WO2019095506A1

WO2019095506A1 - Mechanical arm and self-guiding operation method for mechanical arm

Info

Publication number: WO2019095506A1
Application number: PCT/CN2017/118090
Authority: WO
Inventors: 吕鹏
Original assignee: 歌尔科技有限公司
Priority date: 2017-11-14
Filing date: 2017-12-22
Publication date: 2019-05-23
Also published as: CN108098746A; CN108098746B

Abstract

A mechanical arm and an operation method, said mechanical arm comprising a base (10), a plurality of joint arms, a ranging device (30) and a control device; the plurality of joint arms comprises a first joint arm (11) and a second joint arm (12), the plurality of joint arms being connected to each other in an end-to-end manner and provided in a same vertical plane; the ranging device (30) is provided at the end of the second joint arm (12), and the control device is configured to acquire, when the ranging device (30) locates an operation target of an operation portion (40), a first distance between the ranging device (30) and the operation position of the operation target (50) and an included angle between the first joint arm (11) and the second joint arm (12), calculate coordinates of the operation target (50) with respect to the base (10), and calculate a rotation angle of each of the plurality of joint arms according to the coordinates, thereby controlling rotation of each joint arm. The invention converts the inverse solution operation of a three-dimensional space of the mechanical arm into the operation of a two-dimensional space, simplifying the calculation process, reducing the operation amount, and improving the system processing performance.

Description

Robot arm and robot arm self-guided operation method

cross reference

The present application is hereby incorporated by reference in its entirety in its entirety in its entirety in its entirety in the the the the the the the the the the the the

Technical field

The invention relates to the field of mechanical arms, and in particular to a self-guided operation method of a mechanical arm and a mechanical arm.

Background technique

Whether in the industrial sector or in the service sector, the use of robotic arms is becoming more and more popular. At present, most of the robotic arms are single-joint control or teach along a fixed trajectory. This method is cumbersome and can only be used in certain environments. For the robotic arm that can be guided and positioned, the three-dimensional positioning operation is often adopted by the vision or the pan/tilt. The calculation and positioning of the positioning and the inverse solution are large and complicated, and the overall occupation space of the mechanical arm is also large.

Summary of the invention

The invention provides a robot arm and a robot arm self-guided operation method for reducing the amount of calculation.

In order to achieve the above object, the present invention adopts the following technical solutions:

According to an aspect of the present invention, a self-guided operation method of a mechanical arm is provided. The mechanical arm includes a plurality of pitch arms, and the ends of the plurality of pitch arms include an operation portion, and the plurality of pitch arms are connected end to end in the same vertical plane. The plurality of pitch arms include a first pitch arm rotatably coupled to the base and a second pitch arm rotatably coupled to the first pitch arm, the method comprising: adjusting the first pitch arm and the second pitch arm to be built in the second section The distance measuring device at the end of the arm points to the operating position of the operation target, and acquires a first distance between the distance measuring device and the operating position; acquires the first coordinate of the operating position in the vertical plane according to the first distance; and controls the mechanical arm The plurality of pitch arms rotate, and when the operating portion operates the operating position, an angle between adjacent ones of the plurality of pitch arms and an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate Consistent.

Further, adjusting the first section arm and the second section arm to point the distance measuring device built in the end of the second section arm to the operation position of the operation target, and acquiring the first distance between the distance measuring device and the operation position comprises: Determining that the operational position is in a vertical plane of the plurality of pitch arms; and determining a planar coordinate system of the vertical plane.

Further, the method further includes determining that the ranging direction of the distance measuring device is perpendicular to the extending direction of the second pitch arm to form a first right angle.

Further, acquiring the first coordinate of the operation position in the vertical plane according to the first distance comprises: acquiring a first angle between the first section arm and the second section arm, a first length of the first section arm, and a second section a second length of the arm; and obtaining the first coordinate based on the first distance, the first angle, the first length, the second length, and the first right angle.

Further, when the operating portion is caused to operate the operating position, an angle between adjacent ones of the plurality of pitch arms and an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate include: When the robot arm includes four pitch arms, acquiring a second length of the second pitch arm, a third length of the third pitch arm, and a fourth length of the fourth pitch arm, and according to the first coordinate, the second length, and the third The length and the fourth length acquire an angle between adjacent ones of the plurality of pitch arms.

Further, acquiring an angle between adjacent ones of the plurality of pitch arms according to the first coordinate, the second length, the third length, and the fourth length includes:

Where α ₁ = θ ₁ -90°, α ₂ = θ ₂ -90°, α ₃ = θ ₃ -90°; when the robot arm is operated on the operating position, θ ₁ is the first arm and adjacent a second angle between the second section arms; θ ₂ is a third angle between the second section arm and the adjacent third section arm; θ ₃ is a fourth angle between the third section arm and the fourth section arm ; l ₁ is the second length; l ₂ is the third length; l ₃ is the fourth length; (x, y) is the first coordinate.

The invention also provides a mechanical arm for the self-guided operation method of the foregoing mechanical arm, the mechanical arm comprises a plurality of pitch arms, the plurality of pitch arms are connected end to end in the same vertical plane, and the plurality of pitch arms comprise a base The first section arm of the rotation connection and the second section arm rotatably connected with the first section arm, the operation position of the operation target is located in a vertical plane, the robot arm further comprises a distance measuring device and a control device, and the distance measuring device is built in the first a second arm end for obtaining a first distance between the distance measuring device and an operation position of the operation target; the control device is configured to acquire the first coordinate of the operation position in the vertical plane according to the first distance, and control the plurality of robot arms The pitch arm is rotated such that when the robot arm operates the operating position, an angle between adjacent ones of the plurality of pitch arms coincides with an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate.

Further, the ranging direction of the distance measuring device and the extending direction of the second pitch arm are perpendicular to each other at a first right angle.

Further, the plurality of pitch arms are connected end to end in the same vertical plane, and the plurality of pitch arms are connected by a rotary joint, and the rotation axial direction of the rotary joint and the extension of the adjacent two joint arms connected by the rotary joint are respectively The directions are perpendicular to each other such that the plurality of pitch arms are connected end to end in the same vertical plane.

Further, the distance measuring device is further configured to: determine that the operating position is located in a vertical plane of the plurality of pitch arms; and determine a planar coordinate system of the vertical plane.

Further, the control device is configured to acquire the first coordinate of the operation position in the vertical plane according to the first distance, comprising: the control device is configured to acquire the first angle between the first section arm and the second section arm, and the first section arm a first length and a second length of the second pitch arm; and control means for obtaining the first coordinate based on the first distance, the first angle, the first length, the second length, and the first right angle.

Further, the control device is configured to control the plurality of pitch arms of the mechanical arm to rotate with each other, so that when the mechanical arm operates the operating position, the angle between the adjacent pitch arms of the plurality of pitch arms is obtained according to the plurality of the first coordinate The angle between the adjacent pitch arms in the pitch arm is uniform, including: when the mechanical arm includes four pitch arms, the control device is configured to acquire the second length of the second pitch arm, the third length of the third pitch arm, and the fourth A fourth length of the pitch arm, and a control device for obtaining an angle between adjacent ones of the plurality of pitch arms based on the first coordinate, the second length, the third length, and the fourth length.

Further, the control device is configured to acquire an angle between adjacent ones of the plurality of pitch arms according to the first coordinate, the second length, the third length, and the fourth length, including:

Further, the distance measuring device is a laser distance measuring device, an infrared distance measuring device or an ultrasonic distance measuring device.

Further, the operating portion is a mechanical gripper, a welding head, a punching head or a hook.

In summary, according to the self-guided operation method of the mechanical arm and the mechanical arm of the present invention, the inverse solution of the three-dimensional space of the mechanical arm is performed by positioning the plurality of pitch arms of the mechanical arm and the operation position of the operation target in the same vertical plane. Convert to a two-dimensional space operation to simplify the calculation process, reduce the amount of calculations, and improve system processing performance. Moreover, compared with the prior art, the method of using visual or pan/tilt guidance can effectively save space and reduce hardware cost.

DRAWINGS

The accompanying drawings, which are incorporated in the claims In the drawing:

Figure 1 is a schematic view showing the structure of a robot arm of the present invention;

2 is a schematic view showing the principle of positioning operation of the distance measuring device of the mechanical arm of the present invention;

3 is a schematic view showing the positional relationship of each of the arm arms when the robot arm grasps the operation target of the present invention;

Figure 4 is a simplified schematic view of Figure 3;

Fig. 5 is a flow chart showing the method of self-guided operation of the robot arm of the present invention.

Detailed ways

The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

Embodiment 1

As shown in FIG. 1 , the present invention provides a mechanical arm including a base 10 and a plurality of pitch arms. The plurality of pitch arms are disposed end to end in the same vertical plane, and the plurality of pitch arms include a rotational connection with the base. a first section arm 11 and a second section arm 12 rotatably coupled to the first section arm, the robot arm further includes a distance measuring device 30 and a control device, and the distance measuring device 30 is fixedly disposed at the end of the second section arm 12 for acquiring Determining a first distance between the distance measuring device and an operating position of the operation target; the control device is configured to acquire the first coordinate of the operating position in the vertical plane according to the first distance, and control the rotation of the plurality of pitch arms of the mechanical arm, so that the mechanical When the arm operates the operation position of the operation target, an angle between adjacent ones of the plurality of pitch arms coincides with an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate. That is, the control device is configured to acquire a first distance between the distance measuring device 30 and the operating position of the operation target 50 and the first pitch arm 11 and the second pitch arm 12 when the distance measuring device 30 positions the operation target of the operation portion 40. The angle between the operation target 50 relative to the base 10, that is, the first coordinate of the operation position of the operation target in the vertical plane, and the rotation angle of each of the plurality of pitch arms is calculated according to the first coordinate. The control device in turn controls the rotation of each of the pitch arms in accordance with the respective angle of rotation.

The invention converts the inverse solution operation of the three-dimensional space of the mechanical arm into the operation of the two-dimensional space by arranging the operation positions of the plurality of pitch arms and the operation target of the mechanical arm in the same vertical plane, thereby simplifying the calculation process and reducing the calculation amount. Improve system processing performance. Moreover, compared with the prior art, the method of using visual or pan/tilt guidance can effectively save space and reduce hardware cost.

Preferably, the distance measuring direction of the distance measuring device 30 and the extending direction of the second pitch arm 12 are perpendicular to each other at a first right angle, which facilitates calculation and increases the calculation speed, thereby improving the response speed of the entire mechanical arm.

Specifically, the plurality of pitch arms are connected end to end in the same vertical plane, and the plurality of pitch arms are connected by a rotary joint, and the rotation axial direction of the rotary joint and the extension of the adjacent two joint arms connected by the rotary joint are respectively The directions are perpendicular to each other such that the plurality of pitch arms are connected end to end in the same vertical plane. More specifically, the rotation axis of the first section arm 11 extends in the extending direction of the first section arm, that is, the rotation axis of the first section arm 11 is its own axis, and rotates about the axis when moving; the second section arm 12 and The extending direction of the rear rotating shaft is perpendicular to the extending direction of the first pitch arm 11, so that the other pitch arms are located in the same vertical plane.

Preferably, the distance measuring device 30 is embedded inside the second pitch arm 12 to avoid interference with the distance measuring device 30 when the pitch arms are rotated. The distance measuring device 30 can adopt a laser ranging device or an infrared ranging device, and fix the distance measuring device 30 on the second pitch arm 12, and emit a fixed angle of laser or infrared light with respect to the second pitch arm 12, and rotate the first The arm 11 is thereby moved to move the second pitch arm 12, the distance measuring device 30 and the other pitch arms into the same plane as the operation target 50. Then, the angle between the second section arm 12 and the first section arm 11 is adjusted, so that the laser or infrared light sent by the distance measuring device 30 can be positioned and aligned with the operation target 50, so that the distance between the distance measuring device 30 and the operation target 50 can be measured. distance. The control device communicates with the distance measuring device 30 to obtain its first distance to the operation target 50, and acquires an angle between the first pitch arm 11 and the second pitch arm 12 at this time for subsequent calculation. In other embodiments, the ranging device 30 can also employ an ultrasonic ranging device.

The acquiring, by the control device, the first coordinate of the operating position in the vertical plane according to the first distance comprises: the control device configured to acquire the first angle between the first pitch arm and the second pitch arm, and the first of the first pitch arm a length and a second length of the second pitch arm; and a control device for acquiring the first coordinate based on the first distance, the first angle, the first length, the second length, and the first right angle.

More specifically, the principle of the robot arm positioning the operation target using the distance measuring device 30 will be described in detail with reference to FIG. In FIG. 2, the operation position and the manipulator of the operation target 50 are simplified to the relationship between the point and the line, and the plane coordinate system is determined. The O point is the origin of the plane coordinate system, and the OP (the extension direction of the first section arm) is the plane coordinate. The Y axis of the system, the OS is perpendicular to the OP, and is located in the plane of the arm, as the X axis of the plane coordinate system. The point O is generally the intersection of the first arm axis and the base. Point P is the hinge center point of the first section arm 11 and the second section arm 12, and point Q is the distance measuring device 30, and O' is the horizontal projection point of the operation target 50 to the robot arm. OP is the distance from the origin of the robot arm coordinate system to the end of the first section arm 11 and is a known distance; PQ is the distance from the end of the first section arm 11 to the distance measuring device 30, which is also a known distance; QR is the operation target 50 The distance of the operating position from the distance measuring device 30 can be measured by the distance measuring device 30. OO' is the vertical distance between the operation target 50 and the origin of the coordinate system of the plane where the robot arm is located, and RO' is the horizontal distance between the operation target 50 and the origin of the coordinate system of the plane of the robot arm, and OO' and RO' are obtained, and it is known. The position of the operation target 50 is completed with respect to the position of the coordinate system origin. As can be seen from Figure 2,

∠OPR=∠OPQ-∠QPR

PO'=PR·cos∠OPR

OS=O'R=PR·sin∠OPR

SR=OO'=OP-PO'

The control device has stored the known conditions before use, and obtains the corresponding data of the distance measuring device 30 in real time. Using the above calculation formula, the first coordinate of the operation target 50 in the plane of the robot arm is obtained (RO', OO ').

Wherein, the control device is configured to control the plurality of pitch arms of the robot arm to rotate with each other, so that when the mechanical arm operates the operation position of the operation target, the angle between the adjacent pitch arms of the plurality of pitch arms is obtained according to the first coordinate The angle between the adjacent pitch arms of the plurality of pitch arms is identical, and specifically includes: when the mechanical arm includes four pitch arms, the control device is configured to acquire the second length of the second pitch arm and the third length of the third pitch arm And a fourth length of the fourth pitch arm, and the control device is configured to obtain an angle between the adjacent pitch arms of the plurality of pitch arms according to the first coordinate, the second length, the third length, and the fourth length.

That is, in a preferred embodiment of the invention, the robot arm includes four pitch arms. As shown in FIG. 3, the mechanical arm further includes a third section arm 13 rotatably coupled to the second section arm 12 and a fourth section arm 14 rotatably coupled to the third section arm 13, wherein the third section arm 13 and the fourth section The extending direction of the rotating shaft of the pitch arm 14 is perpendicular to the extending direction of the first pitch arm, that is, the rotating axes of the second pitch arm 12, the third pitch arm 13 and the fourth pitch arm 14 are perpendicular to the first pitch arm 11, Thereby, it can be ensured that the second, third and fourth section arms and the first section arm 11 are always in the same plane. Preferably, in the robot arm, the pitch arms having the rotational connection relationship are connected by the rotary joint, and the rotary joint is driven and controlled by the steering gear or the servo motor. Specifically, the base 10 and the first pitch arm 11 are connected by a rotary joint 21, the first pitch arm 11 and the second pitch arm 12 are connected by a rotary joint 22, and the second pitch arm 12 and the third pitch arm 13 pass the rotary joint 23 The third arm 13 and the fourth arm 14 are connected by a rotary joint 24, and the fourth arm 14 and the operating portion 40 may be connected by a rotary joint 25. The rotation of the single rotating joint adopts an independent control mode, that is, each rotating joint rotates independently, and the joint arm connected thereto is driven to move independently, thereby avoiding the mutual interference of the motion of each joint arm and affecting the operation of the mechanical arm. The control device issues a rotation command including a rotation direction and a rotation angle to independently control the movement of each of the rotary joints.

The robot arm determines the first coordinate of the operation target 50 in the plane of the robot arm, and performs an operation action on the operation target 50. At this time, the positional relationship between the respective arm arms is as shown in FIGS. 3 and 4.

As shown in FIG. 4, A, B, and C are the

rotary joints

22, 23, and 24, respectively, and when the operation portion 40 grasps the operation target 50, the operation target 50 can be simplified to the point D. According to the positional relationship shown in Fig. 4, the relative relationship of the chain manipulators is processed by the D-H model in the three-dimensional space. Here, on the two-dimensional plane, the D-H model is used to process the coordinate relationship, and it is known that:

The coordinate of D in the C coordinate system is (l ₃ cosα ₃ , l ₃ sinα ₃ );

The homogeneous transformation matrix of the coordinate system at C relative to the coordinate system at B is

The homogeneous transformation matrix of the coordinate system at B relative to the coordinate system at A is

Finally, the coordinates of D relative to A are:

Where α ₁ = θ ₁ -90°, α ₂ = θ ₂ -90°, α ₃ = θ ₃ -90°; θ ₁ is the second angle between the second pitch arm and the first pitch arm; θ ₂ is a third angle between the third section arm and the second section arm; θ ₃ is a fourth angle between the fourth section arm and the third section arm; l ₁ is the length of the second section arm; l ₂ is the third The length of the pitch arm; l ₃ is the length of the fourth pitch arm; (x, y) is the mechanical arm positioning and calculates the first coordinate of the acquired operational target 50 in the plane of the mechanical arm. After obtaining the first coordinate (x, y) of the operation target 50, the above formula is solved to determine a second angle θ ₁ of the second section arm relative to the rotation of the first section arm, and the third section arm is rotated relative to the second section arm The third angle θ ₂ and the fourth angle θ ₃ of the fourth pitch arm relative to the third pitch arm rotation. By rotating the steering gear or the servo motor in the joint, each of the rotating joints is controlled to rotate through a corresponding angle, and the operating portion 40 is moved to the operation target 50.

The above matrix contains three unknown variables, and it can be assumed that α _{1 is} known, that is, θ _{1 is} known, so that the values of α ₂ and α ₃ can be obtained, that is, θ ₂ and θ ₃ expressed by θ ₁ can be obtained. In actual operation, θ _{1 is} fixed to a specific value, and then θ ₂ and θ ₃ are solved. If there is a solution, the motor is controlled to perform the grab operation. If there is no solution, the θ _{1 is} changed with a certain gradient, and the solution is continued, if traversing all If there is no solution for θ ₁ , then the target is not within the solution space of the arm, and the position of the base of the arm needs to be moved to reposition the grip.

In the actual operation, when the robot arm has more than 4 pitch arms, the angle of some of the pitch arms is assumed to be known similarly to the above operation, and is used to represent other unknown angles. Traversing the way to get an effective solution.

Generally, the operating portion 40 may be a mechanical gripper, that is, the robot arm grasps the operation target 50 by a mechanical gripper, thereby performing certain operations such as handling, assembly, and the like. A servo mechanism may be disposed on the operation portion 40 to provide a certain preload force for fixing when the operation target 50 is grasped. The operation unit 40 may be a welding device, a spraying device, a punching head or a hook, etc., so that after positioning the operation target 50, operations such as welding, spraying, punching, or hooking are realized.

Embodiment 2

5 is a flow chart of a self-guided operation method of a robot arm. As shown in FIG. 1 to FIG. 5, the mechanical arm includes a plurality of pitch arms, and the ends of the plurality of pitch arms include an operation portion, and the plurality of pitch arms are connected end to end in the same vertical plane. The plurality of pitch arms include a first pitch arm rotatably coupled to the base and a second pitch arm rotatably coupled to the first pitch arm. The method includes the following steps:

Step S101, adjusting the first section arm and the second section arm to cause the distance measuring device built in the end of the second section arm to point to the operation position of the operation target, and acquire the first distance between the distance measuring device and the operation position.

Step S102: Acquire a first coordinate of the operation position in a vertical plane according to the first distance.

Step S103, controlling a plurality of pitch arm rotations of the robot arm, when the operation portion operates the operation position, an angle between adjacent ones of the plurality of pitch arms and a plurality of phase arms obtained according to the first coordinate The angle between the adjacent arms is the same.

That is, the robot arm self-guided operation method converts the inverse solution operation of the three-dimensional space of the robot arm into a two-dimensional space operation by positioning the plurality of pitch arms of the robot arm and the operation position of the operation target in the same vertical plane. Simplify the calculation process, reduce the amount of calculations, and improve system processing performance. Moreover, compared with the prior art, the method of using visual or pan/tilt guidance can effectively save space and reduce hardware cost.

Specifically, the first section arm and the second section arm of the step S101 are adjusted to point the distance measuring device built in the end of the second section arm to the operation position of the operation target, and obtain the first between the distance measuring device and the operation position. The distance includes: determining that the operating position is in a vertical plane of the plurality of pitch arms; that is, adjusting the first pitch arm such that the mechanical arm is in the same vertical plane as the operation target, and then adjusting the second pitch arm and the first The angle of the arm is such that the distance measuring device positions the operating position of the operating target and thereby measures the first distance.

Preferably, the method further comprises the step of determining that the ranging direction of the distance measuring device is perpendicular to the extending direction of the second pitch arm to form a first right angle, thereby facilitating calculation and improving the response speed.

The distance measuring device may be a laser distance measuring device or an infrared distance measuring device, which is fixed at the end of the second arm to emit a fixed angle of laser or infrared light with respect to the second arm. The control device acquires the distance between the operation position of the operation target and the distance measuring device in real time. During the positioning of the operating target, the second arm rotates relative to the first arm. The angle between the first arm and the second arm can be obtained by monitoring the angle of rotation of the steering gear or servo motor in the rotating joint.

The obtaining the first coordinate of the operation position in the vertical plane according to the first distance in the step S102 includes: acquiring the first angle between the first section arm and the second section arm, the first length of the first section arm, and the second a second length of the pitch arm; and acquiring the first coordinate according to the first distance, the first angle, the first length, the second length, and the first right angle. According to the above known parameters, the mechanical arm shown in FIG. 2 is used to locate the operation target of the operation target by using the distance measuring device, and the operation position of the operation target is calculated. The operation position is the first coordinate of the operation target in the plane of the robot arm, and the detailed calculation process is the same as that in the first embodiment, and will not be described again.

Further, the plurality of pitch arms of the control robot arm of the above step S103 are mutually rotated, so that when the operation portion operates the operation position of the operation target, the angle between the adjacent pitch arms of the plurality of pitch arms is obtained according to the first coordinate The angle between the adjacent pitch arms of the plurality of pitch arms is identical, and specifically includes: when the mechanical arm includes four pitch arms, acquiring the second length of the second pitch arm, the third length of the third pitch arm, and the fourth And a fourth length of the pitch arm, and obtaining an angle between adjacent ones of the plurality of pitch arms according to the first coordinate, the second length, the third length, and the fourth length.

As shown in FIG. 3 and FIG. 4, according to the formula of the positional relationship of each joint arm when the robot arm grasps the operation target, after determining the operation position of the operation target, the matrix formula can be obtained to obtain the rotation of each of the plurality of pitch arms. angle. According to the number of series joint arms, the formula of the positional relationship matrix of the joint arms is adjusted. In the second embodiment, the determination of the plane coordinate system and the detailed calculation process of the positioning grab operation target are the same as those of the first embodiment, and will not be described again.

In summary, the robot arm and the robot arm self-guided operation method according to the present invention, by controlling the extending direction of the rotating shaft of the first pitch arm as the extending direction of the first pitch arm, and setting the distance measuring device at the end of the second pitch arm Positioning the ranging for the operation target, in the positioning and ranging process of the distance measuring device, rotating each of the arm arms of the robot arm into the same plane as the operation position of the operation target, thereby reducing the inverse solution operation of the three-dimensional space of the robot arm to two Dimensional space, reducing the amount of computation and improving system performance. Moreover, compared with the prior art, the method of using visual or pan/tilt guidance can effectively save space and reduce hardware cost.

The above is only the embodiment of the present invention, and other improvements or modifications may be made by those skilled in the art based on the above embodiments. It should be understood by those skilled in the art that the foregoing detailed description of the invention is intended to provide a better understanding of the scope of the invention.

Claims

A self-guided operation method of a mechanical arm, the mechanical arm includes a plurality of pitch arms, and an end of the plurality of pitch arms includes an operation portion, wherein the plurality of pitch arms are connected end to end in the same vertical plane The plurality of pitch arms include a first pitch arm rotatably coupled to the base and a second pitch arm rotatably coupled to the first pitch arm, the method comprising:

Adjusting the first pitch arm and the second pitch arm to point a distance measuring device built in the end of the second pitch arm to an operation position of the operation target, and acquiring between the distance measuring device and the operation position First distance

Obtaining, according to the first distance, a first coordinate of the operating position in the vertical plane;

Controlling a plurality of pitch arm rotations of the robot arm, and when the operation portion operates the operation position, an angle between adjacent ones of the plurality of pitch arms is obtained according to the first coordinate The angle between adjacent ones of the plurality of pitch arms is uniform.
The self-guided operation method of the mechanical arm according to claim 1, wherein the method further comprises:

A planar coordinate system of the vertical plane is determined.
The self-guided operation method of the mechanical arm according to claim 1, wherein the method further comprises:

It is determined that the ranging direction of the distance measuring device is perpendicular to the extending direction of the second pitch arm to form a first right angle.
The self-guided operation method of the robot arm according to claim 3, wherein the acquiring the first coordinate of the operation position in the vertical plane according to the first distance comprises:

Obtaining a first angle between the first pitch arm and the second pitch arm, a first length of the first pitch arm, and a second length of the second pitch arm;

And acquiring the first coordinate according to the first distance, the first angle, the first length, the second length, and the first right angle.
The self-guided operation method of the robot arm according to claim 1, wherein the operation between the adjacent arm portions of the plurality of pitch arms is performed when the operation portion is operated on the operation position The angle coincides with an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate, including:

When the mechanical arm includes four pitch arms, obtaining a second length of the second pitch arm, a third length of the third pitch arm, and a fourth length of the fourth pitch arm, and

Obtaining an angle between adjacent ones of the plurality of pitch arms according to the first coordinate, the second length, the third length, and the fourth length.
The self-guided operation method of a robot arm according to claim 5, wherein the acquiring the plurality of the first coordinates, the second length, the third length, and the fourth length The angle between adjacent arms in the section arm, including:

Wherein α 1 =θ 1 -90°, α 2 =θ 2 -90°, α 3 =θ 3 -90°; when the mechanical arm is operated on the operating position, θ 1 is the first a second angle between the one arm and the adjacent second arm; θ 2 is a third angle between the second arm and the adjacent third arm; θ 3 is the a fourth angle between the three-section arm and the fourth-section arm; l 1 is the second length; l 2 is the third length; 13 is the fourth length; (x, y) is The first coordinate.
A robot arm for use in a self-guided operation method of a robot arm according to any one of claims 1 to 6, wherein the robot arm includes a plurality of pitch arms, wherein the plurality of pitch arms are end to end connected In the same vertical plane, the plurality of pitch arms include a first pitch arm rotatably coupled to the base and a second pitch arm rotatably coupled to the first pitch arm, the operational position of the operation target being located in the vertical plane The mechanical arm further includes a distance measuring device and a control device.

The distance measuring device is built in an end of the second section arm for acquiring a first distance between the distance measuring device and an operating position of the operation target;

The control device is configured to acquire a first coordinate of the operating position in the vertical plane according to a first distance, and control a plurality of pitch arm rotations of the mechanical arm, so that the mechanical arm performs the operating position on the operating arm In operation, an angle between adjacent ones of the plurality of pitch arms coincides with an angle between adjacent ones of the plurality of pitch arms acquired according to the first coordinate.
The robot arm according to claim 7, wherein the distance measuring direction of the distance measuring device and the extending direction of the second pitch arm are perpendicular to each other at a first right angle.
The robot arm according to claim 7, wherein the plurality of pitch arms are connected end to end in the same vertical plane, comprising:

The plurality of pitch arms are connected by a rotary joint, and a rotation axis of the rotary joint and an extending direction of each of the adjacent two joint arms connected through the rotary joint are perpendicular to each other, so that the plurality of pitch arms End to end in the same vertical plane.
The robot arm according to claim 7, wherein

The control device is configured to acquire the first coordinate of the operating position in the vertical plane according to the first distance, including:

The control device is configured to acquire a first angle between the first pitch arm and the second pitch arm, a first length of the first pitch arm, and a second length of the second pitch arm;

The control device is configured to acquire the first coordinate according to the first distance, the first angle, the first length, the second length, and the first right angle.