阅读说明：本技术 一种机械手的控制方法、装置、系统及机械手 (Control method, device and system of manipulator and manipulator ) 是由 凌夏冰 三原秀一 于 2018-06-05 设计创作，主要内容包括：本发明公开了一种机械手的控制方法、装置、系统及机械手,在接收到夹紧指令之时,可控制所述机械手的两个夹紧部以第一速度做相对运动,当所述两个夹紧部之间的距离等于夹紧距离阈值之时,可将作用在所述两个夹紧部上的第一作用力增大至第二作用力。相比于现有技术,在本发明实施例中,当机械手的两个夹紧部之间的距离达到夹紧距离阈值之时,可进一步增大作用在所述两个夹紧部上的作用力,以保证在抓取工件时有足够大的夹紧力度,提升了夹持的稳定性和安全性。(the invention discloses a control method, a device and a system of a manipulator and the manipulator, wherein when a clamping instruction is received, two clamping parts of the manipulator can be controlled to move relatively at a first speed, and when the distance between the two clamping parts is equal to a clamping distance threshold value, a first acting force acting on the two clamping parts can be increased to a second acting force. Compared with the prior art, in the embodiment of the invention, when the distance between the two clamping parts of the manipulator reaches the clamping distance threshold value, the acting forces acting on the two clamping parts can be further increased, so that the workpiece can be grabbed with enough clamping force, and the clamping stability and safety are improved.)

1. A method for controlling a robot, comprising:

receiving a clamping instruction;

Controlling the two clamping parts of the manipulator to move relatively at a first speed;

Increasing a first force acting on the two clamping portions to a second force when the distance between the two clamping portions equals a clamping distance threshold; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

2. The robot control method according to claim 1, further comprising:

Controlling the speed of movement of the two jaws to decrease from the first speed to a second speed when the distance between the two jaws is equal to a first distance threshold, wherein the first distance threshold is greater than the clamping distance threshold and the first speed is greater than the second speed.

3. the robot control method according to claim 2, further comprising:

receiving a release instruction;

And controlling the two clamping parts to move back and forth at a third speed until the distance between the two clamping parts is a second distance threshold value.

4. The robot control method according to claim 3, wherein the third speed is equal to or higher than the second speed.

5. The robot control method according to claim 4, wherein the first distance threshold is a distance between the two gripping portions after a relative movement of the two gripping portions at the first speed from a position where the distance between the two gripping portions is the second distance threshold is performed for a set period of time.

6. a control device for a robot hand, comprising:

The receiving module is used for receiving a clamping instruction;

the speed control module is used for controlling the two clamping parts of the manipulator to move relatively at a first speed;

The force control module is used for increasing a first acting force acting on the two clamping parts to a second acting force when the distance between the two clamping parts is equal to a clamping distance threshold value; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

7. the robot control apparatus of claim 6,

the force control module is further configured to control the moving speed of the two clamping portions to decrease from a first speed to a second speed when the distance between the two clamping portions is equal to a first distance threshold, where the first distance threshold is greater than the clamping distance threshold, and the first speed is greater than the second speed.

8. The control device of a robot hand according to claim 7,

The receiving module is further used for receiving a release instruction;

The speed control module is further configured to control the two clamping portions to move back and forth at a third speed until the distance between the two clamping portions is a second distance threshold.

9. The control device of a robot hand according to claim 8, wherein the third speed is greater than or equal to the second speed.

10. The manipulator control device according to claim 9, wherein the first distance threshold is a distance between the two gripping portions after a relative movement of the two gripping portions at the first speed from a position where the distance between the two gripping portions is the second distance threshold is performed for a set period of time.

11. A computer apparatus for controlling a robot comprising a memory and a processor, wherein:

The memory to store program instructions;

The processor reads the program instructions stored in the memory and executes the control method of the manipulator according to any one of claims 1 to 5 in accordance with the obtained program.

12. a computer storage medium storing computer-executable instructions for causing a computer to execute the method of controlling a manipulator according to any one of claims 1 to 5.

13. A control system for a robot including the robot, characterized by further comprising the control device for a robot according to any one of claims 6 to 10.

14. The control system of the robot of claim 13, wherein the robot comprises a frame, a driving device, a transmission device, a bidirectional screw, a first bracket, a second bracket, a first clamping portion, and a second clamping portion, wherein:

the driving device and the bidirectional screw rod are arranged on the frame, and the driving device drives the bidirectional screw rod to rotate through the transmission device;

The first support and the second support are arranged in a crossed manner, and the first end of the first support and the first end of the second support are respectively assembled on the bidirectional screw rod in a threaded manner and driven by the bidirectional screw rod to do relative reciprocating motion;

the first clamping portion is assembled at the second end of the first support, the second clamping portion is assembled at the second end of the second support, a clamping space is formed between the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion move in a reciprocating mode relatively to the first support and the second support.

15. The utility model provides a manipulator, its characterized in that includes frame, drive arrangement, transmission, two-way lead screw, first support, second support, first clamping part and second clamping part, wherein:

The driving device and the bidirectional screw rod are arranged on the frame, and the driving device drives the bidirectional screw rod to rotate through the transmission device;

The first support and the second support are arranged in a crossed manner, and the first end of the first support and the first end of the second support are respectively assembled on the bidirectional screw rod in a threaded manner and driven by the bidirectional screw rod to do relative reciprocating motion;

The first clamping portion is assembled at the second end of the first support, the second clamping portion is assembled at the second end of the second support, a clamping space is formed between the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion move in a reciprocating mode relatively to the first support and the second support.

16. the robot of claim 15, further comprising a slide mounted to the frame, wherein:

the second end of the first bracket is provided with a first sliding block which is assembled with the sliding rail in a sliding way, and the first clamping part is assembled on the first sliding block;

the second end of the second bracket is provided with a second sliding block, the second sliding block is assembled with the sliding rail in a sliding mode, and the second clamping portion is assembled on the second sliding block.

17. The robot of claim 16, wherein the frame further comprises a floor, wherein:

The first bracket comprises a first cross bar and the second bracket comprises a second cross bar;

the sliding rail is installed on one side, departing from the bidirectional screw rod, of the bottom plate, and the first cross rod and the second cross rod are both slidably supported on one side, facing the bidirectional screw rod, of the bottom plate.

Technical Field

The invention relates to the technical field of automatic control, in particular to a control method, a control device and a control system for a manipulator and the manipulator.

Background

Currently, automatic control tools such as robots are widely used in many industrial scenes in order to improve industrial processing efficiency or transportation efficiency.

How to improve the working efficiency, safety and stability of the manipulator is a problem to be considered.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device and a control system of a manipulator and the manipulator, which are used for improving the safety and the stability of the manipulator.

the embodiment of the invention provides a control method of a manipulator, which comprises the following steps:

Receiving a clamping instruction;

Controlling the two clamping parts of the manipulator to move relatively at a first speed;

Increasing a first force acting on the two clamping portions to a second force when the distance between the two clamping portions equals a clamping distance threshold; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

Preferably, the speed of movement of the two jaws is controlled to decrease from a first speed to a second speed when the distance between the two jaws is equal to a first distance threshold, wherein the first distance threshold is greater than the clamping distance threshold and the first speed is greater than the second speed.

Further, still include:

Receiving a release instruction;

And controlling the two clamping parts to move back and forth at a third speed until the distance between the two clamping parts is a second distance threshold value.

preferably, the third speed is greater than or equal to the second speed.

Optionally, the first distance threshold is a distance between the two clamping portions after the two clamping portions move relatively at the first speed from a position where the distance between the two clamping portions is the second distance threshold for a set period of time.

Accordingly, an embodiment of the present invention provides a control device for a manipulator, including:

The receiving module is used for receiving a clamping instruction;

The speed control module is used for controlling the two clamping parts of the manipulator to move relatively at a first speed;

the force control module is used for increasing a first acting force acting on the two clamping parts to a second acting force when the distance between the two clamping parts is equal to a clamping distance threshold value; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

Further, the force control module is further configured to control the moving speed of the two clamping portions to decrease from a first speed to a second speed when the distance between the two clamping portions is equal to a first distance threshold, where the first distance threshold is greater than the clamping distance threshold, and the first speed is greater than the second speed.

further, the receiving module is further configured to receive a release instruction;

the speed control module is further configured to control the two clamping portions to move back and forth at a third speed until the distance between the two clamping portions is a second distance threshold.

preferably, the third speed is greater than or equal to the second speed.

Optionally, the first distance threshold is a distance between the two clamping portions after the two clamping portions move relatively at the first speed from a position where the distance between the two clamping portions is the second distance threshold for a set period of time.

Correspondingly, the embodiment of the invention also provides computer equipment for controlling the manipulator, which comprises a memory and a processor, wherein:

The memory to store program instructions;

the processor is configured to read the program instructions stored in the memory, and execute the control method of the manipulator according to the embodiment of the present invention according to the obtained program.

Accordingly, the embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable the computer to execute the control method of the manipulator described in the embodiment of the present invention.

Correspondingly, the embodiment of the invention also provides a control system of the manipulator, which comprises the manipulator and the control device of the manipulator in the embodiment of the invention.

optionally, the manipulator comprises a frame, a driving device, a transmission device, a bidirectional screw, a first bracket, a second bracket, a first clamping portion, and a second clamping portion, wherein:

The driving device and the bidirectional screw rod are arranged on the frame, and the driving device drives the bidirectional screw rod to rotate through the transmission device;

the first support and the second support are arranged in a crossed manner, and the first end of the first support and the first end of the second support are respectively assembled on the bidirectional screw rod in a threaded manner and driven by the bidirectional screw rod to do relative reciprocating motion;

The first clamping portion is assembled at the second end of the first support, the second clamping portion is assembled at the second end of the second support, a clamping space is formed between the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion move in a reciprocating mode relatively to the first support and the second support.

Correspondingly, the embodiment of the present invention further provides a manipulator, which includes a frame, a driving device, a transmission device, a bidirectional screw, a first bracket, a second bracket, a first clamping portion, and a second clamping portion, wherein:

The driving device and the bidirectional screw rod are arranged on the frame, and the driving device drives the bidirectional screw rod to rotate through the transmission device;

the first support and the second support are arranged in a crossed manner, and the first end of the first support and the first end of the second support are respectively assembled on the bidirectional screw rod in a threaded manner and driven by the bidirectional screw rod to do relative reciprocating motion;

The first clamping portion is assembled at the second end of the first support, the second clamping portion is assembled at the second end of the second support, a clamping space is formed between the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion move in a reciprocating mode relatively to the first support and the second support.

Further, the manipulator further comprises a slide rail mounted to the frame, wherein:

The second end of the first bracket is provided with a first sliding block which is assembled with the sliding rail in a sliding way, and the first clamping part is assembled on the first sliding block;

The second end of the second bracket is provided with a second sliding block, the second sliding block is assembled with the sliding rail in a sliding mode, and the second clamping portion is assembled on the second sliding block.

Further, the frame further comprises a bottom plate, wherein:

The first bracket comprises a first cross bar and the second bracket comprises a second cross bar;

the sliding rail is installed on one side, departing from the bidirectional screw rod, of the bottom plate, and the first cross rod and the second cross rod are both slidably supported on one side, facing the bidirectional screw rod, of the bottom plate.

The invention has the following beneficial effects:

The embodiment of the invention provides a control method, a control device and a control system of a manipulator and the manipulator. Compared with the prior art, in the embodiment of the invention, when the distance between the two clamping parts of the manipulator reaches the clamping distance threshold value, the acting forces acting on the two clamping parts can be further increased, so that the workpiece can be gripped with enough clamping force, and the clamping stability and safety are improved.

preferably, when the distance between the two clamping parts is equal to a first distance threshold value, the moving speed of the two clamping parts is controlled to be reduced from the first speed to a second speed, wherein the first distance threshold value is larger than the clamping distance threshold value, and the first speed is larger than the second speed, namely, when the two clamping parts are controlled to approach the workpiece at the first speed and the workpiece is to be clamped, the relative moving speed of the two clamping parts is reduced, and the workpiece is moved to be clamped at the second speed. In this way, the first speed motion can be used for a period of time to increase the working speed, thereby increasing the working efficiency of the manipulator. On the basis of improving the working efficiency, the speed of the clamping part when clamping the workpiece is the lower second speed, the impact on the workpiece when clamping the workpiece is reduced, and the working efficiency is improved while the safety of the operation is ensured.

further, when the release instruction is received, the two clamping portions of the manipulator can be controlled to move back and forth at a third larger speed until the distance between the two clamping portions is equal to the second distance threshold, and the third speed can be greater than or equal to the second speed, and even further can be greater than or equal to the first speed, so that the release speed is increased, and the operation efficiency of the manipulator is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

fig. 1 is a schematic flow chart illustrating a control method for a robot provided in an embodiment of the present invention;

FIG. 2 is a simplified schematic diagram of a robot provided in an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating a possible structure of a robot provided in an embodiment of the present invention;

fig. 4 is a schematic flow chart illustrating a first control manner of the robot provided in the embodiment of the present invention;

FIG. 5 is a speed diagram of a first control mode provided in an embodiment of the present invention;

fig. 6 is a force diagram under a first control manner according to an embodiment of the present invention;

Fig. 7 is a schematic flow chart illustrating a second control manner of the robot provided in the embodiment of the present invention;

FIG. 8 is a velocity diagram of a second control scheme provided in an embodiment of the present invention;

Fig. 9 is a force diagram under a second control manner provided in the embodiment of the present invention;

Fig. 10 is a schematic flow chart illustrating a third control manner of the robot provided in the embodiment of the present invention;

FIG. 11 is a velocity diagram of a third control method provided in an embodiment of the present invention;

fig. 12 is a force diagram under a third control manner provided in the embodiment of the present invention;

Fig. 13 is a schematic structural view illustrating a control device of a robot provided in an embodiment of the present invention;

FIG. 14 is a schematic diagram of a robot computer apparatus provided in an embodiment of the present invention;

Fig. 15 is a schematic structural view of a first control system of a robot provided in an embodiment of the present invention;

Fig. 16 is a schematic structural view illustrating a second control system of a robot provided in an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a first manipulator provided in an embodiment of the present invention;

Fig. 18 is a schematic structural view of a second robot provided in an embodiment of the present invention;

fig. 19 is a schematic structural view of a third robot provided in the embodiment of the present invention;

Fig. 20 is a schematic view (first view) showing a specific structure of a robot provided in an embodiment of the present invention;

fig. 21 is a schematic view (second view) showing a specific structure of a robot provided in the embodiment of the present invention;

Fig. 22 is a schematic structural view (front view) showing a specific structure of a robot provided in an embodiment of the present invention;

Fig. 23 is a schematic structural view (bottom view) of a robot provided in an embodiment of the present invention;

fig. 24 is a schematic structural view (top view) showing a specific structure of a robot provided in an embodiment of the present invention;

Fig. 25 is a schematic view (left side view) showing a specific structure of a robot provided in the embodiment of the present invention;

Fig. 26 is a schematic diagram (right side view) showing a specific structure of the robot provided in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

the existing control method of the manipulator generally comprises the steps of controlling two clamping parts of the manipulator to move relatively at a set speed when a workpiece needs to be clamped until the distance between the two clamping parts reaches a clamping distance threshold value, wherein the clamping distance threshold value is the distance between the two clamping parts when the workpiece is clamped. However, the inventor of the present invention finds that, since the clamping distance threshold is often the distance between the two clamping portions when the clamping distance threshold is just in contact with the workpiece, there may be a problem of small clamping force, so that when the robot is used to grab and transport the workpiece, a clamping failure or even a workpiece falling problem may occur, which may further affect the stability and safety of clamping the workpiece by the robot.

Compared with the prior art, in the embodiment of the invention, when a workpiece needs to be clamped, the two clamping parts of the manipulator can be controlled to move relatively, and when the workpiece is clamped (contacted) on the two clamping parts, the relative acting force acting on the two clamping parts can be increased, so that the clamping force of the manipulator on the workpiece is improved, and the stability and the safety of clamping are ensured. And in the non-clamping working state, the acting force acting on the two clamping parts of the manipulator can be reduced, so that the energy consumption of the system is reduced.

An embodiment of the present invention is described in detail below with reference to the accompanying drawings, and first, as shown in fig. 1, a schematic flow chart of a method for controlling a robot provided in the embodiment of the present invention is shown. The execution main body of the control method of the manipulator in the embodiment of the invention can be a corresponding control device of the manipulator, wherein when the manipulator comprises the servo motor, the control device of the manipulator can be integrated as an integrated device in the servo motor of the manipulator; or as a separate device independent of the servo motor of the manipulator. When the control device of the manipulator is disposed outside the servo motor of the manipulator, the control device of the manipulator may be in signal connection with the servo motor of the manipulator, such as wired signal connection or wireless signal connection.

Specifically, as can be seen from fig. 1, the method for controlling a robot provided in an embodiment of the present invention may include the following steps:

Step 101: and receiving a control instruction.

alternatively, the control commands may generally include a clamping command instructing the two clamping portions to clamp the workpiece, and a release command instructing the two clamping portions to release the workpiece.

The control command may be a control command sent to the control device of the robot arm by a corresponding controller, processor, or user. For example, a high level signal, a low level signal, or other signals transmitted from a corresponding CPU (Central Processing Unit), MCU (micro controller Unit), or the like to a control device of the manipulator; for another example, the touch signal or the press signal may be sent to the control device of the manipulator by a corresponding operator through an interactive interface or a key, which is not limited in this embodiment of the present invention.

step 102: and judging whether the control command is a clamping command, if so, executing step 103, and if not, executing step 106.

It should be noted that, in the embodiment of the present invention, when the control instruction is not the clamping instruction, it may be the release instruction, which is not described in detail herein.

For example, taking the control command as a level signal as an example, assuming that the clamping command is a high level signal, the release command may be a low level signal. Of course, the release command may be a high signal assuming that the clamp command is a low signal, which is not limited in this embodiment of the invention.

Step 103: the two clamping parts of the manipulator are controlled to move relatively at a first speed.

The first speed can be flexibly set according to the actual situation, such as 0.001m/s (meter/second), 1cm/min (centimeter/minute), or 20mm/s (millimeter/second); in general, in order to prevent the manipulator from causing a large impact on the workpiece to be grasped, the first speed may be set to a small value as much as possible, which is not described in detail in the embodiments of the present invention.

For example, as shown in fig. 2, it is a simplified structural schematic diagram of a robot provided in an embodiment of the present invention. Specifically, as can be seen from fig. 2, the robot may include a bar 20, a first clamping portion 21, and a second clamping portion 22. Wherein the two gripping portions (21 and 22 as shown in fig. 2) of the robot arm may be generally oppositely disposed on both sides of the bar 20, and the two gripping portions may reciprocate on the bar 20.

it should be noted that the bar 20 and the two clamping portions (21 and 22) can be assembled in any way, for example by means of sliding rails and runners, sliding rails and through holes, external and internal threads, etc.

Alternatively, when the bar 20 and the two clamping portions are assembled together by the slide rail and the slide groove, the slide rail on the bar 20 may be the bar 20 itself, and thus the implementation cost of the robot can be reduced.

It should be noted that each clamping portion on the manipulator may include one or more than two mechanical fingers, each mechanical finger may include one joint or more than two joints, and fig. 2 illustrates an example in which each clamping portion includes one mechanical finger, and each mechanical finger includes one joint.

for another example, as shown in fig. 3, it is a schematic diagram of a possible structure of a robot provided in an embodiment of the present invention. Specifically, as can be seen from fig. 3, the robot may include a frame 31, a servo motor 32 mounted on the frame, a timing belt 33, a bidirectional screw 34, and a first clamping portion 35 and a second clamping portion 36 slidably fitted with the bidirectional screw.

specifically, as can be seen from fig. 3, the rotation of the servo motor 32 can drive the rotation of the bidirectional screw 34 through the timing belt 33, and the first clamping portion 35 and the second clamping portion 36 can move relatively or oppositely along with the rotation of the bidirectional screw 34.

Compared with the structure of the manipulator shown in fig. 2, the two clamping parts of the manipulator shown in fig. 3 are not arranged in parallel, but are arranged in a cross manner, so that the effective moment arms of the two clamping parts are shortened, and the two clamping parts can be prevented from being broken; and, the two gripping portions of the manipulator shown in fig. 3 are reciprocated on the bidirectional screw 34 by the rotation of the bidirectional screw 34, the rotation of the bidirectional screw 34 being driven by the servo motor 32 through the timing belt 33. When the relative motion of the two clamping parts needs to be controlled, the servo motor can be directly driven to rotate without applying extra acting force on the two clamping parts, so that the control logic of the manipulator is simplified, and the flexibility of the manipulator is improved.

It should be noted that the workpiece that can be gripped and handled by the robot provided in the embodiment of the present invention needs to satisfy the gripping range of the robot, and for example, the size of the workpiece or the size of the workpiece holding portion (L shown in fig. 3) needs to be smaller than the maximum distance that can be reached by the two clamping portions of the robot.

Step 104: it is determined whether the distance between the two clamping portions reaches a clamping distance threshold, if so, step 105 is performed, and if not, step 103 is performed.

Wherein, when the distance between the two clamping parts is equal to the clamping distance threshold value, the two clamping parts can be determined to clamp the workpiece. It should be noted that, in the embodiment of the present invention, the time when the distance between the two clamping portions is first equal to the clamping distance threshold value from the original distance may be taken as the time when the distance threshold value between the two clamping portions is equal to the clamping distance threshold value. For example, if the original distance between the two clamping portions is 15cm, the clamping distance threshold is 10cm, and the adjustment step is 1cm, the time when the distance between the two clamping portions is equal to 10cm may be taken as the time when the distance between the two clamping portions is equal to the clamping distance threshold, which is not described in detail herein.

It should be noted that the clamping distance threshold may be flexibly set according to actual situations, as long as the clamping distance threshold can be consistent with the size of the workpiece or the size of the workpiece holding part, which is not described in detail in the embodiments of the present invention.

step 105: the first force acting on the two clamping portions is increased to a second force.

specifically, taking the manipulator shown in fig. 2 as an example, the first acting force acting on the two clamping portions may be a force capable of making the two clamping portions move relatively at a constant speed, the direction of the acting force on each clamping portion may be directed to the other clamping portion, and the magnitude of the acting force on each clamping portion may be the product of μ (coefficient of friction) and m (clamping portion mass) between the cross bar and the clamping portion.

it should be noted that the direction of the second acting force can be consistent with the first acting force, and the magnitude of the second acting force can be flexibly set according to specific situations. In practical situations, the second acting force can be slightly larger than the first acting force, so that clamping of the workpiece can be reinforced, stability and safety of clamping are guaranteed, and the problem of clamping failure or workpiece falling is avoided; secondly, the workpiece can not be impacted greatly, and the safety of the workpiece is ensured.

alternatively, the forces acting on the two clamping portions may be applied directly, for example opposing thrusts may be applied directly on the two clamping portions; the application may also be indirectly performed by other means, such as setting the aforementioned bar (20 shown in fig. 2) as a bidirectional lead screw (34 shown in fig. 3), and driving the bidirectional lead screw by controlling the rotation of a servo motor or the like, so that the two clamping portions arranged on the bidirectional lead screw are subjected to corresponding acting forces and perform relative movement along the extending direction of the bidirectional lead screw, which is not limited in any way.

The method for controlling the manipulator provided in the embodiment of the present invention is applicable to any scene where a workpiece is grasped, and the shape, material, characteristics, and use of the workpiece are not particularly limited as long as the size of the workpiece or the size of the grasping portion of the workpiece is within the grasping range of the manipulator, and examples thereof include a mobile phone having a width (or length) within the grasping range, an egg having a major axis diameter (or minor axis diameter) within the grasping range, a table tennis ball having a diameter within the grasping range, and a water bottle having a handle width (or length) within the grasping range.

further, increasing the first force acting on the two clamping portions to a second force may include:

increasing the force acting on the two clamping portions directly from a first force to a second force; alternatively, the first and second electrodes may be,

The force acting on the two clamping portions is gradually increased from the first force to the second force by setting an increasing step.

It should be noted that the setting of the increment step can be flexibly set according to actual situations, for example, the increment step can be set to be 1N (newton), 10N, or 100N, as long as the actual requirements are met, and the embodiment of the present invention is not limited in this respect.

For example, the acting force acting on the two clamping portions may be directly increased from F1 to F2, or the acting force acting on the two clamping portions may be increased from F1 to F3, then to F4, … …, and finally to F2, and the embodiment of the present invention is not limited in any way.

That is, when the force is increased, the force can be directly increased or gradually increased. Of course, in order to further reduce the impact on the workpiece, the force may be increased step by step, which is not described in detail in the embodiments of the present invention.

Further, before step 105, the method for controlling the robot may further include:

Controlling the speed of movement of the two jaws to decrease from a first speed to a second speed when the distance between the two jaws is equal to a first distance threshold; wherein the first distance threshold is greater than the grip distance threshold and the first speed is greater than the second speed.

for example, assuming that the robot shown in fig. 3 is taken as an example, the size of the workpiece or the size of the workpiece gripping portion is L, and the first distance threshold set is L1, it is determined that L1 is L +2 d.

It should be noted that when the distance between the two clamping portions is equal to the first distance threshold, the relative movement speed of the two clamping portions may be started to be reduced. It should be noted that, in the embodiment of the present invention, the time when the distance between the two clamping portions is first equal to the first distance threshold from the original distance may be taken as the time when the distance threshold between the two clamping portions is equal to the first distance threshold. For example, assuming that the original distance between the two clamping portions is 20cm, the first distance threshold is 15cm, and the adjustment step is 1cm, the time when the distance between the two clamping portions is equal to 15cm may be taken as the time when the distance between the two clamping portions is equal to the first distance threshold; in practical application, assuming that the original distance between the two clamping portions is 20cm, the first distance threshold is 15cm, and the adjustment step is 2cm, the time when the distance between the two clamping portions is equal to 14cm may also be taken as the time when the distance between the two clamping portions is equal to the first distance threshold, which is not described again.

that is, when the distance between the two clamping portions reaches the first distance threshold, the two clamping portions can be subjected to speed reduction operation, and then when the distance between the two clamping portions reaches the clamping distance threshold, the two clamping portions can be subjected to action force increasing operation, so that the impact on the workpiece is further reduced, and the safety of the workpiece is ensured; in addition, in the embodiment of the present invention, the first speed may be set to a larger speed to improve the work efficiency, and the second speed may be set to a smaller speed to prevent the impact on the workpiece, so that not only the work efficiency but also the work safety can be ensured.

Step 106: and controlling the two clamping parts of the manipulator to move back and forth at a third speed.

it should be noted that the third speed can be flexibly set according to the actual situation, for example, the third speed can be set to 0.01m/s (m/s), 1cm/min (cm/min), or 200mm/s (mm/s); in general, in order to improve the working efficiency of the manipulator, the third speed may be set to a larger value as much as possible, which is not described in detail in the embodiments of the present invention.

alternatively, the third speed may be greater than or equal to the second speed.

Preferably, the third speed may be greater than the first speed, so that the releasing speed of the workpiece can be increased, and the working efficiency of the manipulator is improved, which will not be described herein.

Step 107: and judging whether the distance between the two clamping parts reaches a second distance threshold value, if so, executing step 108, and if not, executing step 106.

the second distance threshold may be flexibly set according to actual conditions, and the second distance threshold may be generally greater than the clamping distance threshold, which is not described herein again.

in addition, the clamping distance threshold provided in the embodiment of the present invention may be specifically a distance between the two clamping portions after the two clamping portions perform a relative movement for a set time period from a position where the distance between the two clamping portions is the second distance threshold at the first speed.

as can be seen from the above, in the embodiment of the present invention, it can be determined that the distance between the two clamping portions reaches the clamping distance threshold value in two ways: one is determined according to the moving distance of the two clamping parts, and the other is determined according to the moving time of the two clamping parts. In practical applications, the corresponding determination mode may be selected according to practical situations, for example, in a scene capable of acquiring motion time, the determination mode may be determined in the second mode, and in a scene capable of acquiring motion distance, the determination mode may be determined in the first mode, which is not described in detail herein.

preferably, the second distance threshold may be the maximum distance that can be reached by the two clamping portions, i.e. the distance between the two clamping portions when the two clamping portions are located on both sides of the bar 20 shown in fig. 2, which will not be described in detail.

step 108: and stopping the action.

That is to say, in the embodiment of the present invention, when a workpiece needs to be clamped, the two clamping portions of the manipulator may be controlled to move relatively, and when the two clamping portions contact the workpiece, the relative acting force acting on the two clamping portions may be increased, so as to increase the clamping force of the manipulator on the workpiece, and ensure the stability and safety of clamping; when the workpiece needs to be released, the two clamping parts of the manipulator can be controlled to move back and forth quickly, so that the workpiece can be released quickly, and the working efficiency is improved.

in the following, a control method of a robot provided in an embodiment of the present invention is described in detail by taking clamping a workpiece as an example:

first, position control + force control.

For example, as shown in fig. 4, it is a schematic flow chart of a first control manner of the robot provided in the embodiment of the present invention. Specifically, as shown in fig. 4, the first control method may be a combination of the clamping process, the position control and the force control, and in this case, the control process of the robot may be as follows:

step 41: receiving a clamping instruction;

Step 42: controlling the two clamping parts to move relatively at a constant speed; the speeds of the two clamping parts can be flexibly set according to actual conditions, and in order to avoid impact on a workpiece, the smaller the speed setting, the better the speed setting;

step 43: it is determined whether the distance between the two clamping portions (D shown in fig. 4) is equal to the clamping distance threshold (L shown in fig. 4), if yes, step 44 is executed, and if no, step 42 is executed, which is not described herein again.

Step 44: the first force (F1 shown in fig. 4) acting on the two clamping portions is increased to the second force (F2 shown in fig. 4).

Specifically, as shown in fig. 5, it is a speed diagram in a first control manner provided in the embodiment of the present invention. Specifically, as can be seen from fig. 5, taking the first clamping portion as an example, the speed of the first clamping portion relative to the second clamping portion is gradually increased from 0 to V1 from t0 to t 1; the speed of the first clamping part relative to the second clamping part is kept at V1 in the time period from t1 to t 2; after time t2, the velocity of the first clamp relative to the second clamp is maintained at V1.

Fig. 6 is a force diagram of the first control method according to the embodiment of the present invention. Specifically, as can be seen from fig. 6, taking the first clamping portion as an example, at time t0, the first clamping portion receives a force with a magnitude of F0 and a direction toward the second clamping portion; during the time period t 0-t 1, since the slope of the velocity of the first clamping part relative to the second clamping part remains constant, the acceleration remains constant, so that the force acting on the first clamping part remains at F0; at time t1, reducing the force acting on the first clamping part from F0 to F1(F1 is a positive force that causes the first and second clamping parts to move at a relatively uniform speed); in the time period from t1 to t2, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, and the acting force acting on the first clamping part is maintained to be F1; at time t2, the force acting on the first clamping portion is increased from F1 to F2 to further clamp the workpiece, maintaining stability and safety of clamping. Wherein, F2 can be slightly larger than F1 to reduce the impact on the workpiece and ensure the safety of the workpiece.

note that, at this time, the time t2 may be a time when the distance between the two clamping portions is equal to the clamping distance threshold value.

That is, in the embodiment of the present invention, upon receiving the clamping command, the two clamping portions of the robot may be controlled to perform a relative motion at a first speed, and when the distance between the two clamping portions is equal to the clamping distance threshold, the first acting force acting on the two clamping portions may be increased to the second acting force. Compared with the prior art, in the embodiment of the invention, when the distance between the two clamping parts of the manipulator reaches the clamping distance threshold value, the acting force acting on the two clamping parts can be further increased, so that the workpiece can be grabbed with enough clamping force, and the clamping stability and safety are improved.

and the second method comprises position control, speed control and force control.

for example, as shown in fig. 7, it is a schematic flow chart of a second control manner of the robot provided in the embodiment of the present invention. Specifically, as can be seen from fig. 7, the second control manner may be a combination of the clamping process, the position control, the speed control and the force control, and in this case, the control process may be as follows:

Step 71: receiving a clamping instruction;

step 72: controlling the two clamping parts to move relatively at a constant speed; wherein the speed is a first speed (V1 shown in FIG. 7);

Step 73: determining whether the distance between the two jaws (D as shown in fig. 7) is equal to a first distance threshold (L1 as shown in fig. 7), if so, performing step 74, and if not, performing step 72;

step 74: reducing the relative speed of movement of the two jaws from a first speed (V1 as shown in fig. 7) to a second speed (V2 as shown in fig. 7); wherein the second speed may be as small as possible to prevent impact on the workpiece;

step 75: determining whether the distance between the two clamping portions (shown as D in fig. 7) is equal to the clamping distance threshold (shown as L in fig. 7), if so, performing step 76, and if not, performing step 74; wherein the clamping distance threshold is less than or equal to the first distance threshold;

Step 76: the first force (F1 shown in fig. 7) acting on the two clamping portions is increased to the second force (F2 shown in fig. 7).

specifically, as shown in fig. 8, it is a speed diagram in the second control manner provided in the embodiment of the present invention. Specifically, as can be seen from fig. 8, taking the first clamping portion as an example, the speed of the first clamping portion relative to the second clamping portion is gradually increased from 0 to V1 from t0 to t 1; the speed of the first clamping part relative to the second clamping part is kept at V1 in the time period from t1 to t 2; during the time period from t2 to t3, the speed of the first clamping part relative to the second clamping part is reduced from V1 to V2; after time t3, the velocity of the first clamp relative to the second clamp is maintained at V2.

Fig. 9 is a force diagram of the second control method according to the embodiment of the present invention. Specifically, as can be seen from fig. 9, taking the first clamping portion as an example, at time t0, the first clamping portion receives a force (hereinafter referred to as a forward force) with a magnitude of F0 and a direction toward the second clamping portion; during the time period t 0-t 1, since the slope of the velocity of the first clamping part relative to the second clamping part remains constant, the acceleration remains constant, so that the force acting on the first clamping part remains at F0; at time t1, the acting force acting on the first clamping part is reduced from F0 to F1; in the time period from t1 to t2, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, so that the acting force acting on the first clamping part is reduced from F0 to F1(F1 is a positive acting force which enables the first clamping part and the second clamping part to move at a constant speed relatively); at time t2, the force acting on the first clamping part is reduced from F1 to F2 (wherein the direction of F2 is away from the second clamping part, and is referred to as the reverse force); in the time period from t2 to t3, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, and the acting force acting on the first clamping part is maintained to be F2; at time t3, the force acting on the first clamping portion is increased to F3 (positive force); in the time period from t3 to t4, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, and the acting force acting on the first clamping part is maintained to be F3; at time t4, the force acting on the first clamping portion is increased from F3 to F4 (positive force) to further clamp the workpiece, maintaining the stability of clamping. The time periods from t1 to t2 and from t3 to t4 are all in uniform motion, so that F1 is equal to F3. It should be noted that F4 may be slightly larger than F1, so as to reduce impact on the workpiece and ensure safety of the workpiece and stability of clamping.

Alternatively, controlling the speed of movement of the two clamping portions to decrease from the first speed to the second speed may comprise:

controlling the moving speed of the two clamping parts to be directly reduced from the first speed to the second speed; alternatively, the first and second electrodes may be,

And controlling the moving speed of the two clamping parts to gradually reduce from the first speed to the second speed according to the set speed step.

the set speed step can be flexibly set according to actual conditions, for example, the set speed step can be set to 1mm/s (millimeter/second) or the like, as long as the actual conditions can be met, and the embodiment of the present invention does not limit this.

For example, the speeds of the two clamping portions may be directly reduced from V1 to V2, or the speeds of the two clamping portions may be reduced from V1 to V3, then reduced to V4, … …, and finally reduced to V2, and the like.

that is, when the force is reduced, the force can be directly reduced or can be gradually reduced. Of course, in order to further reduce the impact on the workpiece, the force may be reduced step by step, which is not described in detail in the embodiments of the present invention.

As can be seen from the above, in the clamping process of the manipulator, the speed reduction operation may be performed first, and after the speed is reduced to the second speed, the operation of increasing the acting force may be performed again, so as to reduce the impact on the workpiece to the minimum and ensure the safety of the workpiece. The first speed is higher than the second speed, so that the two clamping parts can be quickly close to the workpiece, and the working efficiency of the manipulator is improved; after the workpiece is close to the workpiece, the speed can be reduced, so that the impact on the workpiece is prevented, and the safety of the workpiece is ensured; after contacting the workpiece, the acting force can be further increased, so that the clamping force is enhanced, and the stability and the safety of clamping are ensured.

In addition, when the robot provided in the embodiment of the present invention is the robot shown in fig. 3, the moving speeds of the two clamping portions can be adjusted by adjusting the rotation speed of the servo motor; the torque of the servo motor can be adjusted to adjust the force acting on the two clamping portions, which is not described in detail in the embodiment of the present invention.

In the following, taking the release of the workpiece as an example, the control method of the robot in the embodiment of the present invention is described in detail:

For example, as shown in fig. 10, it is a schematic flow chart of a third control manner provided in the embodiment of the present invention. Specifically, as can be seen from fig. 10, the third control method may be a release process and position control method, and the control flow includes:

Step 1001: receiving a release instruction;

Step 1002: controlling the two clamping parts to move back and forth at a third speed;

step 1003: determining whether the distance between the two clamping portions is a second distance threshold (i.e., L2 shown in fig. 10), if so, performing step 1004, and if not, performing step 1002;

Step 1004: the motion is stopped.

specifically, as shown in fig. 11, it is a speed diagram in a third control manner provided in the embodiment of the present invention. Specifically, as can be seen from fig. 11, taking the first clamping portion as an example, the speed of the first clamping portion relative to the second clamping portion is gradually reduced from 0 to V1 (reverse speed) in the time period from t0 to t 1; the speed of the first clamping part relative to the second clamping part is kept at V1 in the time period from t1 to t 2; during the time period from t2 to t3, the velocity of the first clamping part relative to the second clamping part increases from V1 to 0.

Fig. 12 is a force diagram of the third control method provided in the embodiment of the present invention. Specifically, as can be seen from fig. 12, taking the first clamping portion as an example, at time t0, the first clamping portion receives a force (i.e., a counter force) with a magnitude of F0 and a direction away from the second clamping portion; during the time period t 0-t 1, since the slope of the velocity of the first clamping part relative to the second clamping part remains constant, the acceleration remains constant, so that the force acting on the first clamping part remains at F0; at time t1, increasing the force acting on the first clamping part from F0 to F1(F1 being the opposing force that causes the first and second clamping parts to move back at a constant velocity); in the time period from t1 to t2, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, and the acting force acting on the first clamping part is maintained to be F1; at time t2, increasing the force acting on the first clamping part from F1 to F2; in the time period from t2 to t3, since the first clamping part moves at a constant speed relative to the second clamping part, the acceleration is 0, and the acting force acting on the first clamping part is maintained to be F2; at time t3, the force acting on the first clamping portion is reduced from F2 to 0 to complete the releasing operation.

optionally, before or while step 1003 is being performed, the second force acting on both clamps may also be reduced to a third force to reduce the energy consumption of the system. The third acting force can be the same as the first acting force in magnitude and can be opposite to the first acting force in direction.

That is, before the time t0, i.e., the time period from 0 to t0, the acting force acting on the first clamping portion may be the acting force when the two clamping portions of the robot clamp the workpiece, i.e., the second acting force (e.g., F2 in fig. 6 or F4 in fig. 9), which is not described in detail herein.

the embodiment of the invention provides a control method of a manipulator, which can control two clamping parts of the manipulator to move relatively at a first speed when receiving a clamping instruction, and increase a first acting force acting on the two clamping parts to a second acting force when the distance between the two clamping parts is equal to a clamping distance threshold value. Compared with the prior art, in the embodiment of the invention, when the distance between the two clamping parts of the manipulator reaches the clamping distance threshold value, the acting force acting on the two clamping parts can be further increased, so that the workpiece can be grabbed with enough clamping force, and the clamping stability and safety are improved.

based on the same inventive concept as the above-mentioned control method of the manipulator, the embodiment of the present invention further provides a control device of the manipulator, which may include a plurality of modules to respectively implement the steps of the control method of the manipulator. Fig. 13 is a schematic structural diagram of a control device of a robot provided in an embodiment of the present invention. Specifically, as can be seen from fig. 13, the control device of the robot may include:

a receiving module 131, configured to receive a clamping instruction;

a speed control module 132 for controlling the two clamping portions of the robot to move relative to each other at a first speed;

a force control module 133, configured to increase a first acting force acting on the two clamping portions to a second acting force when the distance between the two clamping portions is equal to the clamping distance threshold; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

That is, in the embodiment of the present invention, a receiving module for receiving a clamping command, a speed control module for controlling two clamping portions of a robot to move relatively at a first speed, and a force control module for increasing a first acting force acting on the two clamping portions to a second acting force when a distance between the two clamping portions is equal to a clamping distance threshold value may be included. Compared with the prior art, in the embodiment of the invention, when the distance between the two clamping parts of the manipulator reaches the clamping distance threshold value, the acting force acting on the two clamping parts can be further increased, so that the workpiece can be grabbed with enough clamping force, and the clamping stability and safety are improved.

in particular, the force control module 133 is specifically configured to control the moving speed of the two clamping portions to decrease from the first speed to a second speed when the distance between the two clamping portions is equal to a first distance threshold, where the first distance threshold is greater than the clamping distance threshold, and the first speed is greater than the second speed.

Further, the receiving module 131 may be further configured to receive a release instruction;

The speed control module 132 may be further configured to control the two clamping portions to move back and forth at a third speed until the distance between the two clamping portions is a second distance threshold.

specifically, the third speed is greater than or equal to the second speed.

further, the first distance threshold is a distance between the two clamping portions after the two clamping portions move relative to each other at the first speed for a set time period from a position where the distance between the two clamping portions is the second distance threshold.

The control device of the manipulator provided by the embodiment of the invention can comprise a receiving module for receiving a clamping instruction, a speed control module for controlling two clamping parts of the manipulator to move relatively at a first speed, and a force control module for increasing a first acting force acting on the two clamping parts to a second acting force when the distance between the two clamping parts is equal to a clamping distance threshold value. Compared with the prior art, in the embodiment of the invention, after the distance between the two clamping parts of the manipulator reaches the clamping distance threshold, the acting force acting on the two clamping parts can be further increased, so that the workpiece can be gripped with enough clamping force, and the stability and the safety of clamping the workpiece are improved.

Further, since the control method of the manipulator provided in the embodiment of the present invention may be executed by a corresponding physical apparatus, such as a computer apparatus of the manipulator, in addition to the corresponding virtual device.

specifically, as shown in fig. 14, it is a schematic structural diagram of a computer device of a robot in an embodiment of the present invention. The computing device may be specifically a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), and the like. Specifically, the computing device in the embodiment of the present invention may include a processor, such as a Central Processing Unit (CPU) 1401, a memory 1402, an input device 1403, an output device 1404, and the like, the input device 1403 may include a keyboard, a mouse, a touch screen, and the like, and the output device 1404 may include a Display device, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), and the like.

The memory 1402 may include a Read Only Memory (ROM) and a Random Access Memory (RAM), and provides the central processing unit 1401 with program instructions and data stored in the memory 1402. In the embodiment of the present invention, the memory 1402 may be used to store a program of a control method of the robot.

the central processing unit 1401 is configured to, by calling the program instructions stored in the memory 1402, execute the following steps according to the obtained program instructions: receiving a clamping instruction; controlling two clamping parts of the manipulator to move relatively at a first speed; increasing a first force acting on the two clamping portions to a second force when the distance between the two clamping portions equals a clamping distance threshold; wherein the clamping distance threshold is the distance between the two clamping portions when the workpiece is clamped.

Further, the corresponding program instructions of the control method of the manipulator provided in the embodiment of the present invention may also be stored in a corresponding computer storage medium to be invoked by a corresponding computer for execution. Accordingly, embodiments of the present invention also provide a computer storage medium for storing computer program instructions for the above computing apparatus, which includes a program for executing the above control method for a robot.

The computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), Solid State Disks (SSDs)), etc.

Further, the control method for the robot provided in the embodiment of the present invention may also be applied to a corresponding control system, as shown in fig. 15, which is a first schematic structural diagram of the control system for the robot in the embodiment of the present invention. As can be seen from fig. 15, in the embodiment of the present invention, the control system of the robot may include the control device 152 of the robot provided in the embodiment of the present invention and the robot 153.

It should be noted that the control system of the robot may further include a corresponding automatic controller 151 (or an automatic processor) to automatically send a clamping command or a releasing command to the control device 152 of the robot when a corresponding trigger condition is met, so that the control device 152 of the robot controls the clamping or the releasing of the robot; the trigger condition may be preset and stored in the automatic controller 151, which will not be described in detail.

it should be noted that fig. 16 is a second schematic configuration diagram of a control system of a robot hand according to an embodiment of the present invention. As can be seen from fig. 16, in the embodiment of the present invention, the control system of the robot may not include the corresponding automatic controller but include the corresponding manual controller 161, in addition to the control device 162 of the robot and the robot 163. The manual controller 161 may send a clamping instruction or a releasing instruction to the control device 162 of the manipulator when receiving a manual operation performed by a user, such as pressing, touching, and the like, so that the control device 162 of the manipulator controls the clamping or releasing of the manipulator, which is not described in detail herein.

specifically, the robot provided in the embodiment of the present invention may include a frame, a driving device, a transmission device, a bidirectional screw, a first bracket, a second bracket, a first clamping portion, and a second clamping portion, wherein:

the driving device and the bidirectional lead screw are arranged on the frame, and the driving device drives the bidirectional lead screw to rotate through the transmission device;

the first support and the second support are arranged in a crossed mode, and the first end of the first support and the first end of the second support are respectively assembled on the bidirectional screw rod in a threaded mode and driven by the bidirectional screw rod to do relative reciprocating motion;

The first clamping portion is assembled at the second end of the first support, the second clamping portion is assembled at the second end of the second support, a clamping space is formed between the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion move in a reciprocating mode relatively along with the first support and the second support.

since the first bracket and the second bracket are arranged in a staggered manner, the two brackets or the two clamping parts can be prevented from being broken.

It should be noted that, for the specific work flow and structure of the control device of the robot provided in the embodiment of the present invention, reference may be made to the foregoing contents; the detailed description of the specific structure of the manipulator can be referred to in the following, and will not be repeated here.

The control system of the manipulator provided by the embodiment of the invention comprises the control device of the manipulator provided by the embodiment of the invention, so as to receive a clamping instruction or a releasing instruction sent by a corresponding controller or a user, and grab and carry workpieces. Compare in prior art, when the work piece is pressed from both sides tightly to needs, can be when the distance between two clamping parts equals to the clamping distance threshold value, will be used in the first effort increase to the second effort on two clamping parts to guarantee sufficient clamping dynamics, promoted the stability and the security of centre gripping.

specifically, in the embodiment of the present invention, a robot to which the control method and the control device of the robot described above can be applied is illustrated in fig. 17, which is a schematic configuration diagram of a first robot in the embodiment of the present invention. Of course, the robot provided in the embodiment of the present invention may also be applied to the existing robot control method and apparatus, and is not limited in any way.

As can be seen from fig. 17, the first robot in the embodiment of the present invention may include a frame 171, a driving device 172, a transmission 173, a bidirectional screw 174, a first bracket 175, a second bracket 176, a first clamping portion 177, and a second clamping portion 178, wherein:

A driving device 172 and a bidirectional screw 174 are arranged on the frame 171, and the driving device 172 drives the bidirectional screw 174 to rotate through a transmission 173;

the first bracket 175 and the second bracket 176 are arranged in a crossed manner, and a first end of the first bracket 175 and a first end of the second bracket 176 are respectively assembled on the bidirectional screw 174 in a threaded manner and driven by the bidirectional screw 174 to do relative reciprocating motion;

The first clamping portion 177 is assembled at the second end of the first bracket 175, the second clamping portion 178 is assembled at the second end of the second bracket 176, a clamping space is formed between the first clamping portion 177 and the second clamping portion 178, and the first clamping portion 177 and the second clamping portion 178 perform relative reciprocating motion along with the first bracket 175 and the second bracket 176.

that is, in the embodiment of the present invention, the robot may include a frame, a driving device, a transmission device, a bidirectional screw, a first bracket, a second bracket, a first clamping portion, and a second clamping portion, and the first bracket and the second bracket are disposed in a staggered manner. Compared with the prior art, in the embodiment of the invention, the two supports are arranged in a staggered manner, so that the effective force arms of the two supports are shortened, the two supports can be prevented from being broken, and the safety and the practicability of the manipulator are improved.

The driving device 172 may be a corresponding servo motor, and the transmission device 173 may be a corresponding synchronous belt, which is not limited in this respect in the embodiment of the present invention.

Further, as shown in fig. 18, it is a schematic diagram of a second possible structure of the robot provided in the embodiment of the present invention. Specifically, as can be seen from fig. 18, the second robot may further include a slide rail 179 mounted to the frame 171, wherein:

the second end of the first bracket 175 has a first slider 180, the first slider 180 is slidably assembled with the slide rail 179, and the first clamping portion 177 is assembled on the first slider 180;

The second end of the second bracket 176 has a second slider 181, the second slider 181 is slidably mounted to the slide rail 179, and the second clamping portion 178 is mounted on the second slider 181.

the first sliding block 180 is provided with a first sliding slot, the second sliding block 181 is provided with a second sliding slot, and the first sliding slot and the second sliding slot can be assembled with the sliding rail 179 to slide on the sliding rail 179 in a reciprocating manner. Of course, the first slider 180 and the second slider 181 may also be provided with through holes, as long as they can be matched with the slide rail 179 and move back and forth on the slide rail 179, which will not be described herein.

The arrangement of the slide rail 179 can support and guide the first bracket 175 and the second bracket 176, thereby effectively shortening the arm of force, preventing the first bracket 175 and the second bracket 176 from being broken, and protecting the first bracket 175 and the second bracket 176.

Further, as shown in fig. 19, it is a schematic structural diagram of a third robot provided in the embodiment of the present invention. In particular, as can be seen in fig. 19, the frame 171 of the robot arm may further comprise a bottom plate 182, wherein:

first rack 175 includes a first crossbar 1751 and second rack 176 includes a second crossbar 1761;

slide rails 179 are mounted to a side of base plate 182 facing away from dual lead screw 174, and first bar 1751 and second bar 1761 are each slidably supported on a side of base plate 182 facing dual lead screw 174.

Fig. 20 is a schematic view (first view) of a specific structure of a robot provided in an embodiment of the present invention. Specifically, as can be seen from fig. 20, the frame may further be provided with corresponding fixing plates 183 for fixing the robot arms to the corresponding robot arms, so as to achieve the purpose of workpiece grabbing and carrying.

it should be noted that, each component of the manipulator provided in the embodiment of the present invention may be combined and connected by a screw, a through hole, and the like, which is not described in detail herein.

Specifically, as can be seen from fig. 21, it is a specific structural schematic diagram (second view angle) of the robot provided in the embodiment of the present invention. As can be seen in fig. 21, corresponding recesses may be provided in the bottom plate to provide sufficient space for the first bracket 175 and the second bracket 176.

Alternatively, as shown in fig. 22, it is a schematic structural diagram (front view) of a robot provided in an embodiment of the present invention; fig. 23 is a schematic structural diagram (bottom view) of a manipulator provided in an embodiment of the present invention; fig. 24 is a schematic structural diagram (top view) of a robot provided in an embodiment of the present invention; fig. 25 is a schematic diagram (left side view) showing a specific structure of a robot provided in an embodiment of the present invention; fig. 26 is a schematic diagram (right side view) showing a specific structure of the robot provided in the embodiment of the present invention.

The embodiment of the invention provides a manipulator which comprises a frame, a driving device, a transmission device, a bidirectional screw rod, a first support, a second support, a first clamping part and a second clamping part, wherein the first support and the second support are arranged in a staggered mode. Compared with the prior art, in the embodiment of the invention, the two supports are arranged in a staggered manner, so that the effective force arms of the two supports are shortened, the two supports can be prevented from being broken, and the practicability of the manipulator is improved.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus (device), or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

the present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

these computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

while preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.