CN112198218A - Full-automatic sample adding system and mechanical arm position calibration device and method thereof - Google Patents
Full-automatic sample adding system and mechanical arm position calibration device and method thereof Download PDFInfo
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- CN112198218A CN112198218A CN202011194492.4A CN202011194492A CN112198218A CN 112198218 A CN112198218 A CN 112198218A CN 202011194492 A CN202011194492 A CN 202011194492A CN 112198218 A CN112198218 A CN 112198218A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a full-automatic sample adding system and a mechanical arm position calibration device and method thereof, wherein the mechanical arm position calibration device comprises a controller, a calibration assembly and a calibration tool which is arranged on a mechanical arm and moves along with the mechanical arm; the calibration assembly comprises a supporting seat and a correlation type horizontal direction position detector which is arranged on the supporting seat and used for calibrating the calibration tool along the horizontal direction; the controller is used for acquiring a blocking state signal of the line-type photoelectric signal sent by the calibration tool to the horizontal direction position detector to calculate the horizontal direction calibration coordinate. According to the mechanical arm position calibration device provided by the invention, the horizontal direction position detector is used for acquiring the coordinate information of the mechanical arm, the position information is fed back to the controller, and the controller controls the mechanical arm to move so as to automatically finish calibration, so that the dependence on the operation proficiency of a human is reduced, the artificial calibration error is eliminated, the calibration time is shortened, the calibration precision is improved, and the instrument damage is avoided.
Description
Technical Field
The invention relates to the field of mechanical arm calibration, in particular to a device and a method for calibrating a position of a mechanical arm. In addition, the invention also relates to a full-automatic sample adding system comprising the mechanical arm position calibration device.
Background
The full-automatic sample adding system is an automatic precise sampling and sample adding device, can add samples to a sample plate of a MALDI-TOF-MS mass spectrum system, and mainly comprises two parts: sample adding device and mechanical arm. The sample adding device is used for sucking and distributing liquid, is arranged on a moving block of the mechanical arm and moves along a guide rail of the mechanical arm under the driving of the mechanical arm. The arm comprises at least two high accuracy lead screw modules, drives the application of sample device through the motion of control arm and makes it move in appointed space to the realization absorbs liquid at A point, moves to B point distribution liquid again.
The mechanical precision of the mechanical arm is reduced due to errors in the manufacturing and assembling process or abrasion in the motion process, in addition, the mechanical arm generates errors due to vibration or deformation of a motor shaft and a module shaft caused by the actions of inertia force, centrifugal force, gravity, external force and the like, if the calibration criterion is not carried out for a long time, the positioning of the mechanical arm is possibly deviated, the mounting precision of a gun head after the gun head is taken is influenced, the gun head is askew to be mounted, the sample application precision is influenced, and the instrument is seriously damaged due to impact caused by inaccurate positioning.
In the prior art, a positioning block with a calibration point is generally placed in a motion area of a mechanical arm, and a calibration tool is mounted on a Z-axis mechanical shaft, wherein the calibration point and the calibration tool are both cylindrical edge protruding structures and have the same size. When the position is calibrated, the mechanical arm is controlled manually to move slowly to enable the calibration tool to reach the position above the calibration point, and the Z-axis mechanical shaft is controlled to descend slowly to enable the Z-axis mechanical shaft to be tightly attached to the calibration point, so that the Z-axis coordinate is determined. And then, controlling the mechanical arm to slowly move in the horizontal direction, so that the edge of the cylinder of the calibration tool is superposed with the edge of the cylinder of the calibration point, and determining the coordinate in the horizontal direction.
However, the prior art requires an operator to manually calibrate the device, and the operation is slow and requires a high level of skill of the operator; because the manual calibration of operating personnel may lead to the calibration to have the error, for example when Z axle location, when the lower surface through the naked eye observation calibration instrument whether with the upper surface laminating of calibration point, often can appear that the calibration instrument pushes down excessively and make the arm take place elastic deformation, can influence arm calibration precision this moment, if the error is too big can make the arm impaired, even more probably leads to instrument trouble.
Therefore, how to effectively improve the calibration accuracy of the mechanical arm and reduce errors is a technical problem to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide a device and a method for calibrating the position of a mechanical arm, which are used for automatically calibrating the mechanical arm, improving the calibration precision, reducing the dependence on the operation proficiency of a human, shortening the calibration time and avoiding the damage of an instrument. The invention also aims to provide a full-automatic sample adding system comprising the mechanical arm position calibration device.
In order to achieve the purpose, the invention provides the following technical scheme:
a mechanical arm position calibration device comprises a controller, a calibration assembly and a calibration tool which is arranged on the mechanical arm and moves along with the mechanical arm; the calibration assembly comprises a supporting seat and a correlation type horizontal direction position detector which is arranged on the supporting seat and used for calibrating the calibration tool along the horizontal direction; the controller is used for acquiring a blocking state signal of the linear photoelectric signal sent by the horizontal direction position detector by the calibration tool to calculate the horizontal direction calibration coordinate.
Preferably, the horizontal direction position detector includes a correlation type X-axis position detector and a correlation type Y-axis position detector for calibrating the calibration tool along the X-axis and the Y-axis, respectively; the calibration assembly further comprises a vertical direction position detector used for calibrating the calibration tool along a Z axis, the linear photoelectric signal of the X axis position detector is perpendicular to the linear photoelectric signal of the Y axis position detector, and the intersection point of the linear photoelectric signals is projected as a calibration point on the surface of the vertical direction position detector; the controller is also used for acquiring pressure information of the vertical direction position detector and recording Z-direction calibration coordinates.
Preferably, the vertical position detector is a resistance pressure sensing panel, and a surface of the vertical position detector is perpendicular to the Z-axis direction; the X-axis position detector and the Y-axis position detector both comprise at least one group of correlation type photoelectric sensors, linear photoelectric signals of the X-axis position detector are parallel to the Y-axis direction, and linear photoelectric signals of the Y-axis position detector are parallel to the X-axis direction.
Preferably, the support base is in a housing shape, a groove for placing the vertical position detector is formed in one side of the support base, and the X-axis position detector and the Y-axis position detector are arranged on the periphery of the groove.
A full-automatic sample adding system comprises a mechanical arm position calibration device, wherein the mechanical arm position calibration device is the mechanical arm position calibration device; the device also comprises a sample adding station, a sample adding component, an operation component positioned on the sample adding station and a mechanical arm module capable of driving the sample adding component to move; the calibration tool is arranged on the sample adding component, and the calibration component can be placed on the sample adding station; the shape and size of the calibration assembly conforms to the shape and size of the operational component.
The method for calibrating the position of the mechanical arm is applied to the device for calibrating the position of the mechanical arm, and is characterized by comprising the following steps of:
step S110: the method comprises the steps that a mechanical arm is operated to drive a calibration tool to move along a horizontal guide rail to the calibration tool to start to block a linear photoelectric signal of a horizontal position detector, and first position information of the calibration tool at the moment is obtained;
step S120: continuously moving the calibration tool until the linear photoelectric signal is communicated, and acquiring second position information of the calibration tool at the moment;
step S130: and taking a median value of the first position information and the second position information to obtain the accurate horizontal position of the calibration tool, and further calibrating the horizontal position of the mechanical arm.
Preferably, before the step S110, the method further includes:
operating a robot arm so that the calibration tool is positioned above a vertical position detector;
the controller controls the mechanical arm to operate to drive the calibration tool to slowly descend until the bottom end of the calibration tool touches the upper surface of the vertical direction position detector;
and after receiving the contact signal, the controller stops the operation of the mechanical arm and calibrates the vertical position of the mechanical arm according to the vertical position of the upper surface of the vertical position detector.
Preferably, after the controller stops the operation of the robot arm after receiving the contact signal and calibrates the vertical position of the robot arm according to the vertical position of the upper surface of the vertical position detector, the method further includes:
and operating the mechanical arm to drive the calibration tool to rise by a preset height along the Z axis, and ensuring that the bottom end of the calibration tool is positioned below the horizontal plane where the linear photoelectric signal of the horizontal direction position detector is positioned.
Preferably, after the controller stops the operation of the robot arm after receiving the contact signal and calibrates the vertical position of the robot arm according to the vertical position of the upper surface of the vertical position detector, the method further includes:
reading the initial position of the calibration tool output by the vertical direction position detector, and comparing the initial position with a set origin position;
if the X position or the Y position of the read initial position is small than the set original position, moving and searching to the positive direction of the X axis or the positive direction of the Y axis, recording the position of the X axis or the Y axis when the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor obtains a signal, then continuing moving until the signal of the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor disappears, and recording the position of the X axis or the Y axis again at the moment;
and reversely searching until the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor acquires signals, recording the position of the X-axis or the Y-axis again at the moment, continuing to move until the signals of the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor disappear, repeating the action for a plurality of times, determining the signal position of the X-axis or the Y-axis capture correlation type sensor and the position of the lost correlation type sensor signal, and taking the middle position of the two pieces of position information as the coordinate position of the X-axis or the Y-axis.
Preferably, the method further comprises the following steps:
step S141: positioning the mechanical arm above the calibration assembly, and controlling the Z axis to slowly descend until the lower end of the calibration tool is positioned below the horizontal plane of the X, Y axis type photoelectric signal;
step S142: operating an X-axis mechanical arm or a Y-axis mechanical arm, enabling the calibration tool to move along the X-axis direction or the Y-axis direction until a signal is captured by the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor, then continuing to move until the signal leaves the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor, repeating the repeated movement of the position along the Y-axis direction or the X-axis direction for multiple times to capture the X-axis position contacting and leaving the Y-axis correlation type photoelectric sensor or the Y-axis position of the X-axis correlation type photoelectric sensor, and calculating the midpoint coordinate of the X-axis position or the midpoint coordinate of the Y-axis position;
step S143: and moving the mechanical arm along the Y-axis direction or the X-axis direction for a set distance, then repeating the step S142, obtaining the X-axis position or the Y-axis position of the calibration tool again, and calculating the deviation of the X-axis position or the Y-axis position twice to obtain the assembly error of the X-axis or the Y-axis of the mechanical arm and the included angle between the X-axis or the Y-axis and the theoretical axis.
The invention provides a mechanical arm position calibration device which comprises a controller, a calibration assembly and a calibration tool, wherein the calibration tool is arranged on a mechanical arm and moves along with the mechanical arm; the calibration assembly comprises a supporting seat and a correlation type horizontal direction position detector which is arranged on the supporting seat and used for calibrating the calibration tool along the horizontal direction; the controller is used for acquiring a blocking state signal of the linear photoelectric signal sent by the horizontal direction position detector by the calibration tool to calculate the horizontal direction calibration coordinate. According to the mechanical arm position calibration device provided by the invention, the horizontal position detector is utilized to obtain the coordinate information of the mechanical arm, the position information is fed back to the controller, and the controller controls the mechanical arm to move so as to automatically finish calibration, so that the dependence on the operation proficiency of a human is reduced, the human calibration error is eliminated, the calibration time is shortened, the calibration precision is improved, and the instrument damage is avoided.
The full-automatic sample adding system provided by the invention is provided with the mechanical arm position calibrating device, and the mechanical arm position calibrating device has the technical effect, so the full-automatic sample adding system provided with the mechanical arm position calibrating device also has the corresponding technical effect.
The invention provides a mechanical arm position calibration method, which comprises the following steps: step S110: the method comprises the steps that a mechanical arm is operated to drive a calibration tool to move along a horizontal guide rail to the calibration tool to start to block a linear photoelectric signal of a horizontal position detector, and first position information of the calibration tool at the moment is obtained; step S120: continuously moving the calibration tool until the linear photoelectric signal is communicated, and acquiring second position information of the calibration tool at the moment; step S130: and taking a median value of the first position information and the second position information to obtain the accurate horizontal position of the calibration tool, and further calibrating the horizontal position of the mechanical arm. According to the mechanical arm position calibration method provided by the invention, the position relation between the linear photoelectric signals of the calibration tool and the horizontal position detector is used as the calibration comparison value of the calibration tool, so that the automatic calibration of the mechanical arm can be realized, the dependence on the operation proficiency of a human is reduced, the artificial calibration error is eliminated, the calibration time is shortened, the calibration precision is improved, and the instrument damage is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a fully automatic sample adding system according to the present invention;
fig. 2 is a schematic view of an application structure of the mechanical arm position calibration device in a full-automatic sample adding system according to the present invention;
FIG. 3 is a schematic structural diagram illustrating one embodiment of a calibration assembly of the robot position calibration apparatus of the present invention;
FIG. 4 is a flowchart of one embodiment of a method for calibrating a position of a robotic arm according to the present invention;
FIG. 5 is a flow chart illustrating another exemplary embodiment of a method for calibrating a position of a robotic arm according to the present invention;
wherein: an instrument base plate-1; an instrument side plate-2; an X-axis mechanical arm module-3; a Y-axis mechanical arm module-4; a Z-axis mechanical arm module-5; a first sample application station-6; a second sample application station-7; a third sample application station-8; a fourth sample application station-9; sample adding component-10; calibration tool-11; a calibration assembly-12; a support seat-12-1; a vertical direction position detector-12-2; calibrating the emitting end-12-3 of the laser sensor on the Y axis; calibrating a receiving end-12-4 of the laser sensor by the Y axis; calibrating the emitting end-12-5 of the laser sensor on the X axis; calibrating a receiving end-12-6 of the laser sensor by the X axis; calibration point-12-7.
Detailed Description
The core of the invention is to provide a device and a method for calibrating the position of a mechanical arm, which are used for automatically calibrating the mechanical arm, improving the calibration precision, reducing the dependence on the operation proficiency of a human, shortening the calibration time and avoiding the damage of an instrument. The other core of the invention is to provide a full-automatic sample adding system comprising the mechanical arm position calibration device.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of an embodiment of a full-automatic sample adding system provided by the present invention; fig. 2 is a schematic view of an application structure of the mechanical arm position calibration device in a full-automatic sample adding system according to the present invention; FIG. 3 is a schematic structural diagram illustrating one embodiment of a calibration assembly of the robot position calibration apparatus of the present invention; FIG. 4 is a flowchart of one embodiment of a method for calibrating a position of a robotic arm according to the present invention; fig. 5 is a flowchart illustrating another embodiment of a method for calibrating a position of a robot arm according to the present invention.
In this embodiment, the robot arm position calibration means includes a controller, a calibration assembly 12 and a calibration tool 11. Wherein the calibration tool 11 is movable relative to the calibration assembly 12 to compare the position of the robot arm to the position of the calibration point 12-7 on the calibration assembly 12, the calibration tool 11 being mounted on and following the robot arm.
Specifically, the calibration assembly 12 includes a support base 12-1 and a horizontal position detector, the horizontal position detector is disposed on the support base 12-1 and is used for calibrating the calibration tool 11 along the horizontal direction, and specifically includes an X-axis direction and a Y-axis direction, and the horizontal position detector is specifically a correlation type horizontal position detector; the controller is used for acquiring a blocking state signal of the line-type photoelectric signal sent by the calibration tool 11 to the horizontal direction position detector to calculate the horizontal direction calibration coordinate.
According to the mechanical arm position calibration device provided by the invention, the horizontal direction position detector is used for acquiring the coordinate information of the mechanical arm, the position information is fed back to the controller, and the controller controls the mechanical arm to move so as to automatically finish calibration, so that the dependence on the operation proficiency of a human is reduced, the artificial calibration error is eliminated, the calibration time is shortened, the calibration precision is improved, and the instrument damage is avoided.
On the basis of the above embodiments, the horizontal direction position detector includes a correlation type X-axis position detector and a correlation type Y-axis position detector for respectively calibrating the calibration tool 11 along the X-axis and the Y-axis, the linear photoelectric signal of the X-axis position detector and the linear photoelectric signal of the Y-axis position detector are perpendicular to each other, and the intersection point and the calibration point 12-7 are located in the same Z-axis direction; the controller is used for acquiring a blocking state signal of the line photoelectric signal of the calibration tool 11 to calculate an X-direction calibration coordinate and a Y-direction calibration coordinate. According to the arrangement, the calibration of the mechanical arm in the horizontal direction is realized by respectively calibrating the X-direction calibration coordinate and the Y-direction calibration coordinate.
Specifically, the horizontal direction position detector comprises a laser emitting end and a laser receiving end, wherein the laser emitting end emits a linear photoelectric signal to the laser receiving end, and the linear photoelectric signal is vertical to the horizontal moving direction of the mechanical arm; further, when the arm is a triaxial arm, the horizontal position detector includes two groups of correlation type photoelectric sensors, and linear photoelectric signals of the two groups of correlation type photoelectric sensors are perpendicular to each other. Furthermore, the linear photoelectric signals of the two groups of correlation photoelectric sensors are horizontally arranged and intersected, so that the same position of the calibration tool 11 can be conveniently measured during horizontal position measurement calibration, and the position calibration inconsistency of the X axis and the Y axis caused by the error of the calibration tool 11 is avoided.
More specifically, as shown in fig. 3, the X-axis position detector for calibrating the X-axis includes an X-axis calibration laser sensor emitting end 12-5 and an X-axis calibration laser sensor receiving end 12-6, when the X-axis calibration laser sensor receiving end 12-6 normally receives a light beam emitted by the X-axis calibration laser sensor emitting end 12-5, an electrical signal is displayed at a signal output end, if an object blocks light between the X-axis calibration laser sensor emitting end 12-5 and the X-axis calibration laser sensor receiving end 12-6, the signal output end of the X-axis calibration laser sensor receiving end 12-6 displays another electrical signal, and the controller calibrates the X-axis position accordingly; the Y-axis position detector for calibrating the Y axis comprises a Y-axis calibration laser sensor transmitting end 12-3 and a Y-axis calibration laser sensor receiving end 12-4, and the working principle is the same as that of the X-axis position detector; the vertical position detector 12-2 is a touch sensor which has different electrical signal outputs at its output end if an object touches its surface, and is used for calibrating the Z-axis, when the Z-axis descends to a certain height, the tip of the calibration tool 11 touches the vertical position detector 12-2, and the vertical position detector 12-2 outputs a valid signal to the controller.
On the basis of the above embodiments, the calibration assembly 12 further includes a vertical direction position detector 12-2 for calibrating the calibration tool 11 along the Z-axis, and an intersection of the linear photoelectric signal of the X-axis position detector and the linear photoelectric signal of the Y-axis position detector is projected as a calibration point 12-7 on the surface of the vertical direction position detector 12-2; the controller is also used to acquire pressure information from the vertical position detector 12-2 and record the Z-calibration coordinates.
Specifically, a positioning reticle is arranged on the upper surface of the vertical direction position detector 12-2, the intersection point of the reticle is a positioning origin, namely a calibration point 12-7, and the reticle divides the upper surface of the whole vertical direction position detector 12-2 into four quadrants; the vertical projections of the linear photoelectric signals of the two groups of correlation type photoelectric sensors on the upper surface of the vertical direction position detector 12-2 are superposed with the positioning cross line; the upper surface of the vertical direction position detector 12-2 can output horizontal direction position coordinates, which are relatively rough and less accurate than the horizontal direction position coordinates generated by the foregoing correlation type photoelectric sensor, while detecting the pressure contact. The horizontal position coordinates allow to know in which quadrant the calibration tool 11 is, thus facilitating the determination of the direction of movement when subsequently sweeping the two linear photoelectric signals in a horizontal direction.
In addition to the above embodiments, the vertical direction position detector 12-2 is a resistance pressure sensing panel, and the surface of the vertical direction position detector 12-2 is perpendicular to the Z-axis direction. Specifically, when the robot arm drives the calibration tool 11 to press down until the bottom end of the calibration tool 11 contacts the vertical position detector 12-2, the resistive pressure sensing panel generates a contact signal and transmits the contact signal to the controller, and the controller controls the robot arm to stop pressing down and calibrate the position of the Z axis according to the vertical position information of the position.
Of course, the vertical position detector 12-2 may be replaced by a pressure sensor or a retransmission sensor, and the horizontal position detector may be replaced by a diffuse reflection type laser sensor to achieve calibration with different accuracy.
On the basis of the above embodiments, each of the X-axis position detector and the Y-axis position detector includes at least one set of correlation type photosensors, the linear photoelectric signals of the X-axis position detector are parallel to the Y-axis direction, and the linear photoelectric signals of the Y-axis position detector are parallel to the X-axis direction.
Further, the X-axis position detector and the Y-axis position detector can both comprise a plurality of groups of correlation type photoelectric sensors to form a light curtain mode, or each group of correlation type photoelectric sensors transmits a plurality of linear photoelectric signals arranged at intervals, and the position information of each linear photoelectric signal is known. So set up, correlation type photoelectric sensor's line type photoelectric signal just forms netted light curtain in the horizontal plane, and X axle photoelectric signal and Y axle photoelectric signal can be blocked only to calibration tool 11 needs the small range to remove to in time acquire this calibration tool 11's horizontal position information, avoid long-time sweep wasted time.
In addition to the above embodiments, the support base 12-1 is in the form of a housing, a groove for placing the vertical position detector 12-2 is provided on one side of the support base 12-1, and the X-axis position detector and the Y-axis position detector are disposed on the periphery of the groove. The vertical direction position detector 12-2 is arranged in the groove, and the groove has a certain depth, so that after the calibration tool 11 is moved upwards conveniently, the bottom end of the calibration tool 11 is still positioned below the horizontal planes of the X-axis photoelectric signal and the Y-axis photoelectric signal, and subsequent calibration procedures are conveniently performed.
Besides the mechanical arm position calibration device, the invention also provides a full-automatic sample adding system comprising the mechanical arm position calibration device. Please refer to the prior art for other structures of the full-automatic sample adding system.
On the basis of the above embodiments, the full-automatic sample adding system further includes a sample adding station, a sample adding component 10, an operating component located on the sample adding station, and a mechanical arm module capable of driving the sample adding component 10 to move; the calibration tool 11 is mounted on the sample application member 10, and the calibration assembly 12 can be placed on the sample application station. Specifically, through installing calibration tool 11 on application of sample part 10, the arm drives application of sample part 10 and removes, and application of sample part 10 drives calibration tool 11, and the device can directly use in full-automatic application of sample system.
Preferably, the shape and size of the calibration assembly 12 conforms to the shape and size of the operative components. So set up, can directly utilize among the full-automatic application of sample system to the limit structure of operating element, directly carry on spacingly to the position of calibration subassembly 12, make things convenient for the installation location of calibration subassembly 12, it is easy and simple to handle, after the calibration is accomplished, directly take off calibration subassembly 12 can. It should be noted here that, a plurality of sample-adding stations can be set in the full-automatic sample-adding system to place each operating component, for example, the first sample-adding station 6, the second sample-adding station 7, the third sample-adding station 8, and the fourth sample-adding station 9, when the mechanical arm is calibrated, the calibration component 12 can replace the operating component with the same structure on the first sample-adding station 6, the second sample-adding station 7, the third sample-adding station 8, or the fourth sample-adding station 9, and after the calibration is finished, the calibration component 12 can be replaced with the operating component.
On the basis of the above embodiments, the full-automatic sample adding system further comprises an instrument bottom plate 1 and an instrument side plate 2, the sample adding station is located on the instrument bottom plate 1, and the mechanical arm module is installed on the instrument side plate 2; the mechanical arm module comprises an X-axis mechanical arm module 3, a Y-axis mechanical arm module 4 and a Z-axis mechanical arm module 5; the controller can control the X-axis mechanical arm module 3, the Y-axis mechanical arm module 4 and the Z-axis mechanical arm module 5 to move so as to drive the calibration tool 11 to move, and position information of the X-axis mechanical arm module 3, the Y-axis mechanical arm module 4 and the Z-axis mechanical arm module 5 when the calibration tool 11 moves to the calibration point 12-7 is obtained for calibration.
Besides the mechanical arm position calibration device and the full-automatic sample adding system, the invention also provides a mechanical arm position calibration method.
The mechanical arm position calibration method comprises the following steps:
step S110: operating the mechanical arm to drive the calibration tool 11 to move along the horizontal guide rail to the calibration tool 11 to start to block the linear photoelectric signal of the horizontal position detector, and acquiring first position information of the calibration tool 11 at the moment;
step S120: continuing to move the calibration tool 11 until the linear photoelectric signal is communicated, and acquiring second position information of the calibration tool 11 at the moment;
step S130: and taking a median value of the first position information and the second position information to obtain an accurate horizontal position of the calibration tool 11, and further calibrating the horizontal position of the mechanical arm.
The method for calibrating the position of the mechanical arm provided by the invention can realize automatic calibration of the mechanical arm by using the position relation between the linear photoelectric signals of the calibration tool 11 and the horizontal position detector as the calibration comparison value of the calibration tool 11, thereby reducing the dependence on the operation proficiency of a human, eliminating the artificial calibration error, shortening the calibration time, improving the calibration precision and avoiding the instrument damage.
In addition to the above embodiments, before step S110, the method further includes:
operating the robot arm so that the calibration tool 11 is positioned above the vertical direction position detector 12-2;
the controller controls the mechanical arm to operate to drive the calibration tool 11 to slowly descend until the bottom end of the calibration tool 11 touches the upper surface of the vertical direction position detector 12-2;
the controller stops the operation of the robot arm after receiving the contact signal, and calibrates the vertical position of the robot arm according to the vertical position of the upper surface of the vertical position detector 12-2.
In the process, before the mechanical arm is calibrated in the horizontal direction, the mechanical arm is calibrated in the vertical direction, and then the calibration in X, Y, Z three directions is realized.
On the basis of the above embodiments, after the step controller receives the contact signal, stops the operation of the robot arm, and calibrates the vertical position of the robot arm according to the vertical position of the upper surface of the vertical position detector 12-2, the method further includes:
and operating the mechanical arm to drive the calibration tool 11 to rise by a preset height along the Z axis, and ensuring that the bottom end of the calibration tool 11 is positioned below the horizontal plane of the linear photoelectric signal of the horizontal direction position detector. In the above step, the calibration tool 11 is controlled to ascend along the Z axis by a predetermined height, so that the calibration tool 11 can be moved conveniently, and after the horizontal calibration is completed, the calibration tool 11 is controlled to descend along the Z axis by the predetermined height.
On the basis of the above embodiments, after the step controller receives the contact signal, stops the operation of the robot arm, and calibrates the vertical position of the robot arm according to the vertical position of the upper surface of the vertical position detector 12-2, the method further includes:
reading the initial position of the calibration tool 11 output by the vertical direction position detector 12-2, and comparing the initial position with the set origin position;
if the X position or the Y position of the read initial position is small than the set original position, moving and searching to the positive direction of the X axis or the positive direction of the Y axis, recording the position of the X axis or the Y axis when the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor obtains a signal, then continuing moving until the signal of the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor disappears, and recording the position of the X axis or the Y axis again at the moment;
and reversely searching until the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor acquires signals, recording the position of the X-axis or the Y-axis again at the moment, continuing to move until the signals of the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor disappear, repeating the action for a plurality of times, determining the signal position of the X-axis or the Y-axis capture correlation type sensor and the position of the lost correlation type sensor signal, and taking the middle position of the two pieces of position information as the coordinate position of the X-axis or the Y-axis.
Specifically, when the robot arm is a three-axis robot arm and includes a horizontal X axis, a horizontal Y axis, and a vertical Z axis, the Y axis position information is calibrated on the basis of the above positioning, and first, according to the quadrant where the calibration tool 11 is located, detected by the vertical direction position detector 12-2, the robot arm is operated to move along the Y axis direction until the transmission of the Y axis photoelectric signal is blocked, the calibration tool 11 is continuously moved until the linear photoelectric signal is restored to be communicated, so that two pieces of position information are obtained, which are the position information when the photoelectric signal is just blocked and when the photoelectric signal is just restored, and the median value is taken, so that the accurate position in the Y axis direction of the calibration tool 11 is obtained, and the position of the Y axis robot arm is calibrated.
Further, a specific calibration method for the X-axis position accuracy is as follows: firstly, the X, Z position obtained in the step 1 of the mechanical arm is read and compared with the set original point position, the current mechanical arm is determined to move in the X direction, if the read X position is less than the set original point position, the mechanical arm is moved and searched in the positive direction of the X axis, when the X-axis correlation type photoelectric sensor obtains a signal, the X-axis position is recorded, then continuing to move until the signal of the X-axis correlation type photoelectric sensor disappears, recording the X-axis position again, then reversely searching until the X-axis correlation type photoelectric sensor acquires the signal, recording the X-axis position again, then, continuing to move until the X-axis correlation type photoelectric sensor signal disappears, repeating the action for multiple times, determining the signal position of the X-axis capture correlation type sensor and the position of the lost correlation type sensor signal, and then taking the middle position of the two position information as the coordinate position of the X-axis;
further, a specific calibration method for the Y-axis position accuracy is as follows: firstly, the Y, Z position obtained in the step 1 of the mechanical arm is read and compared with the set original point position, the current mechanical arm is determined to move in the Y direction, if the read Y position is less than the set original point position, the movement search is carried out in the positive direction of the Y axis, when the Y-axis correlation type photoelectric sensor obtains signals, the Y-axis position is recorded, then continuing to move until the signal of the Y-axis correlation type photoelectric sensor disappears, recording the Y-axis position again, then reversely searching until the Y-axis correlation type photoelectric sensor acquires the signal, recording the Y-axis position again, and then, continuing to move until the Y-axis correlation type photoelectric sensor signal disappears, repeating the action for a plurality of times, determining the signal position of the Y-axis capture correlation type sensor and the position of the lost correlation type sensor signal, and taking the middle position of the two position information as the coordinate position of the Y-axis.
In addition to the above embodiments, the present invention further includes:
step S141: positioning the mechanical arm above the calibration assembly 12, and controlling the Z-axis to slowly descend until the lower end of the calibration tool 11 is located below the horizontal plane of the X, Y axis type photoelectric signal;
step S142: operating the X-axis mechanical arm or the Y-axis mechanical arm to enable the calibration tool 11 to move along the X-axis direction or the Y-axis direction until the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor captures a signal, then continuing to move until the signal leaves the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor, repeating the repeated movement of the position along the Y-axis direction or the X-axis direction for multiple times to capture the X-axis position contacting and leaving the Y-axis correlation type photoelectric sensor or the Y-axis position of the X-axis correlation type photoelectric sensor, and calculating the midpoint coordinate of the X-axis position or the midpoint coordinate of the Y-axis position;
step S143: moving the mechanical arm along the Y-axis direction or the X-axis direction for a set distance, then repeating step S142, obtaining the X-axis position or the Y-axis position of one calibration tool 11 again, and calculating the deviation of the X-axis position or the Y-axis position twice to obtain the assembly error of the X-axis or the Y-axis of the mechanical arm and the included angle between the X-axis or the Y-axis and the theoretical axis, so as to conveniently and accurately adjust the X-axis mechanical arm or the Y-axis mechanical arm according to the included angle, thereby eliminating the installation error.
Specifically, the determination of the assembly and machining error of the X axis of the mechanical arm includes:
step S141: positioning the mechanical arm above the calibration assembly 12, and controlling the Z-axis to slowly descend until the lower end of the calibration tool 11 is located below the horizontal plane of the X, Y axis type photoelectric signal;
step S142: operating an X-axis mechanical arm to enable the calibration tool 11 to move along the X-axis direction until the Y-axis correlation type photoelectric sensor captures a signal, then continuing to move until the signal leaves the Y-axis correlation type photoelectric sensor, repeating the repeated movement along the Y-axis direction at the position for multiple times to capture the X-axis position contacting and leaving the Y-axis correlation type photoelectric sensor, and calculating the midpoint coordinate of the X-axis position;
step S143: moving the mechanical arm along the Y-axis direction for a set distance, repeating the step S142, obtaining the X-axis position of one calibration tool 11 again, and calculating the deviation of the X-axis positions twice to obtain the assembly error of the X-axis of the mechanical arm and the included angle between the X-axis and the theoretical axis, so that the X-axis mechanical arm can be accurately adjusted according to the included angle to eliminate the installation error.
Specifically, the determination of the assembly and machining error of the Y axis of the mechanical arm includes:
step S141: positioning the mechanical arm above the calibration assembly 12, and controlling the Z-axis to slowly descend until the lower end of the calibration tool 11 is located below the horizontal plane of the X, Y axis type photoelectric signal;
step S142: operating a Y-axis mechanical arm to enable the calibration tool 11 to move along the Y-axis direction until the X-axis correlation type photoelectric sensor captures a signal, then continuing to move until the signal leaves the X-axis correlation type photoelectric sensor, repeating the repeated movement along the X-axis direction at the position for multiple times to capture the Y-axis position contacting and leaving the X-axis correlation type photoelectric sensor, and calculating the midpoint coordinate of the Y-axis position;
step S143: moving the mechanical arm along the X-axis direction for a set distance, repeating the step S142, obtaining the Y-axis position of one calibration tool 11 again, and calculating the deviation of the Y-axis positions twice to obtain the assembly error of the Y-axis of the mechanical arm and the included angle between the Y-axis and the theoretical axis, so that the Y-axis mechanical arm can be accurately adjusted according to the included angle to eliminate the installation error.
Furthermore, still be equipped with drive assembly on the arm module, after acquireing the assembly error, the controller is according to the contained angle of assembly error and X axle axis or Y axle axis and theoretical axis, and the drive assembly drives the arm module swing that corresponds to realize automatic adjustment. Of course, manual adjustment is also possible.
The method for calibrating the assembling precision of the mechanical arm can quickly and accurately measure the assembling error of the mechanical arm, and is convenient for an assembler to adjust and assemble so as to meet the precision requirement.
In addition to the above embodiments, before step S110, the method further includes:
a plurality of pairs of correlation photoelectric sensors are arranged in the X-axis direction and/or the Y-axis direction respectively, or correlation photoelectric sensors capable of transmitting a plurality of linear photoelectric signals arranged at intervals are arranged, and the position information of each linear photoelectric signal is known. In the above steps, the linear photoelectric signal of the correlation photoelectric sensor forms a mesh light curtain in the horizontal plane, and the calibration tool 11 can block the X-axis photoelectric signal and the Y-axis photoelectric signal only by moving in a small range, so that the horizontal position information of the calibration tool 11 can be obtained in time, and time waste due to long-time transverse scanning is avoided.
In one embodiment, the method for calibrating the position of the mechanical arm comprises the following steps:
step S201: moving the Z-axis robot arm with the calibration tool 11 over the calibration device;
step S202: moving the calibration tool 11 downwards;
step S203: determining whether the calibration tool 11 has dropped to a limit;
step S204: if the calibration tool 11 falls to the limit, alarming and prompting;
step S205: judging whether the sensor of the calibration device detects touch;
step S206: recording the current mechanical arm position and lifting the calibration tool 11 upwards by a specified height;
step S207: judging whether the position of the Y axis of the current coordinate is greater than the position of a calibration point 12-7Y or not;
step S208: moving the calibration tool 11 in the + Y direction;
step S209: moving the calibration tool 11 in the-Y direction;
step S210: the mechanical arm moves to the Y-direction limit;
step S211: the receiving end of the X-axis sensor detects the calibration tool 11;
step S212: finding the center in the Y direction;
step S213: judging whether the position of the X axis of the current coordinate is greater than the position of a calibration point by 12-7X;
step S214: moving the calibration tool 11 in the + X direction;
step S215: moving the calibration tool 11 in the-Y direction;
step S216: the mechanical arm moves to the limit of the X direction;
step S217: the receiving end of the Y-axis sensor detects the calibration tool 11;
step S218: finding the center in the X direction, and lowering the calibration tool 11 by a specified height;
step S219: recording the current coordinate and resetting the coordinates of the calibration point 12-7;
step S220: and finishing the calibration.
The mechanical arm position calibration method comprises the steps that a mechanical arm moves to a position where a calibration component 12 is placed at first, then slowly descends until the tip of a calibration tool 11 touches a sensor of a calibration device, and a controller records the position of a Z axis at the moment and lifts the Z axis to a fixed height; the positional relationship between the coordinates of the current position X, Y and the coordinates of the original calibration point 12-7 is determined, and then it is determined in which direction the calibration jig 11 is to be moved. When calibrating the X axis, the relation between the X coordinate of the current position and the X coordinate of the calibration point 12-7 needs to be judged, if the current X coordinate is larger than the X coordinate of the calibration point 12-7, the X axis moves towards the X axis-direction, otherwise, the X axis moves towards the X axis + direction until the Y direction sensor detects the calibration tool 11. When calibrating the Y axis, the relation between the Y coordinate of the current position and the Y coordinate of the calibration point 12-7 needs to be judged, if the current Y coordinate is larger than the Y coordinate of the calibration point 12-7, the current Y coordinate moves towards the Y axis-direction, otherwise, the current Y coordinate moves towards the Y axis + direction until the X-direction sensor detects the calibration tool 11; if the tip of the calibration tool 11 reaches the limit position in the calibration process, the alarm is given out for prompting. According to the method, the position coordinates of the mechanical arm are acquired by using the sensor, automatic calibration is realized without the intervention of workers, the calibration precision is improved, and the cost can be well controlled.
The present invention provides a device and method for calibrating the position of a robot arm. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A robot arm position calibration apparatus, comprising a controller, a calibration assembly (12), and a calibration tool (11) mounted on and moving with the robot arm; the calibration assembly (12) comprises a support base (12-1) and a correlation type horizontal direction position detector which is arranged on the support base (12-1) and used for calibrating the calibration tool (11) along the horizontal direction; the controller is used for acquiring a blocking state signal of the linear photoelectric signal sent by the horizontal direction position detector by the calibration tool (11) to calculate horizontal direction calibration coordinates.
2. The robot arm position calibration apparatus according to claim 1, wherein the horizontal direction position detector includes a correlation type X-axis position detector and a correlation type Y-axis position detector for calibrating the calibration tool (11) along X-axis and Y-axis, respectively; the calibration assembly (12) further comprises a vertical direction position detector (12-2) for calibrating the calibration tool (11) along the Z axis, the linear photoelectric signal of the X axis position detector is perpendicular to the linear photoelectric signal of the Y axis position detector, and the intersection point of the X axis position detector and the Y axis position detector is projected as a calibration point (12-7) on the surface of the vertical direction position detector (12-2); the controller is also used for acquiring pressure information of the vertical direction position detector (12-2) and recording Z-direction calibration coordinates.
3. The robot arm position calibration apparatus according to claim 2, wherein the vertical direction position detector (12-2) is a resistive pressure sensing panel, and a surface of the vertical direction position detector (12-2) is perpendicular to the Z-axis direction; the X-axis position detector and the Y-axis position detector both comprise at least one group of correlation type photoelectric sensors, linear photoelectric signals of the X-axis position detector are parallel to the Y-axis direction, and linear photoelectric signals of the Y-axis position detector are parallel to the X-axis direction.
4. The robot arm position calibration device according to claim 2 or 3, wherein the support base (12-1) is in the form of a housing, a groove for receiving the vertical direction position detector (12-2) is provided on one side of the support base (12-1), and the X-axis position detector and the Y-axis position detector are disposed on the periphery of the groove.
5. A fully automatic sample adding system, comprising a mechanical arm position calibration device, wherein the mechanical arm position calibration device is the mechanical arm position calibration device of any one of claims 1 to 4; the device comprises a sample adding station, a sample adding component (10), an operating component positioned on the sample adding station and a mechanical arm module capable of driving the sample adding component (10) to move; the calibration tool (11) is arranged on the sample adding component (10), and the calibration component (12) can be placed on the sample adding station; the shape and size of the calibration assembly (12) conforms to the shape and size of the operative component.
6. A robot position calibration method applied to the robot position calibration apparatus according to any one of claims 1 to 4, comprising the steps of:
step S110: the method comprises the steps that a mechanical arm is operated to drive a calibration tool (11) to move along a horizontal guide rail to the calibration tool (11) to start to block a linear photoelectric signal of a horizontal position detector, and first position information of the calibration tool (11) at the moment is obtained;
step S120: continuously moving the calibration tool (11) until the linear photoelectric signal is communicated, and acquiring second position information of the calibration tool (11) at the moment;
step S130: and taking a median value of the first position information and the second position information to obtain the accurate position of the calibration tool (11) in the horizontal direction, and further calibrating the position of the mechanical arm in the horizontal direction.
7. The method for calibrating the position of a robot arm according to claim 6, wherein the step S110 is preceded by the step of:
operating the robot arm so that the calibration tool (11) is positioned above the vertical position detector (12-2);
the controller controls the mechanical arm to run to drive the calibration tool (11) to slowly descend until the bottom end of the calibration tool (11) touches the upper surface of the vertical direction position detector (12-2);
and after receiving the contact signal, the controller stops the operation of the mechanical arm and calibrates the vertical position of the mechanical arm according to the vertical position of the upper surface of the vertical position detector (12-2).
8. The method for calibrating a position of a robot arm according to claim 7, wherein said step, after said controller stops the operation of said robot arm after receiving the contact signal and calibrates a vertical position of said robot arm based on a vertical position of an upper surface of said vertical position detector (12-2), further comprises:
and operating the mechanical arm to drive the calibration tool (11) to rise by a preset height along the Z axis, and ensuring that the bottom end of the calibration tool (11) is positioned below the horizontal plane where the linear photoelectric signal of the horizontal direction position detector is positioned.
9. The method for calibrating a position of a robot arm according to claim 7, wherein said step, after said controller stops the operation of said robot arm after receiving the contact signal and calibrates a vertical position of said robot arm based on a vertical position of an upper surface of said vertical position detector (12-2), further comprises:
reading the initial position of the calibration tool (11) output by the vertical direction position detector (12-2) and comparing the initial position with a set origin position;
if the X position or the Y position of the read initial position is small than the set original position, moving and searching to the positive direction of the X axis or the positive direction of the Y axis, recording the position of the X axis or the Y axis when the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor obtains a signal, then continuing moving until the signal of the X axis correlation type photoelectric sensor or the Y axis correlation type photoelectric sensor disappears, and recording the position of the X axis or the Y axis again at the moment;
and reversely searching until the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor acquires signals, recording the position of the X-axis or the Y-axis again at the moment, continuing to move until the signals of the X-axis correlation type photoelectric sensor or the Y-axis correlation type photoelectric sensor disappear, repeating the action for a plurality of times, determining the signal position of the X-axis or the Y-axis capture correlation type sensor and the position of the lost correlation type sensor signal, and taking the middle position of the two pieces of position information as the coordinate position of the X-axis or the Y-axis.
10. The method for calibrating a position of a robot arm according to any one of claims 6 to 9, further comprising:
step S141: positioning the mechanical arm above the calibration assembly (12), and controlling the Z axis to slowly descend until the lower end of the calibration tool (11) is positioned below the level of X, Y axis type photoelectric signals;
step S142: operating the X-axis mechanical arm or the Y-axis mechanical arm, enabling the calibration tool (11) to move along the X-axis direction or the Y-axis direction until the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor captures signals, then continuing to move until the signals leave the Y-axis correlation type photoelectric sensor or the X-axis correlation type photoelectric sensor, repeating the repeated movement on the position along the Y-axis direction or the X-axis direction for multiple times to capture the X-axis position contacting and leaving the Y-axis correlation type photoelectric sensor or the Y-axis position of the X-axis correlation type photoelectric sensor, and calculating the midpoint coordinate of the X-axis position or the midpoint coordinate of the Y-axis position;
step S143: and moving the mechanical arm along the Y-axis direction or the X-axis direction for a set distance, then repeating the step S142, obtaining the X-axis position or the Y-axis position of the calibration tool (11) again, and calculating the deviation of the X-axis position or the Y-axis position twice to obtain the assembly error of the X-axis or the Y-axis of the mechanical arm and the included angle between the X-axis or the Y-axis and the theoretical axis.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026843A (en) * | 2022-08-11 | 2022-09-09 | 佛山智能装备技术研究院 | Automatic TCP calibration and deviation correction method based on cross laser sensor |
| CN116218649A (en) * | 2022-12-30 | 2023-06-06 | 德诺杰亿（北京）生物科技有限公司 | Automatic calibration method and device for sample loading table of gene analyzer and gene analyzer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115026843A (en) * | 2022-08-11 | 2022-09-09 | 佛山智能装备技术研究院 | Automatic TCP calibration and deviation correction method based on cross laser sensor |
| CN116218649A (en) * | 2022-12-30 | 2023-06-06 | 德诺杰亿（北京）生物科技有限公司 | Automatic calibration method and device for sample loading table of gene analyzer and gene analyzer |
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