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

Abstract

The embodiment of the application discloses a double-right-angle robot origin searching method and device and a double-right-angle robot. The embodiment of the application can automatically complete the origin searching of each axis of the double-right-angle robot, so that human intervention is not needed in the process of resetting the double-right-angle robot, the efficiency and accuracy of determining the origins of the axes of the double-right-angle robot are improved, the accuracy of subsequent resetting operation is improved, and the risk of operation failure is reduced.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of automation, and in particular to a double orthogonal robot origin searching method, device and double orthogonal robot. BACKGROUND

[0002] Orthogonal robot, also known as gantry robot, is a robot system constructed by XYZ orthogonal coordinate system as a basic mathematical model, motor and stepper motor as a basic working unit of mechanical movement arm, and ball screw, synchronous belt and gear rack as common transmission ways. Orthogonal robot can complete reaching any point in XYZ three-dimensional coordinate system and following controllable motion trajectory. Double orthogonal robot refers to orthogonal robot with two mechanical movement arms.

[0003] In order to ensure the motion consistency of each axis of the double orthogonal robot during use, the double orthogonal robot needs to be reset before use to reset each axis of the double orthogonal robot to a preset starting position. During the reset operation, the origin of each axis of the double orthogonal robot needs to be determined first. In the prior art, the origin of each axis is determined manually and the double orthogonal robot is reset manually. However, the accuracy of manually determining the origin of each axis is poor and the efficiency is low, resulting in poor accuracy of subsequent reset. SUMMARY

[0004] Embodiments of the present application provide a double orthogonal robot origin searching method, device and double orthogonal robot, which solve the technical problem of poor accuracy and low efficiency of manually determining the origin of each axis in the prior art.

[0005] In a first aspect, embodiments of the present application provide a double orthogonal robot origin searching method, which is applicable to a double orthogonal robot. The double orthogonal robot includes a support frame and two X-axis moving assemblies arranged in parallel. The support frame includes two X-axis cross beams and two Y-axis longitudinal beams. The two ends of the X-axis moving assembly are arranged on the two X-axis cross beams, respectively, and the X-axis moving assembly can move on the X-axis cross beam. A Y-axis moving assembly is arranged on the X-axis moving assembly, and the Y-axis moving assembly can move on the X-axis moving assembly. A mechanical arm is arranged on the Y-axis moving assembly, and the mechanical arm can move in a Z-axis direction perpendicular to a plane composed of the X-axis cross beam and the Y-axis longitudinal beam and rotate around a Z-axis axis. The method includes the following steps.

[0006] The two mechanical arms are controlled to rotate, respectively, to search for the origin of the rotating shaft and obtain the origin of the rotating shaft corresponding to each mechanical arm.

[0007] controlling two Y-axis moving assemblies to move on the X-axis moving assembly to search for the origin of the Y-axis to obtain the Y-axis origin corresponding to each Y-axis moving assembly;

[0008] controlling two X-axis moving assemblies to move on the X-axis beam in sequence to search for the origin of the X-axis to obtain the X-axis origin of each X-axis moving assembly on the two X-axis beams; in the case that the X-axis origins of the X-axis moving assemblies 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 to align the positions of the X-axis moving assemblies on the two X-axis beams, and then updating the X-axis origin of the X-axis moving assembly;

[0009] controlling two mechanical arms to move in the Z-axis direction respectively to search for the origin of the Z-axis to obtain the Z-axis origin corresponding to each mechanical arm.

[0010] controlling two mechanical arms to rotate respectively to search for the origin of the rotation axis to obtain the rotation axis origin corresponding to each mechanical arm, comprising:

[0011] controlling two mechanical arms to rotate in a preset rotation direction respectively;

[0012] reading a pulse signal from an encoder of a motor driving each mechanical arm to rotate during the rotation of each mechanical arm;

[0013] in the case that the pulse signal is determined to be a preset pulse signal, determining the current position of the corresponding mechanical arm on the rotation axis as the rotation axis origin, the preset pulse signal being set in advance.

[0014] wherein, after obtaining the Y-axis origin corresponding to each Y-axis moving assembly, before controlling two X-axis moving assemblies to move on the X-axis beam in sequence, further comprising:

[0015] controlling two mechanical arms to move to a corresponding preset angle respectively, and controlling two Y-axis moving assemblies to move to a corresponding first preset position respectively.

[0016] wherein, two X-axis moving assemblies are a first X-axis moving assembly and a second X-axis moving assembly respectively, and controlling two X-axis moving assemblies to move on the X-axis beam in sequence to search for the origin of the X-axis to obtain the X-axis origin of each X-axis moving assembly on the two X-axis beams, comprising:

[0017] controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis cross beam respectively until the first X-axis moving assembly and the second X-axis moving assembly respectively move to the movement limit positions at two ends of the X-axis cross beam;

[0018] controlling the first X-axis moving assembly to move in a first preset direction on the X-axis cross beam to search for an original point, and obtaining X-axis original points of the first X-axis moving assembly on the two X-axis cross beams respectively;

[0019] controlling the first X-axis moving assembly to return to the original movement limit position;

[0020] controlling the second X-axis moving assembly to move in a second preset direction on the X-axis cross beam to search for an original point, and obtaining X-axis original points of the second X-axis moving assembly on the two X-axis cross beams respectively;

[0021] controlling the second X-axis moving assembly to return to the original movement limit position.

[0022] In the case that the X-axis original points of the X-axis moving assembly on the two X-axis cross beams are not aligned, controlling one end of the X-axis moving assembly to move on the X-axis cross beam to align the positions of the X-axis moving assembly on the two X-axis cross beams, and updating the X-axis original points of the X-axis moving assembly, comprising:

[0023] In the case that the X-axis original points of the X-axis moving assembly on the two X-axis cross beams are not aligned, determining a position offset according to a distance deviation of the X-axis moving assembly when determining the X-axis original points of the X-axis moving assembly on the two X-axis cross beams;

[0024] controlling the X-axis moving assembly to move on one of the X-axis cross beams by the position offset to align the positions of the X-axis moving assembly on the two X-axis cross beams;

[0025] updating the X-axis original points of the X-axis moving assembly on the X-axis cross beam.

[0026] Before the two mechanical arms are controlled to rotate respectively, further comprising:

[0027] controlling the two mechanical arms to move to the highest position in the Z-axis direction.

[0028] After the Z-axis original points corresponding to each of the mechanical arms are obtained, further comprising:

[0029] controlling the two mechanical arms to move to a second preset position corresponding thereto.

[0030] In a second aspect, the embodiment of the present application provides a double-right-angle robot origin searching device, which is suitable for a double-right-angle robot, and the double-right-angle robot comprises a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprises two X-axis cross beams and two Y-axis longitudinal beams, two ends of the X-axis moving assembly are arranged on the two X-axis cross beams respectively, the X-axis moving assembly is movable on the X-axis cross beam, a Y-axis moving assembly is arranged on the X-axis moving assembly, the Y-axis moving assembly is movable on the X-axis moving assembly, a mechanical arm is arranged on the Y-axis moving assembly, the mechanical arm is movable in a Z-axis direction perpendicular to a plane formed by the X-axis cross beam and the Y-axis longitudinal beam and is rotatable about a Z-axis axis, and the device comprises:

[0031] a rotation axis origin determination module configured to control the two mechanical arms to rotate respectively to search for origins of rotation axes and obtain rotation axis origins corresponding to each of the mechanical arms;

[0032] a Y-axis origin determination module configured to control the two Y-axis moving assemblies to move on the X-axis moving assembly to search for origins of Y axes and obtain Y-axis origins corresponding to each of the Y-axis moving assemblies;

[0033] an X-axis origin determination module configured to control the two X-axis moving assemblies to move on the X-axis cross beam in sequence to search for origins of X axes and obtain X-axis origins of each of the X-axis moving assemblies on the two X-axis cross beams; in a case where the X-axis origins of the X-axis moving assemblies on the two X-axis cross beams are not aligned, one end of the X-axis moving assembly is controlled to move on the X-axis cross beam to align the positions of the X-axis moving assemblies on the two X-axis cross beams, and then the X-axis origin of the X-axis moving assembly is updated;

[0034] a Z-axis origin determination module configured to control the two mechanical arms to move in the Z-axis direction respectively to search for origins of Z axes and obtain Z-axis origins corresponding to each of the mechanical arms.

[0035] In a third aspect, embodiments of the present application provide a double right-angle robot, which comprises a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprises two X-axis crossbeams and two Y-axis longitudinal beams, two ends of the X-axis moving assembly are arranged on the two X-axis crossbeams respectively, and the X-axis moving assembly is movable on the X-axis crossbeam, a Y-axis moving assembly is arranged on the X-axis moving assembly, the Y-axis moving assembly is movable on the X-axis moving assembly, a mechanical arm is arranged on the Y-axis moving assembly, the mechanical arm is movable in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and is rotatable about a Z-axis axis, and the double right-angle robot further comprises a processor and a memory;

[0036] The memory is configured to store a computer program and transmit the computer program to the processor.

[0037] The processor is configured to execute a double right-angle robot origin searching method according to instructions in the computer program.

[0038] In a fourth aspect, embodiments of the present application provide a storage medium storing computer executable instructions, which, when executed by a computer processor, are configured to execute a double right-angle robot origin searching method according to the first aspect.

[0039] Embodiments of the present application disclose a double right-angle robot origin searching method, a double right-angle robot and a device. Embodiments of the present application can automatically complete origin searching of each axis of the double right-angle robot, so that human intervention is not required in the process of resetting the double right-angle robot, the efficiency and accuracy of determining the origins of each axis of the double right-angle robot are improved, the accuracy of subsequent resetting operations is improved, and the risk of operation failure is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of a double right-angle robot origin searching method provided by embodiments of the present application.

[0041] Figure 2 A structural schematic diagram of a double right-angle robot in the prior art.

[0042] Figure 3 A flowchart of another double right-angle robot origin searching method provided by embodiments of the present application.

[0043] Figure 4 A schematic diagram of controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis crossbeams, respectively.

[0044] Figure 5A schematic view of controlling the first X-axis moving assembly to move is provided for the embodiment of the present application.

[0045] Figure 6 A structural schematic view of a double right-angle robot origin searching device is provided for the embodiment of the present application.

[0046] Figure 7 A structural schematic view of a double right-angle robot is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0047] The following description and drawings are illustrative of specific embodiments of the application and are not intended to be limiting thereof. The embodiments are merely representative of possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be varied. Portions and features of some embodiments can be included in, or substituted for, those of other embodiments. The scope of the embodiments of the application encompasses the entire scope of the claims, and all available equivalents of the claims. In the present document, the term "application" can be used to represent embodiments individually or collectively, merely for convenience, and is not intended to limit the scope of the application to a single application or inventive concept, if more than one is, in fact, disclosed. In the present document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. The embodiments are described in a progressive manner, each highlighting the differences from other embodiments, and the same or similar parts between embodiments are cross-referenced. For the structure, product, and the like disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts are described in the method part.

[0048] As Figure 1 shown, Figure 1 A flow chart of a double right-angle robot origin searching method is provided for the embodiment of the present application. The double right-angle robot origin searching method provided by the embodiment of the present application is applicable to a double right-angle robot, as Figure 2 shown, Figure 2A structure schematic diagram of a double-right-angle robot in the prior art, the double-right-angle robot comprising a support frame and two X-axis moving assemblies 1 arranged in parallel, wherein the two X-axis moving assemblies 1 are of a double-mover symbiotic structure. The support frame comprises two X-axis crossbeams 2 and two Y-axis longitudinal beams 3, and in this embodiment, an axis parallel to the X-axis crossbeams 2 is taken as an X-axis, and an axis parallel to the Y-axis longitudinal beams 3 is taken as a Y-axis. The two ends of the X-axis moving assembly 1 are arranged on the two X-axis crossbeams 2 respectively, and the X-axis moving assembly 1 can move on the X-axis crossbeams 2, the X-axis moving assembly 1 is provided with a Y-axis moving assembly 4, the Y-axis moving assembly 4 can move on the X-axis moving assembly 1, the Y-axis moving assembly 4 is provided with a mechanical arm 5, and the mechanical arm 5 can move in a Z-axis direction perpendicular to a plane composed of the X-axis crossbeams 2 and the Y-axis longitudinal beams 3 and rotate around a Z-axis axis, wherein a rotation axis θ is used to represent a rotation angle around the Z-axis.

[0049] The double-right-angle robot origin searching method provided by the embodiment of the application comprises the following steps:

[0050] In step 101, the two mechanical 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 mechanical arm is obtained.

[0051] In this embodiment, the origin of the rotation axis θ needs to be searched for first. When searching for the origin of the rotation axis θ, the two mechanical arms need to be controlled to rotate simultaneously to determine the origins of the rotation axes corresponding to the two mechanical arms respectively. For example, when searching for the origin of the rotation axis θ in this embodiment, the pulse signals of the encoders of the motors driving the mechanical arms to rotate can be read, and the origin of the rotation axis θ can be determined according to the pulse signals. The encoder converts the mechanical rotation displacement of the motor into a series of pulse signals, and the pulse signals can reflect the angle or position of the motor rotation.

[0052] In step 102, the two Y-axis moving assemblies are controlled to move on the X-axis moving assembly to search for the origin of the Y-axis, and the origins of the Y-axes corresponding to the two Y-axis moving assemblies are obtained.

[0053] When the origin of the rotating shaft is searched, the origin of the Y axis can be searched at the same time, that is, the steps 101 and 102 in the embodiment are not strictly executed in sequence, and the steps 101 and 102 can be performed at the same time. Specifically, the Y axis grating ruler can be installed on the X axis moving assembly, the Y axis grating ruler is used to reflect the position of the Y axis moving assembly on the two X axis moving assemblies, and the reference position corresponding to the Y axis origin can be set on the Y axis grating ruler in advance before the double right-angle robot is shipped, for example, the reference position is the midpoint of the Y axis grating ruler. When the origin of the Y axis is searched, the two Y axis moving assemblies can be controlled to move on the X axis moving assembly along the Y axis direction at the same time, respectively, and whether the Y axis moving assembly is located at the reference position is determined according to the Y axis grating ruler during the movement of the two Y axis moving assemblies along the Y axis direction, so as to determine whether each Y axis moving assembly reaches the corresponding Y axis origin.

[0054] In step 103, the two X axis moving assemblies are controlled to move on the X axis cross beam in sequence, so as to search the origin of the X axis and obtain the X axis origin of each X axis moving assembly on the two X axis cross beams; in the case that the X axis origins of the X axis moving assemblies on the two X axis cross beams are not aligned, one end of the X axis moving assembly is controlled to move on the X axis cross beam, so as to align the positions of the X axis moving assemblies on the two X axis cross beams, and then the X axis origin of the X axis moving assembly is updated.

[0055] After the origin search of the rotating shaft θ and the origin search of the Y-axis are completed, the origin search of the X-axis needs to be further performed. Specifically, in the present embodiment, X-axis grating rulers can be installed on the two X-axis cross beams, and the X-axis grating rulers are used to reflect the positions of the X-axis moving assemblies on the X-axis cross beams. The reference positions corresponding to the X-axis origins can be set on the X-axis grating rulers in advance before the double-right-angle robot is shipped, for example, the reference positions are the midpoints of the X-axis grating rulers. In the process of the origin search of the X-axis, whether the X-axis moving assemblies are located at the reference positions on the X-axis grating rulers can be determined through the X-axis grating rulers, so as to determine whether the X-axis moving assemblies are located at the X-axis origins. In one embodiment, in order to avoid interference between the two X-axis moving assemblies in the process of the origin search, the origin search of the X-axis of the two X-axis moving assemblies needs to be performed in sequence in the present embodiment, that is, after one X-axis moving assembly completes the origin search of the X-axis, the other X-axis moving assembly can be controlled to perform the origin search of the X-axis. In addition, it needs to be further explained that when the reference positions corresponding to the X-axis origins are set on the X-axis grating rulers on the two X-axis cross beams in advance, the reference positions of the two X-axis grating rulers can not be aligned in the process of installation of the double-right-angle robot. After the origin search of the X-axis is performed subsequently, the X-axis origins of the X-axis moving assemblies on the two X-axis cross beams can not be aligned, so that the X-axis moving assemblies are inclined and cannot be perpendicular to the X-axis cross beams. Therefore, in the case that the X-axis origins of the X-axis moving assemblies on the two X-axis cross beams are not aligned, the X-axis origins of the X-axis moving assemblies on the two X-axis cross beams need to be further aligned. Specifically, one end of the X-axis moving assembly can be controlled to move on the X-axis cross beam, so that the positions of the X-axis moving assemblies on the two X-axis cross beams are aligned, that is, the X-axis moving assemblies are perpendicular to the X-axis cross beams. Then, the X-axis origins of the X-axis moving assemblies on the X-axis cross beams are updated according to the aligned positions of the X-axis moving assemblies.

[0056] In step 104, the two mechanical arms are respectively controlled to move in the Z-axis direction to perform the origin search of the Z-axis, and the Z-axis origins corresponding to each mechanical arm are obtained.

[0057] After the origin search of the X-axis is completed, the origin search of the Z-axis also needs to be performed. Specifically, in the process of the origin search of the Z-axis, the two mechanical arms need to be respectively controlled to move in the Z-axis direction at the same time. Similarly, Z-axis grating rulers can be installed on the Y-axis moving assemblies, and the Z-axis origins corresponding to each mechanical arm can be determined through the Z-axis grating rulers in the process of movement of the two mechanical arms.

[0058] 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 origin search 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.

[0059] 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 above dual rectangular robot origin search method. The dual rectangular robot origin search method includes the following steps:

[0060] Step 201: Control the two robotic arms to move to the highest position in the Z-axis direction.

[0061] In this embodiment, both robotic arms must first be controlled to move upward simultaneously until they reach their highest position along the Z axis. This highest position can be limited by providing a limiter along the Z axis. Because the dual rectangular robot's working area is equipped with various optical components, first moving the robotic arms to their highest position along the Z axis prevents interference between the robotic arms and other components during rotation.

[0062] Step 202: Control the two robotic arms to rotate along the preset rotation directions respectively.

[0063] After the two robotic arms have reached their highest position on the Z axis, they are simultaneously controlled to rotate along a preset rotation direction. The preset direction is a pre-set direction that can be set based on actual needs. For example, the preset direction can be clockwise or counterclockwise, and is not specifically limited in this embodiment.

[0064] 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.

[0065] 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.

[0066] In the process of rotating each mechanical arm, after reading the pulse signal from the encoder of the motor driving the rotation of each mechanical arm, it is necessary to analyze the pulse signal in real time to determine whether the pulse signal is the corresponding preset pulse signal. Different mechanical arms have a corresponding preset pulse signal, which needs to be set in advance. For example, before leaving the factory, the mechanical arm of the double right-angle robot can be controlled to rotate to a reference position, the reference position is taken as the origin of the rotation axis and the pulse signal corresponding to the reference position is recorded, and finally the recorded pulse signal can be taken 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 the preset pulse signal, it can be determined that the mechanical arm is located at the origin of the rotation axis. It can be understood that in the embodiment, each mechanical arm corresponds to a preset pulse signal.

[0067] Step 205, control the two Y-axis moving assemblies to move on the X-axis moving assembly to search for the origin of the Y-axis, and obtain the Y-axis origin corresponding to each Y-axis moving assembly.

[0068] Step 206, control the two mechanical arms to rotate to the corresponding preset angle respectively, and control the two Y-axis moving assemblies to move to the corresponding first preset position respectively.

[0069] After determining the origin of the rotation axis of each mechanical arm and the origin of the Y-axis of each Y-axis moving assembly, the two mechanical arms need to be controlled to rotate to the corresponding preset angle respectively, and the two Y-axis moving assemblies need to be controlled to move to the corresponding first preset position respectively. The preset angle and the first preset position need to be set in advance. Specifically, the preset angle can be set according to the preset idle position of the mechanical arm, and the first preset position is set according to the preset idle position of the Y-axis moving assembly. The preset idle position refers to a specific position and posture that is preset or defaulted when no specific task is performed. The preset idle position can ensure that the mechanical arm and the Y-axis moving assembly do not collide with other objects in the working environment, thereby avoiding potential safety risks.

[0070] Step 207, control the two X-axis moving assemblies to move on the X-axis beam in turn to search for the origin of the X-axis, and obtain the X-axis origin corresponding to the two X-axis moving assemblies.

[0071] After controlling the mechanical arm and the Y-axis moving assembly to return to the corresponding preset idle position, the X-axis origin search of the two X-axis moving assemblies needs to be performed. In the embodiment, the two X-axis moving assemblies are a first X-axis moving assembly and a second X-axis moving assembly. The two X-axis moving assemblies are controlled to move on the X-axis beam in turn to search for the origin of the X-axis, and the X-axis origin corresponding to the two X-axis moving assemblies is obtained, including:

[0072] 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 crossbeam 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 crossbeam respectively.

[0073] Firstly, in the embodiment, the first X-axis moving assembly and the second X-axis moving assembly need to be controlled to move in opposite directions of the X-axis crossbeam respectively to avoid interference of the two X-axis moving assemblies in the process of origin searching 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 crossbeam respectively, wherein the movement limit position refers to a position for limiting movement of the X-axis moving assembly. For example, limit sensors can be arranged at the movement limit positions at both ends of the X-axis crossbeam, when the X-axis moving assembly triggers the limit sensor, it is determined that the X-axis moving assembly moves to the movement limit position, and the X-axis moving assembly is controlled to stop moving. In one embodiment, as shown in Figure 4 Figure 4 A schematic diagram for controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis crossbeam respectively is provided in the embodiment of the application.

[0074] Step 2072, control the first X-axis moving assembly to move on the X-axis crossbeam in a first preset direction to search for the origin point, and obtain the X-axis origin points of the first X-axis moving assembly on the two X-axis crossbeams respectively.

[0075] Then, firstly, the first X-axis moving assembly is controlled to move on the X-axis crossbeam in a first preset direction to search for the origin point. 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 assembly moves in step 2071, for example, as shown in Figure 5 Figure 5 A schematic diagram for controlling the first X-axis moving assembly to move is provided in the embodiment of the application. It should be noted that since there are two X-axis crossbeams, i.e., two X-axes, in the process of searching for the origin point, the X-axis origin points of the first X-axis moving assembly on the two X-axes need to be determined. Specifically, assuming that the two X-axis crossbeams are a main crossbeam and a slave crossbeam, in the process of determining the X-axis origin points on the main crossbeam and the slave crossbeam, the first X-axis moving assembly moves on the main crossbeam and the slave crossbeam at the same time, at this time, the X-axis origin points on the main crossbeam and the slave crossbeam need to be determined according to the X-axis grating ruler of the main crossbeam and the X-axis grating ruler of the slave crossbeam respectively.

[0076] On the basis of the above embodiment, in the case that the X-axis origin points of the X-axis moving assembly on the two X-axis crossbeams are not aligned, one end of the X-axis moving assembly is controlled to move on the X-axis crossbeam to align the positions of the X-axis moving assembly on the two X-axis crossbeams, and then the X-axis origin points of the X-axis moving assembly are updated, including:​​

[0077] In the case that the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, the position offset is determined based on the distance deviation moved when the X-axis moving assembly determines the X-axis origins on the two X-axis beams.

[0078] After determining the X-axis origins of the X-axis moving assembly on the two X-axis beams, if the X-axis origins of the X-axis moving assembly on the two X-axis beams are not aligned, it is first necessary to determine the position offset of the X-axis origin of the X-axis moving assembly on the two X-axis beams. The position offset can be determined during the process of searching for the X-axis origin. Specifically, during the process of searching for the origin, it is assumed that the first X-axis moving assembly first determines the X-axis origin on the main beam, and records the distance moved by the first X-axis moving assembly when it finds the X-axis origin on the main beam. Thereafter, the first X-axis moving assembly continues to move to find the X-axis origin on the slave beam. After determining the X-axis origin on the slave beam, the distance moved by the first X-axis moving assembly when it finds the X-axis origin on the slave beam is recorded. Thereafter, the position offset can be determined based on the distance the first X-axis moving assembly moves on the slave beam relative to the main beam.

[0079] 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.

[0080] After determining the position offset, the X-axis moving assembly can be controlled to move on one of the X-axis beams by the position offset to align the positions of the X-axis moving assembly on the two X-axis beams. For example, if the first X-axis moving assembly first determines the X-axis origin on the master beam, the first X-axis moving assembly can be controlled to retract from one end on the slave beam by the position offset to align the positions of the X-axis moving assembly on the master beam with those on the slave beam.

[0081] Update the X-axis origin of the X-axis moving component on the X-axis beam.

[0082] Finally, the X-axis origin of the X-axis moving assembly on the X-axis beam can be updated based on the position of the X-axis moving assembly after alignment on the two X-axis beams. Specifically, only the X-axis origin of the end of the X-axis moving assembly that was moved during the position alignment process on the X-axis beam can be updated.

[0083] Step 2073: Control the first X-axis moving component to return to the original movement limit position.

[0084] After determining the X-axis origin of the first X-axis moving assembly on the two X-axis beams, the first X-axis moving assembly needs to be controlled to retract to the original movement limit position, that is, the movement limit position moved to in step 2071.

[0085] Step 2074, control the second X-axis moving assembly to move in a second preset direction on the X-axis crossbeam to perform origin searching, and obtain the X-axis origins of the second X-axis moving assembly on the two X-axis crossbeams respectively.

[0086] Step 2075, control the second X-axis moving assembly to return to the original movement limiting position.

[0087] After the first X-axis moving assembly is controlled to retreat to the movement limiting position, the second X-axis moving assembly needs to be controlled to perform origin searching. The manner in which the second X-axis moving assembly performs origin searching is similar to that in which the first X-axis moving assembly performs origin searching, which will not be described herein again. After the origin searching of the second X-axis moving assembly is completed, the second X-axis moving assembly is controlled to return to the original movement limiting position. It can be understood that, in the embodiment, the second X-axis moving assembly can also be controlled to perform origin searching first, and then the first X-axis moving assembly is controlled to perform origin searching.

[0088] Step 208, control the two mechanical arms to move in the Z-axis direction respectively to perform Z-axis origin searching, and obtain the Z-axis origins corresponding to each mechanical arm respectively.

[0089] Step 209, control the two mechanical arms to move to corresponding second preset positions.

[0090] After the Z-axis origins corresponding to each mechanical arm are determined, the two mechanical arms need to be controlled to move to corresponding second preset positions respectively. The second preset positions are preset safe positions on the Z-axis. By moving the two mechanical arms to the preset safe positions, interference between the mechanical arms and other components in subsequent processes of controlling the X-axis moving assembly and the Y-axis moving assembly to reset can be avoided.

[0091] In the above, the embodiment of the present application provides a double-right-angle robot origin searching method. The embodiment of the present application can automatically complete origin searching of each axis of the double-right-angle robot, so that human intervention is not needed in the process of resetting the double-right-angle robot, the efficiency and accuracy of determining the origins of each axis of the double-right-angle robot are improved, the accuracy of subsequent resetting operations is improved, and the risk of operation failure is reduced.

[0092] The embodiment of the present application also provides a double-right-angle robot origin searching device, as shown in Figure 6 Figure 6 ​A structure schematic diagram of a double-right-angle robot origin searching device provided by the embodiment of the present application, the double-right-angle robot origin searching device provided by the embodiment of the present application is suitable for a double-right-angle robot, the double-right-angle robot comprises a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprises two X-axis cross beams and two Y-axis longitudinal beams, the two ends of the X-axis moving assembly are arranged on the two X-axis cross beams respectively, and the X-axis moving assembly can move on the X-axis cross beam, the X-axis moving assembly is provided with a Y-axis moving assembly, the Y-axis moving assembly can move on the X-axis moving assembly, the Y-axis moving assembly 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 cross beam and the Y-axis longitudinal beam and rotate around a Z-axis axis, and the double-right-angle robot origin searching device comprises:

[0093] A rotation axis origin determination module 301 is configured to control the two mechanical arms to rotate respectively to search for the origin of the rotation axis and obtain the rotation axis origin corresponding to each mechanical arm.

[0094] A Y-axis origin determination module 302 is configured to control the two Y-axis moving assemblies to move on the X-axis moving assembly to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving assembly.

[0095] An X-axis origin determination module 303 is configured to control the two X-axis moving assemblies to move on the X-axis cross beam in sequence to search for the origin of the X-axis and obtain the X-axis origin of each X-axis moving assembly on the two X-axis cross beams; in the case that the X-axis origins of the X-axis moving assemblies on the two X-axis cross beams are not aligned, one end of the X-axis moving assembly is controlled to move on the X-axis cross beam to align the positions of the X-axis moving assemblies on the two X-axis cross beams, and then the X-axis origin of the X-axis moving assembly is updated.

[0096] A Z-axis origin determination module 304 is configured to control the two mechanical 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 mechanical arm.

[0097] On the basis of the above embodiment, the rotation axis origin determination module 301 comprises:

[0098] A rotation control sub-module is configured to control the two mechanical arms to rotate in a preset rotation direction respectively;

[0099] A pulse signal reading sub-module is configured to read a pulse signal from an encoder of a motor driving each mechanical arm in the process that each mechanical arm rotates;

[0100] A rotation axis origin determination sub-module is configured to determine the current position of the corresponding mechanical arm on the rotation axis as the origin of the rotation axis in the case that the pulse signal is a preset pulse signal, and the preset pulse signal is set in advance.

[0101] On the basis of the above-mentioned embodiments, further comprising a preset position moving module, configured to, after obtaining the Y-axis origin points corresponding to each Y-axis moving assembly, control the two X-axis moving assemblies to move on the X-axis beam in sequence before controlling the two mechanical arms to move to the corresponding preset angles respectively and controlling the two Y-axis moving assemblies to move to the corresponding first preset positions respectively.

[0102] On the basis of the above-mentioned embodiments, the two X-axis moving assemblies are respectively a first X-axis moving assembly and a second X-axis moving assembly, and the X-axis origin determination module 303 comprises:

[0103] an X-axis moving assembly control sub-module, configured 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 respectively until the first X-axis moving assembly and the second X-axis moving assembly move to the movement limit positions at the two ends of the X-axis beam respectively;

[0104] a first X-axis origin searching sub-module, configured to control the first X-axis moving assembly to move on the X-axis beam in a first preset direction to search for the origin point, and obtain the X-axis origin points of the first X-axis moving assembly on the two X-axis beams respectively;

[0105] a first reset sub-module, configured to control the first X-axis moving assembly to return to the original movement limit position;

[0106] a second X-axis origin searching sub-module, configured to control the second X-axis moving assembly to move on the X-axis beam in a second preset direction to search for the origin point, and obtain the X-axis origin points of the second X-axis moving assembly on the two X-axis beams respectively;

[0107] a second reset sub-module, configured to control the second X-axis moving assembly to return to the original movement limit position.

[0108] On the basis of the above-mentioned embodiments, the X-axis origin determination module 303 further comprises:

[0109] an offset amount determination sub-module, configured to, in the case that the X-axis origin points of the X-axis moving assembly on the two X-axis beams are not aligned, determine the position offset amount according to the distance deviation of the X-axis moving assembly when determining the X-axis origin points on the two X-axis beams;

[0110] a position alignment sub-module, configured to control the X-axis moving assembly to move the position offset amount 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;

[0111] an origin updating sub-module, configured to update the X-axis origin points of the X-axis moving assembly on the X-axis beam.

[0112] On the basis of the above-mentioned embodiment, the mechanical arm moving module is further included, which is used for controlling the two mechanical arms to move to the highest position in the Z-axis direction before the two mechanical arms are controlled to rotate respectively.

[0113] On the basis of the above-mentioned embodiment, the mechanical arm resetting module is further included, which is used for controlling the two mechanical arms to move to the corresponding second preset position after the Z-axis origin corresponding to each mechanical arm is obtained.

[0114] The double-right-angle robot origin searching device provided by the embodiment of the present application is contained in the double-right-angle robot, and can be used for executing the double-right-angle robot origin searching method provided in the above-mentioned embodiment, and has the corresponding functions and beneficial effects.

[0115] It is worth noting that, in the embodiment of the above-mentioned double-right-angle robot origin searching device, each unit and module included is only divided according to the function logic, but is not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and is not used to limit the protection scope of the present application.

[0116] The embodiment further provides a double-right-angle robot, as shown in the accompanying drawings, Figure 7 Figure 7 The internal structure schematic diagram of the double-right-angle robot provided by the embodiment of the present application is shown in the accompanying drawings, and the double-right-angle robot 40 includes a processor 400 and a memory 401.

[0117] The memory 401 is used for storing a computer program 402 and transmitting the computer program 402 to the processor 400.

[0118] The processor 400 is used for executing the steps in the above-mentioned double-right-angle robot origin searching method embodiment according to the instructions in the computer program 402.

[0119] For example, the computer program 402 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 401 and executed by the processor 400 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used for describing the execution process of the computer program 402 in the double-right-angle robot 40.

[0120] The double-right-angle robot 40 can include, but is not limited to, the processor 400 and the memory 401. Those skilled in the art can understand that, Figure 7 ​The example of the dual right-angle robot 40 is merely illustrative and does not limit the dual right-angle robot 40, which can include more or fewer components than shown, or combine some components, or have different components, such as the dual right-angle robot 40 can also include input / output devices, network access devices, buses, etc.

[0121] The processor 400 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0122] The memory 401 can be an internal storage unit of the dual right-angle robot 40, such as a hard disk or a memory of the dual right-angle robot 40. The memory 401 can also be an external storage device of the dual right-angle 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 right-angle robot 40. Further, the memory 401 can include both the internal storage unit and the external storage device of the dual right-angle robot 40. The memory 401 is used to store computer programs and other programs and data required by the dual right-angle robot 40. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein.

[0124] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is merely a logical function division, and there can be another division manner for 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. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0125] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0126] In addition, each functional unit in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware, or in the form of a software functional unit.

[0127] 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 such an understanding, the technical solutions of the present application essentially or substantially, or all or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various storage media that can store computer programs.

[0128] The embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a double right-angle robot origin searching method when executed by a computer processor. The method comprises the following steps:

[0129] The two mechanical arms are controlled respectively to rotate to search the origin of the rotation axis, and the origin of the rotation axis corresponding to each mechanical arm is obtained;

[0130] controlling the two Y-axis moving assemblies to move on the X-axis moving assembly to perform origin searching of the Y-axis to obtain a Y-axis origin corresponding to each Y-axis moving assembly;

[0131] controlling the two X-axis moving assemblies to move on the X-axis beam in sequence to perform origin searching of the X-axis to obtain an X-axis origin of each X-axis moving assembly on the two X-axis beams; in the case that the X-axis origins of the X-axis moving assemblies 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 to align the positions of the X-axis moving assemblies on the two X-axis beams, and then updating the X-axis origin of the X-axis moving assembly;

[0132] controlling the two mechanical arms to move in the Z-axis direction respectively to perform origin searching of the Z-axis to obtain a Z-axis origin corresponding to each mechanical arm.

[0133] It should be noted that the above only describes the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the embodiments of the present application are not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the embodiments of the present application. Therefore, although the embodiments of the present application have been described in more detail through the above embodiments, the embodiments of the present application are not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims

1. A method for searching origin of a dual right-angle robot, characterized in that, The method is suitable for a double-right-angle robot, the double-right-angle robot comprising a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprising two X-axis crossbeams and two Y-axis longitudinal beams, two ends of the X-axis moving assemblies being arranged on the two X-axis crossbeams respectively, the X-axis moving assemblies being movable on the X-axis crossbeams, Y-axis moving assemblies being arranged on the X-axis moving assemblies, the Y-axis moving assemblies being movable on the X-axis moving assemblies, mechanical arms being arranged on the Y-axis moving assemblies, the mechanical arms being movable in a Z-axis direction perpendicular to a plane formed by the X-axis crossbeams and the Y-axis longitudinal beams and being rotatable about a Z-axis axis, and the method comprising: controlling the two mechanical arms to rotate respectively to search for origins of rotation axes and obtain origins of rotation axes corresponding to the two mechanical arms respectively; controlling the two Y-axis moving assemblies to move on the X-axis moving assemblies to search for origins of Y axes and obtain origins of Y axes corresponding to the two Y-axis moving assemblies respectively; controlling the two X-axis moving assemblies to move on the X-axis crossbeams in sequence to search for origins of X axes and obtain origins of X axes corresponding to the two X-axis moving assemblies respectively; controlling the two mechanical arms to move in the Z-axis direction respectively to search for origins of Z axes and obtain origins of Z axes corresponding to the two mechanical arms respectively; wherein the two X-axis moving assemblies are a first X-axis moving assembly and a second X-axis moving assembly respectively, the controlling the two X-axis moving assemblies to move on the X-axis crossbeams in sequence to search for origins of X axes and obtain origins of X axes corresponding to the two X-axis moving assemblies respectively comprises: controlling the first X-axis moving assembly and the second X-axis moving assembly to move in opposite directions of the X-axis crossbeams respectively until the first X-axis moving assembly and the second X-axis moving assembly move to movement limit positions at two ends of the X-axis crossbeams respectively; controlling the first X-axis moving assembly to move on the X-axis crossbeams in a first preset direction to search for an origin, and obtaining origins of X axes of the first X-axis moving assembly on the two X-axis crossbeams respectively; controlling the first X-axis moving assembly to return to the original movement limit position; controlling the second X-axis moving assembly to move on the X-axis crossbeams in a second preset direction to search for an origin, and obtaining origins of X axes of the second X-axis moving assembly on the two X-axis crossbeams respectively; controlling the second X-axis moving assembly to return to the original movement limit position; wherein when the origins of X axes of the X-axis moving assemblies on the two X-axis crossbeams are not aligned, an additional position offset of the X-axis moving assembly on one of the X-axis crossbeams is controlled to align the origins of X axes of the X-axis moving assemblies on the two X-axis crossbeams.

2. The dual right-angle robot origin search method of claim 1, wherein, The controlling the two mechanical arms to rotate respectively to search for origins of rotation axes and obtain origins of rotation axes corresponding to the two mechanical arms respectively comprises: controlling the two mechanical arms to rotate in a preset rotation direction respectively. In the process of rotating each mechanical arm, pulse signals are read from the encoder of the motor driving each mechanical arm to rotate; In the case where the pulse signals are corresponding preset pulse signals, the current position of the corresponding mechanical arm on the rotation axis is determined as the rotation axis origin, and the preset pulse signals are previously set.

3. The dual right-angle robot origin search method of claim 1, wherein, After obtaining the Y-axis origin corresponding to each Y-axis moving assembly, before sequentially controlling two X-axis moving assemblies to move on the X-axis crossbeam, the method further comprises: Respectively controlling two mechanical arms to move to corresponding preset angles, and respectively controlling two Y-axis moving assemblies to move to corresponding first preset positions.

4. The dual right-angle robot origin search method of claim 1, wherein, Before the step of respectively controlling two mechanical arms to rotate, the method further comprises: Controlling two mechanical arms to move to the highest position in the Z-axis direction.

5. The dual right-angle robot origin search method of claim 4, wherein, After obtaining the Z-axis origin corresponding to each mechanical arm, the method further comprises: Controlling two mechanical arms to move to corresponding second preset positions.

6. A dual right-angle robot origin search device, comprising: The device is suitable for the double-right-angle robot, and the double-right-angle robot comprises a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprises two X-axis crossbeams and two Y-axis vertical beams, two ends of the X-axis moving assembly are arranged on the two X-axis crossbeams respectively, and the X-axis moving assembly can move on the X-axis crossbeam, the Y-axis moving assembly is arranged on the X-axis moving assembly, the Y-axis moving assembly can move on the X-axis moving assembly, the mechanical arm is arranged on the Y-axis moving assembly, and the mechanical arm can move in the Z-axis direction perpendicular to the plane formed by the X-axis crossbeam and the Y-axis vertical beam and rotate around a Z-axis axis. A rotation axis origin determination module is configured to control two mechanical arms to rotate respectively 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 is configured to control two Y-axis moving assemblies to move on the X-axis moving assembly to search for the origin of the Y-axis and obtain the Y-axis origin corresponding to each Y-axis moving assembly. An X-axis origin determination module is configured to sequentially control two X-axis moving assemblies to move on the X-axis crossbeam to search for the origin of the X-axis and obtain the X-axis origin corresponding to two X-axis moving assemblies. A Z-axis origin determination module is configured to control two mechanical 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 mechanical arm.

7. A dual right-angle robot, characterized by The double-right-angle robot comprises a support frame and two X-axis moving assemblies arranged in parallel, the support frame comprises two X-axis cross beams and two Y-axis longitudinal beams, two ends of the X-axis moving assembly are arranged on the two X-axis cross beams respectively, the X-axis moving assembly is movable on the X-axis cross beam, a Y-axis moving assembly is arranged on the X-axis moving assembly, the Y-axis moving assembly is movable on the X-axis moving assembly, a mechanical arm is arranged on the Y-axis moving assembly, the mechanical arm is movable in a Z-axis direction perpendicular to a plane formed by the X-axis cross beam and the Y-axis longitudinal beam and is rotatable about a Z-axis axis, and the double-right-angle robot further comprises a processor and a memory. The memory is configured to store a computer program and transmit the computer program to the processor. The processor is configured to execute a double-right-angle robot origin searching method according to instructions in the computer program.

8. A storage medium storing computer-executable instructions, wherein: The computer executable instructions, when executed by a computer processor, are configured to execute a double-right-angle robot origin searching method.

Images