Double-right-angle robot origin searching method and device and double-right-angle robot

Abstract

The embodiment of the invention discloses a double-right-angle robot origin searching method and device and a double-right-angle robot. According to the embodiment of the invention, the original point searching of each shaft of the double-right-angle robot can be automatically completed, so that human participation is not needed in the process of resetting the double-right-angle robot, the efficiency and accuracy of determining the original point of each shaft of the double-right-angle robot are improved, the accuracy of subsequent resetting operation is improved, and the working efficiency of the double-right-angle robot is improved. And meanwhile, the risk of misoperation is also reduced.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of automation, and in particular to a method and device for searching the origin of a dual right-angle robot and a dual right-angle robot. Background Art

[0002] A rectangular robot, also known as a gantry robot, is a robot system that uses the XYZ rectangular coordinate system as the basic mathematical model, a mechanical motion arm driven by a motor or stepper motor as the basic working unit, and a ball screw, synchronous belt, and gear rack as the commonly used transmission method. A rectangular robot can reach any point in the XYZ three-dimensional coordinate system and follow a controllable motion trajectory. A dual rectangular robot refers to a rectangular robot with two mechanical motion arms.

[0003] In order to ensure the motion consistency of each axis of the dual rectangular robot during use, it is necessary to perform a reset operation on the dual rectangular robot before using it to reset each axis of the dual rectangular robot to a preset starting position. During the reset operation, it is first necessary to determine the origin of each axis of the dual rectangular robot. In the prior art, during the reset operation of the dual rectangular robot, the origin of each axis is generally determined manually and the dual rectangular robot is operated to reset. However, the accuracy of manually determining the origin of each axis is poor and inefficient, resulting in poor accuracy of subsequent reset. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for searching the origin of a dual rectangular robot and a dual rectangular robot, which solve the technical problems in the prior art of poor accuracy and low efficiency in manually determining the origin of each axis.

[0005] In a first aspect, an embodiment of the present invention provides a method for searching the origin of a dual rectangular robot, the method being applicable to a dual rectangular robot, the dual rectangular robot comprising a support frame and two X-axis moving components arranged in parallel, the support frame comprising two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component being respectively arranged on the two X-axis crossbeams, and the X-axis moving component being movable on the X-axis crossbeams, the X-axis moving component being provided with a Y-axis moving component, the Y-axis moving component being movable on the X-axis moving component, the Y-axis moving component being provided with a mechanical arm, the mechanical arm being movable in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and rotating around a Z-axis axis, the method comprising: Controlling the two mechanical arms to rotate respectively to search for the origin of the rotation axis, and obtaining the origin of the rotation axis corresponding to each mechanical arm; Controlling the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each of the Y-axis moving components; Controlling the two X-axis moving components to move on the X-axis crossbeam in sequence to search for the X-axis origin, and obtaining the X-axis origin of each X-axis moving component on the two X-axis crossbeams; when the X-axis origins of the X-axis moving components on the two X-axis crossbeams are not aligned, controlling one end of the X-axis moving component to move on the X-axis crossbeam, so that the positions of the X-axis moving components on the two X-axis crossbeams are aligned, and then updating the X-axis origin of the X-axis moving component; The two robotic arms are respectively controlled to move in the Z-axis direction to search for the origin of the Z-axis, and the Z-axis origin corresponding to each robotic arm is obtained.

[0006] The controlling the two mechanical arms to rotate respectively to search for the origin of the rotation axis and obtaining the origin of the rotation axis corresponding to each mechanical arm comprises: Respectively controlling the two mechanical arms to rotate along a preset rotation direction; During the rotation of each of the mechanical arms, a pulse signal is read from an encoder of a motor driving each of the mechanical arms to rotate; In the case where it is determined that the pulse signal is a corresponding preset pulse signal, the current position of the corresponding robot arm on the rotation axis is determined as the rotation axis origin, and the preset pulse signal is set in advance.

[0007] Wherein, after obtaining the Y-axis origin corresponding to each of the Y-axis moving assemblies, and before sequentially controlling the two X-axis moving assemblies to move on the X-axis crossbeam, the method further includes: The two mechanical arms are respectively controlled to move to corresponding preset angles, and the two Y-axis moving components are respectively controlled to move to corresponding first preset positions.

[0008] The two X-axis moving components are respectively a first X-axis moving component and a second X-axis moving component, and the two X-axis moving components are sequentially controlled to move on the X-axis crossbeam to search for the origin of the X-axis, and the X-axis origin of each X-axis moving component on the two X-axis crossbeams is obtained, including: Controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis beam, respectively, until the first X-axis moving assembly and the second X-axis moving assembly move to movement limit positions at both ends of the X-axis beam, respectively; Controlling the first X-axis moving component to move along a first preset direction on the X-axis beam to search for an origin, and obtaining the X-axis origins of the first X-axis moving component on the two X-axis beams respectively; Controlling the first X-axis moving component to return to an original movement limit position; Controlling the second X-axis moving component to move along a second preset direction on the X-axis beam to search for an origin, and obtaining the X-axis origins of the second X-axis moving component on the two X-axis beams respectively; The second X-axis moving component is controlled to return to the original movement limit position.

[0009] Wherein, when the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, controlling one end of the X-axis moving assembly to move on the X-axis beam so that the positions of the X-axis moving assembly on the two X-axis beams are aligned, and then updating the X-axis origin of the X-axis moving assembly, comprises: In the case where the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, determining the position offset according to the distance deviation moved when the X-axis moving assembly determines the X-axis origins on the two X-axis beams; Controlling the X-axis moving assembly to move the position offset on one of the X-axis beams so that the positions of the X-axis moving assembly on the two X-axis beams are aligned; Update the X-axis origin of the X-axis moving component on the X-axis beam.

[0010] Wherein, before respectively controlling the two mechanical arms to rotate, the method further includes: The two robotic arms are controlled to move to the highest position in the Z-axis direction.

[0011] Wherein, after obtaining the Z-axis origin corresponding to each of the mechanical arms, the method further includes: The two mechanical arms are controlled to move to corresponding second preset positions.

[0012] In a second aspect, an embodiment of the present invention provides an origin search device for a dual right-angle robot, the device being applicable to a dual right-angle robot, the dual right-angle robot comprising a support frame and two X-axis moving components arranged in parallel, the support frame comprising two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component being respectively arranged on the two X-axis crossbeams, and the X-axis moving component being movable on the X-axis crossbeams, the X-axis moving component being provided with a Y-axis moving component, the Y-axis moving component being movable on the X-axis moving component, the Y-axis moving component being provided with a mechanical arm, the mechanical arm being movable in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and rotating around a Z-axis axis, the device comprising: A rotation axis origin determination module, used to control the two mechanical arms to rotate respectively, so as to search for the origin of the rotation axis and obtain the rotation axis origin corresponding to each mechanical arm; A Y-axis origin determination module, used for controlling the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each of the Y-axis moving components; An X-axis origin determination module is used to sequentially control the two X-axis moving components to move on the X-axis crossbeam to search for the X-axis origin and obtain the X-axis origin of each X-axis moving component on the two X-axis crossbeams; when the X-axis origins of the X-axis moving components on the two X-axis crossbeams are not aligned, control one end of the X-axis moving component to move on the X-axis crossbeam to align the positions of the X-axis moving components on the two X-axis crossbeams and then update the X-axis origin of the X-axis moving component; The Z-axis origin determination module is used to control the two robotic arms to move in the Z-axis direction respectively to search for the Z-axis origin and obtain the Z-axis origin corresponding to each robotic arm.

[0013] In a third aspect, an embodiment of the present invention provides a dual right-angle robot, the dual right-angle robot comprising a support frame and two X-axis moving components arranged in parallel, the support frame comprising two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component are respectively arranged on the two X-axis crossbeams, and the X-axis moving component can move on the X-axis crossbeams, the X-axis moving component is provided with a Y-axis moving component, the Y-axis moving component can move on the X-axis moving component, the Y-axis moving component is provided with a mechanical arm, the mechanical arm can move in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and rotate around a Z-axis axis, the dual right-angle robot also includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute a dual rectangular robot origin search method as described in the first aspect according to the instructions in the computer program.

[0014] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute a dual rectangular robot origin search method as described in the first aspect.

[0015] The embodiment of the present invention discloses a method and device for searching the origin of a dual right-angle robot and a dual right-angle robot. The embodiment of the present invention can automatically complete the search for the origin of each axis of the dual right-angle robot, so that no human intervention is required during the process of resetting the dual right-angle robot, thereby improving the efficiency and accuracy of determining the origin of each axis of the dual right-angle robot, and improving the accuracy of subsequent resetting operations, while also reducing the risk of operational errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a dual rectangular robot origin search method provided in an embodiment of the present invention.

[0017] Figure 2 The figure is a schematic structural diagram of a dual rectangular robot in the prior art.

[0018] Figure 3 A flowchart of another dual rectangular robot origin search method provided by an embodiment of the present invention.

[0019] Figure 4 A schematic diagram of controlling a first X-axis moving assembly and a second X-axis moving assembly to move in opposite directions of an X-axis beam, respectively, is provided in an embodiment of the present invention.

[0020] Figure 5 A schematic diagram of controlling the movement of a first X-axis moving component provided by an embodiment of the present invention.

[0021] Figure 6 A schematic structural diagram of a dual rectangular robot origin search device provided in an embodiment of the present invention.

[0022] Figure 7 A schematic diagram of the internal structure of a dual rectangular robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following description and accompanying drawings fully illustrate the specific embodiments of the present application so that those skilled in the art can practice them. The examples represent possible variations only. Unless explicitly required, separate components and functions are optional, and the order of operation can vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. In this article, each embodiment may be represented individually or generally by the term "invention", which is only for convenience, and if more than one invention is disclosed in fact, it is not intended to automatically limit the scope of the application to any single invention or inventive concept. In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. The various embodiments are described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0024] like Figure 1 As shown, Figure 1 The flowchart of a method for searching the origin of a double rectangular robot provided by an embodiment of the present invention is applicable to a double rectangular robot, such as Figure 2 As shown, Figure 2 It is a structural schematic diagram of a dual right-angle robot in the prior art, and the dual right-angle robot includes a support frame and two X-axis moving components 1 arranged in parallel, wherein the two X-axis moving components 1 are a dual-motor symbiotic structure. The support frame includes two X-axis beams 2 and two Y-axis longitudinal beams 3, and in this embodiment, the axis parallel to the X-axis beam 2 is used as the X-axis, and the axis parallel to the Y-axis longitudinal beam 3 is used as the Y-axis. The two ends of the X-axis moving component 1 are respectively arranged on the two X-axis beams 2, and the X-axis moving component 1 can move on the X-axis beam 2, and the X-axis moving component 1 is provided with a Y-axis moving component 4, and the Y-axis moving component 4 can move on the X-axis moving component 1, and the Y-axis moving component 4 is provided with a mechanical arm 5, and the mechanical arm 5 can move in the Z-axis direction perpendicular to the plane formed by the X-axis beam 2 and the Y-axis longitudinal beam 3 and rotate around a Z-axis axis, wherein the rotation axis θ is used to characterize the rotation angle around the Z-axis.

[0025] The dual rectangular robot origin search method provided by the embodiment of the present invention comprises the following steps: Step 101 : Control two robotic arms to rotate respectively to search for the origin of the rotation axis, and obtain the rotation axis origin corresponding to each robotic arm.

[0026] In this embodiment, it is first necessary to search for the origin of the rotation axis θ. When searching for the origin of the rotation axis θ, it is necessary to control the two robotic arms to rotate simultaneously to determine the origins of the rotation axes corresponding to the two robotic arms. Exemplarily, in this embodiment, when searching for the origin of the rotation axis θ, the pulse signal of the encoder of the motor driving the robotic arm to rotate can be read, and the origin of the rotation axis θ can be determined based on the pulse signal. The encoder converts the mechanical rotation displacement of the motor into a series of pulse signals, and the pulse signal can reflect the angle or position of the motor rotation.

[0027] Step 102: Control the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving component.

[0028] When searching for the origin of the rotating axis, the origin of the Y axis can be searched at the same time, that is, there is no strict execution order between step 101 and step 102 in this embodiment, and step 101 and step 102 can be performed simultaneously. Specifically, a Y-axis grating ruler can be installed on the X-axis moving component, and the Y-axis grating ruler is used to reflect the position of the Y-axis moving component on the two X-axis moving components. Before the dual rectangular robot leaves the factory, a reference position corresponding to the Y-axis origin can be set on the Y-axis grating ruler in advance, for example, the reference position is the midpoint of the Y-axis grating ruler. When searching for the origin of the Y axis, the two Y-axis moving components can be controlled to move along the Y-axis direction on the X-axis moving component at the same time. In the process of the two Y-axis moving components moving along the Y-axis direction, it is determined whether the Y-axis moving component is located at the reference position according to the Y-axis grating ruler, thereby determining whether each Y-axis moving component reaches the corresponding Y-axis origin.

[0029] Step 103, sequentially controlling the two X-axis moving components to move on the X-axis beam to search for the X-axis origin, and obtaining the X-axis origin of each X-axis moving component on the two X-axis beams; in the case that the X-axis origins of the X-axis moving components on the two X-axis beams are not aligned, controlling one end of the X-axis moving component to move on the X-axis beam to align the positions of the X-axis moving components on the two X-axis beams, and then updating the X-axis origin of the X-axis moving component.

[0030] After completing the origin search of the rotation axis θ and the origin search of the Y axis, it is necessary to further search for the origin of the X axis. Specifically, in this embodiment, an X-axis grating ruler can be installed on the two X-axis beams. The X-axis grating ruler is used to reflect the position of the X-axis moving component on the X-axis beam. Before the dual rectangular robot leaves the factory, a reference position corresponding to the X-axis origin can be set on the X-axis grating ruler in advance, for example, the reference position is the midpoint of the X-axis grating ruler. In the process of searching the origin of the X axis, the X-axis grating ruler can be used to determine whether the X-axis moving component is located at the reference position on the X-axis grating ruler, thereby determining whether the X-axis moving component is located at the X-axis origin. In one embodiment, in order to avoid interference between the two X-axis moving components during the origin search, in this embodiment, the X-axis origin search of the two X-axis moving components needs to be performed in sequence, that is, after one X-axis moving component completes the X-axis origin search, the other X-axis moving component can be controlled to perform the X-axis origin search. In addition, it is necessary to further explain that, after the reference position corresponding to the X-axis origin is set on the X-axis scales on the two X-axis beams in advance, the reference positions of the two X-axis scales may not be aligned during the installation of the dual rectangular robot. After the X-axis origin search is performed later, the X-axis moving component will not be aligned with the X-axis origin of the two X-axis beams, causing the X-axis moving component to tilt and not be perpendicular to the X-axis beam. Therefore, in the case where the X-axis origins of the X-axis moving component on the two X-axis beams are not aligned, it is necessary to further align the X-axis origins of the X-axis moving component on the two X-axis beams. Specifically, one end of the X-axis moving component can be controlled to move on the X-axis beam so that the positions of the X-axis moving component on the two X-axis beams are aligned, that is, the X-axis moving component is perpendicular to the X-axis beam. Then, according to the aligned position of the X-axis moving component, the X-axis origin of the X-axis moving component on the X-axis beam is updated.

[0031] Step 104 , respectively control the two robotic arms to move in the Z-axis direction to search for the origin of the Z-axis and obtain the Z-axis origin corresponding to each robotic arm.

[0032] After completing the X-axis origin search, the Z-axis origin search is required. Specifically, when searching for the Z-axis origin, the two robotic arms need to be controlled to move in the Z-axis direction at the same time. Similarly, a Z-axis grating ruler can be installed on the Y-axis moving component, and during the movement of the two robotic arms, the Z-axis origin corresponding to each robotic arm can be determined by the Z-axis grating ruler.

[0033] As described above, an embodiment of the present invention provides a method for searching the origin of a dual rectangular robot. The embodiment of the present invention can automatically complete the search for the origin of each axis of the dual rectangular robot, thereby eliminating the need for human intervention in the process of resetting the dual rectangular robot, thereby improving the efficiency and accuracy of determining the origin of each axis of the dual rectangular robot, and improving the accuracy of subsequent resetting operations, while also reducing the risk of operational errors.

[0034] The embodiment of the present invention also provides another method for searching the origin of a dual rectangular robot. Figure 3 As shown, Figure 3 A schematic flow chart of another dual rectangular robot origin search method provided by an embodiment of the present invention, Figure 3 The dual rectangular robot origin search method shown is a specific embodiment of the dual rectangular robot origin search method described above. The dual rectangular robot origin search method includes the following steps: Step 201: Control the two robotic arms to move to the highest position in the Z-axis direction.

[0035] In this embodiment, it is first necessary to control the two robotic arms to move upward simultaneously until they reach the highest position in the Z-axis direction, wherein the highest position in the Z-axis direction can be limited by setting a limiter in the Z-axis direction. Since different optical components are installed on the working area of ​​the dual rectangular robot, by first moving the robotic arms to the highest position in the Z-axis direction, position interference between the robotic arms and other components can be avoided during the rotation process.

[0036] Step 202: Control the two robotic arms to rotate along preset rotation directions respectively.

[0037] After the two robotic arms move to the highest position of the Z axis, the two robotic arms are controlled to rotate along the preset rotation direction at the same time. The preset direction is a pre-set direction, which can be set according to actual needs. For example, the preset direction can be clockwise or counterclockwise, which is not specifically limited in this embodiment.

[0038] Step 203: During the rotation of each robotic arm, a pulse signal is read from an encoder of a motor driving each robotic arm to rotate.

[0039] Step 204: When it is determined that the pulse signal is a corresponding preset pulse signal, the current position of the corresponding robot arm on the rotation axis is determined as the rotation axis origin, and the preset pulse signal is set in advance.

[0040] During the rotation of each mechanical arm, after reading the pulse signal from the encoder of the motor driving each mechanical arm to rotate, it is necessary to analyze the pulse signal in real time to determine whether the pulse signal is a corresponding preset pulse signal. Different mechanical arms have a corresponding preset pulse signal, and the preset pulse signal needs to be set in advance. For example, before the dual right-angle robot leaves the factory, the mechanical arm of the dual right-angle robot can be controlled to rotate to a reference position, and the reference position is used as the origin of the rotation axis and the pulse signal corresponding to the reference position is recorded. Finally, the recorded pulse signal can be used as the preset pulse signal. In the subsequent process of searching for the origin of the rotation axis, when the pulse signal read from the encoder of the motor is a preset pulse signal, it can be determined that the mechanical arm is at the origin of the rotation axis at this time. It can be understood that in this embodiment, each mechanical arm corresponds to a preset pulse signal.

[0041] Step 205: Control the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving component.

[0042] Step 206 , respectively control the two robotic arms to rotate to corresponding preset angles, and respectively control the two Y-axis moving components to move to corresponding first preset positions.

[0043] After determining the origin of the rotation axis of each robot arm and the Y-axis origin of each Y-axis moving component, it is necessary to control the two robot arms to rotate to the corresponding preset angles, and control the two Y-axis moving components to move to the corresponding first preset positions. The preset angles and the first preset positions need to be set in advance. Specifically, the preset angles can be set according to the preset idle positions of the robot arms, and the first preset positions are set according to the preset idle positions of the Y-axis moving components. The preset idle position refers to a specific position and posture that is preset or defaulted when no specific work tasks are performed. The preset idle position ensures that the robot arms and the Y-axis moving components will not collide with other objects in the working environment, thereby avoiding potential safety risks.

[0044] Step 207: sequentially control the two X-axis moving components to move on the X-axis crossbeam to search for the X-axis origin and obtain the X-axis origin corresponding to the two X-axis moving components.

[0045] After the robot arm and the Y-axis moving assembly are controlled to return to the corresponding preset idle positions, the two X-axis moving assemblies need to search for the X-axis origin. In this embodiment, the two X-axis moving assemblies are respectively the first X-axis moving assembly and the second X-axis moving assembly, and the two X-axis moving assemblies are controlled to move on the X-axis crossbeam in turn to search for the X-axis origin, and the X-axis origin corresponding to the two X-axis moving assemblies is obtained, including: Step 2071, control the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis beam, respectively, until the first X-axis moving assembly and the second X-axis moving assembly move to the movement limit positions at both ends of the X-axis beam, respectively.

[0046] First, in this embodiment, it is necessary to control the first X-axis moving component and the second X-axis moving component to move in opposite directions of the X-axis beam, respectively, to avoid interference between the two X-axis moving components during the origin search process, until the first X-axis moving component and the second X-axis moving component move to the movement limit positions at both ends of the X-axis beam, respectively, wherein the movement limit position refers to the position used to limit the movement of the X-axis moving component. Exemplarily, limit sensors can be set at the movement limit positions at both ends of the X-axis beam. When the X-axis moving component triggers the limit sensor, it is determined that the X-axis moving component moves to the movement limit position, and the X-axis moving component is controlled to stop moving. In one embodiment, Figure 4 As shown, Figure 4 A schematic diagram of controlling a first X-axis moving assembly and a second X-axis moving assembly to move in opposite directions of an X-axis beam, respectively, is provided in an embodiment of the present invention.

[0047] Step 2072: Control the first X-axis moving component to move along a first preset direction on the X-axis beam to search for an origin, and obtain the X-axis origins of the first X-axis moving component on the two X-axis beams respectively.

[0048] Afterwards, the first X-axis moving component is first controlled to move along the first preset direction on the X-axis beam to search for the origin. It can be understood that the first preset direction is a direction away from the movement limit position to which the first X-axis moving component moves in step 2071. For example, Figure 5 As shown, Figure 5 A schematic diagram of controlling the movement of a first X-axis moving component provided in an embodiment of the present invention. However, it should be noted that, since there are two X-axis beams, that is, there are two X-axes, in the process of searching the origin, it is necessary to determine the X-axis origin of the first X-axis moving component on the two X-axes respectively. Specifically, assuming that the two X-axis beams are the main beam and the slave beam, in the process of determining the X-axis origins on the main beam and the slave beam, the first X-axis moving component moves on the main beam and the slave beam at the same time. At this time, it is necessary to determine the X-axis origin on the main beam and the X-axis origin on the slave beam according to the X-axis grating scale of the main beam and the X-axis grating scale of the slave beam respectively.

[0049] On the basis of the above embodiment, when the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, controlling one end of the X-axis moving assembly to move on the X-axis beam so that the positions of the X-axis moving assembly on the two X-axis beams are aligned, and then updating the X-axis origin of the X-axis moving assembly, comprises: When the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, the position offset is determined according to the distance deviation moved when the X-axis moving assembly determines the X-axis origins on the two X-axis beams.

[0050] After determining the X-axis origins of the X-axis moving components on the two X-axis beams, if the X-axis origins of the X-axis moving components on the two X-axis beams are not aligned, it is first necessary to determine the position offset of the X-axis origins of the X-axis moving components on the two X-axis beams. The position offset can be determined during the X-axis origin search. Specifically, during the origin search, it is assumed that the first X-axis moving component first determines the X-axis origin on the main beam, and records the distance the first X-axis moving component moves when it finds the X-axis origin on the main beam. After that, the first X-axis moving component continues to move to find the X-axis origin on the slave beam. After determining the X-axis origin on the slave beam, record the distance the first X-axis moving component moves when it finds the X-axis origin on the slave beam. After that, the position offset can be determined based on the distance the first X-axis moving component moves more on the slave beam relative to the main beam.

[0051] Control the X-axis moving component to move the position offset on one of the X-axis beams to align the positions of the X-axis moving component on the two X-axis beams.

[0052] After determining the position offset, the X-axis moving assembly can be controlled to move the position offset on one of the X-axis beams to align the positions of the X-axis moving assembly on the two X-axis beams. For example, when the first X-axis moving assembly first determines the X-axis origin on the main beam, the first X-axis moving assembly can be controlled to retract the position offset at one end on the slave beam to align the position of the X-axis moving assembly on the main beam with the position on the slave beam.

[0053] Update the X-axis origin of the X-axis moving component on the X-axis beam.

[0054] Finally, the X-axis origin of the X-axis moving component on the X-axis beam can be updated according to the position of the X-axis moving component after alignment on the two X-axis beams. Specifically, only the X-axis origin of the end of the X-axis moving component moved during the position alignment process on the X-axis beam can be updated.

[0055] Step 2073, controlling the first X-axis moving component to return to the original movement limit position.

[0056] After determining the X-axis origin of the first X-axis moving component on the two X-axis beams, it is necessary to control the first X-axis moving component to retract to the original movement limit position, that is, the movement limit position moved to in step 2071.

[0057] Step 2074: Control the second X-axis moving component to move along the second preset direction on the X-axis beam to perform origin search, and obtain the X-axis origins of the second X-axis moving component on the two X-axis beams respectively.

[0058] Step 2075: Control the second X-axis moving component to return to the original movement limit position.

[0059] After controlling the first X-axis moving component to retract to the movement limit position, it is necessary to control the second X-axis moving component to search for the origin. The way the second X-axis moving component searches for the origin is similar to the way the first X-axis moving component searches for the origin, and will not be described in detail in this embodiment. After completing the origin search of the second X-axis moving component, the second X-axis moving component is controlled to return to the original movement limit position. It is understandable that in this embodiment, the second X-axis moving component can also be controlled to search for the X-axis origin first, and then the first X-axis moving component can be controlled to search for the X-axis origin.

[0060] Step 208 , respectively control the two robotic arms to move in the Z-axis direction to search for the origin of the Z-axis and obtain the Z-axis origin corresponding to each robotic arm.

[0061] Step 209: Control the two robotic arms to move to corresponding second preset positions.

[0062] After determining the Z-axis origin corresponding to each robotic arm, it is necessary to control the two robotic arms to move to the corresponding second preset position respectively, where the second preset position is a preset safety position on the Z-axis. By moving the two robotic arms to the preset safety position, interference between the robotic arms and other components can be avoided during the subsequent control of the X-axis moving assembly and the Y-axis moving assembly to reset.

[0063] As described above, an embodiment of the present invention provides a method for searching the origin of a dual rectangular robot. The embodiment of the present invention can automatically complete the search for the origin of each axis of the dual rectangular robot, thereby eliminating the need for human intervention in the process of resetting the dual rectangular robot, thereby improving the efficiency and accuracy of determining the origin of each axis of the dual rectangular robot, and improving the accuracy of subsequent resetting operations, while also reducing the risk of operational errors.

[0064] The embodiment of the present invention also provides a dual right-angle robot origin search device, such as Figure 6 As shown, Figure 6The present invention provides a schematic structural diagram of a dual right-angle robot origin search device provided by an embodiment of the present invention. The dual right-angle robot origin search device provided by an embodiment of the present invention is suitable for a dual right-angle robot. The dual right-angle robot includes a support frame and two X-axis moving components arranged in parallel. The support frame includes two X-axis crossbeams and two Y-axis longitudinal beams. The two ends of the X-axis moving component are respectively arranged on the two X-axis crossbeams, and the X-axis moving component can move on the X-axis crossbeams. The X-axis moving component is provided with a Y-axis moving component. The Y-axis moving component can move on the X-axis moving component. The Y-axis moving component is provided with a mechanical arm. The mechanical arm can move in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeam and the Y-axis longitudinal beam and rotate around a Z-axis axis. The dual right-angle robot origin search device includes: The rotation axis origin determination module 301 is used to control the two mechanical arms to rotate respectively, so as to search the origin of the rotation axis and obtain the rotation axis origin corresponding to each mechanical arm; The Y-axis origin determination module 302 is used to control the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving component; The X-axis origin determination module 303 is used to sequentially control the two X-axis moving components to move on the X-axis beam to search for the X-axis origin and obtain the X-axis origin of each X-axis moving component on the two X-axis beams; when the X-axis origins of the X-axis moving components on the two X-axis beams are not aligned, control one end of the X-axis moving component to move on the X-axis beam to align the positions of the X-axis moving components on the two X-axis beams, and then update the X-axis origin of the X-axis moving component; The Z-axis origin determination module 304 is used to control the two robotic arms to move in the Z-axis direction respectively to search for the origin of the Z-axis and obtain the Z-axis origin corresponding to each robotic arm.

[0065] Based on the above embodiment, the rotation axis origin determination module 301 includes: The rotation control submodule is used to control the two robotic arms to rotate along a preset rotation direction respectively; A pulse signal reading submodule is used to read a pulse signal from an encoder of a motor driving each robotic arm to rotate during the rotation of each robotic arm; The rotation axis origin determination submodule is used to determine the current position of the corresponding robot arm on the rotation axis as the rotation axis origin when the pulse signal is determined to be a corresponding preset pulse signal, and the preset pulse signal is set in advance.

[0066] On the basis of the above embodiment, it also includes a preset position moving module, which is used to control the two X-axis moving components in sequence before moving on the X-axis beam after obtaining the Y-axis origin corresponding to each Y-axis moving component, and respectively control the two robotic arms to move to the corresponding preset angles, and respectively control the two Y-axis moving components to move to the corresponding first preset positions.

[0067] On the basis of the above embodiment, the two X-axis moving components are respectively a first X-axis moving component and a second X-axis moving component, and the X-axis origin determination module 303 includes: An X-axis moving assembly control submodule is used to control the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis beam, until the first X-axis moving assembly and the second X-axis moving assembly move to the movement limit positions at both ends of the X-axis beam, respectively; A first X-axis origin search submodule is used to control the first X-axis moving component to move along a first preset direction on the X-axis beam to perform origin search, and obtain the X-axis origins of the first X-axis moving component on the two X-axis beams respectively; A first resetting submodule, used for controlling the first X-axis moving component to return to an original movement limit position; A second X-axis origin search submodule is used to control the second X-axis moving component to move along a second preset direction on the X-axis beam to perform origin search, and obtain the X-axis origins of the second X-axis moving component on the two X-axis beams respectively; The second resetting submodule is used to control the second X-axis moving component to return to the original movement limit position.

[0068] Based on the above embodiment, the X-axis origin determination module 303 further includes: The offset determination submodule is used to determine the position offset according to the distance deviation moved when the X-axis moving component determines the X-axis origin on the two X-axis beams when the X-axis moving component is not aligned with the X-axis origin on the two X-axis beams; The position alignment submodule is used to control the X-axis moving component to move a position offset on one of the X-axis beams so as to align the positions of the X-axis moving component on the two X-axis beams; The origin update submodule is used to update the X-axis origin of the X-axis moving component on the X-axis beam.

[0069] On the basis of the above embodiment, it also includes a robot arm moving module, which is used to control the two robot arms to move to the highest position in the Z-axis direction before respectively controlling the two robot arms to rotate.

[0070] On the basis of the above embodiment, it also includes a robot arm reset module, which is used to control the two robot arms to move to the corresponding second preset position after obtaining the Z-axis origin corresponding to each robot arm.

[0071] The dual rectangular robot origin search device provided in the embodiment of the present invention is included in the dual rectangular robot and can be used to execute the dual rectangular robot origin search method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0072] It is worth noting that in the embodiment of the above-mentioned dual rectangular robot origin search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0073] This embodiment also provides a dual right-angle robot, such as Figure 7 As shown, Figure 7 A schematic diagram of the internal structure of a dual rectangular robot provided in an embodiment of the present invention, wherein the dual rectangular robot 40 includes a processor 400 and a memory 401; The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400; The processor 400 is used to execute the steps in the above-mentioned dual rectangular robot origin search method embodiment according to the instructions in the computer program 402.

[0074] Exemplarily, the computer program 402 may be divided into one or more modules / units, one or more modules / units are stored in the memory 401, and are executed by the processor 400 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 402 in the dual rectangular robot 40.

[0075] The dual rectangular robot 40 may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will appreciate that Figure 7 It is only an example of the dual rectangular robot 40 and does not constitute a limitation of the dual rectangular robot 40. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the dual rectangular robot 40 may also include input and output devices, network access devices, buses, etc.

[0076] The processor 400 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0077] The memory 401 may be an internal storage unit of the dual rectangular robot 40, such as a hard disk or memory of the dual rectangular robot 40. The memory 401 may also be an external storage device of the dual rectangular robot 40, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the dual rectangular robot 40. Further, the memory 401 may also include both an internal storage unit and an external storage device of the dual rectangular robot 40. The memory 401 is used to store computer programs and other programs and data required by the dual rectangular robot 40. The memory 401 may also be used to temporarily store data that has been output or is to be output.

[0078] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0079] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0082] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store computer programs.

[0083] The embodiment of the present invention further provides a storage medium containing computer executable instructions, which are used to execute a dual rectangular robot origin search method when executed by a computer processor, the method comprising the following steps: The two robotic arms are controlled to rotate respectively to search for the origin of the rotation axis, and the origin of the rotation axis corresponding to each robotic arm is obtained; Controlling two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving component; Controlling two X-axis moving components to move on the X-axis beam in turn to search for the origin of the X-axis, and obtaining the X-axis origin of each X-axis moving component on the two X-axis beams; in the case where the X-axis origins of the X-axis moving components on the two X-axis beams are not aligned, controlling one end of the X-axis moving component to move on the X-axis beam to align the positions of the X-axis moving components on the two X-axis beams, and then updating the X-axis origin of the X-axis moving component; The two robotic arms are respectively controlled to move in the Z-axis direction to search for the origin of the Z-axis and obtain the Z-axis origin corresponding to each robotic arm.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A method for searching the origin of a dual rectangular robot, characterized in that: The method is applicable to a dual right-angle robot, which includes a support frame and two X-axis moving components arranged in parallel, the support frame includes two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component are respectively arranged on the two X-axis crossbeams, and the X-axis moving component can move on the X-axis crossbeams, the X-axis moving component is provided with a Y-axis moving component, the Y-axis moving component can move on the X-axis moving component, the Y-axis moving component is provided with a mechanical arm, the mechanical arm can move in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and rotate around a Z-axis axis, the method includes: Controlling the two mechanical arms to rotate respectively to search for the origin of the rotation axis, and obtaining the origin of the rotation axis corresponding to each mechanical arm; Controlling the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each of the Y-axis moving components; Controlling the two X-axis moving components to move on the X-axis crossbeam in sequence to search for the X-axis origin, and obtaining the X-axis origin of each X-axis moving component on the two X-axis crossbeams; when the X-axis origins of the X-axis moving components on the two X-axis crossbeams are not aligned, controlling one end of the X-axis moving component to move on the X-axis crossbeam, so that the positions of the X-axis moving components on the two X-axis crossbeams are aligned, and then updating the X-axis origin of the X-axis moving component; The two robotic arms are respectively controlled to move in the Z-axis direction to search for the origin of the Z-axis, and the Z-axis origin corresponding to each robotic arm is obtained.

2. The dual rectangular robot origin search method according to claim 1, characterized in that: The controlling the two mechanical arms to rotate respectively to search for the origin of the rotation axis to obtain the origin of the rotation axis corresponding to each mechanical arm comprises: Respectively controlling the two mechanical arms to rotate along a preset rotation direction; During the rotation of each of the mechanical arms, a pulse signal is read from an encoder of a motor driving each of the mechanical arms to rotate; In the case where it is determined that the pulse signal is a corresponding preset pulse signal, the current position of the corresponding robot arm on the rotation axis is determined as the rotation axis origin, and the preset pulse signal is set in advance.

3. The dual rectangular robot origin search method according to claim 1, characterized in that: After obtaining the Y-axis origin corresponding to each of the Y-axis moving assemblies, and before sequentially controlling the two X-axis moving assemblies to move on the X-axis crossbeam, the method further includes: The two mechanical arms are respectively controlled to move to corresponding preset angles, and the two Y-axis moving components are respectively controlled to move to corresponding first preset positions.

4. The dual rectangular robot origin search method according to claim 1, characterized in that: The two X-axis moving components are respectively a first X-axis moving component and a second X-axis moving component. The two X-axis moving components are sequentially controlled to move on the X-axis crossbeam to search for the origin of the X-axis, and the X-axis origin of each X-axis moving component on the two X-axis crossbeams is obtained, including: Controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis beam, respectively, until the first X-axis moving assembly and the second X-axis moving assembly move to movement limit positions at both ends of the X-axis beam, respectively; Controlling the first X-axis moving component to move along a first preset direction on the X-axis beam to search for an origin, and obtaining the X-axis origins of the first X-axis moving component on the two X-axis beams respectively; Controlling the first X-axis moving component to return to an original movement limit position; Controlling the second X-axis moving component to move along a second preset direction on the X-axis beam to search for an origin, and obtaining the X-axis origins of the second X-axis moving component on the two X-axis beams respectively; The second X-axis moving component is controlled to return to the original movement limit position.

5. The dual rectangular robot origin search method according to claim 4, characterized in that: When the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, controlling one end of the X-axis moving assembly to move on the X-axis beam so that the positions of the X-axis moving assembly on the two X-axis beams are aligned, and then updating the X-axis origin of the X-axis moving assembly, comprises: In the case where the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, determining the position offset according to the distance deviation moved when the X-axis moving assembly determines the X-axis origins on the two X-axis beams; Controlling the X-axis moving assembly to move the position offset on one of the X-axis beams so that the positions of the X-axis moving assembly on the two X-axis beams are aligned; Update the X-axis origin of the X-axis moving component on the X-axis beam.

6. The dual rectangular robot origin search method according to claim 1, characterized in that: Before respectively controlling the two mechanical arms to rotate, the method further includes: The two robotic arms are controlled to move to the highest position in the Z-axis direction.

7. The dual rectangular robot origin search method according to claim 6, characterized in that: After obtaining the Z-axis origin corresponding to each of the mechanical arms, the method further includes: The two mechanical arms are controlled to move to corresponding second preset positions.

8. A dual right-angle robot origin search device, characterized in that: The device is suitable for a dual right-angle robot, which includes a support frame and two X-axis moving components arranged in parallel, the support frame includes two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component are respectively arranged on the two X-axis crossbeams, and the X-axis moving component can move on the X-axis crossbeams, the X-axis moving component is provided with a Y-axis moving component, the Y-axis moving component can move on the X-axis moving component, the Y-axis moving component is provided with a mechanical arm, the mechanical arm can move in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeam and the Y-axis longitudinal beam and rotate around a Z-axis axis, the device includes: A rotation axis origin determination module, used to control the two mechanical arms to rotate respectively, so as to search for the origin of the rotation axis and obtain the rotation axis origin corresponding to each mechanical arm; A Y-axis origin determination module, used for controlling the two Y-axis moving components to move on the X-axis moving component to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each of the Y-axis moving components; An X-axis origin determination module is used to sequentially control the two X-axis moving components to move on the X-axis crossbeam to search for the X-axis origin and obtain the X-axis origin of each X-axis moving component on the two X-axis crossbeams; when the X-axis origins of the X-axis moving components on the two X-axis crossbeams are not aligned, control one end of the X-axis moving component to move on the X-axis crossbeam to align the positions of the X-axis moving components on the two X-axis crossbeams and then update the X-axis origin of the X-axis moving component; The Z-axis origin determination module is used to control the two robotic arms to move in the Z-axis direction respectively to search for the Z-axis origin and obtain the Z-axis origin corresponding to each robotic arm.

9. A dual rectangular robot, characterized in that: The dual right-angle robot comprises a support frame and two X-axis moving components arranged in parallel, the support frame comprises two X-axis crossbeams and two Y-axis longitudinal beams, the two ends of the X-axis moving component are respectively arranged on the two X-axis crossbeams, and the X-axis moving component can move on the X-axis crossbeams, the X-axis moving component is provided with a Y-axis moving component, the Y-axis moving component can move on the X-axis moving component, the Y-axis moving component is provided with a mechanical arm, the mechanical arm can move in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and rotate around a Z-axis axis, and the dual right-angle robot also comprises a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute a dual rectangular robot origin search method as described in any one of claims 1-7 according to the instructions in the computer program.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute a dual rectangular robot origin search method as described in any one of claims 1-7 when executed by a computer processor.

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