Self-sensing manipulator and control method

Abstract

The invention discloses a self-sensing mechanical arm and a control method, the self-sensing mechanical arm comprises a base, a driving device, a grabbing device and a detection device, the driving device is installed on the base, the driving device is in power connection with the grabbing device, the driving device is used for driving the grabbing device to be switched between a first state and a second state, and in the first state, the grabbing device is in power connection with the detection device; in the first state, the grabbing device movably penetrates through a center hole of the optical disc, in the second state, the grabbing device penetrates through the center hole and is in limiting fit with the optical disc, the detection device is installed on the base and is in communication connection with the driving device, and the detection device is configured to detect in-place state information of the optical disc when the grabbing device penetrates through the center hole. And the driving device is used for controlling the grabbing device to keep the current state or switch between the first state and the second state according to the in-place state information. According to the self-sensing mechanical arm, the optical disc can be more accurately taken and placed, and therefore the taking and placing difficulty of the optical disc is reduced.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a self-sensing robot and a control method. Background Art

[0002] During the use of the optical disk storage system, it is usually necessary to put the optical disk into the optical drive or remove it from the optical drive to realize the management of the optical disk and the storage and reading of data. An important key point in this process is to grab and store a single optical disk. In the related technology, the picking and placing of the optical disk is usually performed by a robot. However, the robot is prone to errors in the process of grabbing or releasing the optical disk, making it difficult for the robot to accurately grab or release the optical disk, resulting in greater difficulty in picking and placing the optical disk. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a self-sensing manipulator, which can control the switching of the state of the gripping device through the detection of the optical disc by the detection device, thereby reducing the possibility of misoperation of the self-sensing manipulator in the process of gripping or releasing the optical disc, so that the self-sensing manipulator can pick up and place the optical disc more accurately, thereby reducing the difficulty of picking up and placing the optical disc.

[0004] According to the self-sensing manipulator according to the embodiment of the present application, it includes: a base; a driving device and a grasping device, wherein the driving device is installed on the base, the driving device is dynamically connected to the grasping device, and the driving device is used to drive the grasping device to switch between a first state and a second state, in which the grasping device can be movably inserted into the center hole of the optical disc, and in the second state, the grasping device is inserted into the center hole and cooperates with the optical disc to limit the position; a detection device, wherein the detection device is installed on the base and is communicatively connected with the driving device, the detection device is configured to detect the in-place state information of the optical disc when the grasping device is inserted into the center hole, and the driving device is used to control the grasping device to maintain the current state or switch between the first state and the second state according to the in-place state information.

[0005] According to the self-sensing manipulator of the embodiment of the present application, a detection device is provided so that when the grasping device is inserted into the center hole of the optical disc, the in-situ status information of the optical disc can be detected by the detection device, and the driving device can control the grasping device to maintain the current state or switch between the first state and the second state according to the in-situ status information. In this way, the switching of the state of the grasping device can be controlled by the detection of the optical disc by the detection device, thereby reducing the possibility of erroneous operation of the self-sensing manipulator in the process of grasping or releasing the optical disc, so that the self-sensing manipulator can pick up and place the optical disc more accurately, thereby reducing the difficulty of picking up and placing the optical disc.

[0006] According to the self-sensing manipulator of some embodiments of the present application, the detection device includes: a sensor and a probe, the sensor is installed on the base and is communicatively connected with the driving device, the probe can be movably installed on the base and is arranged opposite to the sensor, when the grasping device is passed through the center hole and moves downward, the optical disc is suitable for pushing the probe toward the sensor to change the current distance information between the probe and the sensor, and the current distance information is the in-place state information.

[0007] According to the self-sensing manipulator of some embodiments of the present application, the current distance information includes first distance information and second distance information, the information generated by the sensor when the probe is separated from the sensor is the first distance information, and the information generated by the sensor when the probe is against the sensor is the second distance information, the driving device is used to control the grasping device to maintain the current state according to the first distance information, and the driving device is used to control the grasping device to switch between the first state and the second state according to the second distance information.

[0008] According to the self-sensing manipulator in some embodiments of the present application, the sensor is installed above the base, the probe is slidably inserted into the mounting hole of the base in the vertical direction, and an annular protrusion is provided at one end of the probe facing the sensor, and the annular protrusion is used to abut against the base.

[0009] According to the self-sensing manipulator in some embodiments of the present application, the gripping device includes a movable rod and a limit assembly, one end of the movable rod is dynamically connected to the driving device and the other end is passed through the base, and the limit assembly is connected to the other end of the movable rod. In the first state, the limit assembly is suitable for moving relative to the movable rod so that the limit assembly can be passed through the center hole. In the second state, the limit assembly is suitable for moving relative to the movable rod to cooperate with the optical disc limit.

[0010] According to the self-sensing manipulator of some embodiments of the present application, the limit assembly includes a first link and a second link, the first link is hinged to the base, the second link is hinged to the other end of the movable rod, and the first link and the second link are hinged. In the first state, the maximum distance between the hinge of the first link and the second link and the movable rod is less than the aperture of the center hole, and in the second state, the minimum distance between the hinge of the first link and the second link and the movable rod is greater than the aperture of the center hole and is located on the side of the optical disc away from the base.

[0011] According to the self-sensing manipulator in some embodiments of the present application, the first connecting rod and / or the second connecting rod is constructed as an arc-shaped rod, and the center of the arc-shaped rod is located on the side of the arc-shaped rod away from the movable rod.

[0012] According to some embodiments of the present application, the self-sensing manipulator further includes: a position sensor, which is installed on the base and is communicatively connected to the drive device, and the position sensor is used to control the drive device to cut off power when the grasping device moves to an extreme position along the axis of the center hole.

[0013] The application also discloses a control method for a self-sensing manipulator.

[0014] According to the control method of the self-sensing manipulator according to the embodiment of the present application, the control method of the self-sensing manipulator is used to control the self-sensing manipulator described in any of the above embodiments, and the control method of the self-sensing manipulator includes: controlling the grasping device to be in the first state to pass through the center hole of the optical disc; obtaining the in-place state information of the optical disc detected by the detection device; and controlling the grasping device to maintain the current state or switch between the first state and the second state according to the in-place state information.

[0015] According to the control method of the self-sensing manipulator in some embodiments of the present application, the detection device includes: a sensor and a probe, the sensor is installed on the base and is communicatively connected to the drive device, the probe can be movably installed on the base and is arranged opposite to the sensor, when the grasping device moves along the first direction and passes through the center hole, the in-place state information includes: first distance information and second distance information, and the acquisition of the in-place state information of the optical disk detected by the detection device includes: when the probe is spaced from the sensor, the information generated by the sensor is the first distance information, and the drive device controls the grasping device to maintain the current state according to the first distance information; when the probe is against the sensor, the information generated by the sensor is the second distance information, and the drive device controls the grasping device to switch between the first state and the second state according to the second distance information. According to the control method of the self-sensing manipulator in some embodiments of the present application, the detection device includes: a sensor and a probe, the sensor is installed on the base and is communicatively connected to the drive device, the probe can be movably installed on the base and is arranged opposite to the sensor, when the grasping device is inserted into the center hole, the in-place state information includes: first distance information and second distance information, and the acquisition of the in-place state information of the optical disk detected by the detection device includes: when the probe is spaced from the sensor, the information generated by the sensor is the first distance information, and the drive device controls the grasping device to maintain the first state according to the first distance information; when the probe is against the sensor, the information generated by the sensor is the second distance information, and the drive device controls the grasping device to switch from the first state to the second state according to the second distance information.

[0016] The control method of the self-sensing manipulator has the same advantages as the above-mentioned self-sensing manipulator over the prior art and is not limited here.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a self-sensing manipulator according to some embodiments of the present application; Figure 2 Schematic diagram of a self-sensing robot and an optical disc in some embodiments of the present application Figure 1 ; Figure 3 Schematic diagram of a self-sensing robot and an optical disc in some embodiments of the present application Figure 2 ; Figure 4 Schematic diagram of a self-sensing robot and an optical disc in some embodiments of the present application Figure 3 ; Figure 5 A schematic diagram of a control method of a self-sensing manipulator according to some embodiments of the present application; Figure 6 Schematic diagram of the operation steps of the self-sensing manipulator in some embodiments of the present application Figure 1 ; Figure 7 Schematic diagram of the operation steps of the self-sensing manipulator in some embodiments of the present application Figure 2 .

[0019] Reference numerals: Self-sensing manipulator 100; optical disc 200; center hole 201; Base 10; Sleeve 11; Driving device 20; Grasping device 30; movable rod 31; connecting rod 311; guide head 312; Limiting assembly 32; first connecting rod 321; second connecting rod 322; Detection device 40; sensor 41; probe 42; annular protrusion 421; Position sensor 50 ; first position sensor 51 ; second position sensor 52 ; baffle 60 . DETAILED DESCRIPTION

[0020] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0021] 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, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0022] Please refer to the following Figure 1-7 The self-sensing manipulator 100 and the control method of the self-sensing manipulator according to some embodiments of the present application are described.

[0023] like Figure 1 As shown, the self-sensing manipulator 100 according to some embodiments of the present application includes: a base 10, a driving device 20, a grasping device 30 and a detection device 40.

[0024] The driving device 20 is installed on the base 10, and the driving device 20 is power-connected to the grasping device 30, and the driving device 20 is used to drive the grasping device 30 to switch between a first state and a second state. In the first state, the grasping device 30 can be movably inserted into the center hole 201 of the optical disc 200, and in the second state, the grasping device 30 is inserted into the center hole 201 and cooperates with the optical disc 200 to limit the position.

[0025] It is understandable that if Figure 2 and Figure 3 As shown, the optical disc 200 can be a circular optical disc 200, and a center hole 201 is provided at the center of the optical disc 200, and the center hole 201 penetrates in the thickness direction of the optical disc 200. When it is necessary to grab the optical disc 200, the driving device 20 can first control the grabbing device 30 to be in the first state so that the grabbing device 30 can be movably inserted into the center hole 201 of the optical disc 200, and then the driving device 20 can drive the grabbing device 30 to switch from the first state to the second state, so that the grabbing device 30 and the optical disc 200 are limited and matched, thereby realizing the self-sensing manipulator 100 to grab the optical disc 200. At this time, the self-sensing manipulator 100 can be moved as a whole to drive the optical disc 200 to adjust its position.

[0026] Alternatively, when the gripping device 30 has been limitedly engaged with the optical disc 200 and the optical disc 200 needs to be released, the self-sensing manipulator 100 can be moved as a whole to the target position first, and then the driving device 20 can drive the gripping device 30 to switch from the second state to the first state, so that the gripping device 30 can be movably inserted into the center hole 201 of the optical disc 200, that is, the gripping device 30 and the optical disc 200 are released from the limited engagement, thereby realizing the release of the optical disc 200.

[0027] In this way, the optical disc 200 can be grasped or released by the self-sensing robot 100 to reduce the difficulty of taking and placing the optical disc 200 .

[0028] In some implementations, the gripping device 30 and the optical disc 200 may be limited in a manner such that the gripping device 30 clamps the optical disc 200, or the gripping device 30 and the center hole 201 of the optical disc 200 may be interference fit to clamp the optical disc 200 by friction. Of course, other limiting methods may also be used, which are not limited here.

[0029] Furthermore, the detection device 40 is installed on the base 10 and is communicatively connected with the driving device 20. The detection device 40 is configured to detect the in-place status information of the optical disc 200 when the grasping device 30 is inserted into the center hole 201. The driving device 20 is used to control the grasping device 30 to maintain the current state or switch between the first state and the second state according to the in-place status information.

[0030] It can be understood that in the process of the grasping device 30 grasping or releasing the optical disc 200, there is a situation where the grasping device 30 is inserted into the center hole 201. Therefore, the detection device 40 can play a role in detecting the in-place status information of the optical disc 200 in the process of the grasping device 30 grasping or releasing the optical disc 200.

[0031] For example, during the process of the grabbing device 30 grabbing the optical disc 200, the grabbing device 30 is in the first state. When the grabbing device 30 is inserted into the center hole 201, the detection device 40 detects the in-place status information of the optical disc 200, and then the driving device 20 controls the grabbing device 30 to maintain the current state or switch between the first state and the second state according to the in-place status information.

[0032] If the driving device 20 controls the grabbing device 30 to maintain the current state, that is, the first state, according to the in-position state information, it means that the grabbing device 30 has not reached the limit condition with the optical disk 200. Therefore, it is necessary to control the grabbing device 30 to maintain the current state, that is, the first state.

[0033] If the driving device 20 controls the grabbing device 30 to switch between the first state and the second state according to the in-position state information, that is, switches from the first state to the second state, it means that the grabbing device 30 has reached the limit condition with the optical disc 200. Therefore, it is necessary to control the grabbing device 30 to switch from the first state to the second state to achieve the limit with the optical disc 200.

[0034] Alternatively, during the process of the gripping device 30 releasing the optical disc 200, when the gripping device 30 is in the second state and is inserted into the center hole 201, the detection device 40 detects the in-place status information of the optical disc 200, and then the driving device 20 controls the gripping device 30 to maintain the current state or switch between the first state and the second state according to the in-place status information.

[0035] If the driving device 20 controls the grabbing device 30 to maintain the current state, ie, the second state, according to the in-position state information, it means that the grabbing device 30 has not reached the release condition of the optical disc 200. Therefore, it is necessary to control the grabbing device 30 to maintain the current state, ie, the second state.

[0036] If the driving device 20 controls the grabbing device 30 to switch between the first state and the second state according to the in-position state information, that is, switches from the second state to the first state, it means that the grabbing device 30 has reached the release condition of the optical disc 200. Therefore, it is necessary to control the grabbing device 30 to switch from the second state to the first state to achieve the limit with the optical disc 200.

[0037] Therefore, the detection device 40 can control the switching of the state of the grasping device 30 through the detection of the optical disc 200, thereby reducing the possibility of erroneous operation of the self-sensing robot 100 in the process of grasping or releasing the optical disc 200, so that the self-sensing robot 100 can more accurately pick up and place the optical disc 200, thereby reducing the difficulty of picking up and placing the optical disc 200.

[0038] It should be noted that the above-mentioned in-position status information may include but is not limited to whether the optical disc 200 is in contact with the gripping device 30, or the relative position information of the optical disc 200 and the gripping device 30, or whether the optical disc 200 is in limited position cooperation with the gripping device 30.

[0039] For example, the in-place status information is whether the optical disc 200 is limited and matched with the grasping device 30. For example, when the in-place status information is that the optical disc 200 is not limited and matched with the grasping device 30, the control device can control the grasping device 30 to maintain the current state, that is, maintain the first state so that the grasping device 30 can be movably inserted into the center hole 201, thereby adjusting the relative position of the optical disc 200 and the grasping device 30, so as to meet the needs of the grasping device 30 to grasp the optical disc 200.

[0040] Alternatively, when the in-position status information is that the optical disc 200 is limited in position with the grasping device 30, at this time, the grasping device 30 is in the second state, and the control device can control the grasping device 30 to maintain the current state, that is, maintain the second state so that the grasping device 30 can stably cooperate with the optical disc 200 in position, thereby preventing the optical disc 200 from falling off.

[0041] According to the self-sensing manipulator 100 of the embodiment of the present application, a detection device 40 is provided so that when the grasping device 30 is inserted into the central hole 201 of the optical disc 200, the in-situ status information of the optical disc 200 can be detected by the detection device 40, and the driving device 20 can control the grasping device 30 to maintain the current state or switch between the first state and the second state according to the in-situ status information. In this way, the state switching of the grasping device 30 can be controlled by the detection device 40 of the optical disc 200, thereby reducing the possibility of erroneous operation of the self-sensing manipulator 100 in the process of grasping or releasing the optical disc 200, so that the self-sensing manipulator 100 can more accurately pick up and place the optical disc 200, thereby reducing the difficulty of picking up and placing the optical disc 200.

[0042] In some embodiments, the detection device 40 includes: a sensor 41 and a probe 42, the sensor 41 is installed on the base 10 and is communicatively connected to the drive device 20, the probe 42 can be movably installed on the base 10 and is arranged opposite to the sensor 41, when the grasping device 30 passes through the center hole 201 and moves downward, the optical disc 200 is suitable for pushing the probe 42 toward the sensor 41 to change the current distance information between the probe 42 and the sensor 41, and the current distance information is the in-place state information.

[0043] It can be understood that the gripping device 30 is usually vertically penetrated through the center hole 201 of the optical disc 200. At this time, when the driving device 20 drives the gripping device 30 to move downward along the axial direction of the center hole 201, the optical disc 200 will move upward relative to the gripping device 30. At this time, the optical disc 200 abuts against the probe 42 and pushes the probe 42 toward the sensor 41 to change the current distance information between the probe 42 and the sensor 41. Then the sensor 41 can control the gripping device 30 to maintain the current state or switch between the first state and the second state according to the current distance information. The detection of the current distance information is relatively simple, which is conducive to reducing the difficulty of testing the in-situ state information.

[0044] For example, the sensor 41 may be an infrared rangefinder, which can detect the current distance information, and the detection method is relatively simple, which helps to reduce the difficulty of detection.

[0045] In some embodiments, the current distance information includes first distance information and second distance information. When the probe 42 is spaced apart from the sensor 41, the information generated by the sensor 41 is the first distance information. When the probe 42 is against the sensor 41, the information generated by the sensor 41 is the second distance information. The driving device 20 is used to control the grasping device 30 to maintain the current state according to the first distance information. The driving device 20 is used to control the grasping device 30 to switch between the first state and the second state according to the second distance information.

[0046] For example, in the process of the self-sensing manipulator 100 clamping the optical disc 200, the gripping device 30 is in the first state. When the driving device 20 drives the gripping device 30 to move downward along the axial direction of the center hole 201, the optical disc 200 will push the probe 42 to move relative to the gripping device 30 toward the direction close to the sensor 41. Therefore, when the probe 42 is spaced apart from the sensor 41, it means that the probe 42 has not moved to the extreme position (the position of the probe 42 when the probe 42 is against the sensor 41). At this time, the driving device 20 is used to control the gripping device 30 to maintain the current state according to the first distance information, that is, to maintain the first state so that the gripping device 30 can be movably arranged in the center hole 201, thereby adjusting the relative position of the optical disc 200 and the gripping device 30, so as to meet the needs of the gripping device 30 to grip the optical disc 200.

[0047] When the probe 42 abuts against the sensor 41, the information generated by the sensor 41 is the second distance information. Therefore, it indicates that the probe 42 moves to the extreme position (the position of the probe 42 when the probe 42 abuts against the sensor 41). At this time, the driving device 20 is used to control the grasping device 30 to switch from the first state to the second state according to the second distance information, that is, the grasping device 30 and the optical disc 200 are limited in cooperation.

[0048] In some embodiments, Figure 1 and Figure 2 As shown, the sensor 41 is installed above the base 10, the probe 42 is slidably arranged in the mounting hole of the base 10 in the vertical direction, and an annular protrusion 421 is arranged at one end of the probe 42 facing the sensor 41, and the annular protrusion 421 is used to abut against the base 10. Therefore, by providing the annular protrusion 421, the probe 42 can abut against the base 10 through the annular protrusion 421 when moving downward, thereby preventing the probe 42 from being separated from the base 10.

[0049] In some embodiments, Figure 1 and Figure 2 As shown, the gripping device 30 includes a movable rod 31 and a limiting assembly 32. One end of the movable rod 31 is dynamically connected to the driving device 20 and the other end is passed through the base 10. The limiting assembly 32 is movably connected to the other end of the movable rod 31. In a first state, the limiting assembly 32 is suitable for moving relative to the movable rod 31 so that the limiting assembly 32 can be passed through the center hole 201. In a second state, the limiting assembly 32 is suitable for moving relative to the movable rod 31 to cooperate with the optical disc 200 in a limiting manner.

[0050] Thus, by setting the limiting assembly 32 to be movably connected to the other end of the movable rod 31, in the first state, the limiting assembly 32 is adapted to move relative to the movable rod 31 so that the limiting assembly 32 can be inserted into the central hole 201 to avoid interference between the limiting assembly 32 and the optical disc 200. In the second state, the limiting assembly 32 moves relative to the movable rod 31 to cooperate with the optical disc 200, thereby achieving the limited cooperation between the gripping device 30 and the optical disc 200.

[0051] In some embodiments, Figure 1-Figure 3 As shown, the limiting assembly 32 includes a first connecting rod 321 and a second connecting rod 322, the first connecting rod 321 is hinged to the base 10, the second connecting rod 322 is hinged to the other end of the movable rod 31, and the first connecting rod 321 and the second connecting rod 322 are hinged. Figure 2 As shown, the maximum distance between the hinge of the first connecting rod 321 and the second connecting rod 322 and the movable rod 31 is smaller than the diameter of the central hole 201. In the second state, as shown in FIG. Figure 4 As shown, the minimum distance between the hinge of the first connecting rod 321 and the second connecting rod 322 and the movable rod 31 is greater than the aperture of the central hole 201 and is located on the side of the optical disc 200 away from the base 10 .

[0052] As a result, the first link 321 and the second link 322 can be formed into a "variable diameter rod" structure. For example, when the movable rod 31 moves downward to move the other end of the movable rod 31 away from the base 10, the other end of the movable rod 31 pulls the second link 322 and the first link 321 to rotate the first link 321 and the second link 322 away from each other, thereby reducing the maximum distance between the hinge of the first link 321 and the second link 322 and the movable rod 31. When the maximum distance between the hinge of the first link 321 and the second link 322 and the movable rod 31 is less than the aperture of the center hole 201, the limit assembly 32 and the movable rod 31 can be passed through the center hole 201.

[0053] When the movable rod 31 moves upward so that the other end of the movable rod 31 approaches the base 10, the other end of the movable rod 31 pulls the second connecting rod 322 and the first connecting rod 321 to rotate the first connecting rod 321 and the second connecting rod 322 toward each other, thereby increasing the maximum distance between the hinge of the first connecting rod 321 and the second connecting rod 322 and the movable rod 31. When the maximum distance between the hinge of the first connecting rod 321 and the second connecting rod 322 and the movable rod 31 is greater than the aperture of the center hole 201, the limiting assembly 32 cannot pass through the center hole 201, that is, the limiting cooperation between the limiting assembly 32 and the optical disc 200 is achieved.

[0054] In some embodiments, Figure 1 and Figure 2 As shown, the first connecting rod 321 and / or the second connecting rod 322 are configured as arc-shaped rods, and the center of the arc-shaped rods is located on the side of the arc-shaped rods away from the movable rod 31 .

[0055] Thus, it is easy to reduce the difficulty of setting the first connecting rod 321 and / or the second connecting rod 322, and the center of the arc rod is located on the side of the arc rod away from the movable rod 31, which is easy to meet the movement requirements of the arc rod and avoid interference between the movement of the arc rod and the movable rod 31.

[0056] In some embodiments, a plurality of limiting components 32 are provided, and the plurality of limiting components 32 are arranged around the movable rod 31 in the circumferential direction of the movable rod 31 , so as to enhance the limiting effect between the limiting components 32 and the optical disc 200 .

[0057] In some embodiments, Figure 3 As shown, the self-sensing manipulator 100 further includes: a position sensor 50, which is mounted on the base and is in communication with the drive device 20, and the position sensor 50 is used to control the drive device 20 to cut off power when the grasping device 30 moves to the extreme position along the axis of the center hole 201. Therefore, the position sensor 50 can be set to avoid the grasping device 30 from moving along the axis of the center hole 201.

[0058] For example Figure 3As shown, the position sensor 50 includes a first position sensor 51 and a second position sensor 52, and the first position sensor 51 and the second position sensor 52 are spaced apart in the up and down directions. A baffle 60 is provided on the movable rod 31, and the baffle 60 is suitable for sensing and cooperating with the first position sensor 51 and / or the second position sensor 52 so that the first position sensor 51 and / or the second position sensor 52 generate control information of the drive device 20.

[0059] For example, when the movable rod 31 moves upward to the limit position, the first position sensor 51 senses the baffle 60 and controls the driving device 20 to be powered off, or when the movable rod 31 moves downward to the limit position, the second position sensor 52 senses the baffle 60 and controls the driving device 20 to be powered off. Thus, the position sensor 50 can be provided to prevent the grasping device 30 from moving along the axis of the central hole 201.

[0060] The application also discloses a control method for a self-sensing manipulator.

[0061] According to the control method of the self-sensing manipulator according to the embodiment of the present application, the control method is used to control the self-sensing manipulator 100 described in any of the above embodiments, such as Figure 4 As shown, the control method of the self-sensing manipulator includes: S10: Controlling the gripping device 30 to be in a first state so as to pass through the central hole 201 of the optical disc 200; S20: Acquiring the in-position status information of the optical disc 200 detected by the detection device 40; S30: Control the grasping device 30 to maintain the current state or switch between the first state and the second state according to the in-place state information.

[0062] It can be understood that in the process of the grasping device 30 grasping or releasing the optical disc 200, there is a situation where the grasping device 30 is inserted into the center hole 201. Therefore, the detection device 40 can play a role in detecting the in-place status information of the optical disc 200 in the process of the grasping device 30 grasping or releasing the optical disc 200.

[0063] For example, during the process of the grabbing device 30 grabbing the optical disc 200, the grabbing device 30 is in the first state. When the grabbing device 30 is inserted into the center hole 201, the detection device 40 detects the in-place status information of the optical disc 200, and then the driving device 20 controls the grabbing device 30 to maintain the current state or switch between the first state and the second state according to the in-place status information.

[0064] If the driving device 20 controls the grabbing device 30 to maintain the current state, that is, the first state, according to the in-position state information, it means that the grabbing device 30 has not reached the limit condition with the optical disk 200. Therefore, it is necessary to control the grabbing device 30 to maintain the current state, that is, the first state.

[0065] If the driving device 20 controls the grabbing device 30 to switch between the first state and the second state according to the in-position state information, that is, switches from the first state to the second state, it means that the grabbing device 30 has reached the limit condition with the optical disc 200. Therefore, it is necessary to control the grabbing device 30 to switch from the first state to the second state to achieve the limit with the optical disc 200.

[0066] Therefore, the detection device 40 can control the switching of the state of the grasping device 30 through the detection of the optical disc 200, thereby reducing the possibility of erroneous operation of the self-sensing robot 100 in the process of grasping the optical disc 200, so that the self-sensing robot 100 can more accurately pick up and place the optical disc 200, thereby reducing the difficulty of picking up and placing the optical disc 200.

[0067] According to the control method of the self-sensing manipulator of the embodiment of the present application, the self-sensing manipulator 100 is provided with a detection device 40 so that when the grasping device 30 is inserted into the central hole 201 of the optical disc 200, the detection device 40 can detect the in-situ state information of the optical disc 200, and the driving device 20 can control the grasping device 30 to maintain the current state or switch between the first state and the second state according to the in-situ state information. In this way, the state switching of the grasping device 30 can be controlled by the detection device 40 of the optical disc 200, thereby reducing the possibility of erroneous operation of the self-sensing manipulator 100 in the process of grasping or releasing the optical disc 200, so that the self-sensing manipulator 100 can more accurately pick up and place the optical disc 200, thereby reducing the difficulty of picking up and placing the optical disc 200.

[0068] In some embodiments, the detection device 40 includes: a sensor 41 and a probe 42, the sensor 41 is installed on the base 10 and is communicatively connected to the drive device 20, the probe 42 can be movably installed on the base 10 and is arranged opposite to the sensor 41, when the grasping device 30 is inserted into the center hole 201, the in-situ state information includes: first distance information and second distance information, and obtaining the in-situ state information of the optical disk 200 detected by the detection device 40 includes: when the probe 42 is spaced from the sensor 41, the information generated by the sensor 41 is the first distance information, and the drive device 20 controls the grasping device 30 to maintain the current state according to the first distance information; when the probe 42 is against the sensor 41, the information generated by the sensor 41 is the second distance information, and the drive device 20 controls the grasping device 30 to switch between the first state and the second state according to the second distance information.

[0069] For example, in the process of the self-sensing manipulator 100 clamping the optical disc 200, the gripping device 30 is in the first state. When the driving device 20 drives the gripping device 30 to move downward along the axial direction of the center hole 201, the optical disc 200 will push the probe 42 to move relative to the gripping device 30 toward the direction close to the sensor 41. Therefore, when the probe 42 is spaced apart from the sensor 41, it means that the probe 42 has not moved to the extreme position (the position of the probe 42 when the probe 42 is against the sensor 41). At this time, the driving device 20 is used to control the gripping device 30 to maintain the current state according to the first distance information, that is, to maintain the first state so that the gripping device 30 can be movably arranged in the center hole 201, thereby adjusting the relative position of the optical disc 200 and the gripping device 30, so as to meet the needs of the gripping device 30 to grip the optical disc 200.

[0070] When the probe 42 abuts against the sensor 41, the information generated by the sensor 41 is the second distance information. Therefore, it indicates that the probe 42 moves to the extreme position (the position of the probe 42 when the probe 42 abuts against the sensor 41). At this time, the driving device 20 is used to control the grasping device 30 to switch from the first state to the second state according to the second distance information, that is, the grasping device 30 and the optical disc 200 are limited in cooperation.

[0071] The following is combined with Figure 1 A specific embodiment of a self-sensing manipulator 100 of the present application is described as follows: The self-sensing manipulator 100 includes: a base 10, a driving device 20, a grasping device 30 and a detection device 40.

[0072] The gripping device 30 includes a movable rod 31 and a limiting assembly 32. The movable rod 31 includes a connecting rod 311 and a guide head 312. The connecting rod 311 is passed through the base 10 and is connected to the guide head 312. A sleeve 11 is provided on the base 10. The sleeve 11 is passed through the base 10 and sleeved on the movable rod 31. The guide head 312 is constructed as a conical structure so that it can play a certain guiding role when the guide head 312 has an angle with the axis of the center hole 201. The limiting assembly 32 includes a first connecting rod 321 and a second connecting rod 322. The first connecting rod 321 is hinged to the sleeve 11, the second connecting rod 322 is hinged to the guide head 312, and the first connecting rod 321 and the second connecting rod 322 are hinged.

[0073] In actual use, Figure 6 As shown, the steps of the self-sensing robot 100 grabbing the optical disc 200 may be: Step 1: Control the relevant motors to make the self-sensing robot 100 reach the position for grabbing the optical disk 200.

[0074] Step 2: By driving the motor of the driving device 20, the movable rod 31 is pushed to the lowest limit position. At this time, the first connecting rod 321 and the second connecting rod 322 are in a straight state, and the diameter of the grasping device 30 is the smallest (the diameter of the grasping device 30 is smaller than the aperture of the center hole 201 of the optical disc 200) so as to pass through the center hole 201 of the optical disc 200.

[0075] Step 3: Control the drive device 20 to drive the movable rod 31 to move downward, and gradually extend the guide head 312 into the hole in the optical disc 200. When the optical disc 200 and the tip of the probe 42 (such as Figure 2 After the movable rod 31 contacts the lower end of the probe 42, the movable rod 31 continues to descend, and the probe 42 is forced to lift upward. When the head of the probe 42 blocks the sensor 41 (assuming that the sensor 41 is blocked, the signal is high level H, otherwise it is low level L), the sensor 41 signal S=H, the movable rod 31 stops descending.

[0076] Step 4: Control the driving device 20 to drive the movable rod 31 to move upward, and push the movable rod 31 to the upper limit position. The first connecting rod 321 and the second connecting rod 322 are in a contracted state. During this process, the cross-sectional diameter of the first connecting rod 321 and the second connecting rod 322 gradually becomes the largest, just supporting the bottom surface of the optical disc 200.

[0077] Step 5: Control the relevant motors to make the self-sensing robot 100 move upward. By moving the self-sensing robot 100, the optical disk 200 can be grasped and moved.

[0078] In some embodiments, Figure 7 As shown, the process of the self-sensing robot 100 putting down the optical disk 200 is as follows: Step 1: Control the relevant motors to make the self-sensing robot 100 reach the position for placing the optical disk 200.

[0079] Step 2: Control the drive device 20 to drive the movable rod 31 downward to the lowest limit position. During this process, the first connecting rod 321 and the second connecting rod 322 are gradually straightened, and the diameter of the cross section of the first connecting rod 321 and the second connecting rod 322 is reduced until it is smaller than the center hole 201 of the optical disc 200. Under the action of gravity, the optical disc 200 falls downward and escapes from the self-sensing manipulator 100. At the same time, the tip of the probe 42 is separated from the pressure of the optical disc 200, and the probe 42 falls back to its original position under the action of gravity. The head of the probe 42 no longer blocks the sensor 41, and the sensor 41 signal S=L at this time. At this point, the entire disc drop process is over.

[0080] It should be noted that the structure and connection method in the above embodiment are only used as a preferred embodiment for illustration and do not represent a limitation thereto.

[0081] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0083] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0084] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A self-sensing manipulator (100), characterized in that: include: Base (10); A driving device (20) and a grabbing device (30), wherein the driving device (20) is mounted on the base (10), the driving device (20) is connected to the grabbing device (30) by power, and the driving device (20) is used to drive the grabbing device (30) to switch between a first state and a second state, wherein in the first state, the grabbing device (30) can be movably inserted into a center hole (201) of the optical disc (200), and in the second state, the grabbing device (30) is inserted into the center hole (201) and is limitedly matched with the optical disc (200); A detection device (40), the detection device (40) is mounted on the base (10) and is communicatively connected to the drive device (20), the detection device (40) is configured to detect in-situ state information of the optical disc (200) when the gripping device (30) is inserted into the center hole (201), and the drive device (20) is used to control the gripping device (30) to maintain a current state or switch between the first state and the second state according to the in-situ state information.

2. The self-sensing manipulator (100) according to claim 1, characterized in that: The detection device (40) comprises: a sensor (41) and a probe (42); the sensor (41) is mounted on the base (10) and is communicatively connected to the drive device (20); the probe (42) is movably mounted on the base (10) and is arranged opposite to the sensor (41); when the gripping device (30) passes through the central hole (201) and moves downward, the optical disc (200) is suitable for pushing the probe (42) to move toward the sensor (41) to change the current distance information between the probe (42) and the sensor (41); the current distance information is the in-place state information.

3. The self-sensing manipulator (100) according to claim 2, characterized in that: The current distance information includes first distance information and second distance information. When the probe (42) is spaced apart from the sensor (41), the information generated by the sensor (41) is the first distance information. When the probe (42) is in contact with the sensor (41), the information generated by the sensor (41) is the second distance information. The driving device (20) is used to control the grasping device (30) to maintain the current state according to the first distance information. The driving device (20) is used to control the grasping device (30) to switch between the first state and the second state according to the second distance information.

4. The self-sensing manipulator (100) according to claim 2, characterized in that: The sensor (41) is installed above the base (10), the probe (42) is slidably inserted into the mounting hole of the base (10) in the vertical direction, and an annular protrusion (421) is provided at one end of the probe (42) facing the sensor (41), and the annular protrusion (421) is used to abut against the base (10).

5. The self-sensing manipulator (100) according to claim 1, characterized in that: The gripping device (30) comprises a movable rod (31) and a limiting assembly (32), one end of the movable rod (31) is dynamically connected to the driving device (20) and the other end is passed through the base (10), the limiting assembly (32) is connected to the other end of the movable rod (31), in the first state, the limiting assembly (32) is suitable for moving relative to the movable rod (31) so that the limiting assembly (32) can be passed through the center hole (201), in the second state, the limiting assembly (32) is suitable for moving relative to the movable rod (31) so as to cooperate with the optical disc (200) in limiting manner.

6. The self-sensing manipulator (100) according to claim 5, characterized in that: The limiting assembly (32) comprises a first connecting rod (321) and a second connecting rod (322), wherein the first connecting rod (321) is hinged to the base (10), and the second connecting rod (322) is hinged to the other end of the movable rod (31), and the first connecting rod (321) and the second connecting rod (322) are hinged. In the first state, the maximum distance between the hinge of the first connecting rod (321) and the second connecting rod (322) and the movable rod (31) is less than the aperture of the center hole (201), and in the second state, the minimum distance between the hinge of the first connecting rod (321) and the second connecting rod (322) and the movable rod (31) is greater than the aperture of the center hole (201) and is located on the side of the optical disc (200) facing away from the base (10).

7. The self-sensing manipulator (100) according to claim 6, characterized in that: The first connecting rod (321) and / or the second connecting rod (322) are configured as arc-shaped rods, and the center of the arc-shaped rods is located on a side of the arc-shaped rods that is away from the movable rod (31).

8. The self-sensing manipulator (100) according to any one of claims 1 to 7, characterized in that: Also includes: A position sensor (50) is installed on the base (10) and is communicatively connected to the drive device (20), and the position sensor (50) is used to control the drive device (20) to cut off power when the grasping device (30) moves to an extreme position along the axis of the center hole (201).

9. A method for controlling a self-sensing manipulator, wherein the method for controlling a self-sensing manipulator (100) is applied to control the self-sensing manipulator (100) according to any one of claims 1 to 8, characterized in that: The control method of the self-sensing manipulator (100) comprises: Controlling the gripping device (30) to be in the first state so as to pass through the central hole (201) of the optical disc (200); Acquiring the in-place status information of the optical disc (200) detected by the detection device (40); The grasping device (30) is controlled to maintain a current state or switch between the first state and the second state according to the in-situ state information.

10. The control method of the self-sensing manipulator according to claim 9, wherein the detection device (40) comprises: A sensor (41) and a probe (42), wherein the sensor (41) is mounted on the base (10) and is communicatively connected to the drive device (20), and the probe (42) is movably mounted on the base (10) and is arranged opposite to the sensor (41), and when the grasping device (30) is inserted into the central hole (201), the invention is characterized in that: The in-place status information includes: first distance information and second distance information, and the obtaining of the in-place status information of the optical disc (200) detected by the detection device (40) includes: When the probe (42) is spaced from the sensor (41), information generated by the sensor (41) is the first distance information, and the driving device (20) controls the grasping device (30) to maintain a current state according to the first distance information; When the probe (42) abuts against the sensor (41), the information generated by the sensor (41) is the second distance information, and the driving device (20) controls the grasping device (30) to switch between the first state and the second state according to the second distance information.

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