Robot and control method thereof

Abstract

The invention relates to the technical field of robots, in particular to a robot and a control method thereof. The robot includes: an end effector; a drive shaft; the vertical shaft is used for bearing the driving shaft, a first guide rail is arranged on the vertical shaft, and the driving shaft can move up and down on the first guide rail; the rotating shaft is arranged on the horizontal moving shaft; second guide rails are arranged on the two sides of the horizontal moving shaft, and the horizontal moving shaft can horizontally move on the second guide rails. The controller is configured to obtain stress information of the robot in a critical state; according to the stress information, at least one acceleration limit value corresponding to at least one position point in the movable range of the end effector when the driving shaft moves is determined; the acceleration of the drive shaft during movement is adjusted based on the at least one position point and the at least one acceleration limit value. Therefore, the technical problems of low stability, low precision and short service life of the robot in the movement process in the prior art are solved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a robot and its control method. Background Art

[0002] In recent years, with the rapid progress of computer science, artificial intelligence and other related disciplines, the application fields of robots have become increasingly extensive. The stability, precision, and service life of robots have always been important research topics for robots.

[0003] In the prior art, excessive force on the robot will affect the overall stability of the robot. When the robot is under force, it may deform, and the deformation will affect the stability and safety of the robot. Excessive deformation will cause the strength and stiffness of the robot structure to decrease, thereby affecting the stability, safe use, and service life of the robot, and reducing work efficiency. Summary of the Invention

[0004] This application provides a robot and its control method, which are used to solve the technical problems of low stability, low precision, and reduced life of the robot under related technologies during the movement process.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, this application provides a robot, including: an end effector for grasping materials within the movable range of the end effector; a drive shaft for driving the end effector to extend or retract; a vertical shaft for carrying the drive shaft, with a first guide rail provided on the vertical shaft, and the drive shaft can move up and down on the first guide rail; a rotating shaft provided on a horizontal moving shaft and fixedly connected to the vertical shaft for driving the vertical shaft, the drive shaft, and the end effector to rotate; second guide rails are provided on both sides of the horizontal moving shaft, and the horizontal moving shaft can move horizontally on the second guide rails; a controller configured to: obtain the force information of the robot in a critical state; determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information; and adjust the acceleration of the drive shaft during movement based on at least one position point and at least one acceleration limit value.

[0007] In one embodiment, the robot further includes: a bolt disposed at the intersection of the rotating shaft and the vertical shaft; a rotating shaft reducer for controlling the movement speed of the rotating shaft; the critical state includes that the supporting force of the ground on the second guide rail is at a critical value, the end effector is at the maximum allowable pitching angle, and the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotating shaft reducer are at allowable stresses; a controller configured to obtain the force information of the robot in the critical state, specifically configured to: when the supporting force of the ground on the second guide rail is at a critical value, obtain the first resultant force of the driving shaft and the end effector on the robot in the first direction and the second resultant force in the second direction; when the end effector is at the maximum allowable pitching angle, obtain the third resultant force of the driving shaft and the end effector on the robot in the first direction and the fourth resultant force in the second direction; when the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotating shaft reducer are at allowable stresses, obtain the fifth resultant force of the driving shaft and the end effector on the robot and the sixth resultant force.

[0008] In one embodiment, when the end effector is at the first position point, the first resultant force range, the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force of the end effector and the driving shaft on the robot satisfy the following relationship:

[0009] W ∈ [W min , W max = [max(F 1min , F 2min , F 3min ), min(F 1max , F 2max , F 3max )]

[0010] wherein, the first position point is any one of at least one position point, W is the first resultant force range, W min is the minimum resultant force value in the first resultant force range, W max is the maximum resultant force value in the first resultant force range, F 1min is the first resultant force, F 2min is the third resultant force, F 3min is the fifth resultant force, F 1max is the second resultant force, F 2max is the fourth resultant force, F 3max is the sixth resultant force.

[0011] In one embodiment, the robot further includes: a drive shaft motor for providing driving force to the drive shaft; a controller configured to determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information, specifically configured to: determine a first acceleration range corresponding to the first position point when the drive shaft moves according to the driving force range of the drive shaft and the first resultant force range; determine the first acceleration limit value corresponding to the first position point when the drive shaft moves according to the first acceleration range and the acceleration safety factor.

[0012] In one embodiment, when the end effector is at the first position point, the first acceleration range, the first acceleration safety factor, and the first acceleration limit value satisfy the following relationship:

[0013] M = A m (P z ,P r ) / k

[0014] Wherein, M is the first acceleration limit value, A m is the maximum or minimum value in the first acceleration range, P z is the height value of the end effector from the ground, P r is the horizontal linear distance between the connection point of the end effector and the small arm of the drive shaft and the rotation center of the large arm of the drive shaft, and k is the acceleration safety factor, and k > 1.

[0015] In a second aspect, the present application provides a control method for a robot, including: obtaining the force information of the robot in a critical state; determining at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information; adjusting the acceleration of the drive shaft when moving based on the at least one position point and the at least one acceleration limit value.

[0016] In a third aspect, an embodiment of the present application provides a controller, including: one or more processors; one or more memories; wherein, the one or more memories are used to store computer program code, and the computer program code includes computer instructions. When the one or more processors execute the computer instructions, the controller executes the method provided in the second aspect and possible implementation manners.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium includes computer instructions. When the computer instructions run on a computer, the computer is caused to execute the method provided in the second aspect and possible implementation manners.

[0018] Fifth aspect, an embodiment of the present invention provides a computer program product, which can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program product can implement the method provided in the second aspect and its possible implementation manners.

[0019] It should be noted that the above computer instructions can be stored in a computer-readable storage medium in whole or in part. Among them, the computer-readable storage medium can be packaged together with the processor of the controller or separately packaged from the processor of the controller. This application does not make any limitation in this regard.

[0020] Based on the force information of the robot in the critical state, at least one acceleration limit value of the drive shaft that ensures the stability, accuracy, and service life of the robot during the movement of the end effector at different movement position points is obtained. Subsequently, according to the movement position points of the end effector and the at least one acceleration limit value, the acceleration of the drive shaft during movement is adjusted to avoid excessive force on the robot caused by too high acceleration of the drive shaft, which may lead to the robot tipping over or a decrease in working accuracy. At the same time, the wear and tear of each component of the robot are also reduced, and the service life of the robot is extended. This method does not require changing the mechanical structure of the robot, does not require additional costs, and has low requirements for the computing power of the robot, solving the technical problems of low stability, low accuracy, and short service life of the robot in the related art during the movement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Schematic diagram of the composition of a robot provided by an embodiment of the present application;

[0023] Figure 2 Schematic diagram of the force on a robot provided by an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the flow of a control method for a robot provided by an embodiment of the present application;

[0025] Figure 4 Schematic diagram of the force on another robot provided by an embodiment of the present application;

[0026] Figure 5 Schematic diagram of the deformation of a robot after being stressed provided by an embodiment of the present application;

[0027] Figure 6 Schematic flowchart of another control method for a robot provided by an embodiment of the present application;

[0028] Figure 7 Schematic structural diagram of a control device for a robot provided by an embodiment of the present application. Detailed implementation manners

[0029] Next, a robot and its control method provided by an embodiment of the present application will be described in detail with reference to the accompanying drawings.

[0030] In the description of the present application, terms such as "first" and "second" in the specification and the accompanying drawings are used to distinguish different objects, rather than to describe a specific order of the objects. For example, the first distance and the second distance are used to distinguish different distances, rather than to describe a specific order of the distances.

[0031] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or equipment that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or equipment.

[0032] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0033] As used in the present application, "and / or" includes any one of the two methods or the simultaneous use of both methods.

[0034] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more.

[0035] Currently, during the operation of a robot, problems such as unstable operation, low precision, and reduced lifespan of the robot may occur due to excessive force.

[0036] Based on this, an embodiment of the present application provides a robot, which includes: an end effector for grasping materials within the movable range of the end effector; a drive shaft for driving the end effector to extend or retract; a vertical shaft for carrying the drive shaft, with a first guide rail provided on the vertical shaft, and the drive shaft can move up and down on the first guide rail; a rotating shaft provided on the horizontal movement shaft and fixedly connected to the vertical shaft for driving the vertical shaft, the drive shaft, and the end effector to rotate; second guide rails are provided on both sides of the horizontal movement shaft, and the horizontal movement shaft can move horizontally on the second guide rails; a controller configured to: obtain the force information of the robot in a critical state; determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information; adjust the acceleration of the drive shaft during movement based on at least one position point and at least one acceleration limit value.

[0037] Figure 1 FIG. is a schematic diagram of the composition of a robot provided by an embodiment of the present application, as Figure 1 shown, the robot 1 includes an end effector 2, a drive shaft 3, a vertical shaft 4, a rotating shaft 5, a horizontal movement shaft 6, and a controller 1000 ( Figure 1 not shown in the figure).

[0038] Optionally, the end effector 2 may include a first end effector 21 and a second end effector 22.

[0039] Optionally, the drive shaft 3 (also referred to as the R axis) may include a first drive shaft 31 (also referred to as the R1 axis) and a second drive shaft 32 (also referred to as the R2 axis), where the first drive shaft 31 is used to drive the first end effector 21 to extend or retract, and the second drive shaft 32 is used to drive the second end effector 22 to extend or retract.

[0040] Optionally, the first drive shaft 31 is divided into a first drive shaft large arm 311 and a first drive shaft small arm 312, and the second drive shaft 32 is divided into a second drive shaft large arm 321 and a second drive shaft small arm 322.

[0041] Optionally, the vertical shaft 4 (also referred to as the Z axis) may include a first vertical shaft 41 (also referred to as the Z1 axis) and a second vertical shaft 42 (also referred to as the Z2 axis), the first vertical shaft 41 is used to carry the second vertical shaft 42, a first guide rail 411 is provided on the side of the first vertical shaft 41, the second vertical shaft 42 is arranged on the first guide rail 411, and the second vertical shaft 42 can move up and down on the first guide rail 411.

[0042] In some embodiments, a third guide rail 421 is provided on the side of the second vertical shaft 42, and the drive shaft 3 can move up and down on the third guide rail 421.

[0043] In some embodiments, the end effector 2 is configured to grasp materials within the movable range of the end effector. The end effector 2 can move to a specified position to pick up materials and then place the materials at another specified position.

[0044] In some embodiments, a drive motor 33 ( Figure 1 not shown in the figure) is provided in the drive shaft 3. The drive motor 33 drives the linkage of the drive shaft boom and the drive shaft forearm, thereby converting the rotational motion of the drive motor 33 into the linear motion of the end effector 2.

[0045] In some embodiments, the vertical shaft 4 is configured to support the drive shaft 3 and drive the drive shaft 3 to move up and down on the third guide rail 421.

[0046] In some embodiments, the rotating shaft 5 (also referred to as the TH axis) is disposed on the horizontal moving shaft and is fixedly connected to the vertical shaft 4, and is configured to drive the vertical shaft, the drive shaft, and the end effector to rotate.

[0047] Exemplarily, when the rotating shaft 5 starts to rotate, it can drive the vertical shaft 4 to rotate. At the same time, the vertical shaft 4 drives the drive shaft 3 to rotate, and finally drives the end effector 2 to move to the required direction.

[0048] In some embodiments, a rotating shaft speed reducer 51 ( Figure 1 not shown in the figure) is provided on the rotating shaft 5 for controlling the rotation of the rotating shaft 5.

[0049] In some embodiments, second guide rails 61 are provided on both sides of the horizontal moving shaft 6 (also referred to as the X axis), and the horizontal moving shaft 6 can move horizontally on the second guide rails 61.

[0050] In some embodiments, when the robot 1 starts to work, first move the vertical shaft 4, the rotating shaft 5, and the horizontal moving shaft 6 to the specified working position, then move the drive shaft 3 to extend the end effector to pick up or place materials, and finally move the drive shaft 3 to retract the end effector.

[0051] It should be noted that, Figure 1 only taking the example of the robot being provided with 2 end effectors, 2 drive shafts, and 2 vertical shafts, in a specific implementation, the number of end effectors, drive shafts, and vertical shafts on the robot can be more or less, and the present application does not limit this.

[0052] In some embodiments, the controller 1000 refers to a device that can generate operation control signals according to the instruction operation code and timing signals to instruct the robot 1 to execute control instructions.

[0053] Exemplarily, the controller 1000 can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof.

[0054] It should be noted that the controller 1000 can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not impose any restrictions on this.

[0055] In addition, the controller 1000 can be used to control the various components inside the robot 1, so that each component operates to achieve the various predetermined functions of the robot 1.

[0056] It should be noted that Figure 1 is only an exemplary robot structure. In specific implementations, the structure of the robot can also include more or fewer components, and the present application does not make any limitations on this.

[0057] In some embodiments, during the movement of the end effector extending and retracting, the drive motor provides driving force for the movement of the drive shaft and the end effector. Correspondingly, the drive shaft and the end effector generate reaction forces on the rest of the robot (the part of the robot other than the drive shaft and the end effector). At the same time, as the position of the end effector changes, the center of gravity positions of the drive shaft and the end effector also change, and the forces acting on the rest of the robot also change.

[0058] Figure 2 is a force diagram of a robot provided by an embodiment of the present application. As Figure 2 shown, when the end effector extends, if the end effector is in the acceleration stage of movement, the drive shaft motor provides a thrust in the same direction as the extension direction for the drive shaft and the end effector. The drive shaft and the end effector generate a reaction force F1 on the robot in the opposite direction to the extension direction. At the same time, there is a gravity G1 for the drive shaft and the end effector itself. At this time, the center of gravity may be on the right or left side of the illustrated vertical axis and at a position relatively close to the vertical axis.

[0059] Exemplarily, when the end effector extends, if the end effector is in the deceleration stage of movement, the drive shaft motor provides a pulling force in the opposite direction to the extension direction for the drive shaft and the end effector. The drive shaft and the end effector generate a reaction force F2 on the rest of the robot in the same direction as the extension direction. At the same time, there is a gravity G2 for the drive shaft and the end effector itself (numerically, G1 = G2). At this time, the center of gravity is on the left side of the illustrated vertical axis and at a position relatively far from the vertical axis.

[0060] Exemplarily, when the end effector retracts, if the end effector is in the acceleration stage of motion, the drive shaft motor provides a pulling force in the same direction as the retraction direction to the drive shaft and the end effector. The drive shaft and the end effector generate a reaction force F3 on the robot in the direction opposite to the retraction direction. At the same time, there is a gravity G3 for the drive shaft and the end effector itself (numerically, G1 = G2 = G3). At this time, the center of gravity is on the left side of the illustrated vertical axis and at a position far from the vertical axis.

[0061] Exemplarily, when the end effector retracts, if the end effector is in the deceleration stage of motion, the drive shaft motor provides a pushing force in the direction opposite to the retraction direction to the drive shaft and the end effector. The drive shaft and the end effector generate a reaction force F4 on the robot in the same direction as the retraction direction. At the same time, there is a gravity G4 for the drive shaft and the end effector itself (numerically, G1 = G2 = G3 = G4). At this time, the center of gravity may be on the right side or the left side of the illustrated vertical axis and at a position close to the vertical axis.

[0062] In some embodiments, when the drive shaft and the end effector move, in addition to being affected by the reaction forces F (F1, F2, F3, F4) and the gravity G (G1, G2, G3, G4) of the drive shaft and the end effector, there is also a gravity G' for the remaining part of the robot (G' remains basically unchanged during the movement of the drive shaft and the end effector). The ground also has a supporting force F N and a frictional force F f .

[0063] In some embodiments, when the reaction force F (F1, F2, F3, F4), the gravity G (G1, G2, G3, G4) of the robot itself, and G' generate a large moment on the robot, it may cause one side of the second guide rail of the robot to break away from the ground, thus affecting the stable operation of the robot.

[0064] In some embodiments, the reaction force F (F1, F2, F3, F4), the gravity G (G1, G2, G3, G4) of the drive shaft and the end effector may cause the vertical axis to bend and deform ( Figure 2 bending to the left or right in Figure 2 ), and at the same time, the gravity G (G1, G2, G3, G4) of the drive shaft and the end effector also causes the drive shaft and the end effector to bend and deform (

[0065] bending downward in ), resulting in a large pitch angle of the end effector and the robot being unable to complete the work normally.

[0066] In some embodiments, the reaction forces F (F1, F2, F3, F4), the driving shaft, and the gravity of the end effector G (G1, G2, G3, G4) and the gravity of the vertical shaft itself cause different tensile stresses and compressive stresses on the bolts at the connection between the vertical shaft and the rotating shaft. When the tensile stress exceeds the allowable tensile stress or the compressive stress exceeds the allowable compressive stress, the service life of the bolts will be affected.

[0067] In some embodiments, the reaction forces F (F1, F2, F3, F4), the gravity of the driving shaft and the end effector G (G1, G2, G3, G4), the gravity of the vertical shaft itself, and the gravity of the rotating shaft itself generate uneven compressive stresses on the rotating shaft reducer. When the compressive stress exceeds the allowable compressive stress, the service life of the rotating shaft reducer will be affected.

[0068] It should be noted that the reaction forces F (F1, F2, F3, F4) and the gravity of the robot itself G (G1, G2, G3, G4) and G' also generate different stresses in the rest of the robot. However, based on the mechanical structure and materials used in this robot, the stresses generated by the reaction forces F (F1, F2, F3, F4) and the gravity of the robot itself G (G1, G2, G3, G4) and G' in other parts of the robot are not prominent, and will not be analyzed here for the time being.

[0069] Figure 3 The following is a schematic flow chart of a control method for a robot provided by an embodiment of the present application, as Figure 3 shown, the method includes the following steps:

[0070] S101. Obtain the force information of the robot in the critical state.

[0071] Among them, the critical state includes that the supporting force of the ground on the second guide rail (i.e., the pressure between the second guide rail and the ground) is at the critical value, the end effector is at the maximum allowable pitch angle, and the bending stress of the vertical shaft, the tensile stress of the bolts, the compressive stress of the bolts, and the compressive stress of the rotating shaft reducer are at the allowable stresses.

[0072] Optionally, the force information of the robot includes the first resultant force, the third resultant force, and the fifth resultant force of the driving shaft and the end effector on the robot in the first direction, and the second resultant force, the fourth resultant force, and the sixth resultant force in the second direction.

[0073] Figure 4 The following is another force diagram of the robot provided by an embodiment of the present application, as Figure 4As shown, when the supporting forces on both sides of the second guide rail on the ground are respectively at the critical values (when the pressures on the ground from both sides of the second guide rail are less than the critical values, the robot has a risk of tipping over), the first resultant force of the drive shaft and the end effector on the robot in the first direction and the second resultant force in the second direction are obtained.

[0074] Optionally, as Figure 4 shown, the first direction can be to the right and the second direction can be to the left.

[0075] Optionally, denote the first resultant force as F 1min , and denote the second resultant force as F 1max , where F 1min is negative, indicating that the direction of the force is to the right, and F 1max is positive, indicating that the direction of the force is to the left.

[0076] Exemplarily, taking Figure 4 as an example, when F N1 = critical value, F = F 1min , with the direction to the right; when F N2 = critical value, F = F 1max , with the direction to the left.

[0077] Figure 5 The following is a schematic diagram of the deformation of the robot after being stressed provided by the embodiment of the present application. As Figure 5 shown, when the end effector is respectively at the maximum allowable elevation angle and depression angle (that is, the end effector is at the maximum allowable elevation attitude angle or depression attitude angle), the third resultant force of the drive shaft and the end effector on the robot in the first direction and the fourth resultant force in the second direction are obtained.

[0078] Optionally, denote the third resultant force as F 2min , and denote the fourth resultant force as F 2max .

[0079] Exemplarily, taking Figure 5 as an example, if the maximum allowable pitch attitude angle of the end effector is θ°, when the end effector tilts downward by θ°, F = F 2max , with the direction to the left; when the end effector tilts upward by θ°, F = F 2min , with the direction to the right.

[0080] In some embodiments, when the bending stress of the vertical shaft, the tensile stress or compressive stress of the bolt, and the compressive stress of the rotary shaft reducer are at the allowable stress, the fifth resultant force and the sixth resultant force of the drive shaft and the end effector on the robot are obtained.

[0081] In some embodiments, the fifth resultant force is the maximum value among the forces (the reaction forces of the drive shaft and the end effector on the robot) corresponding to the vertical axis bending to the right to reach the allowable bending stress, the left bolt reaching the allowable tensile stress or the right bolt reaching the allowable compressive stress, and the right compressive stress of the rotary shaft reducer reaching the allowable compressive stress.

[0082] Exemplarily, if the force corresponding to the vertical axis bending to the right to reach the allowable bending stress is F 31min , the force corresponding to the left bolt at the connection between the vertical axis and the rotary shaft reaching the allowable tensile stress or the right bolt reaching the allowable compressive stress is F 32min , and the force corresponding to the right compressive stress of the rotary shaft reducer reaching the allowable compressive stress is F 33min , then F 31min , F 32min and F 33min the force with the maximum value among them is the fifth resultant force, denoted as F 3min = max(F 31min , F 32min , F 33min ).

[0083] In some embodiments, the sixth resultant force is the minimum value among the forces (the reaction forces of the drive shaft and the end effector on the robot) corresponding to the vertical axis bending to the left to reach the allowable bending stress, the right bolt reaching the allowable tensile stress or the left bolt reaching the allowable compressive stress, and the left compressive stress of the rotary shaft reducer reaching the allowable compressive stress.

[0084] Exemplarily, if the force corresponding to the vertical axis bending to the left to reach the allowable bending stress is F 31max , the force corresponding to the right bolt at the connection between the vertical axis and the rotary shaft reaching the allowable tensile stress or the left bolt reaching the allowable compressive stress is F 32max , and the force corresponding to the left compressive stress of the rotary shaft reducer reaching the allowable compressive stress is F 33max , then F 31max , F 32max and F 33max the force with the minimum value among them is the sixth resultant force, denoted as F 3max = min(F 31max , F 32max , F 33max ).

[0085] In some embodiments, after obtaining the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force, the first resultant force range of the end effector and the drive shaft on the robot at the first position point of the end effector can be determined according to the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force.

[0086] Among them, the first position point is any position point within the movable range of the end effector.

[0087] Optionally, mark the height value of the first position point (the height value of the end effector from the ground) as P z , and mark the horizontal extension position of the first position point (the horizontal linear distance between the connection point of the end effector and the small arm of the drive shaft and the rotation center of the large arm of the drive shaft) as P r .

[0088] In some embodiments, as shown in formula (1), when the end effector is at the first position point, the first resultant force range, the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force of the end effector and the drive shaft on the robot satisfy the following relationship:

[0089] W ∈ [W min , W max = [max(F 1min , F 2min , F 3min ), min(F 1max , F 2max , F 3max )]

[0090] Formula (1)

[0091] Among them, W is the first resultant force range, W min is the minimum resultant force in the first resultant force range, W max is the maximum resultant force in the first resultant force range, F 1min is the first resultant force, F 2min is the third resultant force, F 3min is the fifth resultant force, F 1max is the second resultant force, F 2max is the fourth resultant force, F 3max is the sixth resultant force.

[0092] S102. According to the force information, determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves.

[0093] It should be noted that acceleration refers to the general term of the acceleration and deceleration of an object during motion, and is a numerical value with a positive or negative sign, where the positive or negative sign represents the direction of the acceleration.

[0094] In some embodiments, it is necessary to obtain the driving force range of the drive shaft motor at the first position point within the movable range of the end effector, and determine the first acceleration range corresponding to the first position point when the drive shaft moves according to this driving force range, and then determine the first acceleration limit value corresponding to the first position point when the drive shaft moves according to the first acceleration range and the acceleration safety factor.

[0095] In some embodiments, since the driving force of the drive shaft motor and the forces exerted on the robot by the end effector and the drive shaft are action and reaction forces, and the magnitudes of action and reaction forces are equal and their directions are opposite, the driving force range F of the drive shaft motor m satisfies the relationship shown in Equation (2):

[0096] F m ∈[-W max ,-W min Equation (2)

[0097] In some embodiments, since the driving force range of the drive shaft motor corresponding to different position points of the end effector is different, therefore, if the position of the end effector is the first position point, Equation (2) can also be expressed as shown in Equation (3):

[0098] F m (P z , P r )∈[-W max (P z , P r ), -W min (P z , P r )] Equation (3)

[0099] Wherein, P z is the height value of the end effector from the ground, and P r is the horizontal linear distance between the connection point of the end effector and the drive shaft forearm and the rotation center of the drive shaft upper arm.

[0100] In some embodiments, after determining the driving force range of the drive shaft motor at the first position point, according to the relationship between the driving force range of the drive shaft motor at the first position point of the end effector and the drive shaft acceleration, the drive shaft acceleration range at the first position point is determined.

[0101] It should be noted that when determining the relationship between the driving force range of the drive shaft motor at the first position point of the end effector and the drive shaft acceleration, the friction and joint flexible deformation during the movement of the drive shaft can be ignored (that is, the friction force and the force generated by joint flexible deformation are smaller than G and F and can be ignored), and Newton's second law is used to establish a drive shaft dynamics model to determine the relationship between the driving force range of the drive shaft motor at the first position point of the end effector and the drive shaft acceleration.

[0102] Optionally, the relationship satisfied between the driving force range of the drive shaft motor at the first position point of the end effector and the drive shaft acceleration is shown in Equation (4):

[0103] AR = f(F m ) Formula (4)

[0104] where A R is the drive shaft acceleration.

[0105] In some embodiments, the drive shaft acceleration range at the first position point of the end effector can be determined according to the driving force range of the drive shaft motor at the first position point of the end effector.

[0106] Optionally, the relationship satisfied between the driving force range of the drive shaft motor and the drive shaft acceleration range at the first position point of the end effector is as shown in Formula (5):

[0107] A R ∈ [A min , A max = [f(-W max ), f(-W min )] Formula (5)

[0108] where A min is the minimum value of the acceleration range of the drive shaft motor at the first position point of the end effector, which is negative and in the right direction (i.e., the direction in which the end effector retracts), and A max is the maximum value of the driving force range of the drive shaft motor at the first position point of the end effector, which is positive and in the left direction (i.e., the direction in which the end effector extends).

[0109] In summary, the greater the height value of the position where the end effector is located, the smaller the absolute value of the acceleration of the drive shaft. The farther the horizontal position of the end effector is from the vertical axis (i.e., the farther the center of gravity of the drive shaft and the end effector is from the vertical axis), the smaller the absolute value of the acceleration of the drive shaft. That is, during the acceleration stage of the end effector extending and the deceleration stage of retracting, an acceleration with a larger absolute value is used. During the deceleration stage of the end effector extending and the acceleration stage of retracting, an acceleration with a smaller absolute value is used.

[0110] In some embodiments, an acceleration safety factor of the drive shaft acceleration limit value can be set, and the first acceleration limit value corresponding to the first position point during the movement of the drive shaft can be determined according to the acceleration safety factor.

[0111] Optionally, the acceleration safety factor can be k.

[0112] In some embodiments, as shown in Formula (6), when the end effector is at the first position point, the first acceleration range, the first acceleration safety factor, and the first acceleration limit value satisfy the following relationship:

[0113] M = A m (Pz , P r ) / k Formula (6)

[0114] Where M is the first acceleration limit value, A m is the maximum or minimum value in the first acceleration range, that is, A min or A max , A min is the minimum value in the first acceleration range, A max is the maximum value in the first acceleration range, P z is the height value of the end effector from the ground, P r is the horizontal straight-line distance between the connection point of the end effector and the small arm of the drive shaft and the rotation center of the large arm of the drive shaft, k is the acceleration safety factor, and k > 1.

[0115] It should be noted that the acceleration safety factors of the drive shaft in the acceleration stage and the deceleration stage may be different.

[0116] Optionally, the acceleration safety factor of the drive shaft in the acceleration stage is k1, and the acceleration safety factor of the drive shaft in the deceleration stage is k2.

[0117] Exemplarily, when the end effector extends, if the drive shaft is in the acceleration stage, at this time the first acceleration limit value M is A max (P z , P r ) / k1, if the drive shaft is in the deceleration stage, at this time the first acceleration limit value M is A min (P z , P r ) / k2.

[0118] Exemplarily, when the end effector retracts, if the drive shaft is in the acceleration stage, at this time the first acceleration limit value M is A min (P z , P r ) / k1, if the drive shaft is in the deceleration stage, at this time the first acceleration limit value M is A max (P z , P r ) / k2.

[0119] It should be noted that the determination method of the acceleration limit value at other position points within the movable range of the end effector refers to the first position point, which will not be elaborated here.

[0120] In some embodiments, by the above method, the acceleration limit values at other position points within the movable range of the end effector are obtained, and an acceleration limit table for the drive shaft is generated according to at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves.

[0121] In some embodiments, to simplify industrial applications, the height values and horizontal distance values within the movable range of the end effector can be respectively divided into grids, the movable range is divided into multiple partitions, and the maximum acceleration limit value and the minimum acceleration limit value in each partition are determined when the end effector extends or retracts.

[0122] In some embodiments, since the acceleration limit values at different height values and different horizontal distance values are different, in the following table, the value with the smallest absolute value of the acceleration limit value in each partition is taken as the acceleration limit value of this area.

[0123] Optionally, the height values within the movable range of the end effector can be divided into n partitions, which are respectively (z0, z1], (z1, z2],..., (z n-1 , z n , and the horizontal distance values within the movable range of the end effector can be divided into m partitions, which are respectively (r0, r1], (r1, r2],..., (r m-1 , r m .

[0124] Table 1 shows a correspondence table. As shown in Table 1, this correspondence can include multiple height values, multiple horizontal distance values, and multiple maximum acceleration limit values when the end effector extends, and there is a one-to-one correspondence among the multiple height values, multiple horizontal distance values, and multiple acceleration limit values.

[0125] Table 1

[0126]

[0127] Exemplarily, when the end effector extends, in the partition {(z0, z1], (r0, r1]}, the maximum acceleration limit value is a 11 , in the partition {(z1, z2], (r1, r2]}, the maximum acceleration limit value is a 22 , in the partition {(z n-1 , z n , (r m-1 , r m}, the maximum acceleration limit value is a nm .

[0128] Table 2 shows another correspondence table. As shown in Table 2, this correspondence may include multiple height values, multiple horizontal distance values, and multiple minimum acceleration limit values when the end effector extends, and there is a one-to-one correspondence among the multiple height values, multiple horizontal distance values, and multiple acceleration limit values.

[0129] Table 2

[0130]

[0131] Exemplarily, when the end effector extends, in the partition {(z0, z1], (r0, r1]}, the maximum acceleration limit value is b 11 , in the partition {(z1, z2], (r1, r2]}, the minimum acceleration limit value is b 22 , in the partition {(z n-1 , z n , (r m-1 , r m}, the minimum acceleration limit value is b nm .

[0132] Table 3 shows another correspondence table. As shown in Table 3, this correspondence may include multiple height values, multiple horizontal distance values, and multiple maximum acceleration limit values when the end effector retracts, and there is a one-to-one correspondence among the multiple height values, multiple horizontal distance values, and multiple acceleration limit values.

[0133] Table 3

[0134]

[0135] Exemplarily, when the end effector retracts, in the partition {(z0, z1], (r0, r1]}, the maximum acceleration limit value is c 11 , in the partition {(z1, z2], (r1, r2]}, the maximum acceleration limit value is c 22 , in the partition {(z n-1 , z n , (r m-1 , r m}, the maximum acceleration limit value is c nm .

[0136] Table 4 shows another correspondence table. As shown in Table 4, this correspondence may include multiple height values, multiple horizontal distance values, and multiple minimum acceleration limit values when the end effector retracts, and there is a one-to-one correspondence among the multiple height values, multiple horizontal distance values, and multiple acceleration limit values.

[0137] Table 4

[0138]

[0139] Exemplarily, when the end effector is retracted, in the partition {(z0, z1], (r0, r1]}, the maximum acceleration limit value is d 11 , in the partition {(z1, z2], (r1, r2]}, the minimum acceleration limit value is d 22 , in the partition {(z n-1 , z n , (r m-1 , r m}, the minimum acceleration limit value is d nm .

[0140] S103. Adjust the acceleration of the drive shaft during movement based on at least one position point and at least one acceleration limit value.

[0141] In some embodiments, after at least one position point within the movable range of the end effector and at least one corresponding acceleration limit value are determined, for any position point, according to the partition where the position point is located, look up the acceleration limit value corresponding to the position point in the four tables of step S102, and adjust the acceleration of the drive shaft during movement according to the acceleration limit value.

[0142] Exemplarily, for the position point P, if the partition where the position point P is located is {(z0, z1], (r0, r1]}, when the end effector extends, the maximum acceleration limit value of the drive shaft is a 11 , the minimum acceleration limit value of the drive shaft is b 11 , adjust the acceleration of the drive shaft during movement within (b 11 , a 11 ).

[0143] Exemplarily, if the partition where the position point P is located is {(z1, z2], (r1, r2]}, when the end effector extends, the maximum acceleration limit value of the drive shaft is a 22 , the minimum acceleration limit value of the drive shaft is b 22 , adjust the acceleration of the drive shaft during movement within (b 22 , a 22 ).

[0144] Exemplarily, if the partition where the position point P is located is {(z n-1 , z n , (r m-1 , r m}, when the end effector extends, the maximum acceleration limit value of the drive shaft is a nm , the minimum acceleration limit value of the drive shaft is b nm , adjust the acceleration of the drive shaft during movement within (bnm , a nm ) within.

[0145] Exemplarily, for the position point P, if the partition where the position point P is located is {(z0, z1], (r0, r1]}, when the end effector retracts, the maximum acceleration limit value of the drive shaft is c 11 , the minimum acceleration limit value of the drive shaft is d 11 , adjust the acceleration of the drive shaft during movement within (d 11 , c 11 ) within.

[0146] Exemplarily, if the partition where the position point P is located is {(z1, z2], (r1, r2]}, when the end effector extends, the maximum acceleration limit value of the drive shaft is c 22 , the minimum acceleration limit value of the drive shaft is d 22 , adjust the acceleration of the drive shaft during movement within (d 22 , c 22 ) within.

[0147] Exemplarily, if the partition where the position point P is located is {(z n-1 , z n , (r m-1 , r m}, when the end effector extends, the maximum acceleration limit value of the drive shaft is c nm , the minimum acceleration limit value of the drive shaft is d nm , adjust the acceleration of the drive shaft during movement within (d nm , c nm ) within.

[0148] A robot and its control method provided by the present invention obtain at least one acceleration limit value of the drive shaft that ensures the stability, accuracy, and service life of the robot during the movement of the end effector at different movement position points through the force information of the robot in the critical state. Subsequently, according to the movement position point of the end effector and the at least one acceleration limit value, the acceleration of the drive shaft during movement is adjusted to avoid excessive force on the robot caused by too high acceleration of the drive shaft, which may lead to the robot tipping over or a decrease in working accuracy. At the same time, the wear and tear of each component of the robot are also reduced, and the service life of the robot is extended. This method does not require changing the mechanical structure of the robot, does not require additional costs, and has low requirements for the computing power of the robot, solving the technical problems of low stability, low accuracy, and short service life of the robot in the related art.

[0149] In some embodiments, the above steps S101 - S103 can also be implemented through a flowchart as shown in Figure 6 shown, Figure 6Schematic flowchart of another control method for a robot provided by an embodiment of the present application. As Figure 6 shown, after starting to calculate the acceleration limit value of the drive shaft, a force analysis, deformation analysis, and stress analysis are performed on the robot to obtain the driving force F of the R-axis motor for ensuring the stability, accuracy, and service life of the robot at different height values and horizontal distance values of the end effector m (that is, the range of the driving force of the drive shaft motor at any position point within the movable range of the end effector in step S102).

[0150] Furthermore, analyze the R-axis acceleration A of the end effector at different horizontal distance values R (that is, the drive shaft acceleration) and the relationship with the driving force F of the R-axis motor m to obtain the maximum acceleration and minimum acceleration allowed for the R-axis to ensure the stability, accuracy, and service life of the robot at different height values and horizontal distance values.

[0151] Furthermore, generate an acceleration limit value table for the extension or retraction of the end effector at different height values and horizontal distance values (such as Table 1, Table 2, Table 3, and Table 4 in step S102). Before the R-axis starts to move, obtain the maximum acceleration limit value and minimum acceleration limit value allowed for the R-axis by looking up the table, and perform motion planning for the R-axis to complete the adjustment of the acceleration of the R-axis.

[0152] In some embodiments, the above steps S101 - S103 can also be changed to first perform grid division on the height values and horizontal distance values within the movable range of the end effector, and then calculate the maximum acceleration value and minimum acceleration value of the drive shaft during extension and retraction at different grid points according to the grid points in each partition.

[0153] Furthermore, obtain the maximum acceleration limit value and minimum acceleration limit value of the drive shaft during extension and retraction at different grid points based on the maximum acceleration value and minimum acceleration value, generate an acceleration limit table. Subsequently, before the drive shaft starts to move, determine the maximum acceleration limit value and minimum acceleration limit value at several grid points in the grid where the end effector is located according to the height value and horizontal distance value of the end effector. Finally, use linear interpolation or other interpolation methods to obtain the maximum acceleration limit value and minimum acceleration limit value of the drive shaft during extension and retraction.

[0154] It should be noted that compared with the method of the above steps S101 - S103, the calculation amount in the early stage of this method is less, but the division of the movable range of the end effector by this method may be unreasonable, and there is a certain risk when using the interpolation result when the acceleration limit value change trend within the grid does not match the interpolation method within the grid.

[0155] In some embodiments, in the above step S101, the range of the force F generated by the drive shaft and the end effector on the robot to ensure the accuracy of the end effector and the service life of the robot can also be obtained by analyzing the stress, strain, and deformation using finite element analysis software.

[0156] It should be noted that this method provides a more comprehensive analysis of the stress and strain of the robot compared to the above step S101, but an additional model needs to be established in the finite element analysis software.

[0157] In some embodiments, when obtaining the acceleration limit values of the drive shaft at different position points of the end effector, instead of using the method of establishing an acceleration limit value table (as shown in the above Tables 1, 2, 3, and 4), the acceleration limit values of the drive shaft at different position points can be calculated and integrated into the controller. According to the height value and horizontal distance value of the end effector, the maximum and minimum accelerations available for the drive shaft can be calculated to adjust the acceleration of the drive shaft during movement.

[0158] It should be noted that compared to the above step S103, this method can enable the drive shaft to use a relatively larger absolute value of acceleration and has higher motion efficiency, but its application is not flexible enough. For different robot models, different calculation models need to be established.

[0159] Embodiments of the present invention can perform functional module division on electronic devices and the like according to the above method examples. For example, each functional module can be corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiments of the present invention is illustrative, merely a logical function division, and there can be other division methods in actual implementation.

[0160] In the case of corresponding each function to divide each functional module, Figure 7 is a schematic structural diagram of a control device for a robot provided by an embodiment of the present application. As Figure 7 shown, the control device 200 of the robot may include: an acquisition module 201, a processing module 202, a storage module 203, and a communication module 204.

[0161] In some embodiments, the acquisition module 201 is configured to acquire the force information of the robot in a critical state.

[0162] In some embodiments, the processing module 202 is configured to determine at least one acceleration limit value corresponding to the movement of the drive shaft at at least one position point within the movable range of the end effector according to the force information.

[0163] In some embodiments, the processing module 202 is further configured to adjust the acceleration of the drive shaft during movement based on at least one position point and at least one acceleration limit value.

[0164] In some embodiments, the acquisition module 201 is further configured to obtain a first resultant force of the drive shaft and the end effector on the robot in a first direction and a second resultant force in a second direction when the supporting force of the ground on the second guide rail is at a critical value.

[0165] In some embodiments, the acquisition module 201 is further configured to obtain a third resultant force of the drive shaft and the end effector on the robot in a first direction and a fourth resultant force in a second direction when the end effector is at the maximum allowable pitch angle.

[0166] In some embodiments, the acquisition module 201 is further configured to obtain a fifth resultant force and a sixth resultant force of the drive shaft and the end effector on the robot when the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotary shaft reducer are within the allowable stress.

[0167] In some embodiments, the processing module 202 is further configured to determine a first acceleration range corresponding to the first position point during the movement of the drive shaft according to the driving force range of the drive shaft and the first resultant force range.

[0168] In some embodiments, the processing module 202 is further configured to determine a first acceleration limit value corresponding to the first position point during the movement of the drive shaft according to the first acceleration range and the acceleration safety factor.

[0169] In the case of adopting an integrated unit, the communication module 204 can be used to support the communication between the control device of the robot and other entities. The storage module 203 is used to store the program code and data of the control device of the robot.

[0170] In some embodiments, the processing module 202 can be a processor or a controller. The storage module 203 can be a memory. The communication module 204 can be a transceiver, a transceiver circuit, or a communication interface, etc.

[0171] Wherein, when the processing module 202 is a processor, the storage module 203 is a memory, and the communication module 204 is a transceiver, the processor, the transceiver, and the memory can be connected through a bus. The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0172] It should be understood that in various embodiments of the present invention, the magnitudes of the serial numbers of the above processes do not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0173] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0174] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0175] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more media integrated therein. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a Solid State Disk (SSD)), etc.

[0177] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A robot, characterized in that, Comprising: An end effector for grasping materials within the movable range of the end effector; A drive shaft for driving the end effector to extend or retract; A vertical shaft for carrying the drive shaft, with a first guide rail provided on the vertical shaft, and the drive shaft can move up and down on the first guide rail; A rotating shaft provided on a horizontal moving shaft and fixedly connected to the vertical shaft for driving the vertical shaft, the drive shaft, and the end effector to rotate; Second guide rails are provided on both sides of the horizontal moving shaft, and the horizontal moving shaft can move horizontally on the second guide rails; A controller configured to: Obtain the force information of the robot in a critical state; According to the force information, determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves; Based on the at least one position point and the at least one acceleration limit value, adjust the acceleration of the drive shaft during movement.

2. The robot according to claim 1, characterized in that, The robot further includes: A bolt provided at the intersection of the rotating shaft and the vertical shaft; A rotating shaft speed reducer for controlling the movement speed of the rotating shaft; The critical state includes that the supporting force of the ground on the second guide rail is at a critical value, the end effector is at the maximum allowable pitch angle, and the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotating shaft speed reducer are at allowable stresses; The controller, configured to obtain the force information of the robot in a critical state, is specifically configured to: When the supporting force of the ground on the second guide rail is at a critical value, obtain the first resultant force of the drive shaft and the end effector on the robot in a first direction and the second resultant force in a second direction; When the end effector is at the maximum allowable pitch angle, obtain the third resultant force of the drive shaft and the end effector on the robot in the first direction and the fourth resultant force in the second direction; When the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotating shaft speed reducer are at allowable stresses, obtain the fifth resultant force and the sixth resultant force of the drive shaft and the end effector on the robot.

3. The robot according to claim 2, wherein When the end effector is at a first position point, the first resultant force range, the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force of the end effector and the drive shaft on the robot satisfy the following relationship: W ∈ [W min , W max = [max(F 1min , F 2min , F 3min ), min(F 1max , F 2max , F 3max )] Among them, the first position point is any position of the at least one position point, W is the first resultant force range, and W min is the minimum resultant force value in the first resultant force range, and W max is the maximum resultant force value in the first resultant force range, F 1min is the first resultant force, F 2min is the third resultant force, F 3min is the fifth resultant force, F 1max is the second resultant force, F 2max is the fourth resultant force, F 3max is the sixth resultant force.

4. The robot according to claim 3, characterized in that, The robot further includes: A drive shaft motor for providing driving force for the drive shaft; The controller, configured to determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information, is specifically configured to: Determine the first acceleration range corresponding to the first position point when the drive shaft moves according to the driving force range of the drive shaft and the first resultant force range; Determine a first acceleration limit value corresponding to the first position point when the drive shaft moves according to the first acceleration range and the acceleration safety factor.

5. The robot according to claim 4, characterized in that, When the end effector is at the first position point, the first acceleration range, the first acceleration safety factor, and the first acceleration limit value satisfy the following relationship: M = A m (P z ,P r ) / k where M is the first acceleration limit value, A m is the maximum or minimum value in the first acceleration range, P z is the height value of the end effector from the ground, P r is the horizontal linear distance between the connection point of the end effector and the small arm of the drive shaft and the rotation center of the large arm of the drive shaft, k is the acceleration safety factor, and k > 1.

6. A control method for a robot, characterized in that, Including: Obtain the force information of the robot in a critical state; Determine at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information; Adjust the acceleration of the drive shaft during movement based on the at least one position point and the at least one acceleration limit value.

7. The method according to claim 6, characterized in that, The obtaining the force information of the robot in a critical state includes: When the supporting force of the ground on the second guide rail is at a critical value, obtain the first resultant force of the drive shaft and the end effector on the robot in the first direction and the second resultant force in the second direction; When the end effector is at the maximum allowable pitch angle, obtain the third resultant force of the drive shaft and the end effector on the robot in the first direction and the fourth resultant force in the second direction; When the bending stress of the vertical shaft, the tensile stress of the bolt, the compressive stress of the bolt, and the compressive stress of the rotary shaft reducer are within the allowable stress, obtain the fifth resultant force of the drive shaft and the end effector on the robot and the sixth resultant force.

8. The method according to claim 7, wherein When the end effector is at the first position point, the first resultant force range, the first resultant force, the second resultant force, the third resultant force, the fourth resultant force, the fifth resultant force, and the sixth resultant force of the end effector and the drive shaft on the robot satisfy the following relationship: W ∈ [W min , W max = [max(F 1min , F 2min , F 3min ), min(F 1max , F 2max , F 3max )] Among them, the first position point is any position of the at least one position point, W is the first resultant force range, and W min is the minimum resultant force value in the first resultant force range, and W max is the maximum resultant force value in the first resultant force range, F 1min is the first resultant force, F 2min is the third resultant force, F 3min is the fifth resultant force, F 1max is the second resultant force, F 2max is the fourth resultant force, F 3max is the sixth resultant force.

9. The method according to claim 8, wherein The determining at least one acceleration limit value corresponding to at least one position point within the movable range of the end effector when the drive shaft moves according to the force information includes: Determine a first acceleration range corresponding to the first position point when the drive shaft moves according to the driving force range of the drive shaft and the first resultant force range; Determine a first acceleration limit value corresponding to the first position point when the drive shaft moves according to the first acceleration range and the acceleration safety factor.

10. The method according to claim 9, characterized in that, When the end effector is at the first position point, the first acceleration range, the first acceleration safety factor, and the first acceleration limit value satisfy the following relationship: M = A m (P z ,P r ) / k Wherein, M is the first acceleration limit value, A m is the maximum or minimum value in the first acceleration range, P z is the height value of the end effector from the ground, P r is the horizontal linear distance between the connection point of the end effector and the small arm of the drive shaft and the rotation center of the large arm of the drive shaft, k is the acceleration safety factor, and k > 1.

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