CN109605343A - A kind of mechanical arm returns to zero method, apparatus and SCARA mechanical arm - Google Patents
A kind of mechanical arm returns to zero method, apparatus and SCARA mechanical arm Download PDFInfo
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- CN109605343A CN109605343A CN201811639153.5A CN201811639153A CN109605343A CN 109605343 A CN109605343 A CN 109605343A CN 201811639153 A CN201811639153 A CN 201811639153A CN 109605343 A CN109605343 A CN 109605343A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
Embodiment of the present invention is related to mechanical arm technical field, returns to zero method, apparatus and SCARA mechanical arm more particularly to a kind of mechanical arm.Instruction is returned to zero this method comprises: receiving and opening；Control mechanical arm is moved to close to the first direction for returning to zero switch；Judge whether to detect and returns to zero switch；When detecting that control mechanical arm is moved to far from the second direction for returning to zero switch when returning to zero switch；Judge whether still to detect and returns to zero switch；When be not detected return to zero switch when, control mechanical arm close to the first direction for returning to zero switch to move and acquisition encoder numerical value then returns to zero success when encoder numerical value is zeroed in real time.As a result, by returning to zero switch and motor encoder collectively as the Rule of judgment returned to zero, the precision returned to zero is improved.
Description
Technical field
Embodiment of the present invention is related to mechanical arm technical field, more particularly to a kind of mechanical arm return to zero method, apparatus with
And SCARA mechanical arm.
Background technique
Mechanical arm system will appear the case where coordinate entanglement once in a while in use, needs to return to zero at this time and find correctly
Coordinate；Using the mechanical arm of incremental encoder, absolute position can not be recorded when powering on, powering on need to return to zero.
In the implementation of the present invention, following problems exist in the prior art: current in the present inventor
In technology, switch/contact-making switch is generally returned to zero by induction to realize the judgement of position when returning to zero, is realized back by returning to zero switch
Zero, the precision returned to zero is determined by the distance of reaction for returning to zero switch, and it is relatively low to return to zero precision.
Summary of the invention
Embodiment of the present invention mainly solving the technical problems that provide a kind of mechanical arm return to zero method, apparatus and
SCARA mechanical arm, it is intended to solve the precision returned to zero and be determined by the distance of reaction for returning to zero switch, return to zero the lower problem of ratio of precision.
In a first aspect, in order to solve the above technical problems, the technical solution that embodiment of the present invention uses is: providing one
Kind mechanical arm returns to zero method, comprising:
It receives to open and returns to zero instruction；
Control mechanical arm is moved to close to the first direction for returning to zero switch；
Judge whether to detect and described returns to zero switch；
When detect it is described return to zero switch when, control the mechanical arm to far from the second direction fortune for returning to zero switch
It is dynamic；
Judge whether still to detect and described returns to zero switch；
When be not detected it is described return to zero switch when, control the mechanical arm to close to the first direction fortune for returning to zero switch
It moves and obtains encoder numerical value in real time and then return to zero success when encoder numerical value zero.
Optionally, it is described when be not detected it is described return to zero switch when, control the mechanical arm and returned to zero out to close to described
The first direction of pass, which moves and obtains encoder numerical value in real time, then returns to zero successful step when encoder numerical value zero
Later, the method also includes:
Feed back to zero successful information.
Optionally, it is described when be not detected it is described return to zero switch when, control the mechanical arm and returned to zero out to close to described
The first direction of pass, which moves and obtains encoder numerical value in real time, then returns to zero successful step when encoder numerical value zero
Before, the method also includes:
It receives and stops returning to zero instruction, stopping returns to zero operation.
Second aspect, in order to solve the above technical problems, another technical solution that embodiment of the present invention uses is: providing
A kind of mechanical arm zero resetting device, comprising:
First receiving module is used to receive unlatching and returns to zero instruction；
First control module is used to control mechanical arm and moves to close to the first direction for returning to zero switch；
First judgment module, is used to judge whether to detect and described returns to zero switch；
Second control module, be used for when detect it is described return to zero switch when, control the mechanical arm and returned to far from described
The second direction movement of zero switch；
Second judgment module, is used to judge whether still to detect and described returns to zero switch；
Third control module, be used for when be not detected it is described return to zero switch when, control the mechanical arm to close to described
The first direction for returning to zero switch, which moves and obtains encoder numerical value in real time, then returns to zero success when encoder numerical value zero.
Optionally, described device further include:
Feedback module is used to feed back to zero successful information.
Optionally, described device further include:
Second receiving module is used to receive stopping and returns to zero instruction, and stopping returns to zero operation.
The third aspect, in order to solve the above technical problems, another technical solution that embodiment of the present invention uses is: providing
A kind of SCARA mechanical arm, comprising:
Principal arm；
Support arm group, the support arm group connect with the principal arm, and the support arm group can move up and down on the principal arm；
Master controller, the master controller are connect with the principal arm and the support arm group respectively, and the master controller is used for
Execute such as above-mentioned method.
Optionally, the principal arm is provided with the first driving mechanism, and the support arm group connect with first driving mechanism, institute
The first driving mechanism is stated for driving the support arm group to move up and down on the principal arm.
Optionally, the support arm group includes the first arm, the second arm and third arm, one end and the principal arm of first arm
The connection of the first driving mechanism, first arm is provided with the first rotating mechanism, one end of second arm with described first turn
The connection of motivation structure, second arm are provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, described
Third arm is provided with third rotating mechanism；
The master controller respectively with first driving mechanism, first rotating mechanism, second rotating mechanism
It is connected with the third rotating mechanism.
Optionally, the principal arm is provided with first and returns to zero switch, and first arm is provided with second and returns to zero switch, and described
Two arms are provided with third and return to zero switch, and the third arm is provided with the 4th and returns to zero switch；
Wherein, when the master controller receive open return to zero instruction after, first driving mechanism will be controlled to close to institute
The first direction operation for returning to zero switch is stated, judges whether to detect that described first returns to zero switch, when detecting that described first returns to zero
When switch, controls first driving mechanism and moved to far from the direction for returning to zero switch, then judge whether still to detect institute
It states first and returns to zero switch, when being not detected described first and returning to zero switch, control the principal arm and returned to zero out to close to described first
The direction of pass runs and obtains in real time the first encoder numerical value of first driving mechanism, until the first encoder numerical value
Zero；
And control first rotating mechanism is run to the direction for returning to zero switch close to described second, judges whether to examine
It measures described second and returns to zero switch, when detecting that described second returns to zero switch, control first rotating mechanism to far from institute
The second direction movement for returning to zero switch is stated, then judges whether still to detect that described second returns to zero switch, when being not detected described the
Two when returning to zero switch, controls the principal arm and runs to the direction for returning to zero switch close to described second and obtain described first turn in real time
The second encoder numerical value of motivation structure, until the second encoder numerical value is zeroed；
And control second rotating mechanism is run to the direction for returning to zero switch close to the third, judges whether to examine
It measures the third and returns to zero switch, when detecting that the third returns to zero switch, control second rotating mechanism to far from institute
The direction movement that third returns to zero switch is stated, then judges whether still to detect that the third returns to zero switch, when being not detected described the
Three when returning to zero switch, controls the principal arm and runs to the direction for returning to zero switch close to the third and obtain described second turn in real time
The third encoder numerical value of motivation structure, until the third encoder numerical value is zeroed；
And control the third rotating mechanism and run to the direction for returning to zero switch close to the described 4th, judge whether to examine
It measures the described 4th and returns to zero switch, when detecting that the described 4th returns to zero switch, control the third rotating mechanism to far from institute
The 4th direction movement for returning to zero switch is stated, then judges whether still to detect that the described 4th returns to zero switch, when being not detected described the
Four when returning to zero switch, controls the principal arm and runs to the direction for returning to zero switch close to the described 4th and obtain the third in real time and turns
4th encoder numerical value of motivation structure, until the 4th encoder numerical value is zeroed；
When the first encoder numerical value, the second encoder numerical value, the third encoder numerical value and the described 4th
Encoder numerical value is zeroed, then returns to zero success.
The beneficial effect of embodiment of the present invention is: it is in contrast to the prior art, in embodiments of the present invention, machine
Tool arm returns to zero method, comprising: receives unlatching and returns to zero instruction；Control mechanical arm is moved to close to the first direction for returning to zero switch；Sentence
Break and returns to zero switch described in whether detecting；When detect it is described return to zero switch when, control the mechanical arm and returned to zero to far from described
The second direction of switch moves；Judge whether still to detect and described returns to zero switch；When be not detected it is described return to zero switch when, control
The mechanical arm close to the first direction for returning to zero switch to moving and obtaining encoder numerical value in real time, when the encoder number
When value zero, then success is returned to zero.As a result, by returning to zero switch and motor encoder collectively as the Rule of judgment returned to zero, improve
The precision returned to zero.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these are exemplary
Illustrate not constitute the restriction to embodiment, the element in attached drawing with same reference numbers label is expressed as similar member
Part, unless there are special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the structural schematic diagram of one Scara mechanical arm 100 of embodiment of the present invention；
Fig. 2 is that the mechanical arm of embodiment of the present invention two returns to zero method；
Fig. 3 is that the mechanical arm of embodiment of the present invention three returns to zero method；
Fig. 4 is the mechanical arm zero resetting device of embodiment of the present invention four；
Fig. 5 is the mechanical arm zero resetting device of embodiment of the present invention five；
Fig. 6 is the hardware structural diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or
There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it be can be directly
It is connected to another element in succession or there may be one or more elements placed in the middle therebetween.Term used in this specification
"vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes
Any and all combinations of one or more related listed items.
Embodiment one
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of one Scara mechanical arm 100 of embodiment of the present invention, the Scara is mechanical
Arm 100 includes principal arm 10, support arm group 20 and master controller, and principal arm 10 is provided with the first driving mechanism J3, the first driving mechanism J3
For driving support arm group 20 to move up and down on principal arm 10, support arm group 20 includes the first arm 21, the second arm 22 and third arm
23, one end of the first arm 21 is connect with the first driving mechanism J3 of principal arm 10, and the first arm 21 is provided with the first rotating mechanism J1, the
One end of two arms 22 is connect with the first rotating mechanism J1, and the second arm 22 is provided with the second rotating mechanism J2, third arm 23 and second
Rotating mechanism J2 connection, third arm 23 are provided with third rotating mechanism J4, in general, when Scara mechanical arm 100 is set to level
When face, the first driving mechanism J3 can drive support arm group 20 to move up and down on principal arm 10, the rotation of the first rotating mechanism J1
Gyration is 180 degree, and the rotation angle of the second rotating mechanism J2 is 270 degree, and the rotation angle of third rotating mechanism J4 is 360
Degree, there are four freedom degree, general first driving mechanism J3 will increase band-type brake, protects during power down the tool of Scara mechanical arm 100 as a result,
Card support arm group 20 does not fall.
Master controller is connect with principal arm 10 and support arm group 20 respectively, and master controller returns to zero instruction for executing to receive to open；
Control mechanical arm is moved to close to the first direction for returning to zero switch；Judge whether to detect and returns to zero switch；It is returned to zero out when detecting
Guan Shi, control mechanical arm are moved to far from the second direction for returning to zero switch；Judge whether still to detect and returns to zero switch；When not detecting
To when returning to zero switch, control mechanical arm works as volume to moving close to the first direction for returning to zero switch and obtaining encoder numerical value in real time
When code device numerical value zero, then success is returned to zero；Feed back to zero successful information.Optionally, when be not detected return to zero switch when, control
Mechanical arm processed moves to the close first direction for returning to zero switch and obtains in real time encoder numerical value, when encoder numerical value zero,
Before then returning to zero successful step, master controller can also receive stopping and return to zero instruction, and stopping returns to zero operation.
Specifically, principal arm 10, which is provided with first, returns to zero switch (not shown), the first arm 21 is provided with second and returns to zero switch (figure
Do not show), the second arm 22 is provided with third and returns to zero switch (not shown), and third arm 23 is provided with the 4th and returns to zero switch (not shown)；
Wherein, after master controller, which receives unlatching, returns to zero instruction, the first driving mechanism J3 of control is returned to zero to close to first
The direction of switch is run, and judges whether to detect that first returns to zero switch, when detecting that first returns to zero switch, the first driving of control
Mechanism J3 is moved to far from the direction for returning to zero switch, then judges whether still to detect that first returns to zero switch, when being not detected first
When returning to zero switch, control principal arm runs and obtains in real time the of the first driving mechanism J3 to the direction for returning to zero switch close to first
One encoder numerical value, until the first encoder numerical value is zeroed；
And the first rotating mechanism J1 of control is run to the direction for returning to zero switch close to second, judges whether to detect the
Two return to zero switch, when detecting that second returns to zero switch, control the first rotating mechanism J1 to the direction for returning to zero switch far from second
Movement, then judges whether still to detect that second returns to zero switch, when being not detected second and returning to zero switch, controls principal arm to close to the
Two directions for returning to zero switch run and obtain in real time the second encoder numerical value of the first rotating mechanism J1, until second encoder number
Value zero；
And the second rotating mechanism J2 of control is run to the direction for returning to zero switch close to third, judges whether to detect the
Three return to zero switch, and when detecting that third returns to zero switch, the second rotating mechanism J2 of control returns to zero the direction of switch to separate third
Movement, then judges whether still to detect that third returns to zero switch, when third being not detected returning to zero switch, controls principal arm to close to the
Three directions for returning to zero switch run and obtain in real time the third encoder numerical value of the second rotating mechanism J2, until third encoder number
Value zero；
And control third rotating mechanism J4 is run to the direction for returning to zero switch close to the 4th, judges whether to detect the
Four return to zero switch, when detecting that the 4th returns to zero switch, control third rotating mechanism J4 to the direction for returning to zero switch far from the 4th
Movement, then judges whether still to detect that the 4th returns to zero switch, when being not detected the 4th and returning to zero switch, controls principal arm to close to the
Four directions for returning to zero switch run and obtain the 4th encoder numerical value of third rotating mechanism J4 in real time, until the 4th encoder number
Value zero；
When the first encoder numerical value, second encoder numerical value, third encoder numerical value and the 4th encoder numerical value are zeroed,
Then return to zero success.
In embodiment of the present invention one, the controller of Scara mechanical arm 100 can execute reception unlatching and return to zero instruction；
Control mechanical arm is moved to close to the first direction for returning to zero switch；Judge whether to detect and returns to zero switch；It is returned to zero out when detecting
Guan Shi, control mechanical arm are moved to far from the second direction for returning to zero switch；Judge whether still to detect and returns to zero switch；When not detecting
To when returning to zero switch, control mechanical arm works as volume to moving close to the first direction for returning to zero switch and obtaining encoder numerical value in real time
When code device numerical value zero, then success is returned to zero.As a result, by returning to zero switch and motor encoder collectively as the judgement item returned to zero
Part improves the precision returned to zero.
Embodiment two
Referring to Fig. 2, the mechanical arm that Fig. 2 is embodiment of the present invention two returns to zero method, it to be used for above embodiment one
Scara mechanical arm, this method comprises:
Step 201: receiving unlatching and return to zero instruction；
Optionally, the button opened and returned to zero is provided on Scara mechanical arm, once the user's operation button, Scara is mechanical
Arm can get unlatching and return to zero instruction, certainly, in embodiments of the present invention, can also obtain unlatching by other means
Instruction is returned to zero, such as instruction is returned to zero by the unlatching that host computer issues, will not repeat them here.
Step 202: control mechanical arm is moved to close to the first direction for returning to zero switch；
Wherein, Scara mechanical arm include include principal arm and support arm group, be provided on principal arm and support arm group and return to zero switch,
Switch is returned to zero to be considered as a region, it can be assumed that principal arm and support arm group are equipped with reference point, are when reference point enters the region
Zeroing, only returns to zero by returning to zero switch as a result, certain error can be generated during zeroing, the present invention is directed to pass through combination
Encoder zeroing by zero point accurately in return to zero in switch region a bit.
Step 203: judging whether to detect and return to zero switch；
Step 202 is constantly executed, step 202 is then continued to execute if being not detected and returning to zero switch, is returned to zero until detecting
Switch, illustrates that the reference point of principal arm and support arm group come into the region for returning to zero switch.
Step 204: when detecting that control mechanical arm is moved to far from the second direction for returning to zero switch when returning to zero switch；
First direction and second direction are on the contrary, into after returning to zero the region of switch, and inverted running, makes mechanical arm again
Reference point is removed the region for returning to zero switch by former road again.
Step 205: judging whether still to detect and return to zero switch；
Step 204 is constantly executed, returns to zero switch if remaining to detect, illustrates that the reference point of mechanical arm is also returning to zero switch
Region in, then continue to execute step 204, return to zero switch until being not detected, then illustrated the reference point of principal arm and support arm group
The region of switch is returned to zero through leaving.
Step 206: when be not detected return to zero switch when, control mechanical arm moves simultaneously to close to the first direction for returning to zero switch
Encoder numerical value is obtained in real time, when encoder numerical value zero, then returns to zero success.
The reference point for controlling principal arm and support arm group again enters the region for returning to zero switch, in combination with acquisition encoder number
Value then returns to zero success when encoder numerical value zero, it is worth noting that, herein by the way of motor encoder zeroing.
In embodiment of the present invention two, it includes: to receive to open to return to zero instruction that mechanical arm, which returns to zero method,；Control mechanical arm to
Close to the first direction movement for returning to zero switch；Judge whether to detect and returns to zero switch；When detecting that control is mechanical when returning to zero switch
Arm is moved to far from the second direction for returning to zero switch；Judge whether still to detect and returns to zero switch；When be not detected return to zero switch when,
Control mechanical arm close to the first direction for returning to zero switch to moving and obtaining in real time encoder numerical value, when encoder numerical value is zeroed
When, then return to zero success.As a result, by returning to zero switch and motor encoder collectively as the Rule of judgment returned to zero, improves and return to zero
Precision.
Embodiment three
Referring to Fig. 3, the mechanical arm that Fig. 3 is embodiment of the present invention three returns to zero method, it to be used for above embodiment one
Scara mechanical arm, this method comprises:
Step 301: receiving unlatching and return to zero instruction；
Optionally, the button opened and returned to zero is provided on Scara mechanical arm, once the user's operation button, Scara is mechanical
Arm can get unlatching and return to zero instruction, certainly, in embodiments of the present invention, can also obtain unlatching by other means
Instruction is returned to zero, such as instruction is returned to zero by the unlatching that host computer issues, will not repeat them here.
Step 302: control mechanical arm is moved to close to the first direction for returning to zero switch；
Wherein, Scara mechanical arm include include principal arm and support arm group, be provided on principal arm and support arm group and return to zero switch,
Switch is returned to zero to be considered as a region, it can be assumed that principal arm and support arm group are equipped with reference point, are when reference point enters the region
Zeroing, only returns to zero by returning to zero switch as a result, certain error can be generated during zeroing, the present invention is directed to pass through combination
Encoder zeroing by zero point accurately in return to zero in switch region a bit.
Step 303: judging whether to detect and return to zero switch；
Step 302 is constantly executed, step 302 is then continued to execute if being not detected and returning to zero switch, is returned to zero until detecting
Switch, illustrates that the reference point of principal arm and support arm group come into the region for returning to zero switch.
Step 304: when detecting that control mechanical arm is moved to far from the second direction for returning to zero switch when returning to zero switch；
First direction and second direction are on the contrary, into after returning to zero the region of switch, and inverted running, makes mechanical arm again
Reference point is removed the region for returning to zero switch by former road again.
Step 305: judging whether still to detect and return to zero switch；
Step 304 is constantly executed, returns to zero switch if remaining to detect, illustrates that the reference point of mechanical arm is also returning to zero switch
Region in, then continue to execute step 304, return to zero switch until being not detected, then illustrated the reference point of principal arm and support arm group
The region of switch is returned to zero through leaving.
Step 306 (not shown): receiving and stop returning to zero instruction, and stopping returns to zero operation.
So that user stops the zeroing movement of mechanical arm at any time, certainly, in other embodiments, step 306 can be in step
Either step before rapid 305 executes, and will not repeat them here.
Step 307: when be not detected return to zero switch when, control mechanical arm moves simultaneously to close to the first direction for returning to zero switch
Encoder numerical value is obtained in real time, when encoder numerical value zero, then returns to zero success.
The reference point for controlling principal arm and support arm group again enters the region for returning to zero switch, in combination with acquisition encoder number
Value then returns to zero success when encoder numerical value zero, it is worth noting that, herein by the way of motor encoder zeroing.
Step 308: feeding back to zero successful information.
It returns to zero and successfully then feeds back to zero successful information, to remind user to succeed back.
In embodiment of the present invention three, it includes: to receive to open to return to zero instruction that mechanical arm, which returns to zero method,；Control mechanical arm to
Close to the first direction movement for returning to zero switch；Judge whether to detect and returns to zero switch；When detecting that control is mechanical when returning to zero switch
Arm is moved to far from the second direction for returning to zero switch；Judge whether still to detect and returns to zero switch；When be not detected return to zero switch when,
Control mechanical arm close to the first direction for returning to zero switch to moving and obtaining in real time encoder numerical value, when encoder numerical value is zeroed
When, then return to zero success.As a result, by returning to zero switch and motor encoder collectively as the Rule of judgment returned to zero, improves and return to zero
Precision.
Embodiment four
Referring to Fig. 4, Fig. 4 is the mechanical arm zero resetting device of embodiment of the present invention four, it to be used for above embodiment one
Scara mechanical arm, the device 400 include: the first receiving module 401, the first control module 402, first judgment module 403,
Second control module 404, the second judgment module 405 and third control module 406.
Wherein, the first receiving module 401 returns to zero instruction for receiving to open；
First control module 402 is used to control mechanical arm and moves to close to the first direction for returning to zero switch；
First judgment module 403 returns to zero switch for judging whether to detect；
Second control module 404 is used for when detecting that control mechanical arm is to far from returning to zero the second of switch when returning to zero switch
Direction movement；
Second judgment module 405 returns to zero switch for judging whether still to detect；
Third control module 406 be used for when be not detected return to zero switch when, control mechanical arm is to close to returning to zero the of switch
One direction, which moves and obtains encoder numerical value in real time, then returns to zero success when encoder numerical value zero.
It should be understood that present apparatus embodiment four and method implementation two are based on identical inventive concept, this dress
The particular content and beneficial effect for setting embodiment four please refer to method implementation two, will not repeat them here.
Embodiment five
Referring to Fig. 5, Fig. 5 is the mechanical arm zero resetting device of embodiment of the present invention five, it to be used for above embodiment one
Scara mechanical arm, the device 400 include: the first receiving module 401, the first control module 402, first judgment module 403,
Second control module 404, the second judgment module 405, third control module 406, feedback module 407 and the second receiving module 408.
Wherein, the first receiving module 401 returns to zero instruction for receiving to open；
First control module 402 is used to control mechanical arm and moves to close to the first direction for returning to zero switch；
First judgment module 403 returns to zero switch for judging whether to detect；
Second control module 404 is used for when detecting that control mechanical arm is to far from returning to zero the second of switch when returning to zero switch
Direction movement；
Second judgment module 405 returns to zero switch for judging whether still to detect；
Third control module 406 be used for when be not detected return to zero switch when, control mechanical arm is to close to returning to zero the of switch
One direction, which moves and obtains encoder numerical value in real time, then returns to zero success when encoder numerical value zero.
Feedback module 407 is for feeding back to zero successful information.
Second receiving module 408 stops returning to zero instruction for receiving, and stopping returns to zero operation.
It should be understood that present apparatus embodiment five and method implementation three are based on identical inventive concept, this dress
The particular content and beneficial effect for setting embodiment five please refer to method implementation three, will not repeat them here.
Referring to Fig. 6, Fig. 6 is the hardware structural diagram of electronic equipment provided in an embodiment of the present invention, as shown in fig. 6,
Electronic equipment 60 includes:
One or more processors 61 and memory 62, in Fig. 6 by taking a processor 61 as an example.
Processor 61 can be connected with memory 62 by bus or other modes, to be connected as by bus in Fig. 6
Example.
Memory 62 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module refer to as the mechanical arm in the embodiment of the present invention returns to zero corresponding program
Order/module is (for example, attached first receiving module 401 shown in fig. 5, the first control module 402, first judgment module 403, second
Control module 404, the second judgment module 405, third control module 406, feedback module 407 and the second receiving module 408).Place
Non-volatile software program, instruction and the module that reason device 61 is stored in memory 62 by operation, set thereby executing electronics
The mechanical arm of standby various function application and data processing, i.e. realization above method embodiment returns to zero method.
Memory 62 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；Storage data area can store the use institute according to the control device of desktop mechanical arm
The data etc. of creation.In addition, memory 62 may include high-speed random access memory, it can also include non-volatile memories
Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments
In, optional memory 62 includes the memory remotely located relative to processor 61, these remote memories can pass through network
It is connected to the control device of desktop mechanical arm.The example of above-mentioned network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 62, when by one or more of electronic equipments
When execution, the mechanical arm executed in above-mentioned any means embodiment is returned to zero, for example, executing the method step in Fig. 2 described above
Rapid 201 to step 206, the method and step 301 in Fig. 3 to step 308；Realize the module 401 to 406 in Fig. 4, the mould in Fig. 5
The function of block 401 to 408.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, including but not limited to:
(1) mobile communication equipment: the characteristics of this kind of equipment is that have mobile communication function, and to provide speech, data
Communication is main target.This Terminal Type includes: smart phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(2) super mobile personal computer equipment: this kind of equipment belongs to the scope of personal computer, there is calculating and processing function
Can, generally also have mobile Internet access characteristic.This Terminal Type includes: PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device: this kind of equipment can show and play multimedia content.Such equipment include: audio,
Video player (such as iPod), handheld device, e-book and intelligent toy and portable car-mounted navigation equipment.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added to realize by software, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can
With understand all or part of the process realized in above-described embodiment method be can be instructed by computer program it is relevant hard
Part is completed, and the program can be stored in a computer-readable storage medium, the program is when being executed, it may include as above
State the process of the embodiment of each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-
Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention,
It is all to utilize equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is applied directly or indirectly in
Other related technical areas are included within the scope of the present invention.
Claims (10)
1. a kind of mechanical arm returns to zero method characterized by comprising
It receives to open and returns to zero instruction；
Control mechanical arm is moved to close to the first direction for returning to zero switch；
Judge whether to detect and described returns to zero switch；
When detect it is described return to zero switch when, control the mechanical arm and moved to far from the second direction for returning to zero switch；
Judge whether still to detect and described returns to zero switch；
When be not detected it is described return to zero switch when, control the mechanical arm and moved simultaneously to close to the first direction for returning to zero switch
Encoder numerical value is obtained in real time, when encoder numerical value zero, then returns to zero success.
2. the method according to claim 1, wherein
It is described when be not detected it is described return to zero switch when, control the mechanical arm to close to the first direction for returning to zero switch
Encoder numerical value is moved and obtains in real time, when encoder numerical value zero, then after returning to zero successful step, the method
Further include:
Feed back to zero successful information.
3. according to the method described in claim 2, it is characterized in that,
It is described when be not detected it is described return to zero switch when, control the mechanical arm to close to the first direction for returning to zero switch
Encoder numerical value is moved and obtains in real time, when encoder numerical value zero, then before returning to zero successful step, the method
Further include:
It receives and stops returning to zero instruction, stopping returns to zero operation.
4. a kind of mechanical arm zero resetting device characterized by comprising
First receiving module is used to receive unlatching and returns to zero instruction；
First control module is used to control mechanical arm and moves to close to the first direction for returning to zero switch；
First judgment module, is used to judge whether to detect and described returns to zero switch；
Second control module, be used for when detect it is described return to zero switch when, control the mechanical arm and returned to zero out to far from described
The second direction of pass moves；
Second judgment module, is used to judge whether still to detect and described returns to zero switch；
Third control module, be used for when be not detected it is described return to zero switch when, control the mechanical arm and returned to zero to close to described
The first direction of switch, which moves and obtains encoder numerical value in real time, then returns to zero success when encoder numerical value zero.
5. device according to claim 4, which is characterized in that described device further include:
Feedback module is used to feed back to zero successful information.
6. device according to claim 5, which is characterized in that described device further include:
Second receiving module is used to receive stopping and returns to zero instruction, and stopping returns to zero operation.
7. a kind of SCARA mechanical arm characterized by comprising
Principal arm；
Support arm group, the support arm group connect with the principal arm, and the support arm group can move up and down on the principal arm；
Master controller, the master controller are connect with the principal arm and the support arm group respectively, and the master controller is for executing
Method as described in claims 1 to 3 any one.
8. SCARA mechanical arm according to claim 7, which is characterized in that
The principal arm is provided with the first driving mechanism, and the support arm group connect with first driving mechanism, first driving
Mechanism is for driving the support arm group to move up and down on the principal arm.
9. SCARA mechanical arm according to claim 8, which is characterized in that
The support arm group includes the first arm, the second arm and third arm, and one end of first arm and the first of the principal arm drive
Mechanism connection, first arm are provided with the first rotating mechanism, and one end of second arm is connect with first rotating mechanism,
Second arm is provided with the second rotating mechanism, and the third arm is connect with second rotating mechanism, the third arm setting
There is third rotating mechanism；
The master controller respectively with first driving mechanism, first rotating mechanism, second rotating mechanism and institute
State the connection of third rotating mechanism.
10. SCARA mechanical arm according to claim 9, which is characterized in that
The principal arm is provided with first and returns to zero switch, and first arm is provided with second and returns to zero switch, and second arm is provided with
Third returns to zero switch, and the third arm is provided with the 4th and returns to zero switch；
Wherein, when the master controller receive open return to zero instruction after, first driving mechanism will be controlled to close to described the
One returns to zero the direction operation of switch, judges whether to detect that described first returns to zero switch, when detecting that described first returns to zero switch
When, it controls first driving mechanism and is moved to far from the direction for returning to zero switch, then judge whether still to detect described the
One returns to zero switch, when being not detected described first and returning to zero switch, controls the principal arm to close to described first and returns to zero switch
Direction runs and obtains in real time the first encoder numerical value of first driving mechanism, until the first encoder numerical value is returned
Zero；
And control first rotating mechanism is run to the direction for returning to zero switch close to described second, judges whether to detect
Described second returns to zero switch, when detecting that described second returns to zero switch, controls first rotating mechanism to far from described the
Two return to zero the directions movement of switch, then judge whether still to detect that described second returns to zero switch, when being not detected described second time
When zero switch, controls the principal arm and run to the direction for returning to zero switch close to described second and obtain first rotating machine in real time
The second encoder numerical value of structure, until the second encoder numerical value is zeroed；
And control second rotating mechanism is run to the direction for returning to zero switch close to the third, judges whether to detect
The third returns to zero switch, when detecting that the third returns to zero switch, controls second rotating mechanism to far from described the
Three return to zero the direction movement of switch, then judge whether still to detect that the third returns to zero switch, return when the third is not detected
When zero switch, controls the principal arm and run to the direction for returning to zero switch close to the third and obtain second rotating machine in real time
The third encoder numerical value of structure, until the third encoder numerical value is zeroed；
And control the third rotating mechanism and run to the direction for returning to zero switch close to the described 4th, judge whether to detect
Described 4th returns to zero switch, when detecting that the described 4th returns to zero switch, controls the third rotating mechanism to far from described the
Four return to zero the directions movement of switch, then judge whether still to detect that the described 4th returns to zero switch, when being not detected described 4th time
When zero switch, controls the principal arm and run to the direction for returning to zero switch close to the described 4th and obtain the third rotating machine in real time
4th encoder numerical value of structure, until the 4th encoder numerical value is zeroed；
When the first encoder numerical value, the second encoder numerical value, the third encoder numerical value and the 4th coding
Device numerical value is zeroed, then returns to zero success.
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| CN201811639153.5A CN109605343A (en) | 2018-12-29 | 2018-12-29 | A kind of mechanical arm returns to zero method, apparatus and SCARA mechanical arm |
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| CN201811639153.5A CN109605343A (en) | 2018-12-29 | 2018-12-29 | A kind of mechanical arm returns to zero method, apparatus and SCARA mechanical arm |
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| CN111146986A (en) * | 2019-12-30 | 2020-05-12 | 深圳市越疆科技有限公司 | Position locating method and device of magnetic encoder, electronic equipment and computer readable storage medium |
| CN112720485A (en) * | 2020-12-22 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm joint zero returning method and device and computer readable storage medium |
| CN114296393A (en) * | 2021-12-29 | 2022-04-08 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Zero-returning method and device for motion platform, electronic equipment and storage medium |
| CN115476358A (en) * | 2022-09-13 | 2022-12-16 | 苏州汇川控制技术有限公司 | Manipulator zero-returning method, motion controller, terminal device and storage medium |
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Application publication date: 20190412 |