CN114643585B - Mechanical arm position debugging method and device, equipment and storage medium - Google Patents
Mechanical arm position debugging method and device, equipment and storage medium Download PDFInfo
- Publication number
- CN114643585B CN114643585B CN202210545626.5A CN202210545626A CN114643585B CN 114643585 B CN114643585 B CN 114643585B CN 202210545626 A CN202210545626 A CN 202210545626A CN 114643585 B CN114643585 B CN 114643585B
- Authority
- CN
- China
- Prior art keywords
- target
- motor
- mechanical arm
- reset
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Numerical Control (AREA)
Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for debugging the position of a mechanical arm, wherein the method comprises the following steps: responding to the click operation of the power-off button, sending a power-off command by controlling a motor driving chip to enable a motor to be in a non-locking state, wherein the motor is used for driving the mechanical arm to move; after an operator moves the mechanical arm from the reset position to the target position, responding to the click operation of a reset button, and controlling a motor driving chip to send a reset instruction to enable a motor to be in a locking state; and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm. The mechanical arm is moved to the target position from the reset position through manual operation, then the motor driving chip is controlled to send a reset instruction to control the mechanical arm to move to the reset position from the target position, and the number of moving steps is recorded.
Description
Technical Field
The invention relates to the field of biomedicine, in particular to a method, a device, equipment and a storage medium for debugging the position of a mechanical arm.
Background
In an in vitro diagnostic apparatus in the biomedical field, mechanical arms such as a reagent arm, a sample arm, and a sample application arm are generally designed, and the positions of the mechanical arms need to be adjusted.
In the existing instrument, an operator repeatedly inputs the steps in the X direction, the Y direction and the Z direction on a display interface to repeatedly debug until the mechanical arm reaches a debugging position. However, in the robot arm position adjusting method in which the operator repeatedly inputs the number of steps in the X direction, the Y direction, and the Z direction to repeatedly adjust the position of the robot arm, the operator is not only complicated and repetitive, but the adjustment time is long and the efficiency is low.
Disclosure of Invention
Therefore, it is necessary to provide a method, an apparatus, a device and a storage medium for debugging the position of the mechanical arm, so that the time required for debugging the position of the mechanical arm is short and the debugging efficiency is high.
In order to achieve the above object, the present application provides, in a first aspect, a method for adjusting a position of a robot arm, where movement of the robot arm is controlled by a motor, and the motor is electrically connected to a motor driving chip, where the method includes:
responding to the click operation of an outgoing call button, and controlling the motor driving chip to send an outgoing call instruction to enable the motor to be in an unlocked state;
after an operator moves the mechanical arm from the reset position to the target position, responding to the click operation of a reset button, and controlling the motor driving chip to send a reset instruction to enable the motor to be in a locking state;
and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm.
Optionally, the controlling the robot arm to move from the target position to the reset position and determining the target number of steps of the robot arm moving from the target position to the reset position includes:
determining a direction vector between the target position and the reset position, and determining a moving sequence of the mechanical arm in each direction based on the direction vector, wherein the directions comprise an X direction, a Y direction and a Z direction;
and controlling the motor to move in each direction in sequence according to the moving sequence so that the movement of the motor drives the mechanical arm to move until the mechanical arm moves to the reset position, and taking the moving steps of the motor in each direction as the target steps of the mechanical arm.
Optionally, the determining, based on the direction vector, a moving sequence of the mechanical arm in each direction includes:
determining a first vector of the direction vector in an X direction and a second vector of the direction vector in a Y direction;
if the first vector is larger than the second vector, determining that the moving sequence is a first sequence, and the first sequence is a Z direction, a Y direction and an X direction in sequence;
if the first vector is smaller than the second vector, determining that the moving sequence is a second sequence, and the second sequence is a Z direction, an X direction and a Y direction in sequence;
determining the movement order to be the first order or the second order if the first vector is equal to the second vector.
Optionally, the controlling, according to the moving sequence, the motor to sequentially move in each direction, so that the movement of the motor drives the mechanical arm to move until the mechanical arm moves to the reset position, and taking the number of moving steps of the motor in each direction as the target number of steps of the mechanical arm includes:
taking a first direction in the moving sequence as a target direction, sending a clock signal and a target direction signal containing the target direction to the motor driving chip to control the motor to move in the target direction, and adding 1 to a counter of the target direction every time the motor moves one step in the target direction, wherein an initial value of the counter in the target direction is 0;
and if the motor is detected to finish moving in the target direction, taking the value of the counter as the step number of the target direction, taking the next direction in the moving sequence as the target direction, and returning to the step of sending a clock signal and a target direction signal containing the target direction to the motor driving chip until the motor driving chip finishes moving in each direction and reaches the reset position.
Optionally, the reset position has optical coupling elements corresponding to each direction;
the method further comprises the following steps:
when the motor moves in the target direction, if an optical coupling signal generated by the optical coupling element corresponding to the target direction is detected, it is determined that the motor has completed moving in the target direction.
Optionally, the method further comprises:
storing the corresponding relation between the target position and the target step number;
and/or;
and displaying the corresponding relation between the target position and the target step number on a display interface.
Optionally, the method further comprises:
and if an instruction that the mechanical arm moves from the reset position to the target position is detected, the target step number is obtained by utilizing the corresponding relation, and the motor driving chip is controlled according to the target step number so as to control the motor to drive the mechanical arm to move to the target position through the motor driving chip.
The present application provides in a second aspect a robot arm position debugging device, the removal of robot arm is by motor control, the motor is connected with motor drive chip electricity, the device includes:
the power-off module is used for responding to the clicking operation of a power-off button and controlling the motor driving chip to send a power-off command to enable the motor to be in a non-locking state;
the reset module is used for responding to the click operation of a reset button after an operator moves the mechanical arm from a reset position to a target position, and controlling the motor driving chip to send a reset instruction so that the motor is in a locking state;
and the step number acquiring module is used for controlling the mechanical arm to move from the target position to the reset position, determining the target step number of the mechanical arm moving from the target position to the reset position, and realizing the position debugging of the mechanical arm.
The present application provides in a third aspect a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
responding to the click operation of an outgoing call button, and controlling the motor driving chip to send an outgoing call instruction to enable the motor to be in an unlocked state;
after an operator moves the mechanical arm from the reset position to the target position, responding to the click operation of a reset button, and controlling the motor driving chip to send a reset instruction to enable the motor to be in a locking state;
and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm.
The present application provides in a fourth aspect a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
responding to the click operation of an outgoing call button, and controlling the motor driving chip to send an outgoing call instruction to enable the motor to be in a non-locking state;
after an operator moves the mechanical arm from the reset position to the target position, responding to the click operation of a reset button, and controlling the motor driving chip to send a reset instruction to enable the motor to be in a locking state;
and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm.
The embodiment of the invention has the following beneficial effects: responding to the click operation of the power-off button, and controlling a motor driving chip to send a power-off command to enable the motor to be in a non-locking state; after an operator moves the mechanical arm from the reset position to the target position, responding to the click operation of the reset button, and controlling a motor driving chip to send a reset instruction to enable a motor to be in a locking state; and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm. Through this kind by operating personnel click the button of going to telegram on the display interface, then with the hand with the arm from reset position to target location, click the button that resets again for the arm moves from target location to reset position, and notes the step number of removal, and at this moment, notes the step number of removal and confirms to be the target step number promptly, and this kind of arm position debugging mode debugging time is short, and the debugging is efficient, and it is also simpler to operate to compare current instrument.
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.
Wherein:
fig. 1 is a schematic flowchart of a method for adjusting a position of a mechanical arm in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a mechanical arm position adjusting device in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a computer device in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the embodiment of the application, the position debugging of the mechanical arm is generally used for position debugging of new products and new equipment with the mechanical arm. The product or device may be a coagulation analyzer or other device having a mechanical arm, such as a reagent arm, a sample arm, or a sample application arm.
Taking a blood coagulation analyzer as an example, a hole site and a reset position are arranged on an operation table of the blood coagulation analyzer, wherein the reset position is a starting point of movement of the mechanical arm and is a fixed position, and the debugging of the position of the mechanical arm refers to determining the number of steps of the mechanical arm from the hole site to the reset position, and the number of steps can be used for controlling the mechanical arm to move from the reset position to the hole site in the use process of the blood coagulation analyzer.
Wherein, above-mentioned blood coagulation analyzer includes at least: the device comprises a controller, a motor driving chip, a motor and a mechanical arm; the controller is electrically connected with the motor driving chip, the motor driving chip is electrically connected with the motor, the motor is used for driving the mechanical arm to move, namely the motor moves one step, the mechanical arm also moves, and the moving directions of the motor and the mechanical arm are the same.
The method for debugging the position of the mechanical arm can be realized by a device for debugging the position of the mechanical arm, the device for debugging is a program module and is stored in a readable storage medium, and the controller can call the program module from the storage medium to realize the method for debugging.
In order to more efficiently determine and debug a certain hole position on the operation table of the blood coagulation analyzer, the hole position can be used as a target position, and the position debugging of the mechanical arm can be realized by determining the target step number between the target position and the reset position.
Please refer to fig. 1, which is a schematic flow chart of a robot arm position adjusting method according to an embodiment of the present application, including:
step 210: and responding to the clicking operation of the power-off button, and controlling the motor driving chip to send a power-off command to enable the motor to be in a non-locking state.
In this application embodiment, the outgoing call button may be an entity button or a virtual button, and when the outgoing call button is a virtual button, the outgoing call button may be displayed on a touch display interface, and after an operator clicks the outgoing call button, the controller will respond to the clicking operation of the outgoing call button by the operator, and send an outgoing call instruction by controlling the motor driving chip so that the motor is in a non-locking state.
In a feasible implementation manner, after an operator clicks a power-off button on a display interface, the display interface generates a power-off signal, the power-off signal is transmitted to a controller, so that the controller can receive the power-off signal and send a first enabling signal to a motor driving chip according to the power-off signal, the first enabling signal is used for triggering the motor driving chip to send a power-off command to a motor, and the motor is in a non-locking state after receiving the power-off command.
The motor has a locking state and a non-locking state, and the motor is in the locking state and is required to move the mechanical arm, namely, the mechanical arm can be driven to move by the movement of the motor in the locking state and cannot be moved by other modes, for example, in the locking state, an operator cannot move the mechanical arm by hand. The robot arm is movable when the motor is in the unlocked state, that is, the robot arm can be moved without the movement of the motor in the unlocked state.
Step 220: after an operator moves the mechanical arm from the reset position to the target position, a reset instruction is sent out by controlling the motor driving chip to enable the motor to be in a locking state in response to the click operation of the reset button.
In the embodiment of the application, in the unlocked state, the operator may move the mechanical arm from the reset position to the target position by hand, and after moving to the target position, the operator may click the reset button of the display interface.
Wherein the reset position is a defined, fixed position and further wherein the coordinates of the reset position are defined, fixed on the console.
Wherein, reset button can be the entity button, also can be virtual button, and when this reset button was virtual button, can show on tangible display interface, after operating personnel clicked this reset button, the controller will respond to operating personnel to reset button's click operation to send reset instruction through control motor drive chip so that the motor is in locking state.
In a feasible implementation manner, after an operator clicks a reset button on the display interface, the display interface generates a reset signal, the reset signal is transmitted to the controller, so that the controller can receive the reset signal and send a second enable signal to the motor driving chip according to the reset signal, the second enable signal is used for triggering the motor driving chip to send a reset instruction, and the motor is controlled to be in a locking state.
Step 230: and controlling the mechanical arm to move from the target position to the reset position, and determining the target step number of the mechanical arm moving from the target position to the reset position to realize the position debugging of the mechanical arm.
The target number of steps is the number of steps including the sum of the X direction, the Y direction, and the Z direction, and for example, if there are 10 steps in the X direction, 20 steps in the Y direction, and 3 steps in the Z direction, the target number of steps may be (10, 20, 3). And wherein the X direction, the Y direction generally refer to the horizontal plane direction of the operation table, the Z direction is a direction to be perpendicular to the operation table, and the XYZ direction is determined based on a three-dimensional space coordinate system constituted by preset dot positions, a positive direction, and the like.
In an embodiment of the present application, controlling the robot arm to move from the target position to the reset position, and determining the target number of steps for the robot arm to move from the target position to the reset position includes: determining a direction vector between the target position and the reset position, and determining a moving sequence of the mechanical arm in each direction based on the direction vector, wherein the directions comprise an X direction, a Y direction and a Z direction; and controlling the motors to move in all directions in sequence according to the moving sequence so that the moving of the motors drives the mechanical arm to move until the mechanical arm moves to the reset position, and taking the moving steps of the motors in all directions as the target steps of the mechanical arm.
In the embodiment of the present application, the hole position and the reset position on the console are fixed, and coordinate values of the hole position and the reset position in the three-dimensional space coordinate system can be determined, and in a feasible implementation manner, a direction vector between the target position (i.e., the hole position to be debugged) and the coordinate of the reset position can be used to determine the direction vector between the target position and the reset position.
In one possible implementation, determining the moving sequence of the mechanical arm in each direction based on the direction vector includes: determining a first vector of the direction vector in the X direction and a second vector of the direction vector in the Y direction; if the first vector is larger than the second vector, determining that the moving sequence is a first sequence, and the first sequence is a Z direction, a Y direction and an X direction in sequence; if the first vector is smaller than the second vector, determining that the moving sequence is a second sequence, and the second sequence is a Z direction, an X direction and a Y direction in sequence; if the first vector is equal to the second vector, the movement order is determined to be the first order or the second order.
In this application embodiment, through the size of comparing first vector and second vector, be equivalent to the step size of comparing removal in X direction and the Y direction promptly to decide the order that X direction, Y direction removed, make can move in the direction that the route is shorter in advance, and through setting up the removal order, can make the in-process of arm position debugging removal difficult for makeing mistakes. It will be appreciated that the direction vector may also indicate the general direction of movement of the motor, avoiding movement in the opposite direction.
In a possible implementation manner, in addition to determining the moving sequence through the direction vector, the first sequence or the second sequence may be arbitrarily selected as the moving sequence, and in practical applications, the moving sequence may be selected according to specific needs, which is not limited herein.
It should be noted that, in the process of debugging the position of the robot arm, since it is not ensured that the operation table is clean, in order to prevent the robot arm from colliding with an object on the operation table in the process of debugging the position of the robot arm, the movement in the Z direction needs to be controlled first, and the movement direction is upward, so that the robot arm can keep a certain distance from the operation table, and collision is avoided. This is why the Z direction is the first order in the first and second orders described above.
In the embodiment of the present application, a clock signal and a target direction signal including a target direction are sent to the motor driving chip to control the motor to move in the target direction, with a first direction in the moving sequence as the target direction, and each time the motor moves one step in the target direction, a counter of the target direction is incremented by 1, and an initial value of the counter in the target direction is 0.
The clock signal is a pulse signal composed of a high level and a low level, and it can be understood that a high level may represent the number of steps as one step, or may represent the number of steps as ten steps, or a low level may represent the number of steps as one step, or may represent the number of steps as ten steps, and may be set by a technician as required, which is not limited herein.
Note that, regardless of the first order or the second order, when the first direction is the target direction, the target direction is Z.
In the embodiment of the application, if the motor is detected to finish moving in the target direction, the value of the counter is used as the step number of the target direction, the next direction in the moving sequence is used as the target direction, and the step of sending the clock signal and the target direction signal containing the target direction to the motor driving chip is returned until the motor driving chip finishes moving in each direction and reaches the reset position.
For example: taking the first sequence as an example, if the first sequence is the Z direction, the Y direction, and the X direction in this order, then the first direction is taken as the target direction, that is, the Z direction is taken as the target direction, at this time, the controller sends a clock signal and a Z direction signal including the Z direction to the motor driving chip to control the motor to move upward in the Z direction, and the motor moves ten steps in the Z direction, then the counter in the Z direction is incremented by 10, and the initial value of the counter in the Z direction is 0. If the controller detects that the motor has completed moving in the Z direction, takes the value of the counter as the number of steps in the Z direction, and takes the next direction in the Z direction in the first sequence as the target direction, i.e., the Y direction, as the target direction, at this time, the controller sends a clock signal and a Y direction signal including the Y direction to the motor driving chip to control the motor to move in the Y direction, and the motor moves twenty-two steps in the Y direction, the counter in the Y direction is incremented by 22, and the initial value of the counter in the Y direction is 0. If the controller detects that the motor has completed moving in the Y direction, the value of the counter is taken as the number of steps in the Y direction, and the next direction in the Y direction in the first sequence is taken as the target direction, that is, the X direction is taken as the target direction, at this time, the controller sends a clock signal and an X direction signal including the X direction to the motor driving chip to control the motor to move in the X direction, and the motor moves thirty steps in the X direction, the counter in the X direction is incremented by 30, and the initial value of the counter in the X direction is 0. The target number of steps of the target position obtained after the first sequence of completion of the movement in the Z direction, the Y direction, and the X direction to the reset position may be (30, 22, 10).
It is understood that before starting debugging the target position, the value of the counter may be cleared, and there may be one counter corresponding to each direction, that is, a counter in the Z direction is used when moving in the Z direction, a counter in the Y direction is used when moving in the Y direction, and a counter in the X direction is used when moving in the X direction, or the same counter may be used in each of XYZ directions, and after completing the movement in one direction each time, the counter is cleared, so as to count the number of steps in the next direction by using the counter.
In this application embodiment, can detect whether to accomplish the removal of arm in a certain side through the opto-coupler element, it is specific, the reset position has the opto-coupler element that each direction corresponds, including the opto-coupler element of X direction, the opto-coupler element of Y direction, and the opto-coupler element of Z direction, the position that three opto-coupler element confirmed jointly is foretell reset position promptly.
Further, when the motor moves in the target direction, if the optical coupling signal generated by the optical coupling element corresponding to the target direction is detected, it is determined that the motor has completed moving in the target direction, and will stop moving in the target direction, and determine the next direction, and start moving in the next direction, until the movement in the three directions of XYZ is completed, and then it is determined that the reset position is reached.
In one possible implementation, if the moving sequence is the first sequence, the controller sends a clock signal and a Z-direction signal including the Z-direction to the motor driving chip to control the motor to move in the Z-direction. If the controller detects the optical coupling signal emitted by the optical coupling element in the Z direction, the controller determines that the motor finishes moving in the Z direction, the movement is switched to the Y direction, and the controller sends a clock signal and a Y direction signal containing the Y direction to the motor driving chip so as to control the motor to move in the Y direction. If the controller detects the optical coupling signal emitted by the optical coupling element in the Y direction, the controller determines that the motor finishes moving in the Y direction and further switches to moving in the X direction, and the controller sends a clock signal and an X-direction signal containing the X direction to the motor driving chip so as to control the motor to move in the X direction. If the controller detects an optical coupling signal emitted by the optical coupling element in the X direction, the controller determines that the motor finishes moving in the X direction, and at the moment, the mechanical arm moves to the reset position from the target position.
In this application embodiment, through setting up opto-coupler element for the removal that the arm can be accurate is to the position that resets.
In an embodiment of the present application, the method further includes: storing the corresponding relation between the target position and the target step number; and/or; and displaying the corresponding relation between the target position and the target step number on a display interface.
It can be understood that after the mechanical arm is debugged, the corresponding relationship between the target position and the target step number is stored for the convenience of using by an operator or the subsequent calling of the controller; in order to facilitate the operator to check the debugged result, the corresponding relation between the target position and the target step number is displayed on the display interface.
In a feasible implementation manner, after the mechanical arm is debugged and the corresponding relation between the target position and the target step number is stored, if an instruction that the mechanical arm moves from the reset position to the target position is detected, the target step number is obtained by using the corresponding relation, and the motor driving chip is controlled according to the target step number, so that the motor is controlled by the motor driving chip to drive the mechanical arm to move to the target position. It can be understood that, after the manipulator is debugged and the corresponding relationship between the target position and the target step number is stored, the operation mode after the target position is reached based on the target step number in the using process is similar to that of the existing instrument, and details are not repeated here.
In a feasible implementation manner, after the debugging of the mechanical arm is completed, the corresponding relationship between the target position and the target step number may not be saved, but the obtained target step number is verified to determine whether the debugging of the target position is really completed, which may specifically be: after the target step number is obtained, the motor driving chip is controlled according to the target step number by utilizing the target step number, so that the motor is controlled by the motor driving chip to drive the mechanical arm to move from the reset position to the target position, and after the movement is finished, an operator checks whether the actual position of the mechanical arm is consistent with the target position. If the actual position of the mechanical arm is consistent with the target position, the mechanical arm is considered to be really debugged, the target step number is accurate, position debugging is not needed again, and the corresponding relation between the target position and the target step number is stored; if the actual position of the mechanical arm is not consistent with the target position, the position of the mechanical arm needs to be debugged again by using the method in the above embodiment until the actual position of the mechanical arm is consistent with the target position.
In another possible implementation manner, the debugging method further includes: after the mechanical arm automatically moves from the target position to the reset position, the motor driving chip records and stores the position coordinate relationship between the target position and the reset position, and then the mechanical arm can move from the reset position to the target position according to the stored position coordinate relationship and manually check whether the moved actual position is consistent with the previous target position storage. If the actual position moved to is consistent with the target position, the position debugging is finished; if the actual position moved by the mechanical arm is inconsistent with the target position, the position debugging is required to be carried out again, at the moment, the corresponding position debugging step is carried out again, and the position is checked again until the actual position moved by the mechanical arm according to the coordinate position relation is consistent with the target position.
In this application embodiment, through this kind by operating personnel click the button of going to electricity on the display interface, then with the hand from the position that resets with the arm remove to the target location, click the button that resets again for the arm is automatic to be removed to the position that resets from the target location, and notes the step number of removal automatically, and at this moment, the step number of the removal of automatic note is the arm position debugging mode of confirming as the target step number promptly, and the time of its debugging is short, and the efficiency of debugging is high.
Please refer to fig. 2, which is a schematic structural diagram of a method and an apparatus for adjusting a position of a robot arm according to an embodiment of the present disclosure, the apparatus includes:
the power-off module 210 is used for responding to the click operation of the power-off button, and controlling the motor driving chip to send a power-off instruction to enable the motor to be in a non-locking state, wherein the motor is used for driving the mechanical arm to move;
the reset module 220 is used for responding to the click operation of the reset button after an operator moves the mechanical arm from the reset position to the target position, and controlling the motor driving chip to send a reset instruction to enable the motor to be in a locking state;
and the step number acquiring module 230 is configured to control the mechanical arm to move from the target position to the reset position, determine a target step number of the mechanical arm moving from the target position to the reset position, and implement position debugging of the mechanical arm.
In the embodiment of the present application, the contents of the outgoing call module 210, the reset module 220, and the step number obtaining module 230 can refer to the contents of the embodiment shown in fig. 1, and are not repeated herein.
In this application embodiment, through this kind by operating personnel click the button of going to electricity on the display interface, then with the hand from the position that resets with the arm remove to the target location, click the button that resets again for the arm is automatic to be removed to the position that resets from the target location, and notes the step number of removal automatically, and at this moment, the step number of the removal of automatic note is the arm position debugging mode of confirming as the target step number promptly, and the time of its debugging is short, and the efficiency of debugging is high.
In an embodiment of the application, a computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of: the specific relevant contents of the steps 110 to 130 are as shown in the embodiment in fig. 1, and are not described herein again.
In the embodiment of the present application, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes steps 110 to 130, and specific relevant contents thereof may refer to those in the embodiment shown in fig. 1, which are not described herein again.
Fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present application, where the computer device includes a processor, a memory, and a network interface connected through a system bus.
The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the apparatus stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to perform a method of robot position debugging. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform a method of robot position debugging.
It will be understood by those skilled in the art that the structure shown in fig. 3 is a block diagram of only a part of the structure related to the present application, and does not constitute a limitation of the robot arm position adjustment device to which the present application is applied, and a specific robot arm position adjustment device may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed.
Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A mechanical arm position debugging method is characterized in that the movement of a mechanical arm is controlled by a motor, and the motor is electrically connected with a motor driving chip, and the method comprises the following steps:
responding to the click operation of an outgoing call button, and controlling the motor driving chip to send an outgoing call instruction to enable the motor to be in a non-locking state;
after an operator manually moves the mechanical arm from the reset position to the target position, responding to the click operation of a reset button, and controlling the motor driving chip to send a reset instruction to enable the motor to be in a locking state;
controlling the mechanical arm to move from the target position to the reset position, determining the target step number of the mechanical arm moving from the target position to the reset position, and realizing the position debugging of the mechanical arm;
wherein the controlling the robot arm to move from the target position to the reset position and determining a target number of steps for the robot arm to move from the target position to the reset position comprises:
determining a direction vector between the target position and the reset position, and determining a moving sequence of the mechanical arm in each direction based on the direction vector, wherein the directions comprise an X direction, a Y direction and a Z direction;
and controlling the motor to move in each direction in sequence according to the moving sequence so that the movement of the motor drives the mechanical arm to move until the mechanical arm moves to the reset position, and taking the moving steps of the motor in each direction as the target steps of the mechanical arm.
2. The method of claim 1, wherein said determining a sequence of movement of the robotic arm in directions based on the direction vector comprises:
determining a first vector of the direction vector in an X direction and a second vector of the direction vector in a Y direction;
if the first vector is larger than the second vector, determining that the moving sequence is a first sequence, and the first sequence is a Z direction, a Y direction and an X direction in sequence;
if the first vector is smaller than the second vector, determining that the moving sequence is a second sequence, and the second sequence is a Z direction, an X direction and a Y direction in sequence;
determining the movement order to be the first order or the second order if the first vector is equal to the second vector.
3. The method according to claim 1, wherein the controlling the motor to move in each direction in sequence according to the moving sequence, so that the moving of the motor drives the mechanical arm to move until the mechanical arm moves to the reset position, and the moving steps of the motor in each direction are taken as the target steps of the mechanical arm, comprises:
taking a first direction in the moving sequence as a target direction, sending a clock signal and a target direction signal containing the target direction to the motor driving chip to control the motor to move in the target direction, and adding 1 to a counter of the target direction every time the motor moves one step in the target direction, wherein an initial value of the counter in the target direction is 0;
and if the motor is detected to finish moving in the target direction, taking the value of the counter as the step number of the target direction, taking the next direction in the moving sequence as the target direction, and returning to the step of sending a clock signal and a target direction signal containing the target direction to the motor driving chip until the motor driving chip finishes moving in each direction and reaches the reset position.
4. A method according to claim 3, wherein the reset position has a respective directionally corresponding light coupling element;
the method further comprises the following steps:
when the motor moves in the target direction, if an optical coupling signal generated by the optical coupling element corresponding to the target direction is detected, it is determined that the motor has completed moving in the target direction.
5. The method of claim 1, further comprising:
storing the corresponding relation between the target position and the target step number;
and/or;
and displaying the corresponding relation between the target position and the target step number on a display interface.
6. The method of claim 5, further comprising:
and if an instruction that the mechanical arm moves from the reset position to the target position is detected, the target step number is obtained by utilizing the corresponding relation, and the motor driving chip is controlled according to the target step number so as to control the motor to drive the mechanical arm to move to the target position through the motor driving chip.
7. The utility model provides a mechanical arm position debugging device which characterized in that, the removal of arm is by motor control, the motor is connected with motor drive chip electricity, the device includes:
the power-off module is used for responding to the clicking operation of a power-off button and controlling the motor driving chip to send a power-off command to enable the motor to be in a non-locking state;
the reset module is used for responding to the click operation of a reset button after an operator manually moves the mechanical arm from the reset position to the target position and controlling the motor driving chip to send a reset instruction so that the motor is in a locking state;
the step number obtaining module is used for controlling the mechanical arm to move from the target position to the reset position, determining the target step number of the mechanical arm moving from the target position to the reset position and realizing the position debugging of the mechanical arm;
the step number obtaining module is specifically configured to:
the controlling the robotic arm to move from the target position to the reset position and determining a target number of steps for the robotic arm to move from the target position to the reset position includes:
determining a direction vector between the target position and the reset position, and determining a moving sequence of the mechanical arm in each direction based on the direction vector, wherein the directions comprise an X direction, a Y direction and a Z direction;
and controlling the motor to move in each direction in sequence according to the moving sequence so that the movement of the motor drives the mechanical arm to move until the mechanical arm moves to the reset position, and taking the moving steps of the motor in each direction as the target steps of the mechanical arm.
8. A computer device comprising a memory and a processor, characterized in that the memory stores a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210545626.5A CN114643585B (en) | 2022-05-20 | 2022-05-20 | Mechanical arm position debugging method and device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210545626.5A CN114643585B (en) | 2022-05-20 | 2022-05-20 | Mechanical arm position debugging method and device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114643585A CN114643585A (en) | 2022-06-21 |
| CN114643585B true CN114643585B (en) | 2022-09-30 |
Family
ID=81997563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210545626.5A Active CN114643585B (en) | 2022-05-20 | 2022-05-20 | Mechanical arm position debugging method and device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114643585B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015127078A1 (en) * | 2014-02-20 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Limited movement of a surgical mounting platform controlled by manual motion of robotic arms |
| CN106041938A (en) * | 2016-08-16 | 2016-10-26 | 京磁材料科技股份有限公司 | Manipulator having imitating and repeating functions and control method of manipulator |
| CN113021328A (en) * | 2019-12-09 | 2021-06-25 | 广东博智林机器人有限公司 | Hand-eye calibration method, device, equipment and medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100070077A1 (en) * | 2008-09-15 | 2010-03-18 | Xyz Automation | Programmed calibration and mechanical impulse response application iin robotic automation systems |
| CN112155739A (en) * | 2015-03-17 | 2021-01-01 | 直观外科手术操作公司 | System and method for providing feedback during manual joint positioning |
| CN110614629B (en) * | 2018-06-19 | 2020-12-18 | 宝山钢铁股份有限公司 | Automatic positioning control system and method for manipulator |
| CN111015199A (en) * | 2020-01-03 | 2020-04-17 | 广东博力威科技股份有限公司 | Robot screw machine drags positioning system |
| CN111360833B (en) * | 2020-03-24 | 2021-06-11 | 慧灵科技（深圳）有限公司 | Mechanical arm origin position calibration method and system, control terminal and mechanical arm |
| CN112706167B (en) * | 2020-12-29 | 2022-11-04 | 合肥联宝信息技术有限公司 | Control method, apparatus, and computer-readable storage medium for mobile device |
| CN113478491B (en) * | 2021-09-07 | 2021-11-16 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
-
2022
- 2022-05-20 CN CN202210545626.5A patent/CN114643585B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015127078A1 (en) * | 2014-02-20 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Limited movement of a surgical mounting platform controlled by manual motion of robotic arms |
| CN106041938A (en) * | 2016-08-16 | 2016-10-26 | 京磁材料科技股份有限公司 | Manipulator having imitating and repeating functions and control method of manipulator |
| CN113021328A (en) * | 2019-12-09 | 2021-06-25 | 广东博智林机器人有限公司 | Hand-eye calibration method, device, equipment and medium |
Non-Patent Citations (1)
| Title |
|---|
| Calibrating Industrial Robots with Absolute Position Tracking System;Petr Novák;《2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)》;20201005;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114643585A (en) | 2022-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7194396B2 (en) | Simulation device | |
| EP1798618A2 (en) | Device and method for automatically setting interlock between robots | |
| EP1769891A2 (en) | Offline teaching apparatus for robot | |
| CN107414837B (en) | Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot | |
| US20040172168A1 (en) | Taught position modification device | |
| EP2829933A2 (en) | Robot system, robot management computer, and method of manufacturing a robot system | |
| CN109814434B (en) | Calibration method and device of control program | |
| CN112809668A (en) | Method, system and terminal for automatic hand-eye calibration of mechanical arm | |
| CN114643585B (en) | Mechanical arm position debugging method and device, equipment and storage medium | |
| CN115194769A (en) | Coordinate system calibration method and device, robot and storage medium | |
| CN113664838A (en) | Robot positioning placement control method and device, electronic equipment and storage medium | |
| CN110450169B (en) | Robot temperature measurement sampling control method and control system | |
| CN113478492B (en) | Method and system for avoiding collision of mechanical arms, robot and storage medium | |
| CN112743548B (en) | Method, system and terminal for unifying hand-eye calibration of two mechanical arms | |
| US11899428B2 (en) | Work resume system, manufacturing method, and program | |
| CN117562674A (en) | Surgical robot and method performed by the same | |
| CN116117815A (en) | Distribution network robot working tool path calibration method, controller, equipment and medium | |
| CN111325497A (en) | Automatic stock bin material checking method and device, computer equipment and storage medium | |
| CN111702806B (en) | Automatic docking test method and device for robot and terminal | |
| CN118251292A (en) | History management device and program | |
| CN113300638A (en) | Multi-motor synchronous control method and system for multi-axis sewing equipment | |
| CN113043268A (en) | Robot eye calibration method, device, terminal, system and storage medium | |
| CN112975120A (en) | Scanner controller and scanner control system | |
| CN117873031A (en) | Remote control vehicle function testing method and device, storage medium and electronic equipment | |
| JP2020062740A (en) | Control device, working robot, program and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |