CN105547120B - Species based on a capacitive touch screen plane robot position detecting method and system - Google Patents

Species based on a capacitive touch screen plane robot position detecting method and system Download PDF

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CN105547120B
CN105547120B CN201510933230.8A CN201510933230A CN105547120B CN 105547120 B CN105547120 B CN 105547120B CN 201510933230 A CN201510933230 A CN 201510933230A CN 105547120 B CN105547120 B CN 105547120B
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touch screen
screen
capacitive
capacitive touch
means
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CN201510933230.8A
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CN105547120A (en
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李威
盛连超
杨雪锋
王禹桥
刘玉飞
范孟豹
魏华贤
鞠锦勇
路恩
董事
王承涛
孟庆国
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中国矿业大学
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Abstract

种基于电容触摸屏的平面机器人位置检测方法及系统,属于平面机器人位置检测方法及系统。 Species based on the plane of the robot position detecting method and a capacitive touch screen system, the robot position belongs to the face detection method and system. 用以准确的检测平面机器人末端位置坐标,该系统包括电容屏触发装置、电容触摸屏支撑装置、显示屏、计算机、辅助固定装置;其中:电容屏触发装置包括固定磁铁、弹簧控制板、隔磁材料、复位弹簧、电磁铁、电容屏触发器、电磁铁连接线,电容触摸屏装置包括支撑装置底座、调整平台、调整旋钮、防滑支撑腿、旋转轴承、电容触摸屏、触摸屏固定垫片,辅助固定装置包括夹紧底座、夹紧板、夹紧螺钉;本发明提供种基于电容触摸屏的平面机器人位置检测方法及系统,解决现有方法测量过程复杂、测量时间较长、测量范围受限制以及测量仪器受损严重的问题。 For accurate detection of the end position of the robot coordinate plane, the system comprising a triggering device capacitive screen, a capacitive touch screen support means, a display screen, a computer, an auxiliary fixing means; wherein: the triggering means comprises a capacitive screen stationary magnet, a spring board, separated from the magnetic material , the return spring, an electromagnet, triggers capacitive screen, the connection line the solenoid, the capacitive touch screen device comprising a base support means, the platform adjustment, adjustment knob, non-slip support leg, a rotary bearing, a capacitive touch screen, the touch screen fixed pad, the auxiliary fixing device comprising clamping base, clamp plate, the clamp screw; species of the present invention to provide a robot position detection method based on the plane and the capacitive touch screen system, to solve the conventional method of measuring a complex procedure, a longer measurement time, the measurement range is limited by damage to the instrument and measuring serious problem.

Description

一种基于电容触摸屏的平面机器人位置检测方法及系统 A planar robot position detecting method and a system based on a capacitive touch screen

技术领域 FIELD

[0001]本发明涉及一种平面机器人位置检测方法及系统,特别是一种基于电容触摸屏的平面机器人位置检测方法及系统。 [0001] The present invention relates to a position detecting method and a planar robot systems, in particular to a method and system for detecting the position of the robot based planar capacitive touch screen.

背景技术 Background technique

[0002]目前,关于平面机器人末端位置检测有很多种方法,比如激光干涉仪测量法、球杆仪测量法、激光球杆仪法、平面光栅测量法等等,但是这些方法有很多缺点,比如激光干涉仪直接测量法,虽然测量精度较高,但是其测量过程太过复杂,测量耗时较多,且测得的误差是分离的,这样测出的位置整体误差较大。 [0002] Currently, the robot end position on a plane for detecting a variety of methods, such as laser interferometer measurements, ballbar measurement, a laser method ballbar, plane grating measurement, etc., but these methods have many drawbacks, such as direct laser interferometer measurement, although high precision measurement, but the measurement process is too complicated, time-consuming measurements, and the measured error is isolated, so the whole measured position errors. 球杆仪虽然可以快速测量,但其测量范围受到球杆长度的限制,且精度受到LVDT传感器精度的制约。 Although ballbar quick measurement, but the measurement range is limited by the length of the club, and the precision restricted LVDT sensor accuracy. 至于激光球杆仪测量法和平面光栅测量法,精度虽高,但仪器造价太高,难于加工和推广。 As ballbar laser measurement plane grating and measurement accuracy is high, but the equipment cost is too high, difficult to process and promotion. 因此,急需探索一种测量精度高,测量效率高,测量范围大的平面机器人末端位置检测方法。 Thus, an urgent need to explore a high measurement accuracy and measurement efficiency high, a large measurement range of the robot end position detection plane.

发明内容 SUMMARY

[0003] 针对己有位置检测方法存在的问题,本发明提供一种基于电容触摸屏的平面机器人位置检测方法及系统,解决现有方法测量过程复杂、测量时间较长、测量范围受限制以及仪器造价昂贵的问题。 [0003] There already exist for the position detection method, the present invention provides a position detection method based on planar robot and the capacitive touch screen system, to solve the conventional method of measuring a complex procedure, a longer measurement time, the measurement range is limited by cost and equipment expensive.

[0004] 技术方案:本发明的目的是这样实现的,一种基于电容触摸屏平面机器人的位置检测方法,包括以下步骤: [0004] Technical Solution: The purpose of the present invention is implemented, a position detection method for a capacitive touch panel based on the plane of the robot, comprising the steps of:

[0005] 1)、通过固定磁铁将电容屏触发装置固定在平面机器人末端位置,电容触摸屏支撑装置放到电容屏触发装置下方; [0005] 1), fixed by a magnet capacitive screen triggering means in the plane of the robot end secured position, the support means into a capacitive touch screen panel capacitance below the trigger means;

[0006] 2)、通过调整旋钮来调整电容触摸屏的初始位置,使其与计算机系统软件中的初始位置相对应; [0006] 2), to adjust the initial position of the capacitive touch screen by adjusting knobs, the initial position of the computer system software so that it corresponds;

[0007] 3)、给电磁铁通电,电容屏触发器受到电磁铁的作用到达可以与电容触摸屏形成耦合电容的位置,当电容触发器随着被检测的平面机器人末端位置移动时,吸收走一个很小的电流,这个电流分别从触摸屏的四个角或四条边上的电极中流出,电容控制器通过对这四个电流比例的精密计算后,进行A/D转换,并将得到的电压值与设定电压值相比即可得触摸点的具体坐标,经过计算机处理后,具体轨迹在显示屏上显示。 [0007] 3), to the solenoid is energized, the trigger capacitance screen reaches a position subjected to the action of the electromagnet may be formed with the coupling capacitance capacitive touch screen, when the trigger capacitance as the planar end of the robot movement position is detected, a walking absorbent very small current, the currents flowing from the four corners of the electrode or four sides of the touch screen, the capacitance controller by the precise calculation of these four current ratio, the a / D converter, and the voltage value obtained to obtain the specific coordinates of the touch point, after computer processing, specific locus on a display screen as compared with the set voltage value.

[0008] 所述的固定磁铁,是用于当平面机器人末端位置为磁性材料时,直接利用固定磁铁将电容屏触发装置固定在平面机器人末端位置。 [0008] said fixed magnet, for the end position when the robot is planar magnetic material, a magnet is fixed directly trigger device is fixed capacitive screen plane position of the robot end.

[0009] 所述的辅助夹紧装置,是用于当平面机器人末端位置为非磁性材料时,利用辅助夹紧装置来固定电容屏触发装置。 Auxiliary clamping device [0009], wherein, when a plane is a non-magnetic material when the robot end position, a clamping means for fixing the auxiliary capacitive screen triggering means.

[0010] 所述电容屏支撑装置用于初始位置对准,将支撑装置底座整体放入电容屏触发装置下方,然后通过调整旋钮对电容触摸屏的位置进行微调,完成其初始位置对准。 [0010] The capacitive screen support means for the initial positioning, the entire base support means into the trigger device below capacitive screen, and then fine adjustment of the position of the capacitive touch screen by adjusting the knob to its original position to complete the alignment.

[0011] 所述电容屏触发装置固定完成以及电容触摸屏装置初始对准完成后,给电磁铁通电,此时电容屏触发器随弹簧控制板到达指定位置与电容触摸屏接触。 [0011] means holding trigger the capacitive screen capacitive touch screen device, and completed the initial alignment is complete, a solenoid is energized, this time with a spring trigger capacitive screen panel reaches the specified position in contact with the capacitive touch screen.

[0012] 所述电磁铁在位置检测完成后自动断电,电容屏触发器在复位弹簧的作用下回到初始位置。 [0012] In the electromagnet off automatically after the position detection is completed, the trigger capacitance screen to the initial position under the action of a return spring.

[0013] 所述电磁铁的通断电均由计算机控制。 [0013] through the electromagnet de-energized by the control computer.

[0014] 本发明实现上述方法的电容触摸屏平面机器人位置检测系统,包括电容屏触发装置、电容触摸屏支撑装置、显示屏、计算机和辅助固定装置;其中电容屏触发装置与被检测机器人末端执行机构固定连接,同时受计算机控制其是否工作,电容触摸屏支撑装置和显示屏均与计算机连接,辅助固定装置是当被检测机器人末端位置执行机构为非磁性材料时,用于固定电容触发装置。 [0014] The present invention achieves the above method capacitive touch screen planar robot position detection system comprises a capacitive screen trigger device, a capacitive touch screen support means, the display, the computer and the auxiliary fixing means; means with the end effector means detects robot wherein capacitive screen trigger fixed connection, while controlled by the computer that it is working, capacitive touch screen supporting means connected to the computer and the display, the auxiliary fixing means is detected when the robot end position of the actuator non-magnetic material, means for triggering a fixed capacitance.

[0015] 所述的电容屏触发装置包括固定磁铁、弹簧控制板、隔磁材料、复位弹簧、电磁铁和电容屏触发器、电磁铁连接线;固定磁铁的底面顺序连接有隔磁材料、弹簧控制板、复位弹簧和电磁铁,电容屏触发器穿过复位弹簧和电磁铁中心与弹簧控制板连接。 [0015] The triggering means comprises a capacitive screen stationary magnet, a spring board, separated from the magnetic material, a return spring, and the capacitive screen trigger electromagnet, the electromagnet cable; bottom surface of the magnet is connected to a fixed sequence separated from the magnetic material, the spring panel, an electromagnet and a return spring, the trigger capacitance screen through the center of the electromagnet and a return spring connected to the spring board.

[0016] 所述的电容触摸屏支撑装置包括支撑装置底座、调整平台、调整旋钮、防滑支撑腿、旋转轴承、电容触摸屏和触摸屏固定垫片;支撑装置底座为盒状,在盒上有电容触摸屏; 调整平台通过调整旋钮连接在盒内,在盒的底面上有防滑支撑腿,在盒的中心位置有旋转轴承,触摸屏固定垫片位于盒内的壁上。 [0016] The capacitive touch screen supporting means comprising a supporting base plate, adjusting the platform, adjustment knob, non-slip support leg, a rotary bearing, capacitive touch screen and a touch screen holder plate; supporting base plate in a box shape, with a capacitive touch screen on the cartridge; by adjusting the adjustment knob internet connection box, non-slip surface of the support legs on the bottom of the box, a bearing in the rotation center position of the cartridge, the touch screen in the wall box fixed pad.

[0017]所述的辅助固定装置包括夹紧底座、夹紧板和夹紧螺钉;夹紧板通过夹紧螺钉连接在夹紧底座上。 Said auxiliary fixing device [0017] includes a clamping base, the clamping plate and clamping screws; clamping the clamping plate is connected to the base by a clamping screw.

[0018]有益效果,由于采用了上述方案,方法上简单易行,操作方便,解决了现有方法测量过程复杂、测量时间较长、测量范围受限制等问题;系统上传感器采用经济性好,获取方便,精度较高的电阻触摸屏触感器,整套测量系统组装方便,测量结果可以实时的在显示屏上显示,读取方便。 [0018] Advantageous effects, the use of the above-described embodiment, the method is simple, easy to operate, the method solves the complicated measurement process, the measurement time is longer, the measurement range is limited by other problems; sensor uses the system economy is good, convenient to obtain high precision touch resistive touch screen, a set of measurement to facilitate assembly of the system, measurement results can be displayed on the display screen in real time, easy to read.

[0019]优点:该检测方法及系统考虑了检测的实时性,可以实时的检测并显示机器人末端执行机构位置坐标及行走轨迹,为后续控制提供了依据。 [0019] Advantages: The detection method and system for real-time detection of consideration, and displays real-time detection of the position coordinates of the robot end effector means and moving trajectory, provide a basis for subsequent control.

附图说明: BRIEF DESCRIPTION OF:

[0020]图1为本发明的检测系统组成图。 [0020] FIG. 1 is composed of the detection system of the present invention FIG.

[0021]图2为本发明的信号处理器原理框图。 [0021] The block diagram of the signal processor of the present invention. FIG. 2.

[0022]图3为本发明的电容触摸装置图。 [0022] FIG 3 a capacitive touch device of the present invention. FIG.

[0023]图4为本发明的电容触摸屏支撑装置俯视图。 Capacitive touch screen a plan view of the support means [0023] FIG. 4 of the present invention.

[0024]图5为本发明的电容触摸屏支撑装置主视图。 [0024] FIG. 5 is a front view of the present invention, the capacitive touch screen support means.

[0025]图6为本发明的辅助固定装置俯视图。 The auxiliary fastening means [0025] FIG. 6 is a plan view of the present disclosure.

[0026]图7为本发明的辅助固定装置主视图。 Auxiliary fixture front view [0026] FIG. 7 of the present invention.

[0027]图中:1、电容屏触发装置;u固定磁铁;1_2、弹簧控制板;丨-3、隔磁材料;丨-4、复位弹簧;1_5、电磁铁;1_6、电容屏触发器;2、电容触摸屏支撑装置;2—丨、支撑装置底座;2-2、 调整平台;2-:^调整旋钮;2-4、防滑支撑腿;2-5、旋转轴承;2-6、电容触摸屏;2-7、触摸屏固定垫片;3、显示屏;4、计算机;5、辅助固定装置;54、夹紧底座;5_2、夹紧板;5-3、夹紧螺钉。 [0027] FIG: 1, a capacitive screen trigger means; U stationary magnet; 1_2, spring board; Shu -3, separated from the magnetic material; Shu -4, a return spring; 1_5, electromagnet; 1_6, capacitive screen trigger; 2, capacitive touch screen support means; 2- Shu, a base support means; 2-2, adjustment platform; 2 -: ^ adjustment knob; 2-4, slip support leg; 2-5, rotary bearing; 2-6, capacitive touch screen ; 2-7, a touch screen fixed pad; 3, a display screen; 4, a computer; 5, the auxiliary fixing device; 54, the clamp base; 5_2, clamp plate; 5-3, the clamping screw.

具体实施方式 Detailed ways

[0028]下面结合附图中的实施例对本发明作进一步描述: In the drawings embodiments of the present invention will be further described [0028] below with:

[0029]实施例1:图1所示,本发明基于电容触摸屏的平面机器人位置检测系统包括电容屏触发装置1、电容触摸屏支撑装置2、显示屏3、计算机4和辅助固定装置5;其中电容屏触发装置1与被检测机器人末端执行机构固定连接,同时受计算机4控制其是否工作,电容触摸屏支撑装置2和显示屏3均与计算机4连接,辅助固定装置5是当被检测机器人末端位置执行机构为非磁性材料时,用于固定电容触发装置i。 [0029] Example 1: FIG. 1, the present invention is based on the plane of the robot position detecting system of a capacitive touch screen comprising a capacitive screen triggering device 1, a capacitive touch panel support means 2, display 3, a computer 4 and the auxiliary fixing means 5; wherein the capacitance screen triggering device 1 is detected the robot end effector means is fixedly connected, as well as by the computer 4 to control whether its work, the capacitive touch screen supporting means 2 and the display 3 are connected to the computer 4, the auxiliary fixing means 5 is, when executed detected robot end position mechanism is a non-magnetic material, means for triggering a fixed capacitance i.

[0030]图3所示:电容屏触发装置1包括固定磁铁1-1、弹簧控制板1-2、隔磁材料1-3、复位弹簧1-4、电磁铁1_5和电容屏触发器1-6、电磁铁连接线1-7;固定磁铁1-1的底面顺序连接有隔磁材料1-3、弹簧控制板1-2、复位弹簧1-4和电磁铁1-5,电容屏触发器1-6穿过复位弹簧1-4和电磁铁1-5中心与弹簧控制板1-2连接。 [0030] FIG. 3: a triggering device comprises a capacitive screen fixed magnet 1-1, 1-2 spring board, separated from the magnetic material 1-3, 1-4 of the return spring, an electromagnet and a capacitor 1_5 screen trigger 1- 6, the electromagnet connection line 1-7; 1-1 order of the bottom surface of the fixed magnet is separated from the magnetic material 1-3 is connected, a spring board 1-2, 1-5 electromagnet 1-4 and the return spring, the trigger capacitance screen 1-6 through 1-4 and a return spring center of the spring board electromagnet 1-5 1-2 connector.

[0031]图4和图5所示:电容触摸屏支撑装置2包括支撑装置底座2-1、调整平台2-2、调整旋钮2_3、防滑支撑腿2-4、旋转轴承2_5、电容触摸屏2-6和触摸屏固定垫片2-7;支撑装置底座2-1为盒状,在盒上有电容触摸屏2-6;调整平台2-2通过调整旋钮2-3连接在盒内,在盒的底面上有防滑支撑腿2-4,在盒的中心位置有旋转轴承2-5,触摸屏固定垫片2-7位于盒内的壁上。 [0031] FIGS. 4 and 5: 2 capacitive touch screen supporting means comprising a base support means 2-1, 2-2 platform adjustment, adjustment knob 2_3, slip support leg 2-4, the rotary bearing 2_5, capacitive touch screen 2-6 2-7 the fixed pad and a touch screen; support means for the box-shaped base 2-1, 2-6 capacitive touch screen on the cartridge; 2-2 internet connection box adjusted by adjusting the knob 2-3, the bottom surface of the cartridge Non-slip support leg 2-4, 2-5 with a rotary bearing, a touch screen fixed wall of the spacer 2-7 in a central position within the cartridge case.

[0032]图6和图7所示:辅助固定装置5包括夹紧底座5-1、夹紧板5-2和夹紧螺钉5-3;夹紧板5-2通过夹紧螺钉5-3连接在夹紧底座5-1上。 [0032] FIGS. 6 and 7: the auxiliary securing means comprises a clamping base 5 5-1, 5-2 and the clamping screw clamping plates 5-3; 5-2 by a clamping screw clamping plates 5-3 5-1 is connected to the clamping base.

[0033] 所述隔磁材料主要是避免固定磁铁对弹簧控制板吸附,影响电磁铁对电容屏触发器的控制。 [0033] The barrier material is mainly to avoid magnetic magnet fixed to the spring board Adsorption and the electromagnet triggers the control panel capacitance.

[0034] 所述电容触摸屏触发装置1是根据电容触摸屏2-6能形成耦合电容的原理设计的能形成电流磁场的电容屏触发器1-6。 [0034] The capacitive touch panel is a trigger device capable of forming a current magnetic field design principles coupling capacitor 2-6 capacitive touch screen panel can be formed in accordance with the trigger capacitor 1-6.

[0035]所述计算机4内置电容屏控制器,用于处理电容触摸屏2-6检测到的电流信号,在显示屏3上显示。 [0035] The computer controller 4 built capacitive screen, a capacitive touch screen for processing signals detected by the current 2-6, shown on the display 3.

[0036]所述触摸屏固定垫片主要是辅助电容触摸屏更好的固定。 The [0036] touchscreen fixed pad main storage capacitor touchscreen better fixation.

[0037] 本发明基于电容触摸屏的平面机器人位置检测方法: [0037] The present invention is based on a capacitive touch screen planar robot position detecting method:

[0038] 1)、通过固定磁铁1-1将电容屏触发装置1固定在平面机器人末端位置,电容触摸屏支撑装置2放到电容屏触发装置1下方。 [0038] 1), fixed by a magnet capacitive screen 1-1 triggering device 1 is fixed to the robot end position of the plane, a capacitive touch screen panel support means 2 into capacitive triggering apparatus 1 below.

[0039] 2)、通过调整旋钮2-3来调整电容触摸屏2-6的初始位置,使其与计算机4系统软件中的初始位置相对应。 [0039] 2), by adjusting the initial position of the adjustment knob to 2-3 capacitive touch screen 2-6, so that the initial position of the computer 4 corresponds to the system software.

[0040] 3)、给电磁铁1-5通电,电容屏触发器1-6达到指定位置与电容触摸屏2-6形成耦合电容,吸收走一个很小的电流,这个电流分从触摸屏四个角或四条边上的电极中流出,电容控制器通过对这四个电流比例的精密计算后,进行A/D转换,并将得到的电压值设定电压值相比即可得触摸点的具体坐标,经过计算机4处理后,具体轨迹在显示屏3上显示。 [0040] 3), to the electromagnet is energized 1-5, 1-6 capacitive screen reaches a specified trigger position and the capacitive touch screen 2-6 coupling capacitor is formed, a small current sink down, current points from the four corners of the touch screen or four sides of the electrode flows, the capacitance controller by the precise calculation of these four current ratio, the a / D converter, the voltage value and the voltage value obtained can be compared to obtain a specific coordinate of the touch point after four processing computer, particularly on a display screen track 3.

[0041]所述的固定磁铁1-1,是用于平面机器人末端位置是磁性材料时,直接利用固定磁铁1-1将电容屏触发装置1固定在平面机器人末端位置。 [0041] 1-1 of the fixed magnet, is a plan of the robot end position is a magnetic material, a magnet is fixed directly to 1-1 in the plane of the robot apparatus 1 is fixed to the end position of the trigger capacitive screen.

[0042]所述的辅助夹紧装置5,是用于平面机器人末端位置是非磁性材料时,利用辅助夹紧装置5来固定电容屏触发装置1。 Auxiliary clamping means 5 [0042], wherein the robot is a planar non-magnetic end position, the auxiliary clamping device 5 is fixed to a capacitive screen triggering device.

[0043] 所述电容屏支撑装置2主要用于初始位置对准,将支撑装置底座2-1整体放入电容屏触发装置1下方,然后通过调整旋钮2-3对电容触摸屏2-6的位置进行微调,完成其初始位置对准。 [0043] The capacitive screen position of the support means 2 is mainly used for the initial positioning, the supporting means into the base 2-1 overall trigger device below a capacitive screen, and then adjusting the knob on the capacitive touch screen 2-3 2-6 fine-tuning, the initial positioning is completed. L〇〇44」所述电谷屏触发装置1固定完成以及电容触摸屏装置2初始对准完成后,给电磁铁1- 5通电,此时电容屏触发器1-6随弹簧控制板卜2到达指定位置与电容触摸屏2—6接触。 The L〇〇44 "valley electrically triggered panel fixing means is completed and the capacitive touch screen 2 after the initial alignment is completed, the energization to the electromagnet means 1-5, 1-6 at this time with a spring trigger capacitive screen control panel 2 reaches Bu 2-6 specified position in contact with the capacitive touch screen.

[0045]所述电磁铁1-5在位置检测完成后自动断电,电容屏触发器丨_6在复位弹箸卜4的作用下回到初始位置。 [0045] 1-5 the electromagnet off automatically after the position detection is completed, the trigger Shu _6 capacitive screen returns to the initial position by the restoring spring 4 of chopsticks Bu. ~ ~

[0046] 所述电磁铁1 -5的通断电均由计算机3控制。 The [0046] through the solenoid 3 de-energized by the 1-5 control computer.

[0047]所述隔磁材料1-3主要是避免固定磁铁1-1对弹簧控制板卜2吸附,影响电磁铁卜5 对电容屏触发器1-6的控制。 [0047] The flux barrier material 1-3 1-1 mainly to avoid stationary magnet control plate spring Bu 2 Adsorption and the control electromagnet 5 pairs of capacitive screen trigger BU 1-6.

[0048]所述触摸屏固定垫片2-7主要是辅助电容触摸屏2-6更好的固定。 [0048] The touch screen holder plate main storage capacitor 2-7 2-6 touchscreen better fixation.

[0049]下面给出基于电阻触摸屏平面机器人位置检测方法的详细步骤: [0049] The following presents detailed steps based planar robot position detecting method resistive touch screen:

[0050]当平面机器人末端位置材料为磁性材料时,通过固定磁铁1-1将电容屏触发装置1 固定在平面机器人末端位置,然后通过电容触摸屏支撑装置2的调整旋钮2-3对电容触摸屏2- 6的位置进行微调,完成其初始位置对准。 [0050] When the robot end position of the plane of magnetic material, fixed by a magnet fixed to the trigger 1-1 capacitive screen in the plane of the end position of the robot apparatus 1, and then by a capacitive touch screen supporting means adjusting knob 2 2-3 2 capacitive touchscreen - at position 6 is finely adjusted to complete the initial positioning. 使其与计算机4测试软件系统在显示屏3上显示的初始位置保持一致,此时,让计算机4控制电磁铁1-5带电,弹黉控制板1-2受到电磁铁1-5 的吸附作用,使得电容屏触发器1_6到达指定位置与电容触摸屏2-6形成耦合电容,当平面机器人运动时,电容屏触发装置1就会随平面机器人末端位置进行运动,形成耦合电容的部分就会吸收走一个很小的电流,这个电流分从触摸屏四个角或四条边上的电极中流出,电容控制器通过对这四个电流比例的精密计算后,进行A/D转换,并将得到的电压值设定电压值相比即可得触摸点的具体坐标,经过计算机4处理后,具体轨迹在显示屏3上显示,完成采集后,电磁铁1_5自动断电,复位弹簧1-4将电容屏触发器1_6复位,完成检测。 4 so that the computer system test software consistency in the initial position on the display screen of the display 3, at this time, let the computer 4 controls the charging electromagnets 1-5, 1-2 by the elastic adsorption school board electromagnet 1-5 such capacitive screen trigger 1_6 reaches the specified location and the capacitive coupling capacitance touch screen 2-6 is formed, when the robot moving plane, will be part of the device 1 with the plane of motion of the robot end position, the coupling capacitance capacitive screen trigger will absorb go a small current, this current component flows from the four corners of the electrode or four sides of the touch screen, the capacitance controller by the precise calculation of these four current ratio, the a / D converter, and the voltage value obtained set voltage value can be obtained as compared to the specific coordinates of the touch point, the computer 4 after treatment, the specific trace on the display 3 display, after the completion of the acquisition, 1_5 automatic power-off solenoid return spring 1-4 capacitive screen trigger 1_6 is reset, detection is accomplished.

[0051]当平面机器人末端位置材料为非磁性材料时,通过辅助夹紧装置5与平面机器人末端位置固定,夹紧底座5-1和夹紧板5-2分别于平面机器人末端位置的下表面和上表面接触,通过夹紧螺钉5-3使其夹紧,然后将固定磁铁1-1把电容屏触发装置1固定在夹紧底座5 -1上,后续步骤同上。 [0051] When the plane position of the robot end material is a non-magnetic material, the clamping device 5 is fixed by the auxiliary plane of the robot end position, the clamping of the base plate 5-1 and 5-2 to the plane of the clamp of the robot end position of the lower surface, respectively, and contacts the upper surface, so that the clamping by the clamping screws 5-3, 1-1 and the stationary magnet to trigger a capacitive screen apparatus 1 is fixed on the clamping base 5-1, the subsequent steps above.

Claims (7)

1. 一种基于电容触摸屏的平面机器人位置检测方法,其特征是:位置检测方法,包括以下步骤: 1) 、通过固定磁铁将电容屏触发装置固定在平面机器人末端位置,电容触摸屏支撑装置放到电容屏触发装置下方; 2) 、通过调整旋钮来调整电容触摸屏的初始位置,使其与计算机系统软件中的初始位置相对应; 3) 、给电磁铁通电,电容屏触发器受到电磁铁的作用到达可以与电容触摸屏形成耦合电容的位置,当电容触发器随着被检测的平面机器人末端位置移动时,吸收走一个很小的电流,这个电流分别从触摸屏的四个角或四条边上的电极中流出,电容控制器通过对这四个电流比例的精密计算后,进行A/D转换,并将得到的电压值与设定电压值相比即可得触摸点的具体坐标,经过计算机处理后,具体轨迹在显示屏上显示; 所述的固定磁铁,是用于当平面机器 A planar robot position detecting method based on a capacitive touch screen, wherein: the position detecting method, comprising the steps of: 1), fixed by a magnet capacitive screen trigger device is fixed plane of the robot end position, the supporting device into a capacitive touch screen screen below the trigger capacitor means; 2), to adjust the initial position of the capacitive touch screen by adjusting knobs, the initial position of the computer system software so that it corresponds; 3), to the solenoid is energized, the flip-flop acted capacitive screen electromagnet reaches the position of the coupling capacitor may be formed with a capacitive touch screen, with the movement of the trigger when the capacitance of the robot end position of the plane is detected, take a small current absorption, the currents from the four corners or four sides of the touch screen electrodes flows out, capacitance controller by the precise calculation of these four current ratio, the a / D conversion, and the voltage value set voltage value obtained coordinates of the touch point can be obtained as compared with concrete, after the computer processing specific locus on a display screen; said fixed magnet, for the machine when the planar 末端位置为磁性材料时,直接利用固定磁铁将电容屏触发装置固定在平面机器人末端位置; 辅助夹紧装置,是用于当平面机器人末端位置为非磁性材料时,利用辅助夹紧装置来固定电容屏触发装置; 所述电容屏支撑装置用于初始位置对准,将支撑装置底座整体放入电容屏触发装置下方,然后通过调整旋钮对电容触摸屏的位置进行微调,完成其初始位置对准。 Terminal position is a magnetic material, a magnet fixing means directly fixed to the flat screen, the robot end position of the trigger capacitor; an auxiliary clamping means is a clamping means when the auxiliary plane when the robot end position of non-magnetic material, the use of a fixed capacitance to screen trigger means; means for supporting said capacitive screen the initial alignment, the entire base support means into the trigger device below capacitive screen, and then fine adjustment of the position of the capacitive touch screen through the adjustment knob, to complete the initial positioning.
2. 根据权利要求1所述的一种基于电容触摸屏的平面机器人位置检测方法,其特征是: 所述电容屏触发装置固定完成以及电容触摸屏装置初始对准完成后,给电磁铁通电,此时电容屏触发器随弹簧控制板到达指定位置与电容触摸屏接触。 According to one of the claims 1 to planar robot position detecting method based on a capacitive touch screen, wherein: said capacitive screen means holding trigger after completion of the capacitive touch screen device and the initial alignment is completed, a solenoid is energized at this time trigger spring with capacitive screen panel reaches the specified position in contact with the capacitive touch screen.
3. 根据权利要求1所述的一种基于电容触摸屏的平面机器人位置检测方法,其特征是: 所述电磁铁在位置检测完成后自动断电,电容屏触发器在复位弹簧的作用下回到初始位置;所述电磁铁的通断电均由计算机控制。 According to one of the claims 1 to planar robot position detecting method based on a capacitive touch screen, characterized in that: the electromagnet off automatically after the position detection is completed, the flip-flop back in the capacitive screen action of the return spring an initial position; off through the electromagnet controlled by the computer.
4. 权利要求1所述的一种基于电容触摸屏的平面机器人位置检测方法的检测系统,其特征是:检测系统,包括电容屏触发装置(1)、电容触摸屏支撑装置(2)、显示屏(3)、计算机(4)和辅助固定装置(5);其中电容屏触发装置(1)与被检测机器人末端执行机构固定连接, 同时受计算机(4)控制其是否工作,电容触摸屏支撑装置(2)和显示屏(3)均与计算机(4)连接,辅助固定装置(5)是当被检测机器人末端位置执行机构为非磁性材料时,用于固定电容触发装置(1)。 One of the claim 1, the detection system based on the plane of the robot position detecting method for a capacitive touch screen, wherein: the detection system, comprising a capacitive screen triggering device (1), a capacitive touch screen supporting means (2), the display ( 3), a computer (4) and the auxiliary fixing means (5); wherein capacitive screen triggering device (1) is detected the robot end effector means is fixedly connected, as well as by a computer (4) to control whether the work, the capacitive touch screen supporting means (2 ) and the display (3) is connected to the computer (4), an auxiliary fixing means (5) is detected when the robot end position of the actuator non-magnetic material, means for triggering a fixed capacitor (1).
5. 根据权利要求4所述的一种基于电容触摸屏的平面机器人位置检测系统,其特征是: 所述的电容屏触发装置(1)包括固定磁铁(1-1)、弹簧控制板(1_2)、隔磁材料(1-3)、复位弹簧(1-4)、电磁铁(1-5)和电容屏触发器(1_6)、电磁铁连接线(1-7);固定磁铁(1-1)的底面顺序连接有隔磁材料(1-3)、弹簧控制板(1_2)、复位弹簧(1-4)和电磁铁(1_5),电容屏触发器(1_6)穿过复位弹簧(1-4)和电磁铁(1_5)中心与弹簧控制板(1_2)连接。 5. According to one claim 4, wherein the position detecting system of the robot based on planar capacitive touch screen, wherein: said capacitive screen triggering device (1) comprises a fixed magnet (1-1), a spring board (1_2) , separated from the magnetic material (1-3), a return spring (1-4), the electromagnet (1-5) and a capacitive screen triggers (1_6), solenoid cable (1-7); fixed magnet (1-1 ) order is connected to the bottom surface of the flux barrier material (1-3), a spring board (1_2), a return spring (1-4) and the electromagnet (1_5), capacitive screen trigger (1_6) through a return spring (1- 4) and an electromagnet (1_5) and the center of the spring board (1_2) is connected.
6. 根据权利要求4所述的一种基于电容触摸屏的平面机器人位置检测系统,其特征是: 所述的电容触摸屏支撑装置(2)包括支撑装置底座(2_1)、调整平台(2-2)、调整旋钮(2_3)、 防滑支撑腿(2-4)、旋转轴承(2-5)、电容触摸屏(2-6)和触摸屏固定垫片(2-7);支撑装置底座(2-1)为盒状,在盒上有电容触摸屏(2-6);调整平台(2-2)通过调整旋钮(2-3)连接在盒内,在盒的底面上有防滑支撑腿(2-4),在盒的中心位置有旋转轴承(2-5),触摸屏固定垫片(2-7)位于盒内的壁上。 6. According to one of claim 4 robot position detecting system based on planar capacitive touch screen, wherein: said capacitive touch screen supporting means (2) comprises a base support means (2_1), adjusting platform (2-2) adjusting knob (2_3), anti-slip support leg (2-4), the rotary bearing (2-5), a capacitive touch screen (2-6) and a touch screen fixed pad (2-7); supporting a base means (2-1) is box-shaped, with a capacitive touch screen in the upper case (2-6); adjusting platform (2-2) connected to the box by a adjustment knob (2-3), with non-slip support leg (2-4) on the bottom surface of the cartridge , rotary bearings (2-5) at the central position of the cartridge, the touch screen fixed pad (2-7) in the wall box.
7.根据权利要求4所述的一种基于电容触摸屏的平面机器人位置检测系统,其特征是: 所述的辅助固定装置(5)包括夹紧底座(5-1)、夹紧板(5-2)和夹紧螺钉(5-3);夹紧板(5-2) 通过夹紧螺钉(5-3)连接在夹紧底座(5-1)上。 7. According to one of claim 4 robot position detecting system based on planar capacitive touch screen, wherein: said auxiliary fixing means (5) comprises a clamping seat (5-1), clamping plates (5- 2) and clamping screws (5-3); clamping plates (5-2) is connected to the clamping base (5-1) by a clamping screw (5-3).
CN201510933230.8A 2015-12-15 2015-12-15 Species based on a capacitive touch screen plane robot position detecting method and system CN105547120B (en)

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