Carbon fiber mechanical arm adjusting method and system

Abstract

The invention provides a carbon fiber mechanical arm adjusting method, which relates to the technical field of engineering mechanical arms, and comprises the following steps: acquiring the initial heights of four reference points on the front, back, left and right sides of a mechanical arm base when the mechanical arm is no-load; when the mechanical arm works, whether the height change of any datum point is larger than a first preset threshold value or not is judged; if yes, compensating the height of the reference point through an adjusting foot; otherwise, the operation is not executed; whether the maximum difference value of the height changes of the four datum points is larger than a second preset threshold value or not is judged, and if yes, the heights of the four datum points are compensated through adjusting feet; otherwise, the operation is not executed; judging whether the variance of the pressure values of the four datum points during height compensation of the four datum points is greater than a third preset threshold value or not, and if so, giving an alarm; otherwise, the operation is not executed. Height compensation is carried out on the base in all directions according to height changes of the four corners of the base, pressure monitoring is carried out in the height compensation process, the compensation adjustment precision is high, and safety is high.

Description

Technical Field

[0001] The present application relates to the technical field of engineering mechanical arms, and in particular to a carbon fiber mechanical arm adjustment method and system. Background Art

[0002] With the development of modern technology, some factories use robotic arms to replace manual labor. The robotic arms sometimes need to be fixed during work, that is, the robotic arms need to adopt a structurally stable base structure, and even one robotic arm requires multiple bases for coordination and fixation.

[0003] Nowadays, many robotic arms are used for long-stroke operations, and high requirements are placed on the base fixing performance during the use of the robotic arms. With the development of technology, metal or alloy robotic arms are gradually being abandoned due to their heavy weight, difficulty in carrying, high manufacturing cost, and difficulty in maintenance after damage. The emerging ones are carbon fiber robotic arms, which have the advantages of light weight, low manufacturing cost, easy maintenance, and good mechanical properties.

[0004] This brings about a new demand for the use of robotic arms. In the past, metal robotic arms were heavy, and due to the heavy weight of the operation, they required a large base to fix them. Today's carbon fiber robotic arms are light and can be fixed using a smaller modular base, which gives them the advantages of low manufacturing cost and easy installation and use. In addition, carbon fiber robotic arms have good mechanical properties and can perform large-stroke operations, making them easy to overturn during operation or difficult to perform precise safety adjustments. The previous large base adjustment structure results in large errors and no significant improvement in safety.

[0005] Therefore, in order to solve the above problem, it is necessary for us to design a reasonable and efficient carbon fiber robotic arm adjustment method. Summary of the invention

[0006] In order to solve the above problems, an embodiment of the present application provides a carbon fiber robotic arm adjustment method. According to the characteristics of the carbon fiber robotic arm, which is light in weight and has a small base area, height compensation is performed in all directions of the base according to the height changes of the four corners of the base, and pressure monitoring is performed during the height compensation process, so that the compensation adjustment has high accuracy and high safety, and can take into account both the use advantages of the carbon fiber robotic arm and precise operation safety adjustment.

[0007] In a first aspect, an embodiment of the present application provides a method for adjusting a carbon fiber mechanical arm, the method comprising:

[0008] S100: Obtain the initial heights of the four reference points of the front, back, left, and right of the robot base when the robot arm is unloaded;

[0009] S200: When the robot arm is operating, it is determined whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the height of the reference point is compensated by adjusting the foot, and step S300 is executed; otherwise, no operation is performed;

[0010] S300: Determine whether the maximum difference of the height change of the four reference points is greater than a second predetermined threshold value, if so, compensate the height of the four reference points by adjusting the feet, and execute step S400; otherwise, do not execute the operation;

[0011] S400: Determine whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than a third predetermined threshold, and if so, issue an alarm; otherwise, do not perform the operation.

[0012] As one of the preferred embodiments of the present invention, when executing step S100, the initial heights of four reference points of the left front, right front, left rear and right rear of the robot arm base are obtained.

[0013] As one of the preferred embodiments of the present invention, when executing step S100 to step S300, the height of the reference point is obtained by a height sensor of the reference point.

[0014] As one of the preferred embodiments of the present invention, when executing step S300, the height of the reference point is compensated by adjusting the foot, specifically:

[0015] Obtain the center point of the four reference points, obtain the distance between the reference points and the center point, obtain the first compensation force by multiplying the distance between the reference point and the center point and the current reference point height change value, and compensate the reference point height by generating the first compensation force by adjusting the foot work;

[0016] And the reference point height compensation direction is opposite to the reference point height change direction.

[0017] As one of the preferred embodiments of the present invention, when executing step S300, the heights of the four reference points are compensated by adjusting the feet, specifically:

[0018] Obtain the height change values ​​of the four reference points; calculate the height change difference between any two reference points; select the maximum difference and the two reference points corresponding to the maximum difference, and record them as the first reference point and the second reference point;

[0019] Select the average of the heights of the first reference point and the second reference point to obtain the target height;

[0020] A second compensation force is obtained by multiplying the distance between the reference point and the center store and the difference between the current reference point height and the target height, and the second compensation force is generated by adjusting the foot work to compensate for the reference point height;

[0021] And the reference point height compensation direction is opposite to the direction of change of the reference point relative to the target height.

[0022] As one of the preferred embodiments of the present invention, when executing step S200, the second compensation forces at the four reference points are calculated separately.

[0023] As one of the preferred embodiments of the present invention, when executing step S400, it specifically includes:

[0024] If it is determined whether the height compensation of the four reference points is completed, no other operations will be performed; otherwise, the pressure values ​​of the four reference points are obtained at a predetermined interval;

[0025] It is determined whether the variance of the pressure values ​​of the four reference points is greater than a third predetermined threshold value, and if so, an alarm is issued; otherwise, no operation is performed.

[0026] In a second aspect, an embodiment of the present application provides a carbon fiber mechanical arm adjustment system, the system comprising:

[0027] Data acquisition module;

[0028] A first judgment module;

[0029] A first compensation module;

[0030] The second judgment module;

[0031] A second compensation module;

[0032] The third judgment module;

[0033] Alarm module;

[0034] The data acquisition module obtains the initial heights of the four reference points of the front, back, left and right of the base of the robotic arm when the robotic arm is unloaded; when the robotic arm is operating, the first judgment module determines whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the first compensation module compensates for the height of the reference point by adjusting the feet, and enables the second judgment module; otherwise, no operation is performed; the second judgment module determines whether the maximum difference in the height change of the four reference points is greater than a second predetermined threshold, if so, the second compensation module compensates for the height of the four reference points by adjusting the feet, and enables the third judgment module; otherwise, no operation is performed; the third judgment module determines whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than a third predetermined threshold, if so, the alarm module issues an alarm; otherwise, no operation is performed.

[0035] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method provided in any possible implementation manner of the first aspect is implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method provided in any possible implementation manner of the first aspect is implemented.

[0037] The beneficial effects of the carbon fiber mechanical arm adjustment method and system of the present invention are:

[0038] According to the characteristics of the carbon fiber robotic arm, which is light in weight and has a small base area, height compensation is performed in all directions of the base according to the height changes of the four corners of the base, and pressure monitoring is performed during the height compensation process, so that the compensation adjustment is highly accurate and safe, which can take into account the advantages of the use of the carbon fiber robotic arm and the precise operation safety adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic flow chart of a carbon fiber robotic arm adjustment method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0042] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0043] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0044] Example 1: See Figure 1 , Figure 1 : is a flow chart of a carbon fiber mechanical arm adjustment method provided in an embodiment of the present application. In an embodiment of the present application, the method includes:

[0045] S100: Obtain the initial heights of the four reference points of the front, back, left, and right of the robot base when the robot arm is unloaded;

[0046] When executing step S100, the initial heights of four reference points, namely, the left front, right front, left rear and right rear of the robot base, are obtained.

[0047] S200: When the robot arm is operating, it is determined whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the height of the reference point is compensated by adjusting the foot, and step S300 is executed; otherwise, no operation is performed;

[0048] When executing step S200, the height of the reference point is compensated by adjusting the foot, specifically:

[0049] Obtain the center point of the four reference points, obtain the distance between the reference points and the center point, obtain the first compensation force by multiplying the distance between the reference point and the center point and the current reference point height change value, and compensate the reference point height by generating the first compensation force by adjusting the foot work;

[0050] And the reference point height compensation direction is opposite to the reference point height change direction.

[0051] S300: Determine whether the maximum difference of the height change of the four reference points is greater than a second predetermined threshold value, if so, compensate the height of the four reference points by adjusting the feet, and execute step S400; otherwise, do not execute the operation;

[0052] When executing step S300, the heights of the four reference points are compensated by adjusting the feet, specifically:

[0053] Obtain the height change values ​​of the four reference points; calculate the height change difference between any two reference points; select the maximum difference and the two reference points corresponding to the maximum difference, and record them as the first reference point and the second reference point;

[0054] Select the average of the heights of the first reference point and the second reference point to obtain the target height;

[0055] A second compensation force is obtained by multiplying the distance between the reference point and the center store and the difference between the current reference point height and the target height, and the second compensation force is generated by adjusting the foot work to compensate for the reference point height;

[0056] And the reference point height compensation direction is opposite to the direction of change of the reference point relative to the target height.

[0057] It should be noted that when executing step S300 , the second compensation forces at the four reference points are calculated separately and in sequence.

[0058] Furthermore, when executing step S100 to step S300 , the height of the reference point is acquired through the height sensor of the reference point.

[0059] S400: Determine whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than a third predetermined threshold, and if so, issue an alarm; otherwise, do not perform the operation.

[0060] When executing step S400, it specifically includes:

[0061] If it is determined whether the height compensation of the four reference points is completed, no other operations will be performed; otherwise, the pressure values ​​of the four reference points are obtained at a predetermined interval;

[0062] It is determined whether the variance of the pressure values ​​of the four reference points is greater than a third predetermined threshold value, and if so, an alarm is issued; otherwise, no operation is performed.

[0063] The present invention discloses a method for adjusting a carbon fiber mechanical arm. According to the characteristics of the carbon fiber mechanical arm being light in weight and having a small base area, height compensation is performed on the base in various directions according to the height changes of the four corners of the base, and pressure monitoring is performed during the height compensation process, so that the compensation adjustment has high precision and high safety, and can take into account both the use advantages of the carbon fiber mechanical arm and the precise operation safety adjustment.

[0064] Embodiment 2: The embodiment of the present application provides a carbon fiber mechanical arm adjustment system, the system comprising:

[0065] Data acquisition module;

[0066] A first judgment module;

[0067] A first compensation module;

[0068] The second judgment module;

[0069] A second compensation module;

[0070] The third judgment module;

[0071] Alarm module;

[0072] The data acquisition module obtains the initial heights of the four reference points of the front, back, left and right of the base of the robotic arm when the robotic arm is unloaded; when the robotic arm is operating, the first judgment module determines whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the first compensation module compensates for the height of the reference point by adjusting the feet, and enables the second judgment module; otherwise, no operation is performed; the second judgment module determines whether the maximum difference in the height change of the four reference points is greater than a second predetermined threshold, if so, the second compensation module compensates for the height of the four reference points by adjusting the feet, and enables the third judgment module; otherwise, no operation is performed; the third judgment module determines whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than a third predetermined threshold, if so, the alarm module issues an alarm; otherwise, no operation is performed.

[0073] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (Field-Programmable Gate Array, FPGA), an integrated circuit (Integrated Circuit, IC), etc.

[0074] It can be understood that the devices provided in the embodiments of the present invention are all applicable to the method described in Embodiment 1. The specific functions of each module can refer to the above method flow and will not be described in detail here.

[0075] Embodiment 3, an electronic device provided by the embodiment of the present invention is used to implement the method described in embodiment 1. The electronic device may include: at least one central processor, at least one network interface, a control interface, a memory, and at least one communication bus.

[0076] Among them, the communication bus is used to realize the connection, communication and information exchange between various components.

[0077] The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0078] Among them, the control interface is used to output control operations according to instructions.

[0079] The central processing unit may include one or more processing cores. The central processing unit uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data according to the method described in the first embodiment by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory.

[0080] The memory may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory may be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), and methods for implementing the above-mentioned embodiment 1; the data storage area may store data involved in each of the above method embodiments, etc.

[0081] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the first embodiment is implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0082] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0083] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0086] 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 memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for 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 method described in each embodiment of the present invention. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0087] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0088] It should be noted that, 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 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 a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements.

[0089] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementation modes, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A carbon fiber mechanical arm adjustment method, characterized in that: include: S100: Obtain the initial heights of the four reference points of the front, back, left, and right of the robot base when the robot arm is unloaded; S200: When the robot arm is operating, it is determined whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the height of the reference point is compensated by adjusting the foot, and step S300 is executed; otherwise, no operation is performed; S300: Determine whether the maximum difference of the height change of the four reference points is greater than a second predetermined threshold value. If so, the height of the four reference points is compensated by adjusting the feet, and step S400 is executed; otherwise, no operation is performed; S4 00: Determine whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than the third predetermined threshold value. If so, an alarm is issued; otherwise, no operation is performed.

2. A carbon fiber mechanical arm adjustment method according to claim 1, characterized in that: When executing step S100, the initial heights of four reference points, namely, the left front, right front, left rear and right rear of the robot base, are obtained.

3. A carbon fiber mechanical arm adjustment method according to claim 1, characterized in that: When executing step S100 to step S300 , the height of the reference point is acquired by the height sensor of the reference point.

4. A carbon fiber mechanical arm adjustment method according to claim 1, characterized in that: When executing step S200, the height of the reference point is compensated by adjusting the foot, specifically: Obtain the center point of the four reference points, obtain the distance between the reference points and the center point, obtain the first compensation force by multiplying the distance between the reference point and the center point and the current reference point height change value, and compensate the reference point height by generating the first compensation force by adjusting the foot work; And the reference point height compensation direction is opposite to the reference point height change direction.

5. A carbon fiber mechanical arm adjustment method according to claim 1, characterized in that: When executing step S300, the heights of the four reference points are compensated by adjusting the feet, specifically: Obtain the height change values ​​of the four reference points; calculate the height change difference between any two reference points; select the maximum difference and the two reference points corresponding to the maximum difference, and record them as the first reference point and the second reference point; Select the average of the heights of the first reference point and the second reference point to obtain the target height; A second compensation force is obtained by multiplying the distance between the reference point and the center store and the difference between the current reference point height and the target height, and the second compensation force is generated by adjusting the foot work to compensate for the reference point height; And the reference point height compensation direction is opposite to the direction of change of the reference point relative to the target height.

6. A carbon fiber mechanical arm adjustment method according to claim 5, characterized in that: When executing step S300 , the second compensation forces at the four reference points are calculated separately.

7. A carbon fiber mechanical arm adjustment method according to claim 1, characterized in that: When executing step S400, it specifically includes: If it is determined whether the height compensation of the four reference points is completed, no other operations will be performed; otherwise, the pressure values ​​of the four reference points are obtained at a predetermined interval; It is determined whether the variance of the pressure values ​​of the four reference points is greater than a third predetermined threshold value, and if so, an alarm is issued; otherwise, no operation is performed.

8. A carbon fiber mechanical arm adjustment system, characterized in that: include: Data acquisition module; A first judgment module; A first compensation module; The second judgment module; A second compensation module; The third judgment module; Alarm module; The data acquisition module obtains the initial heights of the four reference points of the front, back, left and right of the base of the robotic arm when the robotic arm is unloaded; when the robotic arm is operating, the first judgment module determines whether there is any reference point whose height change is greater than a first predetermined threshold; if so, the first compensation module compensates for the height of the reference point by adjusting the feet, and enables the second judgment module; otherwise, no operation is performed; the second judgment module determines whether the maximum difference in the height change of the four reference points is greater than a second predetermined threshold, if so, the second compensation module compensates for the height of the four reference points by adjusting the feet, and enables the third judgment module; otherwise, no operation is performed; the third judgment module determines whether the variance of the pressure values ​​of the four reference points during the height compensation of the four reference points is greater than a third predetermined threshold, if so, the alarm module issues an alarm; otherwise, no operation is performed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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