CN111558936A - Multi-station battery manipulator control method and device, storage medium and manipulator - Google Patents
Multi-station battery manipulator control method and device, storage medium and manipulator Download PDFInfo
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- CN111558936A CN111558936A CN201910880676.7A CN201910880676A CN111558936A CN 111558936 A CN111558936 A CN 111558936A CN 201910880676 A CN201910880676 A CN 201910880676A CN 111558936 A CN111558936 A CN 111558936A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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Abstract
The invention provides a multi-station battery manipulator control method and device, a storage medium and a manipulator, and relates to the field of control of soft package battery production equipment. The control method of the multi-station battery manipulator comprises the steps of S1, obtaining a relative distance value; s2, comparing the relative distance value with a first distance threshold value; and S3, controlling the multi-station manipulator according to the first comparison result. The control device comprises an acquisition module, a comparison module and a control module, wherein the control module is used for controlling the action of the multi-station manipulator according to a first comparison result. The storage medium of the present invention has computer program instructions stored thereon. The manipulator of the present invention comprises a plurality of gripping modules, a processor, a memory, and computer program instructions stored in the memory. The multi-station battery manipulator control method, the multi-station battery manipulator control device, the storage medium and the manipulator are used for solving the technical problem that the battery damage caused by the conditions of battery gliding and the like cannot be avoided in the prior art.
Description
Technical Field
The invention belongs to the field of control of battery production equipment, and particularly relates to a control method and device of a multi-station battery manipulator, a storage medium and a manipulator.
Background
At present, a square aluminum shell power battery is used as one of main flow power batteries, and is widely applied to new energy automobiles as a power source due to the characteristics of light weight, high safety performance, large capacity and the like. Along with the continuous expansion of its market, the enterprise has more and more high requirement to its production facility ability, because its production technology is complicated, and the battery production process often need go on unloading operation, for improving product yields and production efficiency, the enterprise often adopts the manipulator to go up unloading. However, in the design of the traditional mechanical arm clamp in the prior art, whether the square aluminum shell power battery is reliably clamped by the clamp or not cannot be known, no protective measures for battery damage caused by the conditions of battery gliding and the like exist, and the reliability and the product percent of pass in the production process of the square aluminum shell power battery are reduced.
Disclosure of Invention
In view of the above, the invention provides a multi-station battery manipulator control method, a multi-station battery manipulator control device, a storage medium and a manipulator, which are used for solving the technical problems that the battery manipulator control technology in the prior art cannot timely know the clamping condition of a clamp on a square aluminum shell power battery, and cannot avoid battery damage caused by the conditions of battery sliding and the like.
In a first aspect, the invention provides a multi-station battery manipulator control method, which comprises the following steps:
s1, acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
s2, comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and S3, controlling the action of the multi-station manipulator according to the first comparison result.
Preferably, the controlling the action of the multi-station manipulator according to the first comparison result includes:
s311, if the first comparison result is that the relative distance value is larger than or equal to a first distance threshold value, controlling the manipulator to stop moving and generating a first alarm signal;
and S312, if the relative distance value is smaller than the first distance threshold value as a result of the first comparison, controlling the manipulator to continue moving.
Preferably, the controlling the action of the multi-station manipulator according to the first comparison result includes:
s321, if the first comparison result is that the relative distance value is greater than or equal to the first distance threshold value, obtaining a change rule of the relative distance value according to the relative distance value;
s322, generating a first control signal according to the change rule of the relative distance value;
and S322, controlling the clamping force of the clamping jaw by the controller according to the first control signal.
Preferably, the step S1 of acquiring a relative distance value between the battery and the clamping jaw of the manipulator in the vertical direction includes:
s11, emitting a detection signal to the direction of the battery by a sensor arranged on the telescopic clamping jaw, and recording the emitting time;
s12, receiving the detection signal reflected from the battery and recording the receiving time;
and S13, calculating the relative distance value according to the recorded reflection time and the reception time.
Preferably, after step S3, the method further includes:
s4, emitting detection light to the position where the battery is to be placed;
s5, monitoring a reflected light signal reflected by the position where the battery is to be placed;
and S6, controlling the operation of the manipulator for placing the battery according to the monitoring result of the reflected light signal.
Preferably, the step S6 of controlling the operation of the manipulator to place the battery according to the monitoring result of the reflected light signal includes:
s611, if the reflected optical signal is monitored in the first time range, stopping the operation of placing the battery by the manipulator;
s612, if no reflected optical signal is detected in the first time range, controlling the manipulator to move towards the position where the battery is to be placed, and acquiring a distance value between the clamping jaw and an object below the clamping jaw;
s613, comparing the distance value between the clamping jaw and the object below the clamping jaw with a second distance threshold value to obtain a second comparison result;
and S614, controlling the descending operation of the manipulator according to the second comparison result.
Preferably, the multi-station manipulator further comprises a station gap adjusting mechanism, and the step S6 of controlling the operation of placing the battery of the manipulator according to the monitoring result of the reflected light signal comprises the following steps:
s621, obtaining a battery placement gap between two adjacent batteries;
s622, generating a second control signal according to the obtained battery placement gap measurement;
and S623, controlling the station gap adjusting mechanism to adjust the spacing distance between two adjacent clamping jaws by the controller according to a second control signal.
In a second aspect, the present invention provides a multi-station battery robot control apparatus, including:
the acquisition module is used for acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
the comparison module is used for comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and the control module is used for controlling the action of the multi-station manipulator according to the first comparison result.
Third aspect the present invention provides a storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of the first aspect.
In a fourth aspect, the present invention provides a manipulator comprising a plurality of gripping modules, at least one processor, at least one memory and computer program instructions stored in the memory which, when executed by the processor, implement the method of the first aspect.
Has the advantages that: according to the multi-station battery manipulator control method, the multi-station battery manipulator control device, the storage medium and the manipulator, the relative distance value between the battery clamped by the manipulator and the clamping jaw of the manipulator in the vertical direction is detected in real time, the detected relative distance is compared with the preset first distance threshold value, whether the manipulator slides downwards in the battery moving process can be rapidly and accurately judged according to the comparison result, and the manipulator is controlled to operate according to the judgment result. The misoperation caused by inaccuracy and hysteresis of upper computer information is effectively avoided, the accuracy and reliability of manipulator operation in the battery production process are obviously improved, and the qualification rate of battery products is improved.
Drawings
Fig. 1 is a flowchart of a multi-station battery manipulator control method according to embodiment 1 of the present invention;
fig. 2 is a three-dimensional mechanical structure diagram of a manipulator controlled by the multi-station battery manipulator control method of the present invention;
fig. 3 is a flowchart of a multi-station battery manipulator control method according to embodiment 2 of the present invention;
fig. 4 is a flowchart of a multi-station battery manipulator control method according to embodiment 3 of the present invention;
fig. 5 is a schematic structural view of a station gap adjusting mechanism according to embodiment 3 of the present invention;
fig. 6 is a block diagram showing the structure of a multi-station battery robot control apparatus according to embodiment 4 of the present invention;
fig. 7 is a block diagram showing the construction of a robot according to embodiment 5 of the present invention;
fig. 8 is a three-dimensional mechanical structure diagram controlled by a robot in embodiment 5 of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the embodiments of the present invention and the various features of the embodiments may be combined with each other within the scope of the present invention.
Example 1
The multi-station battery manipulator is used for clamping and moving the square aluminum shell power battery, taking the square aluminum shell power battery out of a station of a previous procedure and placing the square aluminum shell power battery into a station of a next procedure.
As shown in fig. 1, the embodiment provides a multi-station battery manipulator control method, which includes the following steps:
s1, acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
s2, comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and S3, controlling the action of the multi-station manipulator according to the first comparison result.
The mechanical structure of the manipulator can be seen in fig. 2.
And selecting a certain fixed point on the clamping jaw as a reference point, selecting a certain fixed point on the battery as a detection point, wherein the vertical distance between the reference point and the detection point is used as the relative distance value between the battery and the clamping jaw of the manipulator in the vertical direction. For the detection point of the square aluminum shell power battery 700, a certain fixed point on the upper surface of the battery can be selected, so that the detection of the sensor can be facilitated.
Under the condition that the manipulator normally works and the battery does not slide down, the relative distance between the battery and the clamping jaw of the manipulator in the vertical direction is kept within a certain range. When the battery accidentally slides down in the process of moving the battery, the relative distance between the battery and the clamping jaw of the manipulator in the vertical direction is increased, and when the distance exceeds a safety range, the danger that the battery slides down from the manipulator is indicated. Therefore, a limit distance can be set according to the situation of a production site, measures need to be taken in time to prevent the battery from slipping off when the battery is at a relative distance with the clamping jaw of the manipulator in the vertical direction, and the limit distance is a first distance threshold value.
In the whole process that the manipulator moves the battery, the in-place detection sensor 300 is used for detecting the relative distance between the battery and the manipulator in real time, data detected by the sensor is sent to the controller, the controller compares the detection result with a preset first distance threshold value, the comparison result is a first comparison result, and the first comparison result may be: the relative distance value is greater than a first distance threshold value; the relative distance value is equal to the first distance threshold value; the relative distance value is greater than a first distance threshold. Then the controller selects and executes a corresponding control algorithm according to the comparison result, specifically:
the action of controlling the multi-station manipulator according to the first comparison result comprises the following steps:
s311, if the first comparison result is that the relative distance value is larger than or equal to a first distance threshold value, controlling the manipulator to stop moving and generating a first alarm signal;
and S312, if the relative distance value is smaller than the first distance threshold value as a result of the first comparison, controlling the manipulator to continue moving.
When the relative distance is larger than or equal to the first distance threshold value, the situation that the battery starts to slide downwards is indicated, at the moment, the controller controls the manipulator to stop moving immediately, an alarm is generated, and related personnel are informed to carry out inspection and maintenance, so that the situation that the battery finally falls down due to the fact that the battery continues to slide downwards is avoided.
If the relative distance is smaller than the first distance threshold value, the situation that the battery does not slide downwards is shown, and at the moment, the controller controls the manipulator to continue moving until the battery clamping and placing operation is completed.
Preferably, the control method for effectively preventing the battery from sliding off continuously comprises the following steps:
s321, if the first comparison result is that the relative distance value is greater than or equal to the first distance threshold value, obtaining a change rule of the relative distance value according to the relative distance value;
s322, generating a first control signal according to the change rule of the relative distance value;
and S322, controlling the clamping force of the clamping jaw by the controller according to the first control signal.
When the battery gliding exceeded certain distance, can monitor the gliding condition of battery according to the change law of relative distance value, when the change rate of relative distance value was when the grow, showed that clamping jaw clamping force is too loose, produced the control signal that control clamping jaw adds the increase of holding power at this moment, control clamping jaw increases clamping force to press from both sides the battery tightly. When the change rate of the relative distance value is reduced, the current clamping force can be maintained, and the defect of the battery clamp due to the detection of the overlarge clamping force is avoided.
As a preferred implementation manner of this embodiment, the step S1 of acquiring a relative distance value between the battery and the clamping jaw of the manipulator in the vertical direction includes:
s11, emitting a detection signal to the direction of the battery by a sensor arranged on the telescopic clamping jaw, and recording the emitting time;
s12, receiving the detection signal reflected from the battery and recording the receiving time;
and S13, calculating the relative distance value according to the recorded reflection time and the reception time.
In the embodiment, a sensor is used for sending a detection signal, such as an ultrasonic signal, at a fixed position, the transmission time t1 is recorded, the detection signal is reflected by a battery after reaching the position of the battery, the sensor is used for receiving the signal reflected by the battery, and the time of receiving the reflected signal is recorded as t 2. The round trip time of the signal between the sensor emission position and the battery can be calculated according to t1 and t2, and then the round trip distance d of the detection signal is calculated to be v (t1-t2) according to the propagation speed of the signal, wherein v is the propagation speed of the detection signal.
This embodiment is through carrying out real-time detection to the battery that the manipulator was centre gripping and the clamping jaw of manipulator relative distance value in vertical direction to the size of the relative distance that will detect and the first distance threshold value of predetermineeing is compared, can accurately in time judge the manipulator condition of gliding has appeared at the in-process of removing the battery according to the comparative result fast, and control the operation of manipulator according to the result of judging. The misoperation caused by inaccuracy and hysteresis of upper computer information is effectively avoided, the accuracy and reliability of manipulator operation in the battery production process are obviously improved, and the qualification rate of battery products is improved.
Example 2
As shown in fig. 3, the present embodiment provides a multi-station battery manipulator control method, and after step S3, the present embodiment further includes:
s4, emitting detection light to the position where the battery is to be placed;
s5, monitoring a reflected light signal reflected by the position where the battery is to be placed;
and S6, controlling the operation of the manipulator for placing the battery according to the monitoring result of the reflected light signal.
In this embodiment, before the battery is placed in the station of the next process, it is detected whether the battery is already present in the station of the corresponding placement position of the battery to be placed, and then the control method of the next step is selected according to the detection result.
The specific detection method is to arrange an occupancy detection sensor 400 with a probe facing a station to be detected on the clamping jaw. Occupy place and detect sensor 400, treat to place the position transmission detection light to the battery earlier, if treat to place on the station and there is the battery, the battery reflects the detection light that occupies place detection sensor 400 transmission back, and the detection light that reflects back produces a trigger signal after being received by occupy place detection sensor 400, and the sensor sends this trigger signal for the controller to handle. If there is no battery at the station to be placed, the occupancy detection sensor 400 cannot receive the reflected light signal.
Specifically, the operation of controlling the placement of the battery of the manipulator based on the monitoring result of the reflected light signal includes the steps of:
s611, if the reflected optical signal is not monitored in the first time range, stopping the operation of placing the battery by the manipulator;
s612, if the reflected optical signal is monitored in the first time range, controlling the manipulator to move towards the position where the battery is to be placed, and acquiring a distance value between the clamping jaw and an object below the clamping jaw;
s613, comparing the distance value between the clamping jaw and the object below the clamping jaw with a second distance threshold value to obtain a second comparison result;
and S614, controlling the descending operation of the manipulator according to the second comparison result.
If the reflected light signal is detected within a specified time, indicating that the battery is on the placing station, the operation of placing the battery is immediately stopped, and a second alarm signal is generated to inform relevant personnel to intervene.
If the reflected light signal is not detected within a specified time, indicating that no battery is present at the placing station, the manipulator may be controlled to perform the operation of placing the battery.
The spacing value between the clamping jaw and an object below the clamping jaw is detected in real time by using the limit position sensor 800 in the control of controlling the descending of the manipulator, so that the manipulator is prevented from being mistakenly operated in the descending process and colliding with other objects below the clamping jaw. A limit distance can be set according to field conditions, the descending operation is stopped when the distance between the clamping jaw and the object below the clamping jaw is smaller than the limit distance, and a third alarm signal is generated to inform relevant personnel of inspection and intervention. If the limit distance is not exceeded, the operation of placing the battery is continued, and the value of the limit distance is the second distance threshold value
Example 3
As shown in fig. 4, the present embodiment provides a method for controlling a multi-station battery manipulator, where the multi-station manipulator further includes a station gap adjusting mechanism, and the step S6 of controlling, according to the monitoring result of the reflected light signal, the operation of placing the battery of the manipulator includes the following steps:
s621, obtaining a battery placement gap between two adjacent batteries;
s622, generating a second control signal according to the obtained battery placement gap measurement;
and S623, controlling the station gap adjusting mechanism to adjust the spacing distance between two adjacent clamping jaws by the controller according to a second control signal.
The battery placing gap can be input to a controller of the manipulator by an operator, the controller determines the corresponding station distance according to the battery placing gap, generates a corresponding control signal and controls the station gap adjusting mechanism to adjust the spacing distance between two adjacent clamping jaws.
As shown in fig. 5, the station gap adjusting mechanism 130 includes adjusting blocks 131 and a connecting structure for connecting two adjacent adjusting blocks 131 in a relatively movable manner.
Two adjacent adjusting blocks 131 are connected in a relative movement mode through a connecting structure, so that when the two adjacent adjusting blocks 131 move towards the direction close to each other, the two adjacent sub-clamping modules 111 are driven to approach each other, the gap between the two adjacent stations is reduced, when the two adjacent adjusting blocks 131 move towards the direction far away from each other, the two adjacent sub-clamping modules are driven to separate from each other, and the gap between the two adjacent stations is increased.
Specifically, the connecting structure for connecting two adjacent adjusting blocks 131 in a relatively movable manner includes a slot 134 formed on one of the adjusting blocks 131 and a latch 133 fixedly connected to the other adjusting block 131 and engaged with the slot 134, and a sliding space is formed in the slot 134 for allowing the latch 133 to slide in the slot 134 by a predetermined distance.
Two adjacent adjusting blocks 131 are connected in a manner that the fixture blocks 133 are nested with the fixture grooves 134. The length of the locking groove 134 is greater than the width of the portion of the locking block 133 inserted into the locking groove 134, so that a sliding space for allowing the locking block 133 to slide in the locking groove 134 by a predetermined distance is formed in the locking groove 134. When the fixture block 133 slides in the clamping groove 134, two adjacent adjusting blocks 131 move mutually so as to realize the adjustment of the station gap. The station gap adjusting mechanism 130 further comprises a second driving mechanism 132, and the second driving mechanism 132 is used for driving the relative movement between two adjacent adjusting blocks 131. The second driving mechanism can adopt an air cylinder, and the controller can control the movement of a piston rod of the air cylinder to adjust the station gap.
By adopting the scheme of the embodiment, a plurality of batteries can be clamped simultaneously in one operation process, so that the production efficiency is increased in multiples. Through the station interval between the adjacent clamping jaw of displacement position clearance adjustment mechanism will adjust, can be according to the position of placing of battery like this in same operation, simultaneously with a plurality of batteries accuracy place in the relevant position of next process, when improving operating efficiency, improved the accuracy of operation.
Example 4
As shown in fig. 6, the present embodiment provides a station battery robot control apparatus including:
the acquisition module is used for acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
the comparison module is used for comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and the control module is used for controlling the action of the multi-station manipulator according to the first comparison result.
Example 5
The present embodiment provides a storage medium having stored thereon computer program instructions which, when executed by a processor, implement the methods described in embodiments 1 to 3.
The storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
Example 6
As shown in fig. 7, the present embodiment provides a manipulator comprising a plurality of gripping modules, at least one processor 401, at least one memory 402, and computer program instructions stored in the memory, which when executed by the processor implement the methods of embodiments 1 to 3.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 401 may implement any of the above-described embodiments of the printer stability continuous test method by reading and executing computer program instructions stored in the memory 402.
In one example, the pouch cell manipulator may also include a communication interface 403 and a bus 410. As shown in fig. 7, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
As shown in fig. 8, the robot of the present invention includes a robot body 200, a jig, and a connecting assembly 300 for connecting the robot body 200 and the jig. Wherein the clamping apparatus comprises a first clamping module group 110 and a second clamping module group 120 which are distributed side by side along the horizontal direction. Each clamping module group comprises a plurality of clamping modules.
The multi-station battery manipulator control method, the multi-station battery manipulator control device, the multi-station battery manipulator control storage medium and the manipulator provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be a change in the specific implementation and application scope, and in summary, the content of the present specification is only an implementation of the present invention, and not a limitation to the scope of the present invention, and all equivalent structures or equivalent flow transformations made by the content of the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention. And should not be construed as limiting the invention.
Claims (10)
1. The control method of the multi-station battery manipulator is characterized by comprising the following steps:
s1, acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
s2, comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and S3, controlling the action of the multi-station manipulator according to the first comparison result.
2. The method for controlling the multi-station battery manipulator according to claim 1, wherein the controlling the operation of the multi-station manipulator according to the first comparison result comprises:
s311, if the first comparison result is that the relative distance value is larger than or equal to a first distance threshold value, controlling the manipulator to stop moving and generating a first alarm signal;
and S312, if the relative distance value is smaller than the first distance threshold value as a result of the first comparison, controlling the manipulator to continue moving.
3. The method for controlling the multi-station battery manipulator according to claim 1, wherein the controlling the operation of the multi-station manipulator according to the first comparison result comprises:
s321, if the first comparison result is that the relative distance value is greater than or equal to the first distance threshold value, obtaining a change rule of the relative distance value according to the relative distance value;
s322, generating a first control signal according to the change rule of the relative distance value;
and S322, controlling the clamping force of the clamping jaw by the controller according to the first control signal.
4. The multi-station battery manipulator control method according to any one of claims 1 to 3, wherein the step S1 of acquiring a relative distance value between the battery and a clamping jaw of the manipulator in a vertical direction comprises:
s11, emitting a detection signal to the direction of the battery by a sensor arranged on the telescopic clamping jaw, and recording the emitting time;
s12, receiving the detection signal reflected from the battery and recording the receiving time;
and S13, calculating the relative distance value according to the recorded reflection time and the reception time.
5. The multi-station battery manipulator control method according to any one of claims 1 to 3, further comprising, after step S3:
s4, emitting detection light to the position where the battery is to be placed;
s5, monitoring a reflected light signal reflected by the position where the battery is to be placed;
and S6, controlling the operation of the manipulator for placing the battery according to the monitoring result of the reflected light signal.
6. The multi-station battery robot control method according to claim 5, wherein the step S6 of controlling the operation of the robot to place the battery based on the monitoring result of the reflected light signal comprises:
s611, if the reflected optical signal is monitored in the first time range, stopping the operation of placing the battery by the manipulator;
s612, if no reflected optical signal is detected in the first time range, controlling the manipulator to move towards the position where the battery is to be placed, and acquiring a distance value between the clamping jaw and an object below the clamping jaw;
s613, comparing the distance value between the clamping jaw and the object below the clamping jaw with a second distance threshold value to obtain a second comparison result;
and S614, controlling the descending operation of the manipulator according to the second comparison result.
7. The multi-station battery robot control method according to claim 5, wherein the multi-station robot further comprises a station gap adjusting mechanism, and the step S6 of controlling the operation of placing the battery of the robot according to the monitoring result of the reflected light signal comprises the steps of:
s621, obtaining a battery placement gap between two adjacent batteries;
s622, generating a second control signal according to the obtained battery placement gap measurement;
and S623, controlling the station gap adjusting mechanism to adjust the spacing distance between two adjacent clamping jaws by the controller according to a second control signal.
8. Multistation battery manipulator controlling means, its characterized in that includes:
the acquisition module is used for acquiring a relative distance value between the battery and a clamping jaw of the manipulator in the vertical direction;
the comparison module is used for comparing the relative distance value with a first distance threshold value to obtain a first comparison result;
and the control module is used for controlling the action of the multi-station manipulator according to the first comparison result.
9. Storage medium having stored thereon computer program instructions, characterized in that the computer program instructions realize the method according to any of claims 1-7 when executed by a processor.
10. Manipulator, its characterized in that: comprising a plurality of gripping modules, at least one processor, at least one memory, and computer program instructions stored in the memory which, when executed by the processor, implement the method of any one of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112156002A (en) * | 2020-09-27 | 2021-01-01 | 智美康民(珠海)健康科技有限公司 | Safety control method of moxibustion device, moxibustion device and storage medium |
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