CN109732567A - A kind of hand-held teaching method and device of mechanical arm - Google Patents
A kind of hand-held teaching method and device of mechanical arm Download PDFInfo
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- CN109732567A CN109732567A CN201811633514.5A CN201811633514A CN109732567A CN 109732567 A CN109732567 A CN 109732567A CN 201811633514 A CN201811633514 A CN 201811633514A CN 109732567 A CN109732567 A CN 109732567A
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Abstract
Embodiment of the present invention is related to mechanical arm technical field, more particularly to the hand-held teaching method and device of a kind of mechanical arm.This method is applied to SCARA mechanical arm, SCARA mechanical arm includes principal arm and support arm group, and principal arm is provided with the first driving mechanism, and the first driving mechanism is for driving support arm group to move up and down on principal arm, it is characterized in that, method includes: to receive the first instruction for opening hand-held teaching；Each electricity Qu mechanism in support arm group is controlled in no enabled state；Obtain weight component of the support arm group on gravity direction；The first driving mechanism is controlled according to weight component to offset weight component of the support arm group on gravity direction.As a result, by the first driving mechanism of control to offset weight component of the support arm group on gravity direction, solve the problems, such as to be difficult to during hand-held teaching to drag support arm group on principal arm or can not teaching.
Description
Technical field
Embodiment of the present invention is related to mechanical arm technical field, more particularly to a kind of mechanical arm hand-held teaching method and
Device.
Background technique
Teaching programming is a kind of common programming mode in robot control system.General teaching programing system must have
Start the links such as teaching mode, storage programming point, teaching playback.Referring to Fig. 1, the structure that Fig. 1 is Scara mechanical arm 100 is shown
It is intended to, Scara mechanical arm 100 includes principal arm 10 and support arm group 20, and principal arm 10 is provided with the first driving mechanism J3, the first driving
For mechanism J3 for driving support arm group 20 to move up and down on principal arm 10, support arm group 20 includes the first arm 21,22 and of the second arm
Third arm 23, one end of the first arm 21 are connect with the first driving mechanism J3 of principal arm 10, and the first arm 21 is provided with the first rotating machine
Structure J1, one end of the second arm 22 are connect with the first rotating mechanism J1, and the second arm 22 is provided with the second rotating mechanism J2, third arm 23
It is connect with the second rotating mechanism J2, third arm 23 is provided with third rotating mechanism J4, in general, when Scara mechanical arm 100 is set
When being placed in horizontal plane, the first driving mechanism J3 can drive support arm group 20 to move up and down on principal arm 10, the first rotating machine
The rotation angle of structure J1 is 180 degree, and the rotation angle of the second rotating mechanism J2 is 270 degree, the rotation angle of third rotating mechanism J4
Degree is 360 degree, and there are four freedom degree, general first driving mechanism J3 will increase band-type brake, falling the tool of Scara mechanical arm 100 as a result,
Guarantee that support arm group 20 does not fall when electric.
In the implementation of the present invention, following problems exist in the prior art: current in the present inventor
In technology, for Scara mechanical arm 100, dragging support arm group 20 is generally difficult when holding teaching and carries out transporting up and down on principal arm 10
It is dynamic.Technology is typically chosen support arm group 20 and cannot drag on principal arm 10 at present, can only be by crawl teaching, or needs
Apply bigger strength to go to complete to drag, or is modeled based on kinetic model, and carry out Torque Control；Support arm group 20
In other arms can hold teaching.Therefore, technology is unable to complete and hand-held shows to what support arm group 20 dragged on principal arm 10 at present
Religion, or control are extremely complex, are not easy to realize.
Summary of the invention
Embodiment of the present invention mainly solving the technical problems that provide the hand-held teaching method and device of a kind of mechanical arm,
It aims to solve the problem that in hand-held teaching, realizes dragging of the support arm group on principal arm, and implementation is simpler, it is easy to accomplish.
In a first aspect, in order to solve the above technical problems, the technical solution that embodiment of the present invention uses is: providing one
The hand-held teaching method of kind mechanical arm, is applied to SCARA mechanical arm, the SCARA mechanical arm includes principal arm and support arm group, institute
It states principal arm and is provided with the first driving mechanism, first driving mechanism is for driving the support arm group to carry out on the principal arm
Lower movement, which is characterized in that the described method includes:
Receive the first instruction for opening hand-held teaching；
Each electricity Qu mechanism in the support arm group is controlled in no enabled state；
Obtain weight component of the support arm group on gravity direction；
First driving mechanism is controlled according to the weight component to offset weight of the support arm group on gravity direction
Force component.
Optionally, the method also includes:
Receive the second instruction that point saves；
Obtain the posture information of the SCARA mechanical arm and preservation.
Optionally, the method also includes:
Receive the third instruction for closing hand-held teaching；
Each driving in first driving mechanism and the support arm group is controlled according to the posture information saved
Mechanism, so that the SCARA mechanical arm carries out point reproduction.
Optionally, which is characterized in that
It is described that first driving mechanism is controlled to offset the support arm group on gravity direction according to the weight component
Weight component the step of, comprising:
The motor controlled in first driving mechanism works in open loop mode；
Input voltage needed for the motor determined in first driving mechanism according to the weight component；
Duty ratio by controlling pulsewidth modulation realizes that the motor into first driving mechanism provides the input electricity
Pressure.
Optionally, the support arm group includes the first arm, the second arm and third arm, one end and the principal arm of first arm
The connection of the first driving mechanism, first arm is provided with the first rotating mechanism, one end of second arm with described first turn
The connection of motivation structure, second arm are provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, described
Third arm is provided with third rotating mechanism；
The posture information include first driving mechanism, first rotating mechanism, second rotating mechanism and
The running state information of the third rotating mechanism, the running state information include current location information or rotational angle.
Second aspect, in order to solve the above technical problems, another technical solution that embodiment of the present invention uses is: providing
A kind of hand-held teaching apparatus of mechanical arm is applied to SCARA mechanical arm, and the SCARA mechanical arm includes principal arm and support arm group, institute
It states principal arm and is provided with the first driving mechanism, first driving mechanism is for driving the support arm group to carry out on the principal arm
Lower movement, which is characterized in that described device includes:
First receiving module is used to receive the first instruction for opening hand-held teaching；
First control module is used to control each electricity Qu mechanism in the support arm group in no enabled state；
First obtains module, is used to obtain weight component of the support arm group on gravity direction；
Second control module is used to control first driving mechanism according to the weight component to offset the support arm
Weight component of the group on gravity direction.
Optionally, described device further include:
Second receiving module is used to receive the second instruction of point preservation；
Second obtains module, is used to obtain the posture information of the SCARA mechanical arm and preservation.
Optionally, described device further include:
Third receiving module is used to receive the third instruction for closing hand-held teaching；
Third control module is used to control first driving mechanism and described according to the posture information that is saved
Each driving mechanism in support arm group, so that the SCARA mechanical arm carries out point reproduction.
Optionally, the motor that second control module is used to control in first driving mechanism works in open loop mould
Formula；Input voltage needed for the motor determined in first driving mechanism according to the weight component；By controlling pulsewidth tune
The duty ratio of system realizes that the motor into first driving mechanism provides the input voltage.
Optionally, the support arm group includes the first arm, the second arm and third arm, one end and the principal arm of first arm
The connection of the first driving mechanism, first arm is provided with the first rotating mechanism, one end of second arm with described first turn
The connection of motivation structure, second arm are provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, described
Third arm is provided with third rotating mechanism；
The posture information include first driving mechanism, first rotating mechanism, second rotating mechanism and
The running state information of the third rotating mechanism, the running state information include current location information or rotational angle.
The beneficial effect of embodiment of the present invention is: it is in contrast to the prior art, in embodiments of the present invention, machine
The hand-held teaching method of tool arm is applied to SCARA mechanical arm, and the SCARA mechanical arm includes principal arm and support arm group, the master
Arm is provided with the first driving mechanism, and first driving mechanism is for driving the support arm group to carry out transporting up and down on the principal arm
It is dynamic, which is characterized in that the described method includes: receiving the first instruction for opening hand-held teaching；It controls each in the support arm group
Electricity Qu mechanism is in no enabled state；Obtain weight component of the support arm group on gravity direction；According to the weight component
First driving mechanism is controlled to offset weight component of the support arm group on gravity direction.As a result, due to passing through control
First driving mechanism solves hardly possible during hand-held teaching to offset weight component of the support arm group on gravity direction
With on principal arm drag support arm group or can not teaching the problem of.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these are exemplary
Illustrate not constitute the restriction to embodiment, the element in attached drawing with same reference numbers label is expressed as similar member
Part, unless there are special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the structural schematic diagram of Scara mechanical arm in the present invention and current technology；
Fig. 2 is the flow diagram of the hand-held teaching method of one mechanical arm of embodiment of the present invention；
Fig. 3 is the flow diagram of the hand-held teaching method of two mechanical arm of embodiment of the present invention；
Fig. 4 is the structure chart of the hand-held teaching apparatus of embodiment of the present invention three-mechanical arm；
Fig. 5 is the structure chart of the hand-held teaching apparatus of four mechanical arm of embodiment of the present invention；
Fig. 6 is the hardware structural diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or
There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it be can be directly
It is connected to another element in succession or there may be one or more elements placed in the middle therebetween.Term used in this specification
"vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes
Any and all combinations of one or more related listed items.
The technical solution of embodiment in order to better illustrate the present invention, below to specific implementation environment of the invention do into
One step explanation, SCARA mechanical arm be additionally provided with controller and control unlatching/closing hold teaching button, controller respectively with
First driving mechanism J3 servomechanism, the first rotating mechanism J1 servomechanism, the second rotating mechanism J2 servomechanism, third rotating mechanism J4
Servomechanism, unlatching/closing hold the button of teaching and the host computer connection in the external world, and optionally, controller and host computer pass through
Serial ports connection, controller and each servomechanism are connected in series by CAN bus, and controller is driven by each servomechanism control first
The operating status of motivation structure J3, the first rotating mechanism J1, the second rotating mechanism J2 and third rotating mechanism J4 control acceptable use
Family holds the operation of the button of teaching, when SCARA mechanical arm is in non-hand-held teaching mode, servo first to unlatching/closing
Driving mechanism J3, the first rotating mechanism J1, the second rotating mechanism J2 and third rotating mechanism J4 run on mode position, specifically
, each electricity in the first driving mechanism of servo J3, the first rotating mechanism J1, the second rotating mechanism J2 and third rotating mechanism J4
Machine runs on mode position；When opening the hand-held teaching mode of SCARA mechanical arm, then the first rotating mechanism of servo J1, second
Rotating mechanism J2 and third rotating mechanism J4 in no enabled state, even if the first rotating mechanism J1, the second rotating mechanism J2 and
Motor in third rotating mechanism J4 is in non-moment state, allows support arm group 20 arbitrarily dragged, while controlling first
Driving mechanism J3 works in open loop mode.
Embodiment one
Referring to Fig. 2, Fig. 2 is the flow diagram of the hand-held teaching method of one mechanical arm of embodiment of the present invention, it is mechanical
The hand-held teaching method of arm is applied to SCARA mechanical arm 100, and SCARA mechanical arm 100 includes principal arm 10 and support arm group 20, principal arm
10 are provided with the first driving mechanism J3, the first driving mechanism J3 for driving support arm group 20 to move up and down on principal arm 10,
The hand-held teaching method of the mechanical arm includes:
Step 301: receiving the first instruction for opening hand-held teaching；
After the button of user's pressing or the hand-held teaching of the unlatching of operation SCARA mechanical arm 100, controller will be received open
The first instruction of hand-held teaching is opened, certainly, in embodiments of the present invention, controller can also receive unlatching by other means
First instruction of hand-held teaching, for example, the first instruction of the hand-held teaching of the unlatching issued from host computer.
Step 302: each electricity Qu mechanism in control support arm group is in no enabled state；
When opening the hand-held teaching mode of SCARA mechanical arm, then the first rotating mechanism of servo J1, the second rotating mechanism J2
With third rotating mechanism J4 in no enabled state, even if the first rotating mechanism J1, the second rotating mechanism J2 and third rotating machine
Motor in structure J4 is in non-moment state, allows support arm group 20 arbitrarily dragged.
Step 303: obtaining weight component of the support arm group on gravity direction；
In embodiments of the present invention, the mode of weight component of the acquisition support arm group on gravity direction can be a variety of
, for example, the first gravity of pre-recorded support arm group, then weight of the support arm group on gravity direction at this time is determined in three-axis reference
Force component, alternatively, the gravity being arranged in SCARA mechanical arm for detecting weight component of the support arm group on gravity direction detects
Device, herein not one by one to repeat.
Step 304: the first driving mechanism is controlled to offset gravity of the support arm group on gravity direction point according to weight component
Amount.
In embodiments of the present invention, the specific implementation of step 304 can be a variety of, optionally, according to gravity
Component controls the first driving mechanism to offset support arm group the weight component on gravity direction the step of, includes the following steps 3041
With step 3042 (not shown):
Step 3041: input voltage needed for the motor determined in the first driving mechanism according to weight component；
In the servo-system of motor, there are three-axis references and dq coordinate system to determine according to the weight component known
What is provided needed for motor in first driving mechanism supports torque, it is ensured that the weight component for supporting torque and having known can support
Disappear, keeps user more laborsaving when drawing support arm group, since the torque that motor generates is related to the voltage for acting on motor, by
This, is the input voltage needed for can determine motor according to weight component.
Step 3042: the duty ratio by controlling pulsewidth modulation realizes that the motor into the first driving mechanism provides input electricity
Pressure.
The input voltage of motor can control accounting for for pulsewidth modulation (PWM, Pulse Width Modulation) by controller
Sky is than realizing.
In embodiments of the present invention, the hand-held teaching method of mechanical arm is applied to SCARA mechanical arm, SCARA mechanical arm
Including principal arm and support arm group, principal arm is provided with the first driving mechanism, and the first driving mechanism is for driving support arm group enterprising in principal arm
Row moves up and down, which is characterized in that method includes: to receive the first instruction for opening hand-held teaching；It controls each in support arm group
Electricity Qu mechanism is in no enabled state；Obtain weight component of the support arm group on gravity direction；According to weight component control first
Driving mechanism is to offset weight component of the support arm group on gravity direction.As a result, due to by controlling the first driving mechanism to support
Disappear weight component of the support arm group on gravity direction, will be more smooth when user drags manually, during solving hand-held teaching
Be difficult on principal arm drag support arm group or can not teaching the problem of.
Embodiment two
Referring to Fig. 3, Fig. 3 is the flow diagram of the hand-held teaching method of two mechanical arm of embodiment of the present invention, it is mechanical
The hand-held teaching method of arm is applied to SCARA mechanical arm 100, and SCARA mechanical arm 100 includes principal arm 10 and support arm group 20, principal arm
10 are provided with the first driving mechanism J3, the first driving mechanism J3 for driving support arm group 20 to move up and down on principal arm 10,
The hand-held teaching method of the mechanical arm includes:
Step 401: receiving the first instruction for opening hand-held teaching；
After the button of user's pressing or the hand-held teaching of the unlatching of operation SCARA mechanical arm 100, controller will be received open
The first instruction of hand-held teaching is opened, certainly, in embodiments of the present invention, controller can also receive unlatching by other means
First instruction of hand-held teaching, for example, the first instruction of the hand-held teaching of the unlatching issued from host computer.
Step 402: each electricity Qu mechanism in control support arm group is in no enabled state；
When opening the hand-held teaching mode of SCARA mechanical arm, then the first rotating mechanism of servo J1, the second rotating mechanism J2
With third rotating mechanism J4 in no enabled state, even if the first rotating mechanism J1, the second rotating mechanism J2 and third rotating machine
Motor in structure J4 is in non-moment state, allows support arm group 20 arbitrarily dragged.
Step 403: obtaining weight component of the support arm group on gravity direction；
In embodiments of the present invention, the mode of weight component of the acquisition support arm group on gravity direction can be a variety of
, for example, the first gravity of pre-recorded support arm group, then weight of the support arm group on gravity direction at this time is determined in three-axis reference
Force component, alternatively, the gravity being arranged in SCARA mechanical arm for detecting weight component of the support arm group on gravity direction detects
Device, herein not one by one to repeat.
Step 404: the first driving mechanism is controlled to offset gravity of the support arm group on gravity direction point according to weight component
Amount.
Step 405: receiving the second instruction that point saves；
Point save button is additionally provided on SCARA mechanical arm, when user's operation point save button, controller
To receive the second instruction of point preservation, certainly, in embodiments of the present invention, controller can also receive by other means
The second instruction that point saves will not repeat them here for example, there is host computer to issue the second instruction of point preservation.
Step 406: obtaining the posture information of SCARA mechanical arm and preservation.
After entering hand-held teaching mode, user can draw support arm group manually, and point preservation is used for will at this time
Obtain the posture information of SCARA mechanical arm and preservation.
Support arm group includes the first arm, the second arm and third arm, and one end of the first arm and the first driving mechanism of principal arm connect,
First arm is provided with the first rotating mechanism, and one end of the second arm is connect with the first rotating mechanism, and the second arm is provided with the second rotation
Mechanism, third arm are connect with the second rotating mechanism, and third arm is provided with third rotating mechanism；Posture information includes the first driving machine
The running state information of structure, the first rotating mechanism, the second rotating mechanism and third rotating mechanism, running state information include current
Location information or rotational angle.
Step 407: receiving the third instruction for closing hand-held teaching；
After the button of user's pressing or the hand-held teaching of the closing of operation SCARA mechanical arm 100, controller will receive pass
The third instruction of hand-held teaching is closed, certainly, in embodiments of the present invention, controller can also receive closing by other means
The third instruction of hand-held teaching, for example, the third instruction of the hand-held teaching of the closing issued from host computer.
Step 408: each driving mechanism in the first driving mechanism and support arm group is controlled according to the posture information saved,
So that SCARA mechanical arm carries out point reproduction.
In embodiments of the present invention, the hand-held teaching method of mechanical arm is applied to SCARA mechanical arm, SCARA mechanical arm
Including principal arm and support arm group, principal arm is provided with the first driving mechanism, and the first driving mechanism is for driving support arm group enterprising in principal arm
Row moves up and down, which is characterized in that method includes: to receive the first instruction for opening hand-held teaching；It controls each in support arm group
Electricity Qu mechanism is in no enabled state；Obtain weight component of the support arm group on gravity direction；According to weight component control first
Driving mechanism is to offset weight component of the support arm group on gravity direction.As a result, due to by controlling the first driving mechanism to support
Disappear weight component of the support arm group on gravity direction, will be more smooth when user drags manually, during solving hand-held teaching
Be difficult on principal arm drag support arm group or can not teaching the problem of.
Embodiment three
Referring to Fig. 4, Fig. 4 is the structure chart of the hand-held teaching apparatus of embodiment of the present invention three-mechanical arm, the mechanical arm
Hand-held teaching apparatus be applied to SCARA mechanical arm, SCARA mechanical arm includes principal arm and support arm group, and principal arm is provided with the first drive
Motivation structure, for the first driving mechanism for driving support arm group to move up and down on principal arm, device 500 includes: the first reception mould
Block 501, the first control module 502, first obtain module 503 and the second control module 504.
First receiving module 501 is used to receive the first instruction for opening hand-held teaching；
First control module 502 is used to control each electricity Qu mechanism in support arm group in no enabled state；
First acquisition module 503 is for obtaining weight component of the support arm group on gravity direction；
Second control module 504 is used to control the first driving mechanism according to weight component to offset support arm group in gravity direction
On weight component.Optionally, the motor that the second control module 504 is used to control in the first driving mechanism works in open loop mould
Formula；Input voltage needed for the motor determined in the first driving mechanism according to weight component；By the duty for controlling pulsewidth modulation
Motor than realizing into the first driving mechanism provides input voltage.
It should be understood that present apparatus embodiment three and method implementation one are based on identical inventive concept, this dress
The particular content and beneficial effect for setting embodiment three please refer to method implementation one, will not repeat them here.
Embodiment four
Referring to Fig. 5, Fig. 5 is the structure chart of the hand-held teaching apparatus of four mechanical arm of embodiment of the present invention, the mechanical arm
Hand-held teaching apparatus be applied to SCARA mechanical arm, SCARA mechanical arm includes principal arm and support arm group, and principal arm is provided with the first drive
Motivation structure, for the first driving mechanism for driving support arm group to move up and down on principal arm, device 500 includes: the first reception mould
Block 501, the first control module 502, first acquisition module 503, the second control module 504, the second receiving module 505, second are obtained
Modulus block 506, third receiving module 507 and third control module 508.
First receiving module 501 is used to receive the first instruction for opening hand-held teaching；
First control module 502 is used to control each electricity Qu mechanism in support arm group in no enabled state；
First acquisition module 503 is for obtaining weight component of the support arm group on gravity direction；
Second control module 504 is used to control the first driving mechanism according to weight component to offset support arm group in gravity direction
On weight component.Optionally, the motor that the second control module 504 is used to control in the first driving mechanism works in open loop mould
Formula；Input voltage needed for the motor determined in the first driving mechanism according to weight component；By the duty for controlling pulsewidth modulation
Motor than realizing into the first driving mechanism provides input voltage.
Second receiving module 505 is used to receive the second instruction of point preservation；
Second acquisition module 506 is used to obtain posture information and the preservation of SCARA mechanical arm.
Third receiving module 507 is used to receive the third instruction for closing hand-held teaching；
Third control module 508 is used to be controlled according to the posture information saved each in the first driving mechanism and support arm group
A driving mechanism, so that SCARA mechanical arm reappears.
Optionally, support arm group includes the first arm, the second arm and third arm, one end of the first arm and the first driving machine of principal arm
Structure connection, the first arm is provided with the first rotating mechanism, and one end of the second arm is connect with the first rotating mechanism, and the second arm is provided with the
Two rotating mechanisms, third arm are connect with the second rotating mechanism, and third arm is provided with third rotating mechanism；
Posture information includes the fortune of the first driving mechanism, the first rotating mechanism, the second rotating mechanism and third rotating mechanism
Row status information, running state information include current location information or rotational angle.
It should be understood that present apparatus embodiment four and method implementation two are based on identical inventive concept, this dress
The particular content and beneficial effect for setting embodiment four please refer to method implementation two, will not repeat them here.
Referring to Fig. 6, Fig. 6 is the hardware structural diagram of electronic equipment provided in an embodiment of the present invention, as shown in fig. 6,
Electronic equipment 60 includes:
One or more processors 61 and memory 62, in Fig. 6 by taking a processor 61 as an example.
Processor 61 can be connected with memory 62 by bus or other modes, to be connected as by bus in Fig. 6
Example.
Memory 62 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, the hand-held teaching such as the mechanical arm in the embodiment of the present invention are corresponding
Program instruction/module is (for example, attached first receiving module 501 shown in fig. 5, the first control module 502, first obtain module
503, the second control module 504, the second receiving module 505, second obtain module 506, third receiving module 507 and third control
Module 508).Non-volatile software program, instruction and the module that processor 61 is stored in memory 62 by operation, thus
The various function application and data processing of electronic equipment are executed, i.e. the hand-held of mechanical arm of realization above method embodiment is shown
Religion.
Memory 62 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；Storage data area can store the use institute according to the control device of desktop mechanical arm
The data etc. of creation.In addition, memory 62 may include high-speed random access memory, it can also include non-volatile memories
Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments
In, optional memory 62 includes the memory remotely located relative to processor 61, these remote memories can pass through network
It is connected to the control device of desktop mechanical arm.The example of above-mentioned network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 62, when by one or more of electronic equipments
When execution, the hand-held teaching of the mechanical arm in above-mentioned any means embodiment is executed, for example, executing in Fig. 2 described above
Method and step 301 is to step 304, method and step 401 in Fig. 3 to step 408；Realize the module 501 to 504 in Fig. 4, Fig. 5
In module 501 to 508 function.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, including but not limited to:
(1) mobile communication equipment: the characteristics of this kind of equipment is that have mobile communication function, and to provide speech, data
Communication is main target.This Terminal Type includes: smart phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(2) super mobile personal computer equipment: this kind of equipment belongs to the scope of personal computer, there is calculating and processing function
Can, generally also have mobile Internet access characteristic.This Terminal Type includes: PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device: this kind of equipment can show and play multimedia content.Such equipment include: audio,
Video player (such as iPod), handheld device, e-book and intelligent toy and portable car-mounted navigation equipment.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added to realize by software, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can
With understand all or part of the process realized in above-described embodiment method be can be instructed by computer program it is relevant hard
Part is completed, and the program can be stored in a computer-readable storage medium, the program is when being executed, it may include as above
State the process of the embodiment of each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-
Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of hand-held teaching method of mechanical arm is applied to SCARA mechanical arm, the SCARA mechanical arm includes principal arm and branch
Arm group, the principal arm are provided with the first driving mechanism, and first driving mechanism is for driving the support arm group in the principal arm
On move up and down, which is characterized in that the described method includes:
Receive the first instruction for opening hand-held teaching；
Each electricity Qu mechanism in the support arm group is controlled in no enabled state；
Obtain weight component of the support arm group on gravity direction；
First driving mechanism is controlled according to the weight component to offset gravity of the support arm group on gravity direction point
Amount.
2. the method according to claim 1, wherein the method also includes:
Receive the second instruction that point saves；
Obtain the posture information of the SCARA mechanical arm and preservation.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Receive the third instruction for closing hand-held teaching；
Each driving mechanism in first driving mechanism and the support arm group is controlled according to the posture information saved,
So that the SCARA mechanical arm carries out point reproduction.
4. according to claim 1 to method described in 3 any one, which is characterized in that
It is described that first driving mechanism is controlled to offset weight of the support arm group on gravity direction according to the weight component
The step of force component, comprising:
Input voltage needed for the motor determined in first driving mechanism according to the weight component；
Duty ratio by controlling pulsewidth modulation realizes that the motor into first driving mechanism provides the input voltage.
5. according to the method in claim 2 or 3, which is characterized in that
The support arm group includes the first arm, the second arm and third arm, and one end of first arm and the first of the principal arm drive
Mechanism connection, first arm are provided with the first rotating mechanism, and one end of second arm is connect with first rotating mechanism,
Second arm is provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, the third arm setting
There is third rotating mechanism；
The posture information includes first driving mechanism, first rotating mechanism, second rotating mechanism and described
The running state information of third rotating mechanism, the running state information include current location information or rotational angle.
6. a kind of hand-held teaching apparatus of mechanical arm is applied to SCARA mechanical arm, the SCARA mechanical arm includes principal arm and branch
Arm group, the principal arm are provided with the first driving mechanism, and first driving mechanism is for driving the support arm group in the principal arm
On move up and down, which is characterized in that described device includes:
First receiving module is used to receive the first instruction for opening hand-held teaching；
First control module is used to control each electricity Qu mechanism in the support arm group in no enabled state；
First obtains module, is used to obtain weight component of the support arm group on gravity direction；
Second control module is used to be existed according to weight component control first driving mechanism to offset the support arm group
Weight component on gravity direction.
7. device according to claim 6, which is characterized in that described device further include:
Second receiving module is used to receive the second instruction of point preservation；
Second obtains module, is used to obtain the posture information of the SCARA mechanical arm and preservation.
8. device according to claim 7, which is characterized in that described device further include:
Third receiving module is used to receive the third instruction for closing hand-held teaching；
Third control module is used to control first driving mechanism and the support arm according to the posture information saved
Each driving mechanism in group, so that the SCARA mechanical arm carries out point reproduction.
9. according to device described in claim 6 to 8 any one, which is characterized in that
Second control module is for defeated according to needed for the motor that the weight component determines in first driving mechanism
Enter voltage；Duty ratio by controlling pulsewidth modulation realizes that the motor into first driving mechanism provides the input electricity
Pressure.
10. device according to claim 7 or 8, which is characterized in that
The support arm group includes the first arm, the second arm and third arm, and one end of first arm and the first of the principal arm drive
Mechanism connection, first arm are provided with the first rotating mechanism, and one end of second arm is connect with first rotating mechanism,
Second arm is provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, the third arm setting
There is third rotating mechanism；
The posture information includes first driving mechanism, first rotating mechanism, second rotating mechanism and described
The running state information of third rotating mechanism, the running state information include current location information or rotational angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811633514.5A CN109732567A (en) | 2018-12-29 | 2018-12-29 | A kind of hand-held teaching method and device of mechanical arm |
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| CN201811633514.5A CN109732567A (en) | 2018-12-29 | 2018-12-29 | A kind of hand-held teaching method and device of mechanical arm |
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