Swing monitoring system of a robot arm and robot arm

Abstract

The utility model discloses a kind of swing monitoring system and mechanical arm of mechanical arm, including ranging module and control module;Ranging module includes multiple ranging units and multiple trigger units, trigger unit and ranging unit one-to-one corresponding electric connection, different ranging units are used to respectively obtain the distance between ranging unit and to-be-taken article;Trigger unit is used to emit detection signal when corresponding ranging unit triggers;Control module includes first judging unit and second judging unit;First judging unit is used to output whether the signal of mechanical arm is shaken in first direction;Second judging unit is used to output whether the signal of mechanical arm is shaken in second direction.The technical scheme provided in the utility model embodiment can monitor mechanical arm in all directions, improve the safety and stability of mechanical arm, avoid mechanical arm to cause damage to to-be-taken article.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm swing amplitude monitoring system and a robotic arm. Background Technology

[0002] With the continuous advancement of living standards and technology, robotic arms are being widely used in production lines across various industries. This is especially true in the display panel industry, where a large number of robotic arms are needed to transport and move display panels.

[0003] Current robotic arms suffer from low operational stability. When picking up or placing items, they vibrate not only vertically but also horizontally, easily damaging the items and, in severe cases, causing the robotic arm to break. Existing robotic arms lack monitoring equipment, making it impossible to monitor their stability and detect vibrations in a timely manner. Utility Model Content

[0004] This invention provides a swing amplitude monitoring system and a robotic arm to solve the problem that existing robotic arms lack real-time monitoring and cannot detect anomalies in a timely manner.

[0005] According to one aspect of the present invention, a swing amplitude monitoring system for a robotic arm is provided, including a ranging module and a control module;

[0006] The ranging module includes multiple ranging units and multiple triggering units. Each triggering unit is electrically connected to a corresponding ranging unit. Different ranging units are used to obtain the distance between the ranging unit and the item to be retrieved. The triggering unit is used to emit a detection signal when the corresponding ranging unit is triggered.

[0007] The control module includes a first judgment unit and a second judgment unit;

[0008] The first judgment unit includes a first data processing subunit and a first data comparison subunit; the first data processing subunit is connected to the plurality of ranging units and is used to output a distance comparison signal; the first data comparison subunit is electrically connected to the first data processing subunit and is used to output a signal indicating whether the robotic arm is shaking in a first direction.

[0009] The second judgment unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit; the data receiving subunit is electrically connected to the plurality of triggering units and is used to output the time difference of the received detection signal; the second data processing subunit is electrically connected to the data receiving subunit and is used to output the deviation angle; the second data comparison subunit is electrically connected to the second data processing subunit and is used to output a signal indicating whether the robotic arm is shaking in the second direction.

[0010] Optionally, the robotic arm includes an arm body, a first fork, and a second fork; the first fork and the second fork are disposed on the same side of the arm body;

[0011] The ranging module includes at least four ranging units;

[0012] The first fork is equipped with at least two of the aforementioned ranging units, and the second fork is equipped with at least two of the aforementioned ranging units.

[0013] Optionally, the ranging module includes a first ranging unit, a second ranging unit, a third ranging unit, and a fourth ranging unit, and the ranging module further includes a first trigger unit, a second trigger unit, a third trigger unit, and a fourth trigger unit;

[0014] The first ranging unit and the second ranging unit are disposed on the first fork, and the third ranging unit and the fourth ranging unit are disposed on the second fork.

[0015] Optionally, the distance between the first ranging unit and the arm body is a first distance, and the distance between the third ranging unit and the arm body is also a first distance;

[0016] The distance between the second ranging unit and the arm body is the second distance, and the distance between the fourth ranging unit and the arm body is the second distance;

[0017] Wherein, the first distance is greater than the second distance.

[0018] Optionally, the first judgment unit includes a first data operation subunit and a first data comparison subunit, wherein the first data operation subunit is connected to the first ranging unit, the second ranging unit, the third ranging unit and the fourth ranging unit respectively;

[0019] The first data processing subunit includes a first divider; the two input terminals of the first divider are electrically connected to the first ranging unit and the second ranging unit, respectively; the first data comparison subunit includes a first comparator, a second comparator, and a first logic gate circuit; the first input terminal of the first comparator is electrically connected to the output terminal of the first divider, the second input terminal of the first comparator is connected to the maximum value signal of a first preset range, and the output terminal of the first comparator is electrically connected to the first input terminal of the first logic gate circuit; the first input terminal of the second comparator is electrically connected to the output terminal of the first divider, the second input terminal of the second comparator is connected to the minimum value signal of the first preset range, and the output terminal of the second comparator is electrically connected to the second input terminal of the first logic gate circuit; the first logic gate circuit is used to output a signal indicating whether the distance comparison signal between the first ranging unit and the second ranging unit is within the first preset range.

[0020] And / or, the first data processing subunit includes a second divider; the two input terminals of the second divider are electrically connected to the third ranging unit and the fourth ranging unit, respectively;

[0021] The first data comparison subunit includes a third comparator, a fourth comparator, and a second logic gate circuit. The first input terminal of the third comparator is electrically connected to the output terminal of the second divider, the second input terminal of the third comparator is connected to the maximum value signal of a first preset range, and the output terminal of the third comparator is electrically connected to the first input terminal of the second logic gate circuit. The first input terminal of the fourth comparator is electrically connected to the output terminal of the second divider, the second input terminal of the fourth comparator is connected to the minimum value signal of the first preset range, and the output terminal of the fourth comparator is electrically connected to the second input terminal of the second logic gate circuit. The second logic gate circuit is used to output a signal indicating whether the distance comparison signal between the third ranging unit and the fourth ranging unit is within the first preset range.

[0022] Optionally, the second determination unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit; the data receiving subunit is connected to the first trigger unit, the second trigger unit, the third trigger unit, and the fourth trigger unit, respectively.

[0023] The data receiving subunit includes a first edge detection circuit and a first counting circuit. The first edge detection circuit is electrically connected to the first trigger unit and the third trigger unit, and is used to output two edge detection signals. The first counting circuit is electrically connected to the first edge detection circuit, and is used to output a first time difference between the two edge detection signals.

[0024] The data receiving subunit further includes a second edge detection circuit and a second counting circuit. The second edge detection circuit is electrically connected to the second trigger unit and the fourth trigger unit, and is used to output two edge detection signals. The second counting circuit is electrically connected to the second edge detection circuit, and is used to output a second time difference between the two edge detection signals.

[0025] The second data processing subunit includes a first multiplier and a third divider. The input terminal of the first multiplier is electrically connected to the first counting circuit and is used to output the first movement distance of the robotic arm within the time difference of the two edge detection signals. The first input terminal of the third divider is connected to the output terminal of the first multiplier, and the second input terminal of the third divider is connected to the distance between the first fork and the second fork and is used to output the first angle deviation.

[0026] The second data processing subunit includes a second multiplier, a fourth divider, and a fifth divider. The input terminal of the second multiplier is electrically connected to the second counting circuit and is used to output the second movement distance of the robotic arm within the time difference of the two edge detection signals. The first input terminal of the fourth divider is connected to the output terminal of the second multiplier, and the second input terminal of the fourth divider is connected to the distance between the first fork and the second fork, and is used to output the second angle deviation. The first input terminal of the fifth divider is connected to the output terminal of the third divider, and the second input terminal of the fifth divider is connected to the output terminal of the fourth divider.

[0027] The second data comparison subunit comprises a fifth comparator, a sixth comparator, and a third logic gate. The first input of the fifth comparator is electrically connected to the output of the fifth divider, and the second input of the fifth comparator is connected to the maximum value signal of the second preset range. The output of the fifth comparator is electrically connected to the first input of the third logic gate. The first input of the sixth comparator is electrically connected to the output of the fifth divider, and the second input of the sixth comparator is connected to the minimum value signal of the second preset range. The output of the sixth comparator is electrically connected to the second input of the third logic gate. The third logic gate is used to output a signal indicating whether the ratio of the first angle deviation to the second angle deviation is within the second preset range.

[0028] Optionally, the swing amplitude monitoring system further includes a display module and an alarm module;

[0029] The display module is connected to the control module, and the display module is used to display the swing amplitude of the robotic arm in a first direction and the swing amplitude in a second direction;

[0030] The alarm module is connected to the control module, and the alarm module is used to determine whether to issue an alarm message based on the large swing amplitude and a preset threshold.

[0031] Optionally, the ranging unit is at least one of a laser ranging sensor, an ultrasonic sensor, and a photoelectric sensor.

[0032] Optionally, the distance measuring module can be connected to the control module via a wired connection or a wireless connection.

[0033] According to another aspect of the present invention, a robotic arm is provided, comprising: any of the swing amplitude monitoring systems described above.

[0034] The technical solution of this utility model embodiment uses multiple ranging units to obtain the distance between each unit and the item to be retrieved, and a detection signal is emitted by a trigger unit when the item is detected. A first judgment unit determines whether the robotic arm vibrates in a first direction based on the distances obtained by the multiple ranging units, and a second judgment unit determines whether the robotic arm vibrates in a second horizontal direction based on the time of receiving the detection signal. The first judgment unit includes a first data processing subunit and a first data comparison subunit, and the second judgment unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit. This configuration not only monitors the swing amplitude of the robotic arm in the first direction but also in the second horizontal direction, achieving comprehensive monitoring of the robotic arm. This enhances the stability and safety of the robotic arm, avoids damage to the item to be retrieved due to excessive swing amplitude, improves production yield, prevents breakage due to excessive swing amplitude, and extends the service life of the robotic arm.

[0035] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of the structure of a robotic arm swing amplitude monitoring system provided in an embodiment of this utility model;

[0038] Figure 2A schematic diagram of the structure of another robotic arm swing amplitude monitoring system provided for an embodiment of this utility model;

[0039] Figure 3 A schematic diagram of the structure of another robotic arm swing amplitude monitoring system provided for an embodiment of this utility model;

[0040] Figure 4 A schematic diagram of the structure of a first judgment unit provided in an embodiment of this utility model;

[0041] Figure 5 A schematic diagram of the structure of another robotic arm swing amplitude monitoring system provided for an embodiment of this utility model;

[0042] Figure 6 A schematic diagram of the structure of a second judgment unit provided in an embodiment of this utility model.

[0043] Figure 7 A schematic diagram of the structure of another robotic arm swing amplitude monitoring system provided in this embodiment of the present utility model. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0045] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] Figure 1 This is a structural schematic diagram of a robotic arm swing amplitude monitoring system provided in an embodiment of the present invention. Figure 2 A schematic diagram of the structure of another robotic arm swing amplitude monitoring system provided in this embodiment of the utility model. See also Figure 1and Figure 2 The swing amplitude monitoring system 100 includes: a ranging module 10 and a control module 20; the ranging module 10 includes multiple ranging units 11 and multiple trigger units 12, with each trigger unit 12 electrically connected to a corresponding ranging unit 11, and different ranging units 11 are used to acquire the distance between the ranging unit 11 and the object to be retrieved; the trigger unit 12 is used to emit a detection signal when the corresponding ranging unit 11 is triggered; the control module 20 includes a first judgment unit 21 and a second judgment unit 22; the first judgment unit 21 includes a first data processing subunit 211 and a first data comparison subunit 212; the first data processing subunit 211 is connected to the multiple ranging units and is used to output a distance comparison signal. The first data comparison subunit 212 is electrically connected to the first data processing subunit 211 and is used to output a signal indicating whether the robotic arm 30 is shaking in the first direction. The second judgment unit 22 includes a data receiving subunit 221, a second data processing subunit 222, and a second data comparison subunit 223. The data receiving subunit 221 is electrically connected to multiple trigger units and is used to output the time difference of the received detection signals. The second data processing subunit 222 is electrically connected to the data receiving subunit 221 and is used to output the deviation angle. The second data comparison subunit 334 is electrically connected to the second data processing subunit 222 and is used to output a signal indicating whether the robotic arm 30 is shaking in the second direction.

[0047] Specifically, existing robotic arms lack real-time monitoring equipment, making it impossible to monitor the swing amplitude of the robotic arm while it is picking up an item. Excessive swing amplitude can damage the item. The swing amplitude monitoring system 100 provided by this invention can monitor the swing amplitude of the robotic arm 30 when it picks up an item. If the swing amplitude is too large, the picking action is stopped to prevent damage. The items picked up by the robotic arm 30 include glass and other items. The ranging module 10 in the swing amplitude monitoring system 100 includes multiple sets of ranging units 11 and trigger units 12. The ranging units 11 can obtain the distance between themselves and the item when the robotic arm 30 picks up the item. The trigger units 12 are mainly used to send a detection signal to the control module 20 when the ranging units 11 detect the item. The ranging units 11 and trigger units 12 are one-to-one, and each set of ranging units 11 and trigger units 12 is connected together. Multiple ranging units 11 can be positioned at different locations on the robotic arm 30 to acquire the distance between different positions of the robotic arm 30 and the object to be retrieved. The ranging units 11 can be positioned on the robotic arm 30, and the triggering unit 12 can be a D trigger. The position of the triggering unit 12 is not specifically limited in this embodiment and can be set according to actual needs. The control module 20 includes a first judgment module 21 and a second judgment module 22. Multiple ranging units 11 are all connected to the first judgment module 21, and multiple triggering units 12 are all connected to the second judgment module 22. Multiple ranging units 11 can send the measured distance between themselves and the object to be retrieved to the first judgment module 11. The first judgment module 11 can determine whether the robotic arm 30 is shaking in a first direction based on the distance signals acquired by the multiple ranging units 21. The second judgment module 22 can determine whether the robotic arm 30 is shaking in a second direction based on the time it takes to receive the detection signals from the multiple triggering units 12. The first direction can be vertical, and the second direction can be horizontal. When the robotic arm 30 vibrates vertically, the distances between the multiple ranging units 12 and the object to be retrieved differ. The first judgment module 21 can then determine whether vibration has occurred vertically and the degree of vibration based on these distances. When the robotic arm 30 vibrates horizontally, the second judgment module 22 receives the detection signals at different times. The second judgment module 22 can determine whether vibration has occurred horizontally and the degree of vibration based on the time difference between the received detection signals.

[0048] The first judgment unit 21 may include a first data processing subunit 211 and a first data comparison subunit 212. The first data processing subunit 211 can perform data processing on the distance signals acquired by multiple ranging units 21 and output a distance comparison signal. The first data comparison subunit 212 can determine whether the robotic arm 30 is jittering in the first direction based on the received distance comparison signal, and output a jitter signal of the robotic arm 30 in the first direction when the robotic arm 30 is jittering in the first direction. The second judgment unit 22 may include a data receiving subunit 221, a second data processing subunit 222, and a second data comparison subunit 223. The data receiving subunit 221 can receive detection signals emitted by multiple trigger units 12 and the time difference between different detection signals. The second data processing subunit 222 can calculate the deviation angle of the robotic arm 30 based on the time difference of the received detection signals. The second data comparison subunit 223 can determine whether the robotic arm 30 is jittering in the second direction based on the received deviation angle, and output a jitter signal of the robotic arm 30 in the second direction when the robotic arm 30 is jittering in the second direction.

[0049] The technical solution provided by this utility model embodiment acquires the distance between each ranging unit and the item to be retrieved, and emits a detection signal through a trigger unit when the item is detected. A first judgment unit determines whether the robotic arm vibrates in a first direction based on the distances acquired by the multiple ranging units, and a second judgment unit determines whether the robotic arm vibrates in a second direction based on the time of receiving the detection signal. The first judgment unit includes a first data processing subunit and a first data comparison subunit, and the second judgment unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit. This configuration not only monitors the swing amplitude of the robotic arm in the first direction but also in the second direction, achieving comprehensive monitoring of the robotic arm. This enhances the stability and safety of the robotic arm, avoids damage to the item to be retrieved due to excessive swing amplitude, improves production yield, prevents breakage due to excessive swing amplitude, and extends the service life of the robotic arm.

[0050] Furthermore, it should be noted that all modules involved in the aforementioned robotic arm swing amplitude monitoring system can be implemented using existing related electronic devices. The above functions can be achieved by using existing related electronic devices and the connection method described in this application. Examples of each module will be provided below.

[0051] Optional, Figure 2 This is a schematic diagram of another robotic arm swing amplitude monitoring system provided as an embodiment of the present invention. Based on the above embodiments, see... Figure 2The robotic arm 30 includes an arm body 31, a first fork 32, and a second fork 33; the first fork 32 and the second fork 33 are located on the same side of the arm body 31; the ranging module 10 includes at least four ranging units 11; the first fork 31 is provided with at least two ranging units 11, and the second fork 32 is provided with at least two ranging units 11.

[0052] Specifically, the robotic arm 30 may include an arm body 31, a first fork 32, and a second fork 33. At least two ranging units 11 are provided on the first fork 32, and at least two ranging units 11 are provided on the second fork 33. The ranging units 11 on the first fork 32 can obtain the distance between different positions of the first fork 32 and the item to be picked up. The multiple ranging units 11 on the second fork 33 can obtain the distance between different positions of the second fork 33 and the item to be picked up. When the robotic arm 30 vibrates in a first direction, the distances obtained by the ranging units 11 at different positions of the first fork 32 and the second fork 33 will be different. Generally, the swing amplitude is larger at the end of the first fork 32 and the second fork 33 farther from the fork body 31, and smaller at the end closer to the fork body 31. For example, the two ranging units 11 on the first fork 32 and the second fork 33 can be arranged one behind the other, with one located away from the fork body 31 and the other closer to it. When the robotic arm 30 vibrates in the first direction, the ranging unit 11 located away from the fork body 31 will have a larger swing amplitude and acquire a larger distance to the item to be picked up, while the ranging unit 11 located closer to the fork body 31 will have a smaller swing amplitude and acquire a smaller distance to the item to be picked up. The first judgment unit 21 can determine whether the robotic arm 30 vibrates in the first direction and the amplitude of the vibration based on the distances acquired by each ranging unit 11. The second judgment unit 22 can calculate whether the robotic arm 30 vibrates in the second direction and the amplitude of the vibration based on the time of receiving each detection signal.

[0053] Optionally, based on the above embodiments, see also... Figure 2 The ranging module 10 includes a first ranging unit 111, a second ranging unit 112, a third ranging unit 113, and a fourth ranging unit 114. The ranging module 10 also includes a first trigger unit 121, a second trigger unit 122, a third trigger unit 123, and a fourth trigger unit 124. The first ranging unit 111 and the second ranging unit 112 are disposed on the first fork 32, and the third ranging unit 113 and the fourth ranging unit 114 are disposed on the second fork 33.

[0054] Specifically, the ranging module 10 may include four ranging units 11 and four triggering units 12. Two ranging units 11 may be set on the first fork 32 and two ranging units 11 may be set on the second fork 33. The first ranging unit 111 and the second ranging unit 112 are set on the first fork 32, and the third ranging unit 113 and the fourth ranging unit 114 are set on the second fork 33. When the ranging module 10 may include four ranging units 11, four triggering units 12 also need to be set, with each triggering unit 12 corresponding to a different ranging unit 11.

[0055] The ranging unit 11 can be one or more of a laser ranging sensor, an ultrasonic sensor, and a photoelectric sensor. The ranging unit 11 and the triggering unit 12 in the ranging module 10 can be connected to the control module 20 via a wired connection or a wireless connection. For example, communication can be achieved via CAN bus, Ethernet, Bluetooth, etc.

[0056] Optionally, based on the above embodiments, see also... Figure 2 The distance between the first ranging unit 111 and the arm body 31 is the first distance; the distance between the third ranging unit 113 and the arm body 31 is the first distance; the distance between the second ranging unit 112 and the arm body 31 is the second distance; the distance between the fourth ranging unit 114 and the arm body 31 is the second distance; wherein, the first distance is greater than the second distance.

[0057] Specifically, when the ranging module 10 may include four ranging units 11, the first ranging unit 111 and the second ranging unit 112 are disposed on the first fork 32. The distance between the first ranging unit 111 and the fork body 31 is a first distance, and the distance between the second ranging unit 112 and the fork body 31 is a second distance. The third ranging unit 113 and the fourth ranging unit 114 are disposed on the second fork 33. The distance between the third ranging unit 113 and the fork body 31 is also the first distance, and the distance between the fourth ranging unit 114 and the fork body 31 is also the second distance. That is to say, the distance between the first ranging unit 111 and the fork body 31 is equal to the distance between the third ranging unit 113 and the fork body 31, and the distance between the second ranging unit 112 and the fork body 31 is equal to the distance between the fourth ranging unit 114 and the fork body 31. Furthermore, the distances between the first ranging unit 111 and the third ranging unit 113 and the fork body 31 are greater than the distances between the second ranging unit 112 and the fourth ranging unit 114 and the fork body 31. That is, the first ranging unit 111 is positioned on the side of the second ranging unit 112 furthest from the fork body, and the third ranging unit 113 is positioned on the side of the fourth ranging unit 114 furthest from the fork body. The first and second distances are not specifically limited in this embodiment and can be set according to actual needs.

[0058] Specifically, when the robotic arm 30 vibrates in the first direction, the distances obtained by the first ranging unit 111 and the second ranging unit 112 are different. The distances obtained by the third ranging unit 113 and the fourth ranging unit 114 are also different. The first judgment unit 21 can determine whether vibration has occurred in the first direction based on the distances obtained by the first ranging unit 111, the second ranging unit 112, the third ranging unit 113, and the fourth ranging unit 114. When the robotic arm 30 vibrates in the second direction, the timing of the transmission of detection signals by the first ranging unit 111 and the third ranging unit 113 is different, as are the timing of the transmission of detection signals by the second ranging unit 112 and the fourth ranging unit 114. The second judgment unit 22 can determine whether the robotic arm 30 has vibrated in the second direction based on the timing of receiving the transmission of detection signals by the first ranging unit 111 and the third ranging unit 113, as well as the timing of the transmission of detection signals by the second ranging unit 112 and the fourth ranging unit 114. The detection signal can be either a high-level signal or a low-level signal.

[0059] Optional, Figure 3 This is a structural schematic diagram of another robotic arm swing amplitude monitoring system provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of a first judgment unit provided in an embodiment of the present utility model. Based on the above embodiment, see... Figure 3 and Figure 4The first judgment unit 21 includes a first data operation subunit 211 and a first data comparison subunit 212. The first data operation subunit 211 is connected to the first ranging unit 111, the second ranging unit 112, the third ranging unit 113, and the fourth ranging unit 114, respectively. The first data operation subunit 211 includes a first divider 2111. The two input terminals of the first divider 2111 are electrically connected to the first ranging unit 11 and the second ranging unit 112, respectively. The first data comparison subunit 212 includes a first comparator 2121, a second comparator 2122, and a first logic gate circuit 212. 3. The first input terminal of the first comparator 2121 is electrically connected to the output terminal of the first divider 2111, the second input terminal of the first comparator 2121 is connected to the maximum value signal of the first preset range, and the output terminal of the first comparator 2121 is electrically connected to the first input terminal of the first logic gate 2123; the first input terminal of the second comparator 2122 is electrically connected to the output terminal of the first divider 2111, the second input terminal of the second comparator 2122 is connected to the minimum value signal of the first preset range, and the output terminal of the second comparator 2122 is electrically connected to the second input terminal of the first logic gate 2123; the first logic gate 2123... The logic gate circuit 2123 is used to output a signal indicating whether the distance comparison signal between the first ranging unit 111 and the second ranging unit 112 is within a first preset range; and / or, the first data operation subunit 211 includes a second divider; the two input terminals of the second divider are electrically connected to the third ranging unit 113 and the fourth ranging unit 114, respectively; the first data comparison subunit 212 includes a third comparator 2124, a fourth comparator 2125, and a second logic gate circuit 2126, the first input terminal of the third comparator 2124 is electrically connected to the output terminal of the second divider, and the second input terminal of the third comparator 2124 is electrically connected to the output terminal of the second divider. The input terminal of the third comparator 2124 is connected to the maximum value signal of the first preset range, and the output terminal of the third comparator 2124 is electrically connected to the first input terminal of the second logic gate circuit 2126; the first input terminal of the fourth comparator 2125 is electrically connected to the output terminal of the second divider, the second input terminal of the fourth comparator 2125 is connected to the minimum value signal of the first preset range, and the output terminal of the fourth comparator 2125 is electrically connected to the second input terminal of the second logic gate circuit 2126; the second logic gate circuit 2126 is used to output a signal indicating whether the distance comparison signal between the third ranging unit 113 and the fourth ranging unit 114 is within the first preset range.

[0060] Specifically, the first data processing subunit 211 can receive distance information acquired by the first ranging unit 111, the second ranging unit 112, the third ranging unit 113, and the fourth ranging unit 114, and perform a division operation on the distances acquired by the first ranging unit 111 and the second ranging unit 112 to obtain a first comparison signal. Alternatively, it can perform a division operation on the distance signals acquired by the third ranging unit 113 and the fourth ranging unit 114 to obtain a second comparison signal. The first data processing subunit 211 may include a first divider 2111 and / or a second divider 2112. The first input terminal of the first divider 2111 is connected to the first ranging unit 111, the second input terminal of the first divider 2111 is connected to the second ranging unit 112, and the output terminal of the first divider 2111 is connected to the first data comparison subunit 212. The first divider 2111 performs a division operation on the distances acquired by the first ranging unit 111 and the second ranging unit 112 to generate a first comparison signal, and outputs the first comparison signal to the first data comparison subunit 212. The first input terminal of the second divider 2112 is connected to the third ranging unit 113, the second input terminal is connected to the fourth ranging unit 114, and the output terminal is connected to the first data comparison subunit 212. The second divider 2112 performs a division operation on the distances acquired by the third ranging unit 113 and the fourth ranging unit 114 to generate a second comparison signal, and outputs the second comparison signal to the first data comparison subunit 212. When the robotic arm 30 vibrates in the first direction, since the first ranging unit 111 and the third ranging unit 113 are at the same distance from the arm body 31, and the second ranging unit 112 and the fourth ranging unit 114 are at the same distance from the arm body 31... Therefore, the distances between the first ranging unit 111 and the third ranging unit 113 and the item to be retrieved may be equal, and the distances between the second ranging unit 112 and the fourth ranging unit 114 and the item to be retrieved may also be equal. However, the distances between the first ranging unit 111 and the second ranging unit 112 and the item to be retrieved may not be equal, and the distances between the third ranging unit 113 and the fourth ranging unit 114 and the item to be retrieved may also not be equal.

[0061] Specifically, the first data comparison subunit 212 can determine whether jitter occurs in the first direction and the amplitude of the jitter based on the first comparison signal obtained by dividing the distances acquired by the first ranging unit 111 and the second ranging unit 112. It can also determine whether jitter occurs in the first direction and the amplitude of the jitter based on the second comparison signal obtained by dividing the distances acquired by the third ranging unit 113 and the fourth ranging unit 114. The first data comparison subunit 212 can determine whether the robotic arm 30 is jittering based on the first comparison signal and a first preset range. If the first comparison signal is within the first preset range, the robotic arm 30 is not jittering; if the first comparison signal is not within the first preset range, it can be determined that the robotic arm 30 is jittering in the first direction. Alternatively, it can determine whether the robotic arm 30 is jittering based on the second comparison signal and the first preset range. If the second comparison signal is within the first preset range, the robotic arm 30 is not jittering; if the second comparison signal is not within the first preset range, it can be determined that the robotic arm 30 is jittering in the first direction. The first data comparison subunit 212 may include a first comparator 2121, a second comparator 2122, and a first logic gate 2123, and / or a third comparator 2124, a fourth comparator 2125, and a second logic gate 2126. The first comparator 2121 compares the first comparison signal with the upper limit of a first preset range; the second comparator 2122 compares the first comparison signal with the lower limit of the first preset range; and the first logic gate 2123 outputs a signal indicating whether the first comparison signal is within the first preset range. The third comparator 2124 compares the second comparison signal with the upper limit of the first preset range; the fourth comparator 2125 compares the second comparison signal with the lower limit of the first preset range; and the second logic gate 2126 outputs a signal indicating whether the second comparison signal is within the first preset range. When either the first or second comparison signal is greater than the maximum value of the first preset range, or when either the first or second comparison signal is less than the minimum value of the first preset range, the first data comparison subunit 212 may output a first level signal. When either the first comparison signal or the second comparison signal is less than or equal to the maximum value of the first preset range, or when either the first comparison signal or the second comparison signal is greater than or equal to the minimum value of the first preset range, the first data comparison subunit 212 can output a second level signal. The first level signal indicates that the robotic arm 30 has vibrated in the first direction, and the second level signal indicates that the robotic arm 30 has not vibrated in the first direction. The first preset range is not specifically limited in this embodiment and can be set according to actual needs. For example, the first preset range can be 0.9-1.1.

[0062] Optional, Figure 5This is a structural schematic diagram of another robotic arm swing amplitude monitoring system provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a second judgment unit provided in an embodiment of the present utility model. Based on the above embodiment, see... Figure 5 and Figure 6The second judgment unit 22 includes a data receiving subunit 221, a second data processing subunit 222, and a second data comparison subunit 223. The data receiving subunit 221 is connected to the first trigger unit 121, the second trigger unit 122, the third trigger unit 123, and the fourth trigger unit 124, respectively. The data receiving subunit 221 includes a first edge detection circuit 2211 and a first counting circuit 2212. The first edge detection circuit 2211 is electrically connected to the first trigger unit 121 and the third trigger unit 123, and is used to output two edge detection signals. The first counting circuit 2212 is electrically connected to the first edge detection circuit 2211, and is used to output two edge detection signals. The data receiving subunit 221 further includes a second edge detection circuit 2213 and a second counting circuit 2214. The second edge detection circuit 2213 is electrically connected to the second trigger unit 122 and the fourth trigger unit 123, and is used to output two edge detection signals. The second counting circuit 2214 is electrically connected to the second edge detection circuit 2213, and is used to output the second time difference between the two edge detection signals. The second data processing subunit 222 includes a first multiplier 2221 and a third divider 2222. The input terminal of the first multiplier 2221 is electrically connected to the first counting circuit 2212, and is used to output the first movement distance of the robotic arm within the time difference between the two edge detection signals. The first input terminal of the third divider 2222 is connected to the output terminal of the first multiplier 2221, and the second input terminal of the third divider 2222 is connected to the distance between the first fork and the second fork, used to output the first angular deviation; the second data processing subunit 222 includes a second multiplier 2223, a fourth divider 2224 and a fifth divider 2225, the input terminal of the second multiplier 2223 is electrically connected to the second counting circuit 2214, used to output the second movement distance of the robotic arm within the time difference of the two edge detection signals; the first input terminal of the fourth divider 2224 is connected to the output terminal of the second multiplier 2223, and the second input terminal of the fourth divider 2224 is connected to the first fork. The distance between the second fork and the output is used to output the second angle deviation; the first input of the fifth divider 2225 is connected to the output of the third divider 2222, and the second input of the fifth divider 2225 is connected to the output of the fourth divider 2224; the second data comparison subunit 223 consists of the fifth comparator 2231, the sixth comparator 2232, and the third logic gate circuit 2233, the first input of the fifth comparator 2231 is electrically connected to the output of the fifth divider 2225, the second input of the fifth comparator 2231 is connected to the maximum value signal of the second preset range, and the output of the fifth comparator 2231 is electrically connected to the first input of the third logic gate circuit 2233;The first input terminal of the sixth comparator 2232 is electrically connected to the output terminal of the fifth divider 2225. The second input terminal of the sixth comparator 2232 is connected to the minimum value signal of the second preset range. The output terminal of the sixth comparator 2232 is electrically connected to the second input terminal of the third logic gate circuit 2233. The third logic gate circuit 2233 is used to output a signal indicating whether the ratio of the first angle deviation to the second angle deviation is within the second preset range. Specifically, the data receiving subunit 221 can receive the first detection signal emitted by the first trigger unit 121, the second detection signal emitted by the second trigger unit 122, the third detection signal emitted by the third trigger unit 123, and the fourth detection signal emitted by the fourth trigger unit 124. The data receiving subunit 221 may include a first edge detection circuit 2211, a first counting circuit 2212, a second edge detection circuit 2213, and a second counting circuit 2214. The first edge detection circuit 2211 can output edge detection signals corresponding to the first and third detection signals. The second edge detection circuit 2213 can output edge detection signals corresponding to the second and fourth detection signals. The first counting circuit 2212 can output a first time difference corresponding to the edge detection signals corresponding to the first and third detection signals. The second counting circuit 2214 can output a second time difference corresponding to the edge detection signals corresponding to the second and fourth detection signals. The circuitry of the data receiving subunit 221 can include various types, and this embodiment of the invention does not specifically limit its implementation.

[0063] Specifically, the second data processing subunit 222 can calculate the deviation angle of the robotic arm 30 based on the received first time difference and the received time difference. When the robotic arm 30 vibrates in the second direction, there will be a difference in the timing of receiving the first and third detection signals emitted by the first trigger unit 121 and the third trigger unit 123, and there will also be a difference in the timing of receiving the second and fourth detection signals emitted by the second trigger unit 122 and the fourth trigger unit 124. The second data processing subunit 222 can calculate the first angle deviation of the robotic arm 30 based on the first time difference between the time of receiving the first detection signal and the time of receiving the third detection signal, calculate the second angle deviation of the robotic arm 30 based on the second time difference between the time of receiving the second detection signal and the time of receiving the fourth detection signal, and perform a division operation on the first angle deviation and the second angle deviation to obtain the third comparison signal. The distance between the first fork 32 and the second fork 33 is a fixed value, meaning the horizontal distance between the first ranging unit 111 and the third ranging unit 113 is a fixed value, and the horizontal distance between the second ranging unit 112 and the fourth ranging unit 114 is also a fixed value. The robotic arm 30 operates at the same speed. The second data processing subunit 222 may include a first multiplier 2221, a second multiplier 2223, a third divider 2222, a fourth divider 2224, and a fifth divider 2225. The first multiplier 2221 can multiply the speed of the robotic arm 30 by the first time difference between the first and third detection signals to determine the first movement distance of the robotic arm 30 within that first time difference. The second multiplier 2223 can multiply the speed of the robotic arm 30 by the second time difference between the second and fourth detection signals to determine the second movement distance of the robotic arm 30 within that second time difference. The first angular deviation is determined by dividing the first movement distance of the robotic arm 30 by the distance between the first fork 32 and the second fork 33 using the third divider 2222. The second angular deviation can be calculated by the fourth divider 2224. Then, the first angular deviation and the second angular deviation can be divided by the fifth divider 2224 to generate a third comparison signal, which is then output to the second data comparison subunit 223.

[0064] Specifically, the second data comparison subunit 223 can determine whether the robotic arm 30 is jittering in the second direction based on the third comparison signal and the second preset range. If the third comparison signal is within the second preset range, it means that the first angular deviation and the second angular deviation of the robotic arm 30 are almost the same, and therefore the robotic arm 30 is not jittering in the second direction. If the third comparison signal is not within the second preset range, it means that the first angular deviation and the second angular deviation of the robotic arm 30 differ significantly, and therefore the robotic arm 30 is jittering in the second direction. The second data comparison subunit 223 may include a fifth comparator 2231, a sixth comparator 2232, and a third logic gate circuit 2233. The fifth comparator 2231 is used to compare the third comparison signal with the upper limit of the second preset range. The sixth comparator 2232 is used to compare the third comparison signal with the lower limit of the second preset range. The third logic gate circuit 2233 is used to output a signal indicating whether the third comparison signal is within the second preset range, that is, to output a signal indicating whether the ratio of the first angular deviation and the second angular deviation is within the second preset range. Therefore, if the third comparison signal is within the second preset range, the robotic arm 30 does not jitter in the second direction; if the third comparison signal is not within the second preset range, it can be determined that the robotic arm 30 jitters in the second direction. When the third comparison signal is greater than the maximum value of the second preset range, or less than the minimum value of the second preset range, the second data comparison subunit 223 can output a third level signal. When the third comparison signal is less than or equal to the maximum value of the second preset range, or greater than or equal to the minimum value of the second preset range, the second data comparison subunit 223 can output a fourth level signal. The third level signal represents that the robotic arm 30 jitters in the second direction, and the fourth level signal represents that the robotic arm 30 does not jitter in the second direction. The second preset range is not specifically limited in this embodiment and can be set according to actual needs. For example, the second preset range can be 0.9-1.1.

[0065] Optional, Figure 7 This is a schematic diagram of another robotic arm swing amplitude monitoring system provided as an embodiment of the present invention. Based on the above embodiments, see... Figure 1 , Figure 2 and Figure 7 The swing amplitude monitoring system 100 also includes a display module 40 and an alarm module 50; the display module 40 is connected to the control module 20 and is used to display the swing amplitude of the robotic arm 30 in the first direction and the swing amplitude in the second direction; the alarm module 50 is connected to the control module 20 and is used to determine whether to issue an alarm message based on the swing amplitude and a preset threshold.

[0066] Specifically, the display module 40 is connected to the first data comparison subunit 212 and the second data comparison subunit 223, respectively, and can display the jitter level of the robotic arm 30 in the first direction and the jitter level in the second direction. The display module 40 can visualize the swing amplitude of the robotic arm 30 in the second and first directions for observation by the staff. The alarm module 50 can determine whether to issue an alarm signal based on the swing amplitude and a preset threshold to alert the staff. The swing amplitude of the robotic arm 30 can be determined by the first data subunit 211 and the second data subunit 222. The swing amplitude in the first direction is the ratio of the distance obtained by the first ranging unit 111 to the distance obtained by the second ranging unit 112, or the ratio of the distance obtained by the third ranging unit 113 to the distance obtained by the fourth ranging unit 114. The swing amplitude in the second direction can be the ratio of the first angular deviation to the second angular deviation. The preset threshold is not specifically limited in this embodiment of the invention and can be set according to actual conditions. For example, an alarm can be issued when the swing amplitude is greater than or equal to 1.1 and less than or equal to 0.9, and no alarm is issued otherwise.

[0067] The swing amplitude monitoring system for the robotic arm provided by this utility model can not only monitor the swing amplitude in the first direction of the robotic arm, but also monitor the swing amplitude in the second direction of the robotic arm, so as to monitor the robotic arm in all directions, enhance the stability and safety of the robotic arm, avoid damage to the items to be picked up due to excessive swing amplitude, improve production yield, prevent the risk of breakage caused by excessive swing amplitude of the robotic arm, and extend the service life of the robotic arm.

[0068] This utility model embodiment also provides a robotic arm. The robotic arm provided by this utility model embodiment includes the swing amplitude monitoring system 100 of the robotic arm provided in any of the above embodiments, and has the beneficial effects of the swing amplitude monitoring system of the robotic arm provided in any of the above embodiments, which will not be described again here.

[0069] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A swing amplitude monitoring system for a robotic arm, characterized in that, Includes a ranging module and a control module; The ranging module includes multiple ranging units and multiple triggering units. Each triggering unit is electrically connected to a corresponding ranging unit. Different ranging units are used to obtain the distance between the ranging unit and the item to be retrieved. The triggering unit is used to emit a detection signal when the corresponding ranging unit is triggered. The control module includes a first judgment unit and a second judgment unit; The first judgment unit includes a first data processing subunit and a first data comparison subunit; the first data processing subunit is connected to the plurality of ranging units and is used to output a distance comparison signal; the first data comparison subunit is electrically connected to the first data processing subunit and is used to output a signal indicating whether the robotic arm is shaking in a first direction. The second judgment unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit; the data receiving subunit is electrically connected to the plurality of triggering units and is used to output the time difference of the received detection signal; the second data processing subunit is electrically connected to the data receiving subunit and is used to output the deviation angle; the second data comparison subunit is electrically connected to the second data processing subunit and is used to output a signal indicating whether the robotic arm is shaking in the second direction.

2. The swing amplitude monitoring system according to claim 1, characterized in that, The robotic arm includes an arm body, a first fork, and a second fork; the first fork and the second fork are disposed on the same side of the arm body; The ranging module includes at least four ranging units; The first fork is equipped with at least two of the aforementioned ranging units, and the second fork is equipped with at least two of the aforementioned ranging units.

3. The swing amplitude monitoring system according to claim 2, characterized in that, The ranging module includes a first ranging unit, a second ranging unit, a third ranging unit, and a fourth ranging unit. The ranging module also includes a first trigger unit, a second trigger unit, a third trigger unit, and a fourth trigger unit. The first ranging unit and the second ranging unit are disposed on the first fork, and the third ranging unit and the fourth ranging unit are disposed on the second fork.

4. The swing amplitude monitoring system according to claim 3, characterized in that, The distance between the first ranging unit and the arm body is a first distance, and the distance between the third ranging unit and the arm body is also a first distance. The distance between the second ranging unit and the arm body is the second distance, and the distance between the fourth ranging unit and the arm body is the second distance; Wherein, the first distance is greater than the second distance.

5. The swing amplitude monitoring system according to claim 4, characterized in that, The first judgment unit includes a first data operation subunit and a first data comparison subunit. The first data operation subunit is connected to the first ranging unit, the second ranging unit, the third ranging unit, and the fourth ranging unit, respectively. The first data processing subunit includes a first divider; the two input terminals of the first divider are electrically connected to the first ranging unit and the second ranging unit, respectively; the first data comparison subunit includes a first comparator, a second comparator and a first logic gate circuit, the first input terminal of the first comparator is electrically connected to the output terminal of the first divider, the second input terminal of the first comparator is connected to the maximum value signal of a first preset range, and the output terminal of the first comparator is electrically connected to the first input terminal of the first logic gate circuit; The first input terminal of the second comparator is electrically connected to the output terminal of the first divider, the second input terminal of the second comparator is connected to the minimum value signal of the first preset range, and the output terminal of the second comparator is electrically connected to the second input terminal of the first logic gate circuit; the first logic gate circuit is used to output a signal indicating whether the distance comparison signal between the first ranging unit and the second ranging unit is within the first preset range. And / or, the first data operation subunit includes a second divider; the two input terminals of the second divider are electrically connected to the third ranging unit and the fourth ranging unit, respectively; the first data comparison subunit includes a third comparator, a fourth comparator, and a second logic gate circuit; the first input terminal of the third comparator is electrically connected to the output terminal of the second divider, the second input terminal of the third comparator is connected to the maximum value signal of a first preset range, and the output terminal of the third comparator is electrically connected to the first input terminal of the second logic gate circuit; the first input terminal of the fourth comparator is electrically connected to the output terminal of the second divider, the second input terminal of the fourth comparator is connected to the minimum value signal of the first preset range, and the output terminal of the fourth comparator is electrically connected to the second input terminal of the second logic gate circuit; the second logic gate circuit is used to output a signal indicating whether the distance comparison signal between the third ranging unit and the fourth ranging unit is within the first preset range.

6. The swing amplitude monitoring system according to claim 4, characterized in that, The second judgment unit includes a data receiving subunit, a second data processing subunit, and a second data comparison subunit; the data receiving subunit is connected to the first trigger unit, the second trigger unit, the third trigger unit, and the fourth trigger unit, respectively. The data receiving subunit includes a first edge detection circuit and a first counting circuit. The first edge detection circuit is electrically connected to the first trigger unit and the third trigger unit, and is used to output two edge detection signals. The first counting circuit is electrically connected to the first edge detection circuit, and is used to output a first time difference between the two edge detection signals. The data receiving subunit further includes a second edge detection circuit and a second counting circuit. The second edge detection circuit is electrically connected to the second trigger unit and the fourth trigger unit, and is used to output two edge detection signals. The second counting circuit is electrically connected to the second edge detection circuit, and is used to output a second time difference between the two edge detection signals. The second data processing subunit includes a first multiplier and a third divider. The input terminal of the first multiplier is electrically connected to the first counting circuit and is used to output the first movement distance of the robotic arm within the time difference of the two edge detection signals. The first input terminal of the third divider is connected to the output terminal of the first multiplier, and the second input terminal of the third divider is connected to the distance between the first fork and the second fork and is used to output the first angle deviation. The second data processing subunit includes a second multiplier, a fourth divider, and a fifth divider. The input terminal of the second multiplier is electrically connected to the second counting circuit and is used to output the second movement distance of the robotic arm within the time difference of the two edge detection signals. The first input terminal of the fourth divider is connected to the output terminal of the second multiplier, and the second input terminal of the fourth divider is connected to the distance between the first fork and the second fork, and is used to output the second angle deviation. The first input terminal of the fifth divider is connected to the output terminal of the third divider, and the second input terminal of the fifth divider is connected to the output terminal of the fourth divider. The second data comparison subunit comprises a fifth comparator, a sixth comparator, and a third logic gate. The first input of the fifth comparator is electrically connected to the output of the fifth divider, and the second input of the fifth comparator is connected to the maximum value signal of the second preset range. The output of the fifth comparator is electrically connected to the first input of the third logic gate. The first input of the sixth comparator is electrically connected to the output of the fifth divider, and the second input of the sixth comparator is connected to the minimum value signal of the second preset range. The output of the sixth comparator is electrically connected to the second input of the third logic gate. The third logic gate is used to output a signal indicating whether the ratio of the first angle deviation to the second angle deviation is within the second preset range.

7. The swing amplitude monitoring system according to claim 1, characterized in that, The swing amplitude monitoring system also includes a display module and an alarm module; The display module is connected to the control module, and the display module is used to display the swing amplitude of the robotic arm in a first direction and the swing amplitude in a second direction; The alarm module is connected to the control module, and the alarm module is used to determine whether to issue an alarm message based on the swing amplitude and the preset threshold.

8. The swing amplitude monitoring system according to claim 1, characterized in that, The ranging unit is at least one of a laser ranging sensor, an ultrasonic sensor, and a photoelectric sensor.

9. The swing amplitude monitoring system according to claim 1, characterized in that, The distance measuring module and the control module can be connected via wired or wireless methods.

10. A robotic arm, characterized in that, The swing amplitude monitoring system for the robotic arm as described in any one of claims 1-9.

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