CN113442121A - Mechanical arm, adjusting method and device thereof, and electronic equipment - Google Patents
Mechanical arm, adjusting method and device thereof, and electronic equipment Download PDFInfo
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- CN113442121A CN113442121A CN202110878083.4A CN202110878083A CN113442121A CN 113442121 A CN113442121 A CN 113442121A CN 202110878083 A CN202110878083 A CN 202110878083A CN 113442121 A CN113442121 A CN 113442121A
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- Prior art keywords
- mechanical arm
- coordinate information
- steering engine
- arm
- preset
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention provides a mechanical arm, an adjusting method and device thereof and electronic equipment, and relates to the technical field of robots. The damping movable base has the function of adjusting the mechanical arm in the joint cooperation and cooperation process of the mechanical arm and the damping movable base.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical arm, an adjusting method and device thereof, and electronic equipment.
Background
With the continuous progress of the technology level, the application field of the service robot is more and more extensive. The service robot can share part of labor for people, provide richer services for people and bring more time for people to concentrate on things.
At present, most service robots only have a foot type structure and can only work in a structured indoor home environment and an office environment, so the working area of the service robot is limited. In order to solve the problem of limited working area, a movable platform and a mechanical arm which is operated flexibly are combined by some service robots in the market to form the mobile service robot, so that the working area of the robot is greatly expanded. However, when the mechanical arm and the mobile base cooperate together, the problem of cooperation between the mechanical arm and the mobile base needs to be solved. Meanwhile, when the mechanical arm and the movable base cooperate, the relative position of the mechanical arm and the movable base is easy to change, and how to adjust the mechanical arm is a difficult problem.
Therefore, a mechanical arm, an adjusting method thereof, an adjusting device thereof and an electronic device are provided.
Disclosure of Invention
The specification provides a mechanical arm, an adjusting method and device thereof, and electronic equipment, which can realize the effect of adjusting the mechanical arm in the process of the joint cooperation of the mechanical arm and a damping movable base.
The utility model provides a mechanical arm adopts following technical scheme, remove base, arm and steering wheel including platform, damping, the damping removes the base and includes outer seat and inner seat, outer seat with platform fixed connection, inner seat rotate set up in the outer seat, inner seat with arm fixed connection, inner seat with the output shaft fixed connection of steering wheel.
The application provides a method of arm timing adopts following technical scheme, includes:
acquiring coordinate information of the mechanical arm;
and judging whether the coordinate information of the mechanical arm is matched with preset coordinate information or not, electrifying the steering engine when the coordinate information is not matched with the preset coordinate information, and adjusting the mechanical arm to the position of the preset coordinate information through adjusting the mechanical arm by the steering engine to finish adjusting the mechanical arm.
Optionally, the method includes:
acquiring a cooperative work instruction, wherein the cooperative work instruction comprises a task point and an appointed task;
and starting the mechanical arm, wherein the damping moving base moves along with the mechanical arm until the mechanical arm reaches the task point to execute the specified task.
Optionally, the method includes:
when the coordinate information of the mechanical arm is matched with the preset coordinate information, the steering engine is powered off, the damping moving base moves along with the mechanical arm, and the mechanical arm works according to the cooperative work instruction.
Optionally, the method includes:
when the mechanical arm completes the cooperative work instruction, the steering engine is electrified, and the position of the mechanical arm reaching the preset coordinate information is adjusted and calibrated through the steering engine;
and powering off the steering engine, and enabling the mechanical arm to reach an initial position.
Optionally, the method further includes:
and judging whether the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or not until the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information, or repeatedly judging until the preset times are reached.
Optionally, the method further includes:
and when the number of times that the coordinate information of the mechanical arm is not matched with the preset coordinate information after the adjustment is judged reaches the preset number of times, sending an alarm prompt.
The application provides a device of arm timing adopts following technical scheme, includes:
the first acquisition module is used for acquiring coordinate information of the mechanical arm;
and the judging module is used for judging whether the coordinate information of the mechanical arm is matched with preset coordinate information or not, when the coordinate information is not matched with the preset coordinate information, the steering engine is electrified, the mechanical arm is adjusted and calibrated to reach the position of the preset coordinate information through the steering engine, and the adjustment and calibration of the mechanical arm are finished.
Optionally, the method includes:
the second acquisition module is used for acquiring a cooperative work instruction, wherein the cooperative work instruction comprises a task point and an appointed task;
and the starting module is used for starting the mechanical arm, and the damping moving base moves along with the mechanical arm until the mechanical arm reaches the task point to execute the specified task.
Optionally, the determining module includes:
and the judging unit is used for powering off the steering engine when the coordinate information of the mechanical arm is matched with the preset coordinate information, the damping moving base moves along with the mechanical arm, and the mechanical arm works according to the cooperative work instruction.
Optionally, the method includes:
the power-on module is used for powering on the steering engine when the mechanical arm completes the cooperative work instruction, and adjusting the position of the mechanical arm to reach the preset coordinate information through the steering engine;
and the power-off module is used for powering off the steering engine, and the mechanical arm reaches an initial position.
Optionally, the determining module further includes:
and the repeated judging unit is used for judging whether the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or not until the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or repeatedly judging until the preset times are reached.
Optionally, the determining module further includes:
and the alarm unit is used for sending an alarm prompt when the number of times of judging that the calibrated coordinate information of the mechanical arm is not matched with the preset coordinate information reaches the preset number of times.
The present specification also provides an electronic device, wherein the electronic device includes:
a processor; and the number of the first and second groups,
a memory storing computer-executable instructions that, when executed, cause the processor to perform any of the methods described above.
The present specification also provides a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement any of the methods described above.
According to the invention, the damping is arranged in the movable base, so that the error generated when the movable base and the mechanical arm receive the cooperative work instruction to work is solved. When the damping removes base or arm and receives external inefficacy power, because the damping removes the base and embeds there is the damping, the damping removes the base and can rotate along with external force to alleviate the load that the damping removed base and arm, prevent that the robot from transshipping and reporting the mistake. The damping moving base is driven by the steering engine to drive the mechanical arm to move, and when the mechanical arm is located at a position corresponding to non-preset coordinate information, zero setting of the mechanical arm can be achieved through power on and off of the steering engine.
Drawings
FIG. 1 is a schematic diagram of a robotic arm provided in an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of an outer seat and an inner seat provided in the embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a method for tuning a robotic arm according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a device for tuning a robot arm according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a computer-readable medium provided in an embodiment of the present specification.
Reference numerals: 101. damping the moving base; 1011. an outer seat; 1012. an inner seat; 102. a mechanical arm; 103. a steering engine.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
The present application is described in further detail below with reference to figures 1-6.
Fig. 1 is a schematic structural diagram of a robot arm provided in an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of an outer seat and an inner seat provided in an embodiment of the present disclosure, where the apparatus may include a platform, a damping moving base 101, a robot arm 102, and a steering engine 103, where the damping moving base 101 includes a circular outer seat 1011 and a circular outer seat 1012. When the damping moving base 101 or the robot arm 102 is subjected to an ineffectiveness force, the damping moving base 101 rotates with an external force, thereby reducing the load of the moving base and the robot arm 102 and preventing the robot arm 102 from reporting an error. Outer seat 1011 passes through the bolt fastening with the platform, and a round hole has been seted up to outer seat 1011, and outer seat 1012 changes the rotation and sets up in outer seat 1011's round hole, and the round hole plays the effect of the rotation range of restriction outer seat 1012, reduces outer seat 1012 because of the too big situation that drops from outer seat 1011 of rotation range. The outer seat 1012 is connected with the mechanical arm 102 through a flange, the outer seat 1012 is fixed on an output shaft of the steering engine 103, and the steering engine 103 and the outer seat 1011 are respectively positioned on two sides of the platform. The steering engine 103 is fixedly connected with the outer seat 1012, so that the steering engine 103 can drive the outer seat 1012 to rotate so as to drive the mechanical arm 102 to rotate.
Most of the mechanical arms 102 in the market at present cannot control the on-off state of each shaft joint independently, and when the mechanical arms 102 are in a motion state, the shaft joints are in a shaft locking state or in a shaft loosening state. When the mechanical arm 102 moves, the shaft joints of the mechanical arm 102 are in a shaft locking state, and the steering engine 103 is also in a shaft locking state, so that the mechanical arm 102 and the damping moving base 101 may not correct errors and be overloaded.
The embodiment of the present specification provides a mechanical arm adjustment method, including:
acquiring coordinate information of the mechanical arm 102;
and judging whether the coordinate information of the mechanical arm 102 is matched with preset coordinate information, when the coordinate information is not matched with the preset coordinate information, electrifying the steering engine 103, adjusting the position of the mechanical arm 102 to the preset coordinate information through the steering engine 103, and finishing the adjustment of the mechanical arm 102.
In this specification embodiment, acquire the coordinate information of arm, judge whether the coordinate information of arm matches with presetting the coordinate information, when the coordinate information of arm and presetting the unmatched coordinate information, the steering wheel circular telegram drives the outer seat of damping removal base through the steering wheel and rotates to the arm that drives to fix on the damping removal base reachs the position of presetting the coordinate information. After the mechanical arm reaches the position of presetting the coordinate information, the steering wheel outage, the damping removes the effect that the base acted as "damping".
Exemplary embodiments of the present invention will now be described more fully with reference to the accompanying drawings. The exemplary embodiments, however, may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. The same reference numerals denote the same or similar elements, components, or parts in the drawings, and thus their repetitive description will be omitted.
Features, structures, characteristics or other details described in a particular embodiment do not preclude the fact that the features, structures, characteristics or other details may be combined in a suitable manner in one or more other embodiments in accordance with the technical idea of the invention.
In describing particular embodiments, the present invention has been described with reference to features, structures, characteristics or other details that are within the purview of one skilled in the art to provide a thorough understanding of the embodiments. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific features, structures, characteristics, or other details.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The term "and/or" and/or "includes all combinations of any one or more of the associated listed items.
Fig. 3 is a schematic diagram of a method for tuning a robot according to an embodiment of the present disclosure, where the method may include:
s101: coordinate information of the robot arm 102 is acquired.
In the embodiments of the present specification, the coordinate information of the robot arm includes base coordinate information, joint coordinate information, tool coordinate information, wrist coordinate information, and target coordinate information. The method for defining the mechanical arm base coordinate information comprises the following steps: the positive X-axis direction of the basic coordinate information is the front side of the mechanical arm base, the positive Z-axis direction is the upper side of the mechanical arm base, and the positive Y-axis direction is the left side of the mechanical arm base. The coordinate information of the mechanical arm is provided with an initial value when the mechanical arm leaves a factory, and a user can define the coordinate information according to the requirement of the user. A control machine is arranged in the mechanical arm, and coordinate information of the mechanical arm is obtained through the control machine.
S102: and judging whether the coordinate information of the mechanical arm 102 is matched with preset coordinate information, when the coordinate information is not matched with the preset coordinate information, electrifying the steering engine 103, adjusting the position of the mechanical arm 102 to the preset coordinate information through the steering engine 103, and finishing the adjustment of the mechanical arm 102.
In the embodiments of the present specification, the coordinate information of the robot arm includes base coordinate information, joint coordinate information, tool coordinate information, wrist coordinate information, and target coordinate information. The mechanical arm is internally provided with a control machine, coordinate information of the mechanical arm is acquired through the control machine, base coordinate information is compared with preset coordinate information, when the base coordinate information is inconsistent with the preset coordinate information, the steering engine is powered on, the damping moving base is driven through the steering engine to move, and therefore the mechanical arm is driven to move until the position of the preset coordinate information is reached. After the mechanical arm reaches the position of presetting the coordinate information, the steering wheel outage, the damping removes the effect that the base acted as "damping". The steering engine is controlled to be on or off through the relay, namely the steering engine is controlled to be on or off through the control of the control machine on the high and low levels of the relay. The relay can be JQC-3FF-S-Z, and can also be a relay of other types, which is not described herein.
In an embodiment of the present specification, the method for tuning the mechanical arm includes:
acquiring a cooperative work instruction, wherein the cooperative work instruction comprises a task point and an appointed task;
starting the mechanical arm 102, and the damping moving base 101 follows the action of the mechanical arm 102 until the mechanical arm 102 reaches the task point to execute a specified task.
In the embodiment of the specification, the cooperative work instruction comprises a task point, a specified task and a motion path. The mechanical arm is internally provided with a control machine, and the task points comprise task places and corresponding coordinate information thereof, can be specific places and corresponding coordinate information thereof, can also be ranges and corresponding coordinate ranges thereof, and can be defined according to actual assigned tasks of users. The designated tasks comprise task coordinate information and task events, a cooperative work instruction is obtained through the controller, the controller controls the mechanical arm to start, the mechanical arm moves according to the motion path, and the damping moving base moves along the mechanical arm according to the motion path until the mechanical arm reaches a task point to execute the designated tasks.
In the embodiment of the present specification, a controller is built in the robot arm, the controller receives a door handle location (task point), a door opening task (specified task), and a path to the door handle location (motion path), the controller controls the robot arm to start, the robot arm advances according to the path to the door handle location (motion path), and the damping mobile base follows the robot arm to act according to the path to the door handle location (motion path) until the robot arm reaches the door handle location (task point) to execute the door opening task (specified task).
In an embodiment of the present specification, the method for tuning the mechanical arm includes:
when the coordinate information of the mechanical arm 102 is matched with the preset coordinate information, the steering engine 103 is powered off, the damping moving base 101 moves along with the mechanical arm 102, and the mechanical arm 102 works according to the cooperative work instruction.
In this specification embodiment, when the coordinate information of arm and preset coordinate information match, the steering wheel outage, the damping removes the effect that the base acted as "damping". The steering engine is controlled to be on or off through the relay, namely the steering engine is controlled to be on or off through the control of the control machine on the high and low levels of the relay. The relay can be JQC-3FF-S-Z, and can also be a relay of other types, which is not described herein.
In an embodiment of the present specification, the method for tuning the mechanical arm includes:
when the mechanical arm 102 finishes the cooperative work instruction, the steering engine 103 is powered on, and the position of the mechanical arm 102 reaching the preset coordinate information is adjusted through the steering engine 103;
the steering engine 103 is powered off, and the mechanical arm 102 reaches an initial position.
In the embodiment of the present specification, the initial position may be a waiting position, or may be a charging position, and may be set according to actual requirements. When the mechanical arm completes a door opening task (an appointed task), the steering engine is electrified, the damping is driven by the steering engine to move the base, and therefore the mechanical arm is driven to move until the position of preset coordinate information is reached. After the mechanical arm reaches the position of presetting the coordinate information, the steering wheel outage, the damping removes the effect that the base acted as "damping", and the mechanical arm reachs the position of waiting to work (initial position).
In an embodiment of the present disclosure, the method for tuning the mechanical arm further includes:
and judging whether the adjusted coordinate information of the mechanical arm 102 is matched with the preset coordinate information or not until the adjusted coordinate information of the mechanical arm 102 is matched with the preset coordinate information, or repeatedly judging until the preset times are reached.
In an embodiment of the present disclosure, the method for tuning the mechanical arm further includes:
and when the number of times that the coordinate information of the mechanical arm 102 is judged to be unmatched with the preset coordinate information reaches a preset number of times, sending an alarm prompt.
In the embodiment of the present specification, it is determined whether the calibrated coordinate information of the mechanical arm matches preset coordinate information, if not, the steering engine is started to calibrate the mechanical arm until the calibrated coordinate information of the mechanical arm matches the preset coordinate information, or the preset times is repeatedly determined, and an alarm is sent to prompt a user that the mechanical arm has a fault and needs to be manually calibrated or overhauled.
In the embodiment of the specification, the damping is arranged in the movable base, so that the error generated when the movable base and the mechanical arm receive the cooperative work instruction to work is solved. When the damping removes base or arm and receives external inefficacy power, because the damping removes the base and embeds there is the damping, the damping removes the base and can rotate along with external force to alleviate the load that the damping removed base and arm, prevent that the robot from transshipping and reporting the mistake. The damping moving base is driven by the steering engine to drive the mechanical arm to move, and when the mechanical arm is located at a position corresponding to non-preset coordinate information, zero setting of the mechanical arm can be achieved through power on and off of the steering engine.
Fig. 4 is a schematic structural diagram of a device for tuning a robot arm according to an embodiment of the present disclosure, where the device may include:
a first obtaining module 201, configured to obtain coordinate information of a mechanical arm;
the judging module 202 is used for judging whether the coordinate information of the mechanical arm is matched with preset coordinate information or not, when the coordinate information is not matched with the preset coordinate information, the steering engine is powered on, the mechanical arm is adjusted and calibrated to reach the position of the preset coordinate information through the steering engine, and the mechanical arm adjustment and calibration are finished.
Optionally, the device for adjusting the mechanical arm includes:
the second acquisition module is used for acquiring a cooperative work instruction, wherein the cooperative work instruction comprises a task point and an appointed task;
and the starting module is used for starting the mechanical arm, and the damping moving base moves along with the mechanical arm until the mechanical arm reaches the task point to execute the specified task.
Optionally, the determining module includes:
and the judging unit is used for powering off the steering engine when the coordinate information of the mechanical arm is matched with the preset coordinate information, the damping moving base moves along with the mechanical arm, and the mechanical arm works according to the cooperative work instruction.
Optionally, the device for adjusting the mechanical arm includes:
the power-on module is used for powering on the steering engine when the mechanical arm completes the cooperative work instruction, and adjusting the position of the mechanical arm to reach the preset coordinate information through the steering engine;
and the power-off module is used for powering off the steering engine, and the mechanical arm reaches an initial position.
Optionally, the determining module further includes:
and the repeated judging unit is used for judging whether the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or not until the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or repeatedly judging until the preset times are reached.
Optionally, the determining module further includes:
and the alarm unit is used for sending an alarm prompt when the number of times of judging that the calibrated coordinate information of the mechanical arm is not matched with the preset coordinate information reaches the preset number of times.
The functions of the apparatus in the embodiment of the present invention have been described in the above method embodiments, so that reference may be made to the related descriptions in the foregoing embodiments for details that are not described in the present embodiment, and further details are not described herein.
Based on the same inventive concept, the embodiment of the specification further provides the electronic equipment.
In the following, embodiments of the electronic device of the present invention are described, which may be regarded as specific physical implementations for the above-described embodiments of the method and apparatus of the present invention. Details described in the embodiments of the electronic device of the invention should be considered supplementary to the embodiments of the method or apparatus described above; for details which are not disclosed in embodiments of the electronic device of the invention, reference may be made to the above-described embodiments of the method or the apparatus.
Fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present specification. An electronic device 400 according to this embodiment of the invention is described below with reference to fig. 5. The electronic device 400 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, electronic device 400 is embodied in the form of a general purpose computing device. The components of electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one memory unit 420, a bus 430 that connects the various system components (including the memory unit 420 and the processing unit 410), a display unit 440, and the like.
Wherein the storage unit stores program code executable by the processing unit 410 to cause the processing unit 410 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned processing method section of the present specification. For example, the processing unit 410 may perform the steps as shown in fig. 3.
The storage unit 420 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM)4201 and/or a cache memory unit 4202, and may further include a read only memory unit (ROM) 4203.
The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 400 may also communicate with one or more external devices 500 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 400, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 400 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 450. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 460. The network adapter 460 may communicate with other modules of the electronic device 400 via the bus 430. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments of the present invention described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, or a network device, etc.) execute the above-mentioned method according to the present invention. The computer program, when executed by a data processing apparatus, enables the computer readable medium to implement the above-described method of the invention, namely: such as the method shown in fig. 3.
Fig. 5 is a schematic diagram of a computer-readable medium provided in an embodiment of the present specification.
A computer program implementing the method illustrated in fig. 3 may be stored on one or more computer readable media. The computer readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functionality of some or all of the components in embodiments in accordance with the invention may be implemented in practice using a general purpose data processing device such as a microprocessor or a Digital Signal Processor (DSP). The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
While the foregoing embodiments have described the objects, aspects and advantages of the present invention in further detail, it should be understood that the present invention is not inherently related to any particular computer, virtual machine or electronic device, and various general-purpose machines may be used to implement the present invention. The invention is not to be considered as limited to the specific embodiments thereof, but is to be understood as being modified in all respects, all changes and equivalents that come within the spirit and scope of the invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The mechanical arm is characterized by comprising a platform, a damping moving base, a mechanical arm and a steering engine, wherein the damping moving base comprises an outer seat and an inner seat, the outer seat is fixedly connected with the platform, the inner seat is rotatably arranged in the outer seat, the inner seat is fixedly connected with the mechanical arm, and the inner seat is fixedly connected with an output shaft of the steering engine.
2. A method of tuning a robot arm comprising the robot arm of claim 1, comprising:
acquiring coordinate information of the mechanical arm;
and judging whether the coordinate information of the mechanical arm is matched with preset coordinate information or not, electrifying the steering engine when the coordinate information is not matched with the preset coordinate information, and adjusting the mechanical arm to the position of the preset coordinate information through adjusting the mechanical arm by the steering engine to finish adjusting the mechanical arm.
3. The tuning method of a robot arm according to claim 2, comprising:
acquiring a cooperative work instruction, wherein the cooperative work instruction comprises a task point and an appointed task;
and starting the mechanical arm, wherein the damping moving base moves along with the mechanical arm until the mechanical arm reaches the task point to execute the specified task.
4. A method of tuning a robot arm according to claim 2 or 3, comprising:
when the coordinate information of the mechanical arm is matched with the preset coordinate information, the steering engine is powered off, the damping moving base moves along with the mechanical arm, and the mechanical arm works according to the cooperative work instruction.
5. A method of tuning a robotic arm as claimed in any one of claims 2 to 4, comprising:
when the mechanical arm completes the cooperative work instruction, the steering engine is electrified, and the position of the mechanical arm reaching the preset coordinate information is adjusted and calibrated through the steering engine;
and powering off the steering engine, and enabling the mechanical arm to reach an initial position.
6. A method of tuning a robotic arm as claimed in any one of claims 2 to 5, further comprising:
and judging whether the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information or not until the adjusted coordinate information of the mechanical arm is matched with the preset coordinate information, or repeatedly judging until the preset times are reached.
7. A method of tuning a robot arm according to any one of claims 2 to 6, further comprising:
and when the number of times that the coordinate information of the mechanical arm is not matched with the preset coordinate information after the adjustment is judged reaches the preset number of times, sending an alarm prompt.
8. The utility model provides an arm timing device which characterized in that includes:
the acquisition module is used for acquiring coordinate information of the mechanical arm;
and the judging module is used for judging whether the coordinate information of the mechanical arm is matched with preset coordinate information or not, when the coordinate information is not matched with the preset coordinate information, the steering engine is electrified, the mechanical arm is adjusted and calibrated to reach the position of the preset coordinate information through the steering engine, and the adjustment and calibration of the mechanical arm are finished.
9. An electronic device, wherein the electronic device comprises:
a processor;
and a memory storing computer-executable instructions that, when executed, cause the processor to perform the method of any of claims 2-7.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 2-7.
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