CN112497215A - Automatic mechanical arm locking method, device and system - Google Patents
Automatic mechanical arm locking method, device and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention provides a method, a device and a system for automatically locking a mechanical arm, which relate to the technical field of medical instruments and comprise the following steps: firstly, acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; then calculating the difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; and when the difference value is smaller than the mechanical arm joint compensation parameter, locking the mechanical arm joint. According to the invention, the angle value comparison is not needed manually, the manpower is saved, the locking operation can be carried out in time, the high-precision alignment can be completed in a one-time locking mode, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method, a device and a system for automatically locking a mechanical arm.
Background
With the development of science and technology, medical surgical robots are increasingly applied to auxiliary medical treatment in hospitals. The mechanical arms on the robot can be divided into an active mechanical arm and a driven mechanical arm according to the power source of the mechanical arms, the active mechanical arm is provided with power required by the motion of the mechanical arms by a motor, and the driven mechanical arm is provided with power required by the motion of the mechanical arms by the traction of external force of a person. The active mechanical arm comprises a motor, a speed reducer and the like, is large in size, high in cost and not beneficial to large-scale popularization, the passive mechanical arm solves the problems of large size and high cost, high-precision alignment can be achieved only by repeatedly executing locking and unlocking steps in the process of aligning joints of the mechanical arm, two persons are needed to cooperate in the using process, one person pulls the mechanical arm to move, the other person carries out angle comparison, the mechanical arm is locked after the angle comparison is consistent, and the efficiency of the operation process is low.
Disclosure of Invention
The invention aims to provide an automatic locking method, device and system of a mechanical arm, so as to solve the technical problems that locking and unlocking operations need to be executed for multiple times in the alignment process, manpower is wasted and efficiency is low in the prior art.
In a first aspect, the present invention provides an automatic locking method for a robot arm, including: acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; calculating a difference between the current angle value and a target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; and when the difference value is smaller than the mechanical arm joint compensation parameter, locking the mechanical arm joint so as to realize the locking of the mechanical arm where the mechanical arm joint is located.
Further, the mechanical arm joint is locked, and the method comprises the following steps: and locking the mechanical arm joint based on the mechanical arm deceleration coefficient.
Further, after locking the mechanical arm joint, the method comprises: acquiring a final angle value of a mechanical arm joint; the final angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint locked at the final position; and adjusting the mechanical arm joint compensation parameters based on the final angle value and the target angle value.
Further, after calculating the difference between the current angle value and the target angle value, the method further includes: judging whether the difference value is smaller than the mechanical arm joint compensation parameter or not; and when the difference value is not less than the mechanical arm joint compensation parameter, moving the mechanical arm joint.
Further, after the locking the mechanical arm joint, the method further comprises: recording the time taken for the mechanical arm joint to align from a locked initial position to the target position; and adjusting the mechanical arm deceleration coefficient based on the time.
In a second aspect, the present invention provides an automatic locking device for a robot arm, including: the first acquisition unit is used for acquiring the current angle value of the mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; the calculating unit is used for calculating the difference value between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; and the locking unit is used for locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter so as to realize the locking of the mechanical arm where the mechanical arm joint is located.
Further, the apparatus further comprises: the second acquisition unit is used for acquiring a final angle value of the mechanical arm joint; the final angle value is used for representing an angle value corresponding to the position information of the final position of the mechanical arm joint after locking; and the first adjusting unit is used for adjusting the mechanical arm joint compensation parameters based on the final angle value and the target angle value.
In a third aspect, the present invention provides an automatic locking system for a robot arm, including: the system comprises a computer, a mechanical arm controller, a clutch, a mechanical arm joint, a mechanical arm encoder and a collection card which are connected in sequence; the computer acquires the current angle value of the mechanical arm joint through the acquisition card; the current angle value is used for representing an angle value corresponding to position information of the mechanical arm joint at the current position, and the current angle value is obtained by converting the mechanical arm code; the computer calculating a difference between the current angle value and a target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; when the difference value is smaller than the compensation parameter of the mechanical arm joint, the computer sends a locking instruction to the mechanical arm controller, so that the mechanical arm controller locks the mechanical arm joint through the clutch, and the locking of the mechanical arm where the mechanical arm joint is located is achieved.
In a fourth aspect, the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the automatic locking method for a robot arm.
In a fifth aspect, the present invention also provides a computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the robotic arm auto-locking method.
The invention provides a method, a device and a system for automatically locking a mechanical arm, wherein the method comprises the following steps: firstly, acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; then calculating the difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; and when the difference value is smaller than the mechanical arm joint compensation parameter, locking the mechanical arm joint. According to the invention, the angle value comparison is not needed manually, the manpower is saved, the mechanical arm joint can be locked in time by acquiring the current angle value of the mechanical arm joint, calculating the difference value between the current angle value and the target angle value and locking the mechanical arm joint when the difference value is smaller than the compensation parameter of the mechanical arm joint, and the high-precision alignment can be completed by one-time locking, so that the working efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic locking system of a robot according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic locking method for a robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for automatically locking a robotic arm according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic locking device for a robot arm according to an embodiment of the present invention.
Icon:
10-a computer; 20-a robot arm controller; 30-a clutch; 40-mechanical arm joint; 50-mechanical arm encoder; 60-acquisition card; 11-a first acquisition unit; 12-a calculation unit; 13-locking unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the development of science and technology, medical surgical robots are increasingly applied to auxiliary medical treatment in hospitals. The mechanical arms on the robot can be divided into an active mechanical arm and a driven mechanical arm according to the power source of the mechanical arms, the active mechanical arm is provided with power required by the motion of the mechanical arms by a motor, and the driven mechanical arm is provided with power required by the motion of the mechanical arms by the traction of external force of a person. The active mechanical arm comprises a motor, a speed reducer and the like, is large in size, high in cost and not beneficial to large-scale popularization, the passive mechanical arm solves the problems of large size and high cost, high-precision alignment can be achieved only by repeatedly executing locking and unlocking steps in the process of aligning joints of the mechanical arm, two persons are needed to cooperate in the using process, one person pulls the mechanical arm to move, the other person carries out angle comparison, the mechanical arm is locked after the angle comparison is consistent, and the efficiency of the operation process is low. Based on the above, the invention aims to provide an automatic locking method, device and system for a mechanical arm, which can realize automatic locking, complete high-precision alignment in a one-time locking mode and improve the working efficiency.
For the convenience of understanding the embodiment, a detailed description will be given to an automatic locking system of a robot arm disclosed in the embodiment of the present invention.
Example 1:
as shown in fig. 1, an embodiment of the present invention provides an automatic locking system for a robot arm, including: the system comprises a computer 10, a mechanical arm controller 20, a clutch 30, a mechanical arm joint 40, a mechanical arm encoder 50 and a collection card 60 which are connected in sequence. The computer 10 acquires the current angle value of the mechanical arm joint 40 through the acquisition card 60; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint 40 at the current position, and the current angle value is obtained by converting mechanical arm codes; the computer 10 calculates a difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint 40 at the target position; when the difference is smaller than the compensation parameter of the mechanical arm joint 40, the computer 10 sends a locking instruction to the mechanical arm controller 20, so that the mechanical arm controller 20 locks the mechanical arm joint 40 through the clutch 30 to lock the mechanical arm where the mechanical arm joint 40 is located.
The present embodiment describes the following components: the computer 10 is responsible for calculating the difference between the current angle value and the target angle value and sending a lock command to the arm controller 20. The arm controller 20 is responsible for releasing and locking each arm joint 40 on the arm, and is also used for providing a communication interface and a key interface, so that on one hand, the locking command of the computer 10 can be received, and on the other hand, the control can be performed manually. The key interface is used for connecting a key control panel, and the key control panel is connected with the mechanical arm through a data line outside the mechanical arm. The clutch 30 is used to perform locking or unlocking of the robot arm joint 40. The robot joint 40 described above can realize the movement of the robot. And a robot arm encoder 50 for converting the position information of the robot arm joint 40 at the current position into a current angle value corresponding to the position information of the current position. The acquisition card 60 is used for acquiring the current angle value in real time.
In the present embodiment, the number of the robot arm joints 40 on the robot arm to be locked may be one or more. After all the robot joints 40 on one robot arm to be locked are locked, it means that the robot arm as a whole completes the locking operation.
The embodiment has the following advantages: (1) the locking mode of the joint of the driven mechanical arm is improved, the original mode of manually trying to lock for multiple times can be changed into an intelligent and automatic one-time locking mode, so that the time is saved, and the labor is saved; (2) because this application need not the participation of motor and reduction gear at the in-process of locking, only can realize the locking to the arm joint through the clutch, and the power that the arm shut down removed is provided by outside people's hand traction, consequently can improve bulky, the problem with high costs that active type arm joint locking mode exists. (3) Compared with the existing locking mode of the joint of the mobility mechanical arm, the configuration of an operator is simplified, and two-person operation is changed into one-person operation. (4) The mechanical arm joint compensation parameters can be adjusted according to actual conditions, so that the locking precision of the mechanical arm can be ensured.
The automatic locking system of arm that this embodiment provided can be automatic compares the current angle value of arm joint with the target angle value, and when the difference was less than arm joint compensation parameter, the computer sent the locking instruction to the arm controller, can avoid the arm to aim at many times, and the replacement manual work has realized the operation of locking the arm, can realize one-man operation, and this personnel only be used for pulling the arm motion can. The specific working flow of the automatic locking system of the mechanical arm is shown in the following embodiment 2, and the detailed description is omitted here.
Example 2:
in accordance with embodiment 1, the present embodiment provides an embodiment of a method for automatic locking of a robot arm, it should be noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated herein.
Fig. 2 is a flowchart of an automatic locking method for a robot according to an embodiment of the present invention, as shown in fig. 2, the method includes the following steps:
step S202, acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position;
step S204, calculating the difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position;
and S206, locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter.
In an embodiment of the present invention, locking a robot arm joint includes: and locking the mechanical arm joint based on the mechanical arm deceleration coefficient.
The embodiment of the invention provides an automatic locking method of a mechanical arm, which comprises the following steps: firstly, acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; then calculating the difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; and when the difference value is smaller than the mechanical arm joint compensation parameter, locking the mechanical arm joint. According to the embodiment of the invention, the angle value comparison is not needed to be carried out in a manual mode, the manpower is saved, the mechanical arm joint can be locked in time by a mode of obtaining the current angle value of the mechanical arm joint, calculating the difference value between the current angle value and the target angle value and locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter, the high-precision alignment can be completed in a one-time locking mode, and the working efficiency is improved.
In an alternative embodiment, as shown in fig. 3, after calculating the difference between the current angle value and the target angle value, the method further comprises:
step S205, judging whether the difference value is smaller than a mechanical arm joint compensation parameter;
and step S207, when the difference is not less than the mechanical arm joint compensation parameter, moving the mechanical arm joint.
In this embodiment, the locking initial position refers to a current position of the mechanical arm joint when the difference is equal to the mechanical arm joint compensation parameter. In order to ensure the locking precision of the mechanical arm, the mechanical arm joint compensation parameters can be subjected to self-adaptive learning adjustment, namely the mechanical arm joint compensation parameters can be automatically adjusted according to the use scene of the mechanical arm, the service life and other factors. In an alternative embodiment, after locking the robot arm joint, the method further comprises:
step S208, acquiring a final angle value of the mechanical arm joint; and the final angle value is used for representing the angle value corresponding to the position information of the mechanical arm joint locked at the final position.
And step S209, adjusting the joint compensation parameters of the mechanical arm based on the final angle value and the target angle value.
The number of degrees of freedom of the robot arm is N, which may be 5, 6 or other values greater than 6. Wherein i is 1, 2 … N. The mechanical arm joint compensation parameters of the mechanical arm joint i can be recorded asCiThe computer reads the final angle value of the mechanical arm joint i after the mechanical arm joint i is automatically locked each time, calculates the difference value between the final angle value and the target angle value, and adjusts C according to the difference valueiWhen the difference is greater than 0, increasing CiDecreasing C when the difference is less than 0i。
The use of the mechanical arm joint compensation parameters was analyzed as follows: let the target angle value be AiThe current angle value is BiAnd in the process of drawing the mechanical arm joint i to move in a manual mode, the motion inertia exists when the clutch is locked, if B is usedi＝AiWhen the clutch is locked again, the final position where the mechanical arm joint i really stays will be the same as AiThere is a certain deviation of the corresponding target position (if at A)i10, and BiWhen the clutch is locked at 10 hours, the angle value corresponding to the final position at which the robot arm joint i is actually stopped is 10.2.
In general, CiThe parameters are obtained by continuous test adjustment when the mechanical arm leaves factory, so that the joint of the mechanical arm can be in the position Bi＝Ai-CiThe clutch is locked at the beginning so that the final position where the mechanical arm joint i really stops is AiThe corresponding target position.
After the mechanical arm is used for a period of time, a clutch of the mechanical arm can generate mechanical abrasion, so that the performance of the mechanical arm is influenced, and the mechanical arm can automatically record the final position A after each real locking in the using process of the mechanical armi"A when clutch joint is worni`-Ai>0, then CiIs adjusted to Ci+Ai`-Ai。
In order to ensure the locking precision of the mechanical arm, the speed reduction coefficient of the mechanical arm can also be subjected to self-adaptive learning adjustment, namely the speed reduction coefficient of the mechanical arm can also be automatically adjusted according to the use scene, the service life and other factors of the mechanical arm. In an alternative embodiment, after locking the robot arm joint, the method further comprises:
step S210, recording the time spent by aligning the mechanical arm joint from the locking initial position to the target position;
in step S211, the deceleration coefficient of the robot arm is adjusted based on time.
In the present embodiment, the robot arm deceleration coefficient M of the robot arm joint iiAutomatic adjustment may be performed. When the mechanical arm is used in different use scenes, the computer can acquire and record the time spent by aligning each joint to the target angle value in real time, and the M is automatically reduced when the spent time is prolongediThe value is to reduce the robot arm resistance and thus reduce the alignment time of the robot arm joint i. It should be noted that MiThe following formula is satisfied: miThe x time t is a fixed value H, and the value of H is determined by hand teaching at the time of shipment.
The robot arm automatic locking method provided by the application is described in combination with the structure of the robot arm automatic locking system as follows: the mechanical arm comprises a plurality of mechanical arm joints, and each mechanical arm joint corresponds to one mechanical arm encoder, one acquisition card and one clutch, so that a plurality of mechanical arm encoders, a plurality of acquisition cards and a plurality of clutches exist. According to the method and the device, each mechanical arm encoder can be moved to the zero point, and all the acquisition cards are initialized, namely all the acquisition cards are set to be initial values. The conversion of the position information of the mechanical arm at the current position can be realized through the mechanical arm encoder in the embodiment, and the conversion is the current angle value. According to the embodiment, all mechanical arm joints can be loosened in sequence, and the self-locking is completed by aligning angles in sequence from the direction of small angle to large angle.
The mechanical arm has two locking modes, one mode is that single mechanical arm joints are locked one by one, the other mode is that multiple mechanical arm joints are locked simultaneously, and the two locking modes are specifically described as follows:
the individual robot joints are locked one by one, and the following description will be given by taking the example of locking one of the robot joints i: and step 0, moving each mechanical arm joint on the mechanical arm to a zero position to perform zero resetting initialization on the mechanical arm joint. Step 1: the computer calculates the target position (X) of each robot joint i (i ═ 1, 2 … N) from the actual scenei，Yi，Zi) A target angle value A ofiThe algorithm adopted by the calculation comprisesBut is not limited to, an inverse solution algorithm. Step 2: pressing a switch on the key control board to loosen the mechanical arm joint i, manually dragging the mechanical arm joint i, and enabling the mechanical arm encoder to enable the mechanical arm joint i to be located at the current position (x)i，yi，zi) Is converted into a current angle value BiAnd uploading to a computer through an acquisition card. The operation of releasing the mechanical arm joint i can be not only limited to releasing at the zero position, but also can perform releasing operation at any position. Generally, when the mechanical arm is reset, each joint moves to a zero position, and then the position information of the current position is read by a computer connected with the mechanical arm and marked as the zero position. And step 3: the computer calculates the target angle value AiValue B of the current angleiDifference Delta betweeni，Deltai＝|Ai-BiL. And 4, step 4: when DeltaiWhen the force is gradually reduced, the clutch is gradually tightened, the resistance F between the friction plates in the clutch (simply called mechanical arm resistance) is gradually increased, and the moving distance L of the joint of the mechanical arm in unit force unit timeiBecome smaller in steps, F and LiThe relationship between them is as follows: l isi*F＝MiWherein M isiFor the deceleration coefficient of the mechanical arm, by adjusting MiThe operation hand feeling, M, of the mechanical arm can be adjusted in different numerical modesiThe larger the value, the faster the resistance to movement of the robotic arm joint increases. And 5: when Deltai<Mechanical arm joint compensation parameter CiAnd when the mechanical arm joint is locked, the clutch locks the mechanical arm joint. And each mechanical arm joint is locked in sequence, and after all the mechanical arm joints are locked, the integral locking of the mechanical arm can be realized.
It should be noted that the simultaneous locking mode of multiple arm joints is similar to the one-by-one locking mode of a single arm joint in the operation of realizing locking, and the difference is that the former is synchronous locking, i.e. no sequence, and the latter is sequential and asynchronous locking. The beneficial effects to be achieved by the present application can be achieved by any of the above locking manners.
Example 3:
the embodiment of the present invention provides an automatic locking device for a mechanical arm, which is mainly used for executing the automatic locking method for a mechanical arm provided in the above-mentioned embodiment 2, and the following describes the automatic locking device for a mechanical arm provided in the embodiment of the present invention in detail.
Fig. 4 is a schematic structural diagram of an automatic locking device for a robot arm according to an embodiment of the present invention. As shown in fig. 4, the robot arm automatic locking device mainly includes: a first acquisition unit 11, a calculation unit 12 and a locking unit 13, wherein:
the first obtaining unit 11 is used for obtaining a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position;
a calculating unit 12, configured to calculate a difference between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position;
and the locking unit 13 is used for locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter.
The automatic locking device for the mechanical arm provided by the embodiment of the invention firstly utilizes the first acquisition unit 11 to acquire the current angle value of the mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position; then, calculating the difference between the current angle value and the target angle value by using a calculating unit 12; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position; when the difference is smaller than the mechanical arm joint compensation parameter, the mechanical arm joint is locked by the locking unit 13. According to the embodiment of the invention, the angle value comparison is not needed manually, the manpower is saved, the mechanical arm joint can be locked in time by a mode of obtaining the current angle value of the mechanical arm joint, calculating the difference value between the current angle value and the target angle value and locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter, the high-precision alignment can be completed by a one-time locking mode, and the working efficiency is improved.
Optionally, the locking unit is further configured to lock the joint of the mechanical arm based on the mechanical arm deceleration coefficient.
Optionally, the apparatus further includes a second obtaining unit and a first adjusting unit, wherein:
the second acquisition unit is used for acquiring a final angle value of the mechanical arm joint; the final angle value is used for representing an angle value corresponding to the position information of the final position of the mechanical arm joint after locking;
and the first adjusting unit is used for adjusting the joint compensation parameters of the mechanical arm based on the final angle value and the target angle value.
Optionally, the apparatus further includes a determining unit and a moving unit, wherein:
the judging unit is used for judging whether the difference value is smaller than the mechanical arm joint compensation parameter or not;
and the moving unit is used for moving the mechanical arm joint when the difference value is not less than the mechanical arm joint compensation parameter.
Optionally, the apparatus further includes a recording unit and a second adjusting unit, wherein:
the recording unit is used for recording the time spent by the mechanical arm joint to align from the locking initial position to the target position;
and the second adjusting unit is used for adjusting the deceleration coefficient of the mechanical arm based on time.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In an optional embodiment, the present embodiment further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps of the method of the foregoing method embodiment.
In an alternative embodiment, the present embodiment also provides a computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of the above method embodiment.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present embodiment, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present embodiment. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present embodiment or parts of the technical solution may be essentially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. An automatic locking method of a mechanical arm is characterized by comprising the following steps:
acquiring a current angle value of a mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position;
calculating a difference between the current angle value and a target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position;
and when the difference value is smaller than the mechanical arm joint compensation parameter, locking the mechanical arm joint so as to realize the locking of the mechanical arm where the mechanical arm joint is located.
2. The method of claim 1, wherein locking the robotic arm joint comprises:
and locking the mechanical arm joint based on the mechanical arm deceleration coefficient.
3. The method of claim 1, after locking the robotic arm joint, comprising:
acquiring a final angle value of a mechanical arm joint; the final angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint locked at the final position;
and adjusting the mechanical arm joint compensation parameters based on the final angle value and the target angle value.
4. The method of claim 1, further comprising, after calculating the difference between the current angle value and the target angle value:
judging whether the difference value is smaller than the mechanical arm joint compensation parameter or not;
and when the difference value is not less than the mechanical arm joint compensation parameter, moving the mechanical arm joint.
5. The method of claim 1, further comprising, after locking the robotic arm joint:
recording the time taken for the mechanical arm joint to align from a locked initial position to the target position;
and adjusting the mechanical arm deceleration coefficient based on the time.
6. An automatic locking device of a mechanical arm, which is characterized by comprising:
the first acquisition unit is used for acquiring the current angle value of the mechanical arm joint; the current angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the current position;
the calculating unit is used for calculating the difference value between the current angle value and the target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position;
and the locking unit is used for locking the mechanical arm joint when the difference value is smaller than the mechanical arm joint compensation parameter so as to realize the locking of the mechanical arm where the mechanical arm joint is located.
7. The apparatus of claim 6, comprising:
the second acquisition unit is used for acquiring a final angle value of the mechanical arm joint; the final angle value is used for representing an angle value corresponding to the position information of the final position of the mechanical arm joint after locking;
and the first adjusting unit is used for adjusting the mechanical arm joint compensation parameters based on the final angle value and the target angle value.
8. An automatic locking system for a robot arm, comprising: the system comprises a computer, a mechanical arm controller, a clutch, a mechanical arm joint, a mechanical arm encoder and a collection card which are connected in sequence;
the computer acquires the current angle value of the mechanical arm joint through the acquisition card; the current angle value is used for representing an angle value corresponding to position information of the mechanical arm joint at the current position, and the current angle value is obtained by converting the mechanical arm code;
the computer calculating a difference between the current angle value and a target angle value; the target angle value is used for representing an angle value corresponding to the position information of the mechanical arm joint at the target position;
when the difference value is smaller than the compensation parameter of the mechanical arm joint, the computer sends a locking instruction to the mechanical arm controller, so that the mechanical arm controller locks the mechanical arm joint through the clutch, and the locking of the mechanical arm where the mechanical arm joint is located is achieved.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any of claims 1 to 5 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any of claims 1 to 5.
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| CN111813132A (en) * | 2020-09-10 | 2020-10-23 | 歌尔光学科技有限公司 | Positioning control method and device, programmable logic controller and readable storage medium |
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| US20060206284A1 (en) * | 2005-03-14 | 2006-09-14 | Seiko Epson Corporation | Acceleration/deceleration control method and apparatus as well as program of acceleration/deceleration control method |
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