CN106272430B - Manipulator origin resetting method and device - Google Patents
Manipulator origin resetting method and device Download PDFInfo
- Publication number
- CN106272430B CN106272430B CN201610829493.9A CN201610829493A CN106272430B CN 106272430 B CN106272430 B CN 106272430B CN 201610829493 A CN201610829493 A CN 201610829493A CN 106272430 B CN106272430 B CN 106272430B
- Authority
- CN
- China
- Prior art keywords
- origin
- manipulator
- edge
- occurs
- rising edge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000000630 rising effect Effects 0.000 claims description 67
- 230000003111 delayed effect Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000009191 jumping Effects 0.000 abstract description 4
- 230000006698 induction Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator origin resetting method and device. Wherein, the method comprises the following steps: in the process of returning the original point of the manipulator, driving the manipulator to run along a given direction; when the jumping edge of an original point switch occurs, determining the approximate area of the original point of the manipulator, wherein the original point switch is the original point switch on a direction shaft of the manipulator in a given direction; and when the jump edge of the Z pulse of the origin of the encoder occurs, determining the accurate position of the origin from the approximate area, wherein the encoder is arranged in a servo motor, and the servo motor is a servo motor of the manipulator on a direction shaft. The invention solves the technical problem that the accuracy of the original point resetting result is low because the original points found each time cannot be ensured to be the same point when the original point resetting is carried out on the manipulator in the related technology.
Description
Technical field
The present invention relates to numerically-controlled machine tool control fields, in particular to a kind of manipulator origin apparatus resetting method and device.
Background technique
Currently, usually there are two types of encoders, respectively incremental encoder and absolute type for the servo motor of manipulator use
Encoder.It needs to carry out origin involution when being switched on using the manipulator of incremental encoder, i.e. searching origin reference point.The patent No.
It discloses a kind of manipulator for the patent of CN102814816B and accurately looks for origin method, but this method at least has following two and lacks
Fall into: (1), this method is only adapted to the initial position of manipulator in the positive direction of origin induction zone or origin induction zone, and works as
When in the negative direction of origin induction zone, this method will fail the initial position of manipulator；(2), this method reaches origin every time
The position of induction zone will be different, that is, not can guarantee the origin found every time all is the same point, and final precision relies on
In the sensitivity of origin sensor, the technical problem for causing origin involution result accuracy low.
In view of the above-mentioned problems, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of manipulator origin apparatus resetting method and devices, right in the related technology at least to solve
It is origin involution knot caused by the same point due to not can guarantee the origin found every time all when manipulator carries out origin involution
The relatively low technical problem of fruit accuracy.
According to an aspect of an embodiment of the present invention, a kind of manipulator origin apparatus resetting method is provided, comprising: to machinery
During hand carries out origin involution, above-mentioned manipulator is driven to run along assigned direction；When hopping edge occurs in origin switch, really
The approximate region of the origin of fixed above-mentioned manipulator, wherein above-mentioned origin switch is side of the above-mentioned manipulator in direction given herein above
Origin switch on axis；When hopping edge occurs in the origin Z pulse of encoder, above-mentioned original is determined from above-mentioned approximate region
The exact position of point, wherein encoder is mounted in servo motor, and above-mentioned servo motor is above-mentioned manipulator in above-mentioned axis of orientation
On servo motor.
Further, the hopping edge that above-mentioned origin switch occurs is rising edge or failing edge；And/or above-mentioned encoder occurs
Hopping edge be rising edge or failing edge.
Further, above-mentioned origin switch occur hopping edge be rising edge in the case where, above-mentioned origin switch not
When there is rising edge, judge whether above-mentioned manipulator runs to limiting value on direction given herein above；If it is not, then continuing in driving
It states manipulator to run along direction given herein above, until rising edge occurs in above-mentioned origin switch；If so, no longer driving above-mentioned
Manipulator is run along direction given herein above.
Further, during continuing that above-mentioned manipulator is driven to run along direction given herein above, and in above-mentioned origin
Before rising edge occurs in switch, if above-mentioned manipulator runs to above-mentioned limiting value on direction given herein above, above-mentioned machine is driven
Tool hand is run along with contrary direction given herein above；Judge whether above-mentioned origin switch failing edge occurs；If so, prolonging
When preset time period after, no longer drive above-mentioned manipulator along and contrary direction given herein above run, and again in driving
It states manipulator to run along with direction given herein above, to determine the original of above-mentioned manipulator when rising edge occurs in above-mentioned origin switch
The above-mentioned approximate region of point.
Further, above-mentioned manipulator is being driven to run along with direction given herein above again, to go out in above-mentioned origin switch
When existing rising edge, after the above-mentioned approximate region for determining the origin of above-mentioned manipulator, the above method further include: in above-mentioned encoder
Origin Z pulse when there is hopping edge, and after the exact position for determining above-mentioned origin in above-mentioned approximate region or same
When, remove the mark made when rising edge occurs in above-mentioned origin switch to the rising edge.
Further, when the origin Z pulse of above-mentioned encoder hopping edge does not occur, continue to drive above-mentioned manipulator along upper
Assigned direction operation is stated, until hopping edge occurs in the origin Z pulse of above-mentioned encoder.
According to another aspect of an embodiment of the present invention, a kind of manipulator origin re-setting device is additionally provided, comprising: driving is single
Member, for driving above-mentioned manipulator to run along assigned direction during carrying out origin involution to manipulator；First determines list
Member, for determining the approximate region of the origin of above-mentioned manipulator when hopping edge occurs in origin switch, wherein above-mentioned origin is opened
Closing is origin switch of the above-mentioned manipulator on the axis of orientation in direction given herein above；Second determination unit, in encoder
When hopping edge occurs in origin Z pulse, the exact position of above-mentioned origin is determined from above-mentioned approximate region, wherein encoder peace
In servo motor, above-mentioned servo motor is servo motor of the above-mentioned manipulator on above-mentioned axis of orientation.
Further, the hopping edge that above-mentioned origin switch occurs is rising edge or failing edge；And/or above-mentioned encoder occurs
Hopping edge be rising edge or failing edge.
Further, above-mentioned apparatus further include: the first judging unit is to rise in the hopping edge that above-mentioned origin switch occurs
In the case where, when above-mentioned origin switch rising edge does not occur, judge whether above-mentioned manipulator is transported on direction given herein above
Row arrives limiting value, wherein in the case where being judged as NO, above-mentioned driving unit is also used to continue to drive above-mentioned manipulator along upper
Assigned direction operation is stated, until there is rising edge in above-mentioned origin switch, in the case where being judged as YES, above-mentioned driving list
Member is also used to that above-mentioned manipulator is no longer driven to run along direction given herein above.
Further, above-mentioned driving unit is also used to continuing above-mentioned manipulator is driven to run along direction given herein above
In the process, and before there is rising edge in above-mentioned origin switch, if above-mentioned manipulator run on direction given herein above it is above-mentioned
Limiting value then drives above-mentioned manipulator to run along with contrary direction given herein above；Above-mentioned apparatus further include: the second judgement
Unit, for judging whether above-mentioned origin switch failing edge occurs；Above-mentioned driving unit is also used to if so, default in delay
After period, above-mentioned manipulator is no longer driven to run along with contrary direction given herein above, and drive above-mentioned machinery again
Hand is run along with direction given herein above, to determine the upper of the origin of above-mentioned manipulator when rising edge occurs in above-mentioned origin switch
State approximate region.
Further, above-mentioned apparatus further include: clearing cell is driving above-mentioned manipulator edge and direction given herein above again
Operation, with when rising edge occurs in above-mentioned origin switch, after the above-mentioned approximate region for determining the origin of above-mentioned manipulator, upper
When there is hopping edge in the origin Z pulse for stating encoder, and in the exact position for determining above-mentioned origin from above-mentioned approximate region
Or later or simultaneously, the mark made when rising edge occurs in above-mentioned origin switch to the rising edge is removed.
Further, above-mentioned driving unit, is also used to: when there is not hopping edge in the origin Z pulse of above-mentioned encoder, after
The continuous above-mentioned manipulator of driving is run along direction given herein above, until hopping edge occurs in the origin Z pulse of above-mentioned encoder.
In embodiments of the present invention, use first determines the approximate region of origin, occurs according to the origin Z pulse of encoder
The mode that exact position is determined when hopping edge, by driving above-mentioned manipulator during carrying out origin involution to manipulator
It is run along assigned direction；When hopping edge occurs in origin switch, the approximate region of the origin of above-mentioned manipulator is determined, wherein on
Stating origin switch is origin switch of the above-mentioned manipulator on the axis of orientation in direction given herein above；In the origin Z pulse of encoder
When there is hopping edge, the exact position of above-mentioned origin is determined from above-mentioned approximate region, wherein encoder is mounted on servo electricity
In machine, above-mentioned servo motor is servo motor of the above-mentioned manipulator on above-mentioned axis of orientation, and it is multiple to have reached manipulator progress origin
Gui Shi guarantees that the origin found every time is all the purpose of the same point, as long as due to determining the origin of manipulator in approximate region
Afterwards, when there is hopping edge further according to the origin Z pulse of encoder, the reference point of origin can be accurately found, it is former to realize raising
When putting the technical effect of involution result accuracy, and then solving in the related technology to manipulator progress origin involution, due to nothing
Method guarantees that the origin that finds every time is all the technical problem that origin involution result accuracy is relatively low caused by the same point.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart according to a kind of manipulator origin apparatus resetting method of inventive embodiments；
Fig. 2 is a kind of schematic diagram of optional manipulator origin re-setting device according to an embodiment of the present invention；
Fig. 3 (a) is the flow chart according to a kind of manipulator origin apparatus resetting method of inventive embodiments；
Fig. 3 (b) is the flow chart according to a kind of manipulator origin apparatus resetting method of inventive embodiments；
Fig. 3 (c) is the flow chart according to a kind of manipulator origin apparatus resetting method of inventive embodiments.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that term " first ", " second " etc. in description and claims of this specification and attached drawing
It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the number used in this way
According to being interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to illustrating herein or describing
Those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, it is intended that covering is not
Exclusive includes, for example, the process, method, system, product or equipment for containing a series of steps or units be not necessarily limited to it is clear
Step or unit those of is listed on ground, but is not clearly listed or for these process, methods, product or is set
Standby intrinsic other step or units.
Embodiment 1
According to embodiments of the present invention, a kind of manipulator origin apparatus resetting method embodiment is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 1 is according to a kind of flow chart of manipulator origin apparatus resetting method of inventive embodiments, as shown in Figure 1, this method
Include the following steps:
Step S102, during carrying out origin involution to manipulator, driving manipulator is run along assigned direction；
Step S104 determines the approximate region of the origin of manipulator, wherein origin when hopping edge occurs in origin switch
Switch is origin switch of the manipulator on the axis of orientation of assigned direction；
Step S106 determines the accurate of origin when hopping edge occurs in the origin Z pulse of encoder from approximate region
Position, wherein encoder is mounted in servo motor, and servo motor is servo motor of the manipulator on axis of orientation.
That is, manipulator when carrying out origin involution, needs driving manipulator along given direction operation, given direction
Be it is variable, since in origin involution, manipulator needs to run, can according to need, give manipulator certain speed, can be with
Lower speed is given, the approximate region of origin is determined using the hopping edge of origin switch on manipulator assigned direction axis, is needed
It is noted that approximate region is the region that can be set according to the actual situation, it can carried out to the operation area of origin
Control, therefore, manipulator is not uncertain region in the process of running.Then servo electricity on manipulator direction axis is utilized
The encoder of machine installation determines the exact position of origin from approximate region, for example, it may be first Z of incremental encoder
Rising edge of a pulse determines the exact position of origin, it is of course also possible to be the exact position that failing edge determines origin.
Through the above steps, use first determines the approximate region of origin, jumps according to the origin Z pulse of encoder
Along when determine the mode of exact position, by during carrying out origin involution to manipulator, drive above-mentioned manipulator along to
Determine direction operation；When hopping edge occurs in origin switch, the approximate region of the origin of above-mentioned manipulator is determined, wherein above-mentioned original
Point switch is origin switch of the above-mentioned manipulator on the axis of orientation in direction given herein above；Occur in the origin Z pulse of encoder
When hopping edge, the exact position of above-mentioned origin is determined from above-mentioned approximate region, wherein encoder is mounted on servo motor
In, above-mentioned servo motor is servo motor of the above-mentioned manipulator on direction given herein above, and it is multiple to have reached manipulator progress origin
Gui Shi guarantees that the origin found every time is all the purpose of the same point, as long as due to determining the origin of manipulator in approximate region
Afterwards, when there is hopping edge further according to the origin Z pulse of encoder, the reference point of origin can be accurately found, it is former to realize raising
When putting the technical effect of involution result accuracy, and then solving in the related technology to manipulator progress origin involution, due to nothing
Method guarantees that the origin that finds every time is all the technical problem that origin involution result accuracy is relatively low caused by the same point.
In the process of running due to manipulator, it needs to rise and/or decline, optionally, the hopping edge that origin switch occurs
For rising edge or failing edge；And/or the hopping edge that encoder occurs is rising edge or failing edge.
Optionally, in the case where the hopping edge that origin switch occurs is rising edge, do not occur rising edge in origin switch
When, judge whether manipulator runs to limiting value in given directions；It is transported if it is not, then continuing driving manipulator along assigned direction
Row, until hopping edge occurs in origin switch；If so, no longer driving manipulator is run along assigned direction.
It is also possible to failing edge since the hopping edge of origin switch can be rising edge, occurs when determination with origin switch
When hopping edge is approximate region of the rising edge to determine the origin of manipulator, origin switch will appear rising edge or not rise
Edge.When origin switch rising edge does not occur, it need to first determine whether manipulator runs to limiting value in given directions, such as
Fruit does not run to limiting value, continues driving manipulator and runs along assigned direction, also, can also control the fortune of manipulator simultaneously
Scanning frequency degree, until hopping edge occurs in origin switch.If having run to limiting value, driving manipulator edge cannot be continued
Assigned direction operation, but manipulator emergency stop is controlled, and be delayed after a certain period of time, control manipulator is opposite along front direction therewith
Direction operation, until finding origin reference point.It should be noted that being when determining with the hopping edge that origin switch occurs
When approximate region of the failing edge to determine the origin of manipulator, situation is similar to the above, is not repeating herein.
In order to accurately find same origin, optionally, in the mistake that continuation driving manipulator is run along assigned direction
Cheng Zhong, and before rising edge occurs in origin switch, if manipulator runs to limiting value, driving manipulator in given directions
It is run along the direction opposite with assigned direction；Judge whether origin switch failing edge occurs；If so, in delay preset time period
Afterwards, no longer driving manipulator is run along the direction opposite with assigned direction, and driving manipulator is run along with assigned direction again,
To determine the approximate region of the origin of manipulator when rising edge occurs in origin switch.It should be noted that delay preset time
Section can choose 100-500ms depending on actual conditions.That is, can be given when not reaching the approximate region of origin
Opposite direction and setting speed determine whether origin failing edge, continue given opposite direction and setting speed if nothing；It is delayed if having
Second, then emergency stop and the preset time period that is delayed.Continue given direction initialization and setting speed at this time, determines whether origin rising
Edge, if without given direction initialization and setting speed is continued；If being described the approximate region that arrived origin, Z is determined whether at this time
The hopping edge of pulse.
Optionally, it is run in driving manipulator again along with assigned direction, to determine when rising edge occurs in origin switch
After the approximate region of the origin of manipulator, the above method further include: when there is hopping edge in the origin Z pulse of encoder, and
After the exact position for determining origin in approximate region or simultaneously, remove when rising edge occurs in origin switch on this
It rises along the mark made.
Driving manipulator again along with assigned direction run when, illustrate the approximate region for not reaching origin also, continue to
Determine direction initialization, high, medium and low three speed class can also can be divided with setting speed, setting speed, respectively correspond servo motor
4%, 2%, the 1% of maximum speed, it is of course also possible to according to other speed.Optionally, do not go out in the origin Z pulse of encoder
When existing hopping edge, continues driving manipulator and run along assigned direction, until hopping edge occurs in the origin Z pulse of encoder.
Using the above method can the initial position to manipulator do not require substantially, only need to meet in limit range i.e.
Can, in addition also can ensure that the origin found every time all is the same point, sensitivity of the precision independent of origin sensor.
Embodiment 2
According to embodiments of the present invention, a kind of manipulator origin re-setting device embodiment is provided, Fig. 2 is real according to the present invention
A kind of schematic diagram of optional manipulator origin re-setting device of example is applied, as shown in Fig. 2, the device includes: driving unit 40, is used
During carrying out origin involution to manipulator, driving manipulator is run along assigned direction；First determination unit 42, is used for
When hopping edge occurs in origin switch, the approximate region of the origin of manipulator is determined, wherein origin switch is manipulator given
Origin switch on the axis of orientation in direction；Second determination unit 44, for when there is hopping edge in the origin Z pulse of encoder,
The exact position of origin is determined from approximate region, wherein encoder is mounted in servo motor, and servo motor is manipulator
Servo motor on the axis of orientation of assigned direction.
Guarantee that the origin found every time is all same when having reached manipulator progress origin involution by above-mentioned apparatus
The purpose of point, as long as the origin Z pulse further according to encoder jumps since the origin of determining manipulator is after approximate region
Along when, can accurately find the reference point of origin, realize improve origin involution result accuracy technical effect, and then solve
When carrying out origin involution to manipulator in the related technology, led since not can guarantee the origin found every time all be the same point
The relatively low technical problem of the origin involution result accuracy of cause.
Optionally, the hopping edge that origin switch occurs is rising edge or failing edge；And/or the hopping edge that encoder occurs is
Rising edge or failing edge.
Optionally, above-mentioned apparatus further include: the first judging unit is the feelings of rising edge in the hopping edge that origin switch occurs
Under condition, when origin switch rising edge does not occur, judge whether manipulator runs to limiting value in given directions, wherein
In the case that first judging unit is judged as NO, driving unit is also used to continue driving manipulator and runs along assigned direction, until
Until there is rising edge in origin switch；In the case where the first judging unit is judged as YES, driving unit is also used to no longer drive
Manipulator is run along assigned direction.
Optionally, driving unit is also used to during continuing driving manipulator along assigned direction operation, and in origin
Before rising edge occurs in switch, if manipulator runs to limiting value, driving manipulator edge and assigned direction in given directions
Opposite direction operation；It is corresponding, above-mentioned apparatus further include: second judgment unit, under judging whether origin switch occurs
Edge drops；Driving unit is also used to if so, after the preset time period that is delayed, and no longer driving manipulator is along opposite with assigned direction
Direction operation, and driving manipulator is run along with assigned direction again, to determine manipulator when rising edge occurs in origin switch
Origin approximate region.
Optionally, above-mentioned apparatus further include: clearing cell, driving manipulator again along and assigned direction run, with
When rising edge occurs in origin switch, after the approximate region for determining the origin of manipulator, jumped in the origin Z pulse of encoder
Become along when, and after the exact position for determining origin in approximate region or simultaneously, removing rises in origin switch
Along when to the rising edge make mark.
Optionally, driving unit is also used to: when the origin Z pulse of encoder hopping edge does not occur, it is mechanical to continue driving
Hand is run along assigned direction, until hopping edge occurs in the origin Z pulse of encoder.
It should be noted that each embodiment in embodiment 2 in device section Example and method part in embodiment 1
Each embodiment in embodiment is consistent or corresponding, and details are not described herein.
Below in conjunction with Fig. 3 (a), Fig. 3 (b), Fig. 3 (c), the present invention is elaborated with specific embodiment:
As shown in Fig. 3 (a), Fig. 3 (b), Fig. 3 (c), manipulator origin involution process are as follows: manipulator booting carries out one party
To when origin involution, direction initialization and setting speed are first given, origin rising edge is then determined whether: jumping to path if having
2；It continues to determine whether to reach the limit of position if without if, if not continuing given direction initialization and setting speed, if reaching the limit of
Position then emergency stop and the T1 that is delayed, then jump to path 3.
If jumping to path 2, illustrate the approximate region that arrived origin, gives setting speed at this time, determine whether volume
The origin Z rising edge of a pulse of code device continues given setting speed if not；Explanation has reached origin reference point if having, this
When the emergency stop and T1 that is delayed, then the encoder origin is defined as to the origin of the direction, origin involution terminates.
If jumping to path 3, illustrate the approximate region for not reaching origin also, give opposite direction and setting speed at this time,
Determine whether origin failing edge, continues given opposite direction and setting speed if nothing；Be delayed T2 if having, then emergency stop and is delayed
T1.Continue given direction initialization and setting speed at this time, determine whether origin rising edge, if without continuing given direction initialization and setting
Constant speed degree；If being described the approximate region that arrived origin, Z rising edge of a pulse is determined whether at this time.If without given setting is continued
Direction and setting speed；Explanation has reached origin reference point if having, and removes origin rising edge indication at this time, then emergency stop and be delayed
The encoder origin, is finally defined as the origin of the direction by T1, and origin involution terminates.
Wherein delay T1 can be depending on actual conditions, and the optional T1 that is delayed can choose 100-500ms, and delay T2 is visually practical
Depending on situation, the optional T2 that is delayed can choose 100-1000 interpolation cycle, and direction initialization is given by user, and setting speed is visual
Depending on actual conditions, optional setting speed can divide high, medium and low three speed class, respectively correspond servo motor maximum speed
4%, 2%, 1%, can also be without point high, medium and low three grades setting.It can be to the initial bit of manipulator using the above method
It sets and does not require substantially, need to only meet in positive and negative limit range, it is same in addition also can ensure that the origin found every time all
One point, sensitivity of the precision independent of origin sensor.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of manipulator origin apparatus resetting method characterized by comprising
During carrying out origin involution to manipulator, the manipulator is driven to run along assigned direction；
When hopping edge occurs in origin switch, the approximate region of the origin of the manipulator is determined, wherein the origin switch is
Origin switch of the manipulator on the axis of orientation of the assigned direction；
When hopping edge occurs in the origin Z pulse of encoder, the exact position of the origin is determined from the approximate region,
Wherein, encoder is mounted in servo motor, and the servo motor is servo motor of the manipulator on the axis of orientation.
2. the method according to claim 1, wherein
The hopping edge that the origin switch occurs is rising edge or failing edge；And/or
The hopping edge that the encoder occurs is rising edge or failing edge.
3. according to the method described in claim 2, it is characterized in that, being rising edge in the hopping edge that the origin switch occurs
In the case of,
When the origin switch rising edge does not occur, judge whether the manipulator runs to the limit on the assigned direction
Value；
If it is not, then continuing that the manipulator is driven to run along the assigned direction, it is until rising edge occurs in the origin switch
Only；
If so, the manipulator is no longer driven to run along the assigned direction.
4. according to the method described in claim 3, it is characterized in that,
There is rising edge during continuing that the manipulator is driven to run along the assigned direction, and in the origin switch
Before, if the manipulator runs to the limiting value on the assigned direction, drive the manipulator along with it is described to
Fixed contrary direction operation；
Judge whether the origin switch failing edge occurs；
If so, no longer driving the manipulator to transport along the direction opposite with the assigned direction after the preset time period that is delayed
Row, and the manipulator is driven to run along with the assigned direction again, to determine when rising edge occurs in the origin switch
The approximate region of the origin of the manipulator.
5. according to the method described in claim 4, it is characterized in that, driving the manipulator edge and the assigned direction again
Operation, it is described after the approximate region for determining the origin of the manipulator with when rising edge occurs in the origin switch
Method further include:
When hopping edge occurs in the origin Z pulse of the encoder, and the origin is being determined from the approximate region
After exact position or simultaneously, the mark made when rising edge occurs in the origin switch to the rising edge is removed.
6. the method according to claim 1, wherein
When the origin Z pulse of the encoder hopping edge does not occur, continue that the manipulator is driven to transport along the assigned direction
Row, until hopping edge occurs in the origin Z pulse of the encoder.
7. a kind of manipulator origin re-setting device characterized by comprising
Driving unit, for driving the manipulator to run along assigned direction during carrying out origin involution to manipulator；
First determination unit, for determining the approximate region of the origin of the manipulator when hopping edge occurs in origin switch,
In, the origin switch is origin switch of the manipulator on the axis of orientation of the assigned direction；
Second determination unit, for determining institute from the approximate region when hopping edge occurs in the origin Z pulse of encoder
State the exact position of origin, wherein encoder is mounted in servo motor, and the servo motor is the manipulator in the side
Servo motor on axis.
8. device according to claim 7, which is characterized in that
The hopping edge that the origin switch occurs is rising edge or failing edge；And/or
The hopping edge that the encoder occurs is rising edge or failing edge.
9. device according to claim 8, which is characterized in that described device further include:
First judging unit, the origin switch occur hopping edge be rising edge in the case where, the origin switch not
When there is rising edge, judge whether the manipulator runs to limiting value on the assigned direction,
Wherein, in the case where being judged as NO, the driving unit is also used to continue to drive the manipulator along the given side
To operation, until there is rising edge in the origin switch, in the case where being judged as YES,
The driving unit is also used to that the manipulator is no longer driven to run along the assigned direction.
10. device according to claim 9, which is characterized in that
The driving unit is also used to during continuing that the manipulator is driven to run along the assigned direction, and in institute
It states before rising edge occurs in origin switch, if the manipulator runs to the limiting value on the assigned direction, drives
The manipulator is run along the direction opposite with the assigned direction；
Described device further include: second judgment unit, for judging whether the origin switch failing edge occurs；
The driving unit, is also used to if so, after the preset time period that is delayed, no longer drive the manipulator along with it is described to
Fixed contrary direction operation, and the manipulator is driven to run along with the assigned direction again, to be opened in the origin
When rising edge occurs in pass, the approximate region of the origin of the manipulator is determined.
11. device according to claim 10, which is characterized in that described device further include: clearing cell is driving again
The manipulator is run along with the assigned direction, to determine the manipulator when rising edge occurs in the origin switch
After the approximate region of origin, when there is hopping edge in the origin Z pulse of the encoder, and from the approximate region
In determine the exact position or later or simultaneously of the origin, to remove when rising edge occurs in the origin switch to the rising
Along the mark made.
12. device according to claim 7, which is characterized in that the driving unit is also used to:
When the origin Z pulse of the encoder hopping edge does not occur, continue that the manipulator is driven to transport along the assigned direction
Row, until hopping edge occurs in the origin Z pulse of the encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829493.9A CN106272430B (en) | 2016-09-18 | 2016-09-18 | Manipulator origin resetting method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829493.9A CN106272430B (en) | 2016-09-18 | 2016-09-18 | Manipulator origin resetting method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272430A CN106272430A (en) | 2017-01-04 |
| CN106272430B true CN106272430B (en) | 2018-12-07 |
Family
ID=57712084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610829493.9A Active CN106272430B (en) | 2016-09-18 | 2016-09-18 | Manipulator origin resetting method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272430B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443381B (en) * | 2017-09-05 | 2020-08-04 | 中科新松有限公司 | Moment zero-searching method for elastic driving joint |
| CN111002301A (en) * | 2018-10-08 | 2020-04-14 | 东元电机股份有限公司 | Automatic reset control system and method applied to mechanical arm |
| CN109452731A (en) * | 2019-01-07 | 2019-03-12 | 温州明创科技有限公司 | A kind of laser ranging spray gun and its control system for sole glue spraying |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08211916A (en) * | 1995-02-07 | 1996-08-20 | Fanuc Ltd | System for return to origin of cnc |
| CN1740932A (en) * | 2005-09-14 | 2006-03-01 | 山东大学 | Intelligent control system for digital control machine tool and control method thereof |
| CN101140292A (en) * | 2006-09-07 | 2008-03-12 | 深圳迈瑞生物医疗电子股份有限公司 | Sample feeding system, anticollision device and anti-collision method |
| JP2008210036A (en) * | 2007-02-23 | 2008-09-11 | Toyota Motor Corp | Obstacle detection apparatus and obstacle detection method |
| CN101776879A (en) * | 2009-12-29 | 2010-07-14 | 上海维宏电子科技有限公司 | Method for returning to mechanical reference point in numerical control machine tool system |
| CN201873847U (en) * | 2010-09-13 | 2011-06-22 | 南通纺织职业技术学院 | Industrial sewing machine servo control device based on DC (direct current) brushless motor |
| CN102849634A (en) * | 2012-09-17 | 2013-01-02 | 德瑞斯博海机械设备（大连）有限公司 | Crane rotating/limiting/setting system based on PLC (programmable logic controller) |
| CN103034241A (en) * | 2011-10-07 | 2013-04-10 | 发那科株式会社 | Method of adjusting the position of origin of a machine and a machine having a function for adjusting the position of origin |
| CN103119526A (en) * | 2010-09-22 | 2013-05-22 | 三菱电机株式会社 | Method for setting origin and device therefor |
| CN104422468A (en) * | 2013-08-19 | 2015-03-18 | 佳能株式会社 | Encoder |
| CN104914785A (en) * | 2015-05-14 | 2015-09-16 | 中山市科力高自动化设备有限公司 | Zero returning method using torque limited signal as original point signal |
| CN104965484A (en) * | 2015-06-09 | 2015-10-07 | 柳州弘天科技有限公司 | Method for controlling numerical control milling machine |
-
2016
- 2016-09-18 CN CN201610829493.9A patent/CN106272430B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08211916A (en) * | 1995-02-07 | 1996-08-20 | Fanuc Ltd | System for return to origin of cnc |
| CN1740932A (en) * | 2005-09-14 | 2006-03-01 | 山东大学 | Intelligent control system for digital control machine tool and control method thereof |
| CN101140292A (en) * | 2006-09-07 | 2008-03-12 | 深圳迈瑞生物医疗电子股份有限公司 | Sample feeding system, anticollision device and anti-collision method |
| JP2008210036A (en) * | 2007-02-23 | 2008-09-11 | Toyota Motor Corp | Obstacle detection apparatus and obstacle detection method |
| CN101776879A (en) * | 2009-12-29 | 2010-07-14 | 上海维宏电子科技有限公司 | Method for returning to mechanical reference point in numerical control machine tool system |
| CN201873847U (en) * | 2010-09-13 | 2011-06-22 | 南通纺织职业技术学院 | Industrial sewing machine servo control device based on DC (direct current) brushless motor |
| CN103119526A (en) * | 2010-09-22 | 2013-05-22 | 三菱电机株式会社 | Method for setting origin and device therefor |
| CN103034241A (en) * | 2011-10-07 | 2013-04-10 | 发那科株式会社 | Method of adjusting the position of origin of a machine and a machine having a function for adjusting the position of origin |
| CN102849634A (en) * | 2012-09-17 | 2013-01-02 | 德瑞斯博海机械设备（大连）有限公司 | Crane rotating/limiting/setting system based on PLC (programmable logic controller) |
| CN104422468A (en) * | 2013-08-19 | 2015-03-18 | 佳能株式会社 | Encoder |
| CN104914785A (en) * | 2015-05-14 | 2015-09-16 | 中山市科力高自动化设备有限公司 | Zero returning method using torque limited signal as original point signal |
| CN104965484A (en) * | 2015-06-09 | 2015-10-07 | 柳州弘天科技有限公司 | Method for controlling numerical control milling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272430A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272430B (en) | Manipulator origin resetting method and device | |
| US8554370B2 (en) | Machine learning approach for predicting humanoid robot fall | |
| WO2020180014A3 (en) | Method and system for training autonomous driving agent on basis of deep reinforcement learning | |
| RU2016152159A (en) | HUMAN-LIKE ROBOT WITH ABILITY TO PREVENT COLLISION AND TO RESTORE A TRAJECTORY | |
| CN111722630B (en) | Partition boundary extension method, device and equipment of cleaning robot and storage medium | |
| CN108582070A (en) | robot collision detecting system and method, storage medium, operating system | |
| CN106323273A (en) | Robot relocation method and device | |
| CN109878511A (en) | Processing method, vehicle and the server of vehicle driving model switching | |
| US20170151672A1 (en) | Workpiece position/posture calculation system and handling system | |
| CN114401886B (en) | Leg swing trajectory | |
| CN108363393B (en) | A kind of smart motion equipment and its air navigation aid and storage medium | |
| Bolla et al. | Gathering of fat robots with limited visibility and without global navigation | |
| CN109079800A (en) | Robot collision detection method and device, storage medium, processor and robot | |
| US9604362B2 (en) | Method and apparatus for failure handling of a robot | |
| CN109955245A (en) | Obstacle avoidance method and system for robot and robot | |
| KR20180028413A (en) | Control and adjustment of robot actuator considering contact with surrounding environment | |
| CN110895409B (en) | Control method for avoiding barrier | |
| CN110110678A (en) | Determination method and apparatus, storage medium and the electronic device of road boundary | |
| CN104309124A (en) | Printing detection method and printing detection device in 3D (Three-Dimensional) printing process and 3D printing equipment | |
| CN107309873B (en) | Mechanical arm motion control method and system | |
| CN107907291B (en) | A kind of impulse detection method and calculate equipment | |
| CN114310895B (en) | Robot collision detection method, device, electronic device and storage medium | |
| Kraft et al. | Automatic grasp generation and improvement for industrial bin-picking | |
| CN109866219A (en) | Anti-falling method of robot, robot and terminal equipment | |
| Ellekilde et al. | Applying a learning framework for improving success rates in industrial bin picking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181031 Address after: No. six, Qianshan Jinji West Road, Zhuhai, Guangdong Province Applicant after: GREE ELECTRIC APPLIANCES,Inc.OF ZHUHAI Address before: 519070 9 Building (Science and technology building) 789 Jinji Road, Qianshan, Zhuhai, Guangdong Applicant before: GREE GREEN REFRIGERATION TECHNOLOGY CENTER Co.,Ltd. OF ZHUHAI |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |