 5 This is a schematic diagram of an end-stop distance measurement system using a photoelectric switch in one embodiment;

[0044] Figure 6 This is a wiring diagram of the photoelectric switch in one embodiment;

[0045] Figure 7 This is a schematic diagram of an indicator table in one embodiment;

[0046] Figure 8 This is a flowchart illustrating a method for measuring the end-effector emergency stop distance of a robotic arm in one embodiment.

[0047] Figure 9 This is a flowchart illustrating the end-effector emergency stop distance measurement method of a robotic arm in another embodiment;

[0048] Figure 10 This is a structural block diagram of the end-effector emergency stop distance measuring device of a robotic arm in one embodiment;

[0049] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] In one embodiment, such as Figure 1 As shown, a system for measuring the end-effector emergency stop distance of a robotic arm is provided, including an indicator 120 and a sensor switch 110; wherein,

[0052] The inductive switch 110 is connected in series in the emergency stop circuit of the robotic arm and is located on the side of the first motion path at the end. The inductive switch 110 is used to disconnect the emergency stop circuit when the end is sensed; wherein, the first motion path is the motion path of the end before the emergency stop circuit is disconnected.

[0053] The indicator 120 includes a dial and a measuring rod. The axis of the measuring rod is collinear with the second motion path at its end, and the measuring head of the measuring rod corresponds to the trigger position of the inductive switch 110. The second motion path is the motion path at the end after the emergency stop circuit is broken, and the trigger position is the position in the inductive switch 110 used to sense the end.

[0054] Among them, the inductive switch can be, but is not limited to, various proximity switches and photoelectric switches.

[0055] The indicator may be, but is not limited to, a ten-point indicator, a percentage indicator, or a thousand-point indicator; the indicator includes a dial and a measuring rod, wherein one end of the measuring rod is connected to the dial and the other end is equipped with a measuring head.

[0056] The emergency stop circuit can be a circuit circuit equipped with an emergency stop button.

[0057] In practical implementation, a first motion path can be planned for the end effector of the robotic arm, and an inductive switch can be deployed on the side of the first motion path. The inductive switch is connected in series in the emergency stop circuit of the robotic arm and is normally closed. When the robotic arm moves along the first motion path, the position of the end effector sensed by the inductive switch is set as the trigger position. Alternatively, after the emergency stop circuit is broken, the motion path of the end effector of the robotic arm can be set as a second motion path, so that the axis of the indicator measuring rod is collinear with the second motion path, the position of the indicator measuring head corresponds to the trigger position, and the indicator dial is set to zero.

[0058] The end-effector emergency stop distance measurement system may also include a controller, which can be a terminal or a server. Taking the controller as a terminal as an example, the controller is connected to the end effector of the robotic arm and sets a first speed, which can be the rated speed of the robotic arm. The first motion path and the first speed are input into the controller, which controls the end effector of the robotic arm to move along the first motion path at the first speed. When the sensor switch detects the end effector of the robotic arm, it indicates that the movement has reached the trigger position. The sensor switch is opened, the emergency stop circuit is broken, the robotic arm stops abruptly, and it begins to move along the second motion path, colliding with the indicator. After the robotic arm stops moving, the dynamic emergency stop distance of the end effector can be obtained from the reading on the indicator.

[0059] To determine the trigger position of the inductive switch, a third motion path can be planned for the robotic arm, and a second speed can be set. This third motion path can share a common endpoint with the first motion path at the trigger position of the inductive switch, or it can be the same as the first motion path. The second speed is low, not exceeding a preset speed threshold. The third motion path and the second speed are input into the controller, which controls the robotic arm to move along the third motion path at the second speed. When the inductive switch detects the end of the robotic arm, it indicates that the trigger position has been reached. The inductive switch disconnects, the emergency stop circuit is broken, and the robotic arm stops abruptly. Since the second speed is low, the emergency stop distance of the robotic arm's end is approximately zero. Therefore, the position of the end of the robotic arm after it stops can be considered the trigger position of the inductive switch. The measuring head of the indicator is moved until it abuts against the end of the robotic arm, aligning its position with the trigger position of the inductive switch. To ensure the robotic arm's end strikes the indicator in a straight line, the axis of the indicator's measuring rod can be collinear with the extension of the third motion path.

[0060] It should be noted that when there is a dual-circuit emergency stop circuit, both circuits share the same emergency stop button for emergency stop control, and the inductive switch can be connected in series in only one of the circuits.

[0061] Figure 2 A system for measuring the end-effector emergency stop distance of a robotic arm is provided, including a controller 100, a sensor switch 110, and an indicator 120, wherein the controller 100 is connected to the robotic arm. According to... Figure 2 The controller 100 can set a third motion path AB and a second speed v2, where v2 ≤ 1 mm / s, and point B is the trigger position. The controller 100 controls the robotic arm to move along AB at a speed v2. When the end reaches point B, the inductive switch 110 senses the end of the robotic arm and triggers the emergency stop circuit to break. Since v2 is extremely low, it can be assumed that the end of the robotic arm stops moving at the trigger position B. The measuring head of the indicator 120 is moved to abut against the end of the robotic arm, and at the same time, the axis of the measuring rod of the indicator 120 is collinear with the extension line BC of the third motion path.

[0062] When measuring the end-effector emergency stop distance, a first motion path AB, a second motion path BC, and a first speed v1 can be set. The controller 100 controls the robotic arm to move along AB at v1. When the end reaches point B, the inductive switch 110 senses the end of the robotic arm and triggers the emergency stop circuit to break. The robotic arm stops suddenly and starts moving along BC, colliding with the indicator 120. After the robotic arm stops moving, the dynamic emergency stop distance of the end of the robotic arm can be obtained according to the reading on the indicator 120.

[0063] The aforementioned end-effector emergency stop distance measurement system for a robotic arm includes an inductive switch connected in series in the robotic arm's emergency stop circuit and located on the side of the first movement path of the end-effector. This switch is used to disconnect the emergency stop circuit when the end-effector is detected. The indicator includes a dial and a measuring rod. The axis of the measuring rod is collinear with the second movement path of the end-effector, and the measuring head of the measuring rod corresponds to the trigger position of the inductive switch. When the end-effector of the robotic arm moves to the trigger position, the inductive switch is triggered, disconnecting the emergency stop circuit and causing the robotic arm to stop abruptly. The end-effector then impacts the measuring rod of the indicator. The end-effector emergency stop distance of the robotic arm is measured by reading the dial of the indicator. Since a laser tracker is not required, the cost of measuring the dynamic emergency stop distance of the robotic arm's end-effector is reduced.

[0064] Moreover, since only inductive switches and indicators are needed for measurement, the operation is simple. By increasing the accuracy of the indicator, the accuracy of the measurement of the emergency stop distance at the end of the robotic arm can also be improved.

[0065] In one embodiment, the inductive switch is a proximity switch.

[0066] Among them, the proximity switch can be a switch that can be opened (or closed) without direct contact with the end of the robotic arm.

[0067] In practice, the proximity switch can be used as an inductive switch in the end-effector emergency stop distance measurement system of the robotic arm.

[0068] Figure 3 This is a schematic diagram of an end-of-line emergency stop distance measurement system using a proximity switch. According to... Figure 3 A proximity switch 111 can be deployed on the side of the first motion path. The proximity switch is connected in series in the emergency stop circuit of the robotic arm. When the robotic arm moves along the first motion path, the proximity switch can trigger the emergency stop circuit to break by opening (or closing) when it senses the end of the robotic arm.

[0069] Figure 4 This is a wiring diagram for a proximity switch. (Based on...) Figure 4 The proximity switch can be connected in series in the emergency stop circuit of the robotic arm. If the emergency stop circuit is a dual circuit, the proximity switch can be connected in series in only one of the circuits.

[0070] In this embodiment, the proximity switch is used as an inductive switch. When the proximity switch senses the end of the robotic arm, it can trigger the emergency stop circuit to break, avoiding inaccuracies caused by human factors during manual triggering and enabling accurate determination of the trigger position.

[0071] In one embodiment, the inductive switch is a photoelectric switch, which includes a transmitter and a receiver, located on opposite sides of the first motion path.

[0072] Among them, a photoelectric switch can be a switch that uses the end of a robotic arm to block the light signal to open (or close).

[0073] In a specific implementation, a photoelectric switch can be used as an inductive switch in the end-effector emergency stop distance measurement system of a robotic arm. The photoelectric switch includes a transmitter and a receiver, which are located on opposite sides of the first motion path.

[0074] Figure 5 This is a schematic diagram of an end-of-line emergency stop distance measurement system using a photoelectric switch. According to... Figure 5 The transmitter 112 and receiver 113 of the photoelectric switch can be deployed on both sides of the first motion path. The receiver is connected in series in the emergency stop circuit of the robotic arm. When the robotic arm moves along the first motion path, if the light signal emitted by the transmitter is blocked, the receiver can be opened (or closed) because it cannot receive the light signal, thus triggering the emergency stop circuit to break.

[0075] Figure 6 This is a wiring diagram for a photoelectric switch. Based on... Figure 6 The receiver of the photoelectric switch can be connected in series in the emergency stop circuit of the robotic arm. In the case of a dual-circuit emergency stop circuit, the receiver of the photoelectric switch can be connected in series in only one of the circuits.

[0076] In this embodiment, the inductive switch is a photoelectric switch, which includes a transmitter and a receiver. The transmitter and receiver are located on opposite sides of the first motion path. When the receiver of the photoelectric switch cannot sense the light signal emitted by the transmitter, it can trigger the emergency stop circuit to break, thus avoiding inaccuracies caused by human factors during manual triggering and enabling accurate determination of the trigger position.

[0077] In one embodiment, the indicator is a ten-point scale, a percentage scale, or a thousand-point scale.

[0078] In practical implementation, a ten-dimension indicator, a percentage indicator, or a micrometer indicator can be used as the indicating instrument. Among them, the ten-dimension indicator, percentage indicator, and micrometer indicator are length measuring instruments that convert linear displacement into the rotational motion of a pointer through gears or levers, and read the value on a scale. Ten-dimension indicators, percentage indicators, and micrometer indicators have different measurement accuracies.

[0079] Figure 7 A schematic diagram of an indicator table is provided. According to... Figure 7 The indicator includes a dial 121 and a measuring rod 122, wherein one end of the measuring rod is connected to the dial and the other end is equipped with a measuring head.

[0080] In this embodiment, the indicator is a ten-dimension indicator, a percentage indicator, or a micrometer indicator. This indicator can be used to measure the emergency stop distance of the robotic arm's end effector, reducing measurement costs. Furthermore, by using a ten-dimension indicator, a percentage indicator, or a micrometer indicator, different measurement accuracies and matching ranges can be achieved.

[0081] In one embodiment, the second motion path is a straight line segment.

[0082] In the specific implementation, the controller controls the robotic arm to move along the first motion path at the first speed. When the sensor switch detects the end of the robotic arm, it indicates that the movement has reached the trigger position. The sensor switch is opened, triggering the emergency stop circuit to break. The robotic arm stops abruptly and begins to move along the second motion path, colliding with the indicator until the robotic arm stops moving. The second path is the path from the trigger position to the position where the robotic arm stops moving, and this path is a straight line segment.

[0083] For example, according to Figure 2 If the trigger position is point B, and the end effector is at point C when the robotic arm stops moving, then the second motion path is the straight line segment BC.

[0084] In this embodiment, the second motion path is a straight segment, and the inertia of the robotic arm end effector is used to measure the emergency stop distance, which simplifies the operation.

[0085] In one embodiment, such as Figure 8 As shown, a method for measuring the end-effector emergency stop distance of a robotic arm is provided, which can be applied to the controller of a robotic arm end-effector emergency stop distance measurement system. The controller can be a terminal or a server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0086] Taking the controller as an example, the method includes the following steps:

[0087] Step S210: Control the end effector to move along the first motion path.

[0088] In a specific implementation, a first motion path can be planned for the end effector of the robotic arm, and a first speed can be set. The first speed can be the rated speed of the robotic arm, and the controller can control the end effector of the robotic arm to move along the first motion path at the first speed.

[0089] Step S220: Determine the emergency stop distance of the end effector based on the dial reading when the end effector stops moving.

[0090] In practice, an inductive switch can be deployed on the side of the first motion path. This switch is connected in series in the robot arm's emergency stop circuit. When the robot arm moves along the first motion path, the position of the robot arm's end point detected by the inductive switch is set as the trigger position. When the robot arm's end point reaches the trigger position, the inductive switch detects the end point, disconnects, and triggers the emergency stop circuit to stop abruptly. After the emergency stop circuit is disconnected, the motion path of the robot arm's end point is set as the second motion path. The robot arm then begins to move along the second motion path, colliding with the indicator. After the robot arm stops, the dynamic emergency stop distance of the robot arm's end point can be obtained from the reading on the indicator. The axis of the indicator's measuring rod is collinear with the second motion path, and the position of the indicator's measuring head corresponds to the trigger position.

[0091] The above-mentioned method for measuring the end-effector emergency stop distance of a robotic arm involves first controlling the end-effector to move along a first motion path, and then determining the emergency stop distance based on the reading on the dial when the end-effector stops moving. When the end-effector of the robotic arm moves to the trigger position, an inductive switch is triggered to disconnect the emergency stop circuit, causing the robotic arm to stop abruptly. The end-effector then hits the measuring rod of the indicator, and the end-effector emergency stop distance of the robotic arm is measured by reading the dial of the indicator. Since a laser tracker is not required, the cost of measuring the dynamic emergency stop distance of the robotic arm end-effector is reduced.

[0092] Moreover, since only inductive switches and indicators are needed for measurement, the operation is simple. By increasing the accuracy of the indicator, the accuracy of the measurement of the emergency stop distance at the end of the robotic arm can also be improved.

[0093] In one embodiment, prior to step S210, the method may further include: determining the trigger position of the inductive switch.

[0094] In practice, a third motion path can be planned for the robotic arm, and the second speed can be set to low speed, not exceeding a preset speed threshold, for example, the second speed v2≤1mm / s. The controller controls the robotic arm to move along the third motion path at the second speed. When the sensor switch detects the end of the robotic arm, the sensor switch is turned off, the emergency stop circuit is broken, and the robotic arm stops abruptly. Since the second speed is low, the emergency stop distance at the end of the robotic arm is approximately zero. It can be considered that the position where the end of the robotic arm stops moving is the trigger position of the sensor switch.

[0095] In this embodiment, by determining the trigger position of the inductive switch, it is easy to measure the dynamic emergency stop distance of the robotic arm end effector based on the trigger position, which simplifies the operation.

[0096] In one embodiment, the step of determining the trigger position of the inductive switch may specifically include: controlling the end to move along a third motion path; wherein the movement speed of the end along the third motion path does not exceed a preset speed threshold; defining the position when the end stops moving as the target position, and using the position in the inductive switch corresponding to the target position as the trigger position.

[0097] In specific implementation, the controller can control the end effector of the robotic arm to move along a third motion path. The third motion path may share a common endpoint with the first motion path at the trigger position of the induction switch. The third motion path may also be the same as the first motion path. The end effector of the robotic arm moves at a low speed along the third motion path, and the speed may not exceed a preset speed threshold. When the end effector of the robotic arm is sensed, the induction switch is opened, the emergency stop circuit is broken, and the robotic arm stops abruptly. The position when the end effector of the robotic arm stops is defined as the target position. Since the end effector of the robotic arm moves at a low speed along the third motion path, the target position can be determined as the trigger position.

[0098] In this embodiment, by controlling the end effector to move along the third motion path, the position when the end effector stops moving is defined as the target position, and the position in the inductive switch corresponding to the target position is used as the trigger position. This allows the position when the end effector stops moving when the robotic arm moves at low speed to be determined as the trigger position, making it easier to determine the trigger position.

[0099] In one embodiment, step S220 may specifically include: obtaining the initial reading of the dial of the indicator and the target reading of the dial of the indicator when the end stops moving; and determining the difference between the target reading and the initial reading as the emergency stop distance of the end.

[0100] In practice, the initial reading of the indicator dial can be input into the controller. Alternatively, the reading on the indicator dial when the robotic arm's end effector stops can be determined as the target reading and input into the controller. The controller can then calculate the difference between the target reading and the initial reading, determining this difference as the emergency stop distance of the robotic arm's end effector. Alternatively, a communication connection can be established between the indicator and the controller. The indicator sends both the initial and target readings to the controller, which calculates the difference between the target and initial readings to obtain the emergency stop distance of the robotic arm's end effector.

[0101] For example, after determining the trigger position of the proximity switch, the dial of the dial indicator can be set to zero, and the initial reading of 0mm can be input to the controller. The end of the robotic arm moves along the first motion path. When the proximity switch senses the end of the robotic arm, the proximity switch is disconnected, the emergency stop circuit is broken, and the end of the robotic arm hits the dial indicator. When the end stops moving, the target reading of the dial indicator is 10mm. Then the dynamic emergency stop distance of the end of the robotic arm can be 10mm-0mm=10mm.

[0102] In this embodiment, by acquiring the initial reading of the indicator dial and the target reading of the indicator dial when the end effector stops moving, the difference between the target reading and the initial reading is determined as the emergency stop distance of the end effector. This allows for the automatic calculation of the emergency stop distance of the robotic arm end effector, thereby improving the efficiency of emergency stop distance measurement.

[0103] In one embodiment, prior to step S210, the method may further include: determining an initial indicator based on an estimated emergency stop distance; the range of the initial indicator being greater than the estimated emergency stop distance; determining the initial emergency stop distance at the end point based on the initial indicator; determining the indicator based on the initial emergency stop distance; and the range of the indicator being greater than the initial emergency stop distance.

[0104] In practice, the controller can obtain an estimated value of the emergency stop distance and select an indicator with a range greater than the estimated emergency stop distance as the initial indicator. The initial indicator is used to measure the initial emergency stop distance at the end of the robotic arm. Afterward, an indicator with a range greater than the initial emergency stop distance can be selected as the indicator for measuring the emergency stop distance at the end of the robotic arm.

[0105] For example, when selecting the dial indicator range, you can first estimate the emergency stop distance at the end of the robotic arm. Usually, the emergency stop distance is within 10mm. You can choose a dial indicator with a range of 20mm as the initial indicator and use the initial indicator to measure the emergency stop distance at the end. If the obtained emergency stop distance is within 10mm, you can replace it with a dial indicator with a range of 10mm and test it again.

[0106] In this embodiment, an initial indicator is determined based on the estimated emergency stop distance. Based on the initial indicator, the initial emergency stop distance at the end is determined. The indicator is then determined based on the initial emergency stop distance, which can match the measurement accuracy of the indicator with the emergency stop distance to be measured, thereby improving the measurement accuracy.

[0107] In one embodiment, such as Figure 8 As shown, a method for measuring the end-effector emergency stop distance of a robotic arm is provided. Taking the application of this method to an end-effector as an example, the method includes the following steps:

[0108] Step S310: Determine the initial indicator based on the estimated emergency stop distance; the range of the initial indicator is greater than the estimated emergency stop distance.

[0109] Step S320: Determine the initial emergency stop distance at the end point based on the initial indicator table;

[0110] Step S330: Determine the indicator based on the initial emergency stop distance; the range of the indicator is greater than the initial emergency stop distance.

[0111] Step S340: Determine the trigger position of the inductive switch;

[0112] Step S350: Control the end effector to move along the first motion path;

[0113] Step S360: Determine the emergency stop distance of the end effector based on the dial reading when the end effector stops moving.

[0114] The aforementioned method for measuring the end-effector emergency stop distance of a robotic arm involves determining an initial indicator based on an estimated emergency stop distance, determining the initial emergency stop distance of the end-effector based on the initial indicator, and then determining the indicator based on the initial emergency stop distance. This ensures that the measurement accuracy of the determined indicator matches the emergency stop distance to be measured, thus improving measurement accuracy. By determining the trigger position of the inductive switch, the end-effector is controlled to move along a first motion path. The emergency stop distance is determined based on the dial reading when the end-effector stops moving. When the end-effector reaches the trigger position, the inductive switch is triggered, breaking the emergency stop circuit, causing the robotic arm to stop abruptly. The end-effector then impacts the measuring rod of the indicator, and the end-effector emergency stop distance is measured by reading the dial reading. Since a laser tracker is not required, the cost of measuring the dynamic emergency stop distance of the robotic arm's end-effector is reduced. Furthermore, the operation is simple because only an inductive switch and an indicator are needed for measurement.

[0115] To facilitate a deeper understanding of the embodiments of this application by those skilled in the art, a specific example will be used for illustration below.

[0116] Using a proximity switch (normally closed) and a dial indicator as measuring tools, the specific steps may include:

[0117] 1. Connect the proximity switch in series to the emergency stop circuit, such as... Figure 4 As shown, the emergency stop button is generally a dual-circuit device, in which a proximity switch can be connected in series in one of the circuits.

[0118] 2. Secure the dial indicator, which can be fixed using a dial indicator bracket. Ensure the dial indicator is parallel to the coordinate system of the robotic arm base. Plan a path for the robot where the robotic arm's movement path is collinear with the dial indicator's probe. This path will cause the robot to collide with the dial indicator in a straight line. Secure a proximity switch along this path, such as... Figure 3 As shown.

[0119] 3. Move the robot at a very low speed (not exceeding 1 mm / s) until the proximity switch senses the robot's end effector. At this point, the emergency stop circuit disconnects, and the robot stops moving. Adjust the dial indicator to position it against the robot's end effector and then zero the dial indicator. Move the robot to the starting point of the planned path.

[0120] 4. Move the robot at the rated speed. The robot will stop moving after triggering the proximity switch. At this time, the reading on the dial indicator is the robot's dynamic emergency stop distance.

[0121] Using this method, the dynamic emergency stop distance of a certain model of robot was measured, and the result was 7.36 mm. The dynamic emergency stop distance of the same robot was measured using a laser tracker, and the result was 7.15 mm, a difference of 2.85%.

[0122] When selecting the dial indicator range, first estimate the emergency stop distance of the robotic arm. Generally, the emergency stop distance of the robotic arm is within 10mm. You can first select a dial indicator with a range of 20mm to measure. If the test result is within 10mm, you can switch to a dial indicator with a range of 10mm and test again.

[0123] Replace the proximity switch in the testing tool with a photoelectric switch (normally closed). Specific steps may include:

[0124] 1. Connect the receiver of the photoelectric switch in series with the emergency stop circuit, such as... Figure 6 As shown.

[0125] 2. Secure the dial indicator. Plan a path for the robot that will cause it to collide with the dial indicator in a straight line. Secure a photoelectric switch along this path, adjusting its position so that the robot's movement path blocks the light emitted from the photoelectric switch's transmitter. Figure 5 As shown.

[0126] 3. Move the robot at a very low speed (not exceeding 1 mm / s) until the robot's end effector blocks the light from the photoelectric switch. At this point, the emergency stop circuit will disconnect, and the robot will stop moving. Adjust the dial indicator so that it touches the robot's end effector and then zero the dial indicator. Move the robot to the starting point of the planned path.

[0127] 4. Move the robot at the rated speed. The robot will stop moving after triggering the photoelectric switch. At this time, the reading on the dial indicator is the robot's dynamic emergency stop distance.

[0128] This application proposes a low-cost, simple-to-operate, and high-precision method for measuring the emergency stop distance of a robot in motion, providing a basis for evaluating the safety performance of robots.

[0129] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0130] Based on the same inventive concept, this application also provides an end-effector emergency stop distance measuring device for implementing the above-described method for measuring the end-effector emergency stop distance of a robotic arm. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the end-effector emergency stop distance measuring device provided below can be found in the limitations of the end-effector emergency stop distance measuring method for robotic arms described above, and will not be repeated here.

[0131] In one embodiment, such as Figure 10 As shown, a device for measuring the end-effector emergency stop distance of a robotic arm is provided, comprising: a control module 410 and a measurement module 420, wherein:

[0132] Control module 410 is used to control the end effector to move along the first motion path;

[0133] The measurement module 420 is used to determine the emergency stop distance of the end based on the reading of the dial when the end stops moving.

[0134] In one embodiment, the control module 410 further includes:

[0135] The trigger position determination module is used to determine the trigger position of the inductive switch.

[0136] In one embodiment, the trigger position determination module is further configured to control the end to move along a third motion path; wherein the movement speed of the end along the third motion path does not exceed a preset speed threshold; the position where the end stops moving is defined as the target position, and the position in the inductive switch corresponding to the target position is used as the trigger position.

[0137] In one embodiment, the measurement module 420 is further configured to acquire the initial reading of the dial of the indicator and the target reading of the dial of the indicator when the end stops moving; and to determine the difference between the target reading and the initial reading as the emergency stop distance of the end.

[0138] In one embodiment, the end-effector emergency stop distance measuring device of the robotic arm further includes:

[0139] An initial indicator table determination module is used to determine an initial indicator table based on the estimated value of the emergency stop distance; the range of the initial indicator table is greater than the estimated value of the emergency stop distance.

[0140] The initial emergency stop distance determination module is used to determine the initial emergency stop distance of the end based on the initial indication table;

[0141] The indicator determination module is used to determine the indicator based on the initial emergency stop distance; the range of the indicator is greater than the initial emergency stop distance.

[0142] Each module in the aforementioned end-effector emergency stop distance measuring device of the robotic arm can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0143] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for measuring the end-effector's emergency stop distance. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0144] Those skilled in the art will understand that Figure 11The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0145] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0146] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0147] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0148] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0149] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for measuring the end-effector emergency stop distance of a robotic arm, characterized in that, An end-effector emergency stop distance measurement system for robotic arms, the system comprising an indicator and a sensor switch; wherein, The inductive switch is connected in series in the emergency stop circuit of the robotic arm and is located on the side of the first movement path of the end effector. The inductive switch is used to disconnect the emergency stop circuit when the end effector is sensed; wherein, the first movement path is the movement path of the end effector before the emergency stop circuit is disconnected. The indicator includes a dial and a measuring rod. The axis of the measuring rod is collinear with the second movement path of the end, and the measuring head of the measuring rod corresponds to the trigger position of the inductive switch. The second movement path is the movement path of the end after the emergency stop circuit is broken, and the trigger position is the position of the inductive switch used to sense the end. The method includes: The end is controlled to move along the third motion path at a second speed, the second speed not exceeding a preset speed threshold. When the inductive switch senses the end, the emergency stop circuit is triggered to disconnect. The position when the end stops moving is taken as the trigger position. The measuring head of the indicator is moved to abut against the end, so that the axis of the measuring rod of the indicator is collinear with the extension line of the third motion path. When measuring the emergency stop distance of the end effector, a first motion path, a second motion path, and a first speed are set. The first speed is the rated speed of the robotic arm. The end effector is controlled to move along the first motion path at the first speed. When the end effector reaches the trigger position, the inductive switch senses the end effector and triggers the emergency stop circuit to break. The robotic arm stops abruptly and begins to move along the second motion path, colliding with the indicator. After the robotic arm stops moving, the emergency stop distance of the end effector is obtained according to the reading on the indicator.

2. The method according to claim 1, characterized in that, The inductive switch is a proximity switch.

3. The method according to claim 1, characterized in that, The inductive switch is a photoelectric switch, which includes a transmitter and a receiver, and the transmitter and receiver are located on opposite sides of the first motion path, respectively.

4. The method according to claim 1, characterized in that, The indicator table is a ten-point table, a percentage table, or a thousand-point table.

5. The method according to claim 1, characterized in that, The second motion path is a straight line segment.

6. The method according to claim 1, characterized in that, The step of obtaining the emergency stopping distance at the end point based on the reading on the indicator includes: Obtain the initial reading of the dial of the indicator, and the target reading of the dial of the indicator when the end stops moving; The difference between the target reading and the initial reading is determined as the emergency stopping distance at the end.

7. The method according to claim 1, characterized in that, Before controlling the end effector to move along the first motion path at the first speed, the method further includes: An initial indicator is determined based on the estimated emergency stop distance; the range of the initial indicator is greater than the estimated emergency stop distance. Based on the initial indication table, determine the initial emergency stop distance at the end; The indicator is determined based on the initial emergency stop distance; the range of the indicator is greater than the initial emergency stop distance.

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