CN109955240A - A kind of multi-robot pick-and-place prescription method - Google Patents
A kind of multi-robot pick-and-place prescription method Download PDFInfo
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- CN109955240A CN109955240A CN201711402847.2A CN201711402847A CN109955240A CN 109955240 A CN109955240 A CN 109955240A CN 201711402847 A CN201711402847 A CN 201711402847A CN 109955240 A CN109955240 A CN 109955240A
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- manipulator
- drug
- clamping part
- plc
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of multi-robots to pick and place prescription method, comprising the following steps: sending takes medicine order, and PLC obtains the location information of drug and the location information of All Robots；PLC select the first manipulator execute described in take medicine order, and by first Robot Initialize；First manipulator intersects with other general robot arms, the first manipulator of PLC order and the general robot arm rotate, keep the first manipulator parallel with the general robot arm, and the horizontal distance of the first manipulator and the general robot arm and vertical range is kept to be all larger than design value；First manipulator is moved near the drug position；The clamping part clamps drug, the dynamics of PLC control clamping；Drug, which is retracted, to be placed on manipulator platform；The drug taken is placed into required position by first manipulator.Multi-robot provided by the invention picks and places prescription method, can prevent manipulator from colliding each other while carrying out pick-and-place medicine using multiple manipulators.
Description
Technical field
The present invention relates to medical device field, in particular to a kind of multi-robot picks and places prescription method.
Background technique
Manipulator is the certain movements that can imitate manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can
To replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect personal peace
Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In medical device field, similarly need to carry out pick-and-place drug using manipulator.Pharmacist utilizes manipulator by medicine
Product take out from pharmacy, and to improve the efficiency for taking medicine, multiple manipulators can be equipped in pharmacy, and multiple manipulators are taken simultaneously
Mutually evacuation is needed when medicine, is prevented impinging one another.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-robots to pick and place prescription method, to solve the above problems.
The present invention provides a kind of multi-robot and picks and places prescription method, the manipulator include for clamp the clamping part of drug,
For carrying the manipulator platform of drug and the PLC of control robot movement, which is characterized in that the method includes following steps
It is rapid:
S1: sending takes medicine order, and PLC obtains the location information of drug and the location information of All Robots；
S2:PLC select the first manipulator execute described in take medicine order, and by first Robot Initialize；PLC judgement
Whether the process that the first manipulator is moved to drug position can intersect with other machinery hand；First manipulator and other any machinery
Hand intersects, and the first manipulator of PLC order and the general robot arm rotate, and keeps the first manipulator and the general robot arm flat
Row, and the horizontal distance of the first manipulator and the general robot arm and vertical range is kept to be all larger than design value；Described first
Manipulator is moved near the drug position；
S3: the clamping part is mobile to the drug after opening and clamps drug, the dynamics of PLC control clamping；
S4: the clamping part clamping drug is withdrawn, and drug is placed on manipulator platform；
S5: the drug taken is placed into required position by first manipulator.
Optionally, the drug location information includes the three-dimensional coordinate of X, Y, Z, the location information of the manipulator include X,
Y, Z three-dimensional coordinate and horizontal rotation angle R.
Optionally, in step S2, PLC determines the three of first manipulator according to the three-dimensional coordinate of the general robot arm
Tie up coordinate, the three-dimensional coordinate of first manipulator is X1, Y1, Z1, and the three-dimensional coordinate of the general robot arm is X2, Y2, Z2,
The horizontal distance of first manipulator and the general robot arm is the absolute value of Y1-Y2, and vertical range is the absolute of Z1-Z2
Value.
Optionally, after the value of Y1 and Z1 for determining the first manipulator, the Y-coordinate and Z coordinate quilt of first manipulator
Locking.
Optionally, the clamping part in the step S3 is in torque mode, sets if the dynamics of clamping part clamping drug is less than
The dynamics set, clamping part are unclamped, are clamped again to drug.
Optionally, the manipulator further includes on manipulator platform for releasing the push rod of drug, the step S4
Specifically includes the following steps: the push rod is moved along the direction that clamping part is withdrawn, and reserves placement before the clamping part is withdrawn
The space of drug；Clamping part is withdrawn, and drug is placed on manipulator platform；Detect whether drug protrusion in manipulator platform
Outside, if not provided, continuing in next step, if so, re-starting the step S2；Push rod is mobile to drug, until push rod
Contact drug；The quantity of drug is calculated according to the position of push rod, if calculated Quantity of drugs and the required Quantity of drugs taken
Unanimously, continue in next step, if quantity is inconsistent, to re-start the step S2.
Optionally, the length that the distance that the push rod is moved along the direction that clamping part is withdrawn is equal to drug takes multiplied by required
Quantity of drugs add the margin of error.
Optionally, the mobile distance of clamping part is equal to the Quantity of drugs that the length of drug takes multiplied by needs in the step S3
In addition distance of the clamping part front end apart from drug adds offset.
Optionally, the PLC calibrates manipulator and Fault recovery automatically.
Multi-robot provided by the invention picks and places prescription method, can make in the same space, overlay area and running space weight
The more manipulators closed carry out drug pick-and-place movement simultaneously, do not interfere or collide each other, improve the efficiency for picking and placing medicine
Increase safety when picking and placing medicine again simultaneously.
Detailed description of the invention
Fig. 1 is the flow chart that multi-robot provided by the present invention picks and places prescription method.
Specific embodiment
It is further detailed that prescription method work is picked and placed to multi-robot proposed by the present invention below in conjunction with the drawings and specific embodiments
Explanation.According to following explanation and claims, advantages and features of the invention will be become apparent from.It should be noted that attached drawing is adopted
With very simplified form and using non-accurate ratio, only to facilitate, lucidly aid in illustrating the embodiment of the present invention
Purpose.
Manipulator of the present invention includes the clamping part for clamping drug, and the PLC for controlling robot movement is (programmable
Logic controller), carrying drug manipulator platform and on manipulator platform can by drug release push rod.It is described
The initial position of clamping part is located at the two sides of manipulator platform, and the initial position of the push rod is located at the front end of manipulator platform
(near one end of drug)
Manipulator provided by the present embodiment picks and places prescription method as shown in Figure 1:
Step S1: upper machine sending takes medicine order, and PLC obtains the location information of drug and the position letter of All Robots
Breath；
Step S2:PLC select the first manipulator execute described in take medicine order, and by first Robot Initialize；PLC
Judge that the first manipulator is moved to the process of drug position and whether can intersect with other machinery hand；First manipulator with it is other any
Manipulator intersects, and the first manipulator of PLC order and the general robot arm rotate, and makes the first manipulator and the general robot arm
In parallel, and the horizontal distance of the first manipulator and the general robot arm and vertical range is kept to be all larger than design value；Described
One manipulator is moved near the drug position；
Step S3: the clamping part is mobile to the drug after opening and clamps drug, the dynamics of PLC control clamping；
Step S4: the clamping part clamping drug is withdrawn, and drug is placed on manipulator platform；
Step S5: the drug taken is placed into required position by first manipulator
Below by taking two manipulators in the same space as an example, it is specifically described the process that manipulator picks and places medicine, it is described two
Manipulator is referred to as the first manipulator and the second manipulator.
S11: upper machine sends the location information of the order and drug that take medicine and obtains the first manipulator and the to PLC, PLC
The location information of two manipulators；The location information of the drug includes X, Y, Z three-dimensional coordinate.First manipulator and the second machine
The location information of tool hand includes X, Y, Z three-dimensional coordinate and horizontal rotation angle R.
S21:PLC select the first manipulator execute described in take medicine order, and by first Robot Initialize；PLC root
According to the location information of drug and the location information of the first manipulator and the second manipulator, mistake of first manipulator to drug is judged
Whether can intersect with the second manipulator in journey, if do not intersected, PLC controls the first manipulator first motion to the drug position
Near setting, medicine is taken for convenience, and coordinate position locating for first manipulator cannot be completely the same with drug, at this time can basis
The storage environment of drug keeps the X of the position coordinates of the first manipulator and Z coordinate consistent with drug, and Y-coordinate is different, i.e. the first machine
Tool hand is aligned with drug level.Last first manipulator carries out rotation process, and adjustment rotation angle R1 makes the folder of the first manipulator
Hold portion's face drug.It will be appreciated by persons skilled in the art that can be appointing in the position coordinates of first manipulator
Bidimensional of anticipating is consistent with the position coordinates of drug.
If the first manipulator needs intersect with the second manipulator, PLC adjusts the first manipulator rotation angle first
The rotation angle R2 of R1 and the second manipulator, keep first manipulator parallel with the second manipulator.PLC is according to the second machine later
The position of tool hand adjusts the coordinate of the first manipulator, makes the horizontal distance (Y1-Y2) of the first manipulator and the second manipulator and hangs down
Straight distance (Z1-Z2) is all larger than design value.The Y1 and Z1 are the Y-coordinate and Z coordinate of the first manipulator, and the Y2 and Z2 are the
The Y-coordinate and Z coordinate of two manipulators, the Y1-Y2 and Z1-Z2 are absolute value.The design value is mechanical according to described first
The specification size of hand and the second manipulator setting, it is ensured that the first manipulator will not bump against with the second manipulator.Determine the first machinery
After the value of the Y1 and Z1 of hand, that is, it has been determined that the plane of the first robot movement, the Y-coordinate and Z coordinate of the first manipulator are locked
Fixed, first manipulator is moved along the plane to drug direction, until the first manipulator and the second manipulator are handed over
After the completion of fork, the Y-coordinate and Z coordinate of the first manipulator are unlocked, and PLC is controlled near the first robot movement to the drug, are
Convenient medicament taking, coordinate position locating for first manipulator cannot be completely the same with drug, at this time can depositing according to drug
Environment is put, keeps the X of the position coordinates of the first manipulator and Z coordinate consistent with drug, Y-coordinate is different, i.e. the first manipulator and medicine
Product horizontal alignment.Last first manipulator carries out rotation process, and adjustment rotation angle R1 makes the clamping part face of the first manipulator
Drug.It will be appreciated by persons skilled in the art that can be any bidimensional in the position coordinates of first manipulator with
The position coordinates of drug are consistent.
S31: when preparation takes medicine, clamping part opens certain width, and the width takes the width of drug to add one needed for being equal to
A subtended angle, the subtended angle are 20-40 millimeters.
S32: the clamping part is mobile to the direction where drug, and the mobile distance of the clamping part is equal to the length of drug
Offset is added plus distance of the clamping part front end apart from drug multiplied by the Quantity of drugs of needs, the offset is setting
The mobile margin of error of clamping part, the offset are 20-60mm, and the distance for preventing clamping part mobile is inadequate.Portion's movement to be held
After, sensor can be compared the physical location of clamping part with desired position, if differing by more than certain range,
Then stop subsequent operation, clamping part is withdrawn, and re-starts step S32.
S33: clamping part it is mobile in place after, the first 1-2 centimetres of manipulator entire lowering, where making the first manipulator platform
Plane is slightly below the plane where drug, prevents from causing clamping part that can not withdraw because of error.
S34: clamping part clamps drug, and clamping part is set as torque mode, the dynamics of PLC control clamping, judgement
Whether drug is clamped；If the dynamics of clamping is less than required dynamics, stops subsequent action, re-start step S34.
S41: after drug is clamped, the push rod on the first manipulator platform, which retreats, (to be moved towards the direction that clamping part recycles
It is dynamic), the space for accommodating drug is reserved, the length that the distance that push rod retreats is equal to drug is added multiplied by the Quantity of drugs of needs to be missed
Residual quantity, the margin of error are 10-20mm.
S42: clamping part clamps drug and withdraws, and drug is placed on the first manipulator platform, has detected whether medicine at this time
Product protrude the first manipulator platform, if drug has part to protrude outside the first manipulator platform, then it is assumed that take medicine not complete, weight
It is new to carry out step S31, if protruding the first manipulator platform without drug, then it is assumed that drug, which takes out, to be completed, if three times all can not be complete
At medicine is taken, then the first manipulator is alarmed, and needs to carry out Measuring error.
S43: clamping part unclamps, and returns to initial position, detects whether clamping part returns to initial position at this time, if be not returned to
Initial position then stops subsequent operation, initializes to clamping part.
S44: push rod is mobile to drug, until push rod contacts drug；The number of drug is calculated according to the coordinate position of push rod
Amount；According to the coordinate position of push rod it can be concluded that the direct distance of long putt initial position, then with the distance divided by drug
Length obtain the Quantity of drugs actually taken out.
S45: whether the quantity actually taken out of judgement consistent with the Quantity of drugs for needing to take out, if unanimously, continue into
Row subsequent action takes out the Quantity of drugs lacked if it is inconsistent, returning to step S31.
The drug taken is placed into target position according to the first manipulator of designated command of upper machine by S51:PLC.
PLC obtains the location information of target position and the location information of the first manipulator and the second manipulator, and according to upper
It states information and judges whether can intersect with the second manipulator during the first manipulator is moved to target position；If do not intersected,
First manipulator moves directly to target position attachment；If necessary to intersect, PLC adjusts the first manipulator rotation angle R1 first
With the rotation angle R2 of the second manipulator, keep first manipulator parallel with the second manipulator, PLC is according to the second machinery later
The position of hand adjusts the coordinate of the first manipulator, makes the first manipulator and the horizontal distance (Y1-Y2) of the second manipulator and vertical
Distance (Z1-Z2) is all larger than design value.The Y1 and Z1 is the Y-coordinate and Z coordinate of the first manipulator, and the Y2 and Z2 are second
The Y-coordinate and Z coordinate of manipulator, the Y1-Y2 and Z1-Z2 are absolute value.The design value is according to first manipulator
It is set with the specification size of the second manipulator, it is ensured that the first manipulator will not bump against with the second manipulator.Determine the first manipulator
Y1 and Z1 value after, that is, be determined the plane of the first robot movement, the Y-coordinate and Z coordinate of the first manipulator are locked,
First manipulator is moved along the plane to drug target position direction, until the first manipulator and the second machinery
After the completion of hand intersects, the Y-coordinate and Z coordinate of the first manipulator are unlocked, and the first manipulator is moved near target position.
S52: the target position is divided into a certain position that drug is stored in medicine outlet either pharmacy.
PLC controls the first manipulator and is moved to corresponding medicine outlet, and clamping part is by the upper drug of the first manipulator platform
It clamps and mobile to medicine outlet, after drug enters medicine outlet, clamping part unclamps, and pharmacist or acquirement patient obtain required medicine
Product.
PLC obtains the coordinate for needing to store drug position, and the first manipulator is moved near coordinates of targets, puts for convenience
Medicine, coordinate position locating for manipulator cannot be completely the same with the coordinate of target position, at this time can be according to the storage ring of drug
Border keeps the X of the position coordinates of manipulator and Z coordinate consistent with target position, and Y-coordinate is different.To guarantee that drug can be smoothly
It is placed into target position, the Z coordinate of manipulator can be slightly larger than the Z coordinate of target position, i.e. the height of manipulator is slightly larger than
The height of target position.All drugs are clamped and to target position movements by clamping part, and PLC learns the drug number that needs are placed
Amount, clamping part unclamp, and drug is placed on target position, and then in the quantity and drug length according to drug, clamping part is recycled,
It is recovered to manipulator platform again after remaining drug is clamped, process hereafter is consistent with step S41-S45, no longer carries out here
Extra elaboration.Upper machine retransmits instruction to PLC according to drug situation remaining on manipulator, and PLC is according to upper machine
Instruction judge the drop target position of remaining drug, process hereafter is consistent with the process of S51-S52, until manipulator platform
Upper no drug is remaining.
While first manipulator carries out pick-and-place medicine, second mechanization can equally carry out pick-and-place medicine, institute
The process for stating the second manipulator pick-and-place medicine is consistent with above-mentioned steps S11-S51's, no longer carries out extra elaboration herein.This field
For technical staff it is understood that when the second manipulator picks and places medicine, the second manipulator at this time is the in step S11-S51
One manipulator, the second manipulator in step S11-S51 are other general robot arms.
It will be appreciated by those skilled in the art that no matter how many manipulator in pharmacy, be all every two machinery
It is mutually avoided between hand, therefore the above method is equally applicable to the manipulator pick-and-place medicine process of other quantity.
It further includes Fault recovery and automatic calibration that manipulator provided by the present invention, which picks and places prescription method, the Fault recovery and
Automatic calibration is realized by PLC.
Before the automatic calibration refers to that each step starts, the position of the component on manipulator can all be calibrated, be protected
Demonstrate,prove the successful progress of step.Specifically, before each step starts, PLC can send instruction during step S11-S53
To manipulator, position and the state of all parts of manipulator are calibrated, so that subsequent movement can smoothly complete.
The Fault recovery refers to manipulator during picking and placing medicine, and the component on manipulator (does not have in case of mistake
Have and reach specified position), PLC can send instruction, the stage or walk before that the step for making the component return to progress starts
The rapid incipient stage.Specifically, if clamping part can not reach the position of needs, PLC sends instruction, clamping in step S32
Portion is withdrawn, and returns to the state of step S32 incipient stage, while also will do it automatic calibration, carries out step S32 again later；Step
In rapid S32, if the dynamics of clamping part clamping is less than the dynamics of setting, PLC order clamping part unclamps, and clamping part returns to step
The state of S32 incipient stage, clamping part re-start step S32 after calibrating automatically again；In step S42 and S45, if it find that
The Quantity of drugs for taking medicine not complete or take out is not right, and PLC can send instruction, and manipulator is made to return to what step S31 started
State re-starts step S31 and subsequent step.
The every carry out one-off of clamping part, PLC all can position to clamping part and state be monitored, to guarantee to press from both sides
Position and state that portion is in safety are held, avoids clamping part from causing to damage to pharmacy and drug, reduces the risk taken during medicine.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content belong to claims protection model
It encloses.
Claims (9)
1. a kind of multi-robot picks and places prescription method, which is characterized in that manipulator includes for clamping the clamping part of drug, for holding
Carry the manipulator platform of drug and the PLC of control robot movement, which is characterized in that the described method comprises the following steps:
S1: sending takes medicine order, and PLC obtains the location information of drug and the location information of All Robots；
S2:PLC select the first manipulator execute described in take medicine order, and by first Robot Initialize；PLC judges first
Whether the process that manipulator is moved to drug position can intersect with other machinery hand；First manipulator and other general robot arms are handed over
Fork, the first manipulator of PLC order and the general robot arm rotate, and keep the first manipulator parallel with the general robot arm, and
The horizontal distance and vertical range for keeping the first manipulator and the general robot arm are all larger than design value；First manipulator
It is moved near the drug position；
S3: the clamping part is mobile to the drug after opening and clamps drug, the dynamics of PLC control clamping；
S4: the clamping part clamping drug is withdrawn, and drug is placed on manipulator platform；
S5: the drug taken is placed into required position by first manipulator.
2. multi-robot as described in claim 1 picks and places prescription method, which is characterized in that the drug location information include X, Y,
The three-dimensional coordinate of Z, the location information of the manipulator include X, Y, Z three-dimensional coordinate and horizontal rotation angle R.
3. multi-robot as claimed in claim 2 picks and places prescription method, which is characterized in that in step S2, PLC is according to described any
The three-dimensional coordinate of manipulator determines the three-dimensional coordinate of first manipulator, the three-dimensional coordinate of first manipulator be X1, Y1,
Z1, the three-dimensional coordinate of the general robot arm are X2, Y2, Z2, first manipulator and the general robot arm it is horizontal away from
From the absolute value for Y1-Y2, vertical range is the absolute value of Z1-Z2.
4. multi-robot as claimed in claim 3 picks and places prescription method, which is characterized in that determine the Y1 and Z1 of the first manipulator
Value after, the Y-coordinate of first manipulator and Z coordinate are locked.
5. multi-robot as described in claim 1 picks and places prescription method, which is characterized in that the clamping part in the step S3 is in
Torque mode, if the dynamics of clamping part clamping drug is less than the dynamics of setting, clamping part is unclamped, is clamped again to drug.
6. multi-robot as described in claim 1 picks and places prescription method, which is characterized in that the manipulator further includes being located at machinery
It is described to push away before the step S4 is specifically includes the following steps: the clamping part withdraws for releasing the push rod of drug on hand platform
Bar is moved along the direction that clamping part is withdrawn, and reserves the space for placing drug；Clamping part is withdrawn, and it is flat that drug is placed on manipulator
On platform；Drug protrusion is detected whether outside manipulator platform, if not provided, continuing in next step, if so, re-starting
The step S2；Push rod is mobile to drug, until push rod contacts drug；The quantity of drug is calculated according to the position of push rod, if
Calculated Quantity of drugs is consistent with the required Quantity of drugs taken, continues in next step, if quantity is inconsistent, to re-start
The step S2.
7. multi-robot as claimed in claim 6 picks and places prescription method, which is characterized in that the push rod is withdrawn along clamping part
The length that the mobile distance in direction is equal to drug adds the margin of error multiplied by the required Quantity of drugs taken.
8. multi-robot as described in claim 1 picks and places prescription method, which is characterized in that clamping part movement in the step S3
The length that distance is equal to drug adds offset plus distance of the clamping part front end apart from drug multiplied by the Quantity of drugs for needing to take
Amount.
9. multi-robot as described in claim 1 picks and places prescription method, which is characterized in that the PLC carries out manipulator automatic
Calibration and Fault recovery.
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| CN201711402847.2A CN109955240B (en) | 2017-12-22 | 2017-12-22 | Multi-manipulator medicine taking and placing method |
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| CN201711402847.2A CN109955240B (en) | 2017-12-22 | 2017-12-22 | Multi-manipulator medicine taking and placing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
| CN113282018A (en) * | 2021-05-14 | 2021-08-20 | 广东智源机器人科技有限公司 | Movement control method and device, electronic equipment and cooking system |
| CN119217367A (en) * | 2024-10-14 | 2024-12-31 | 江苏齐鑫智能科技有限公司 | Double manipulator access file box method applied to closed warehouse file storage equipment |
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| CN119217367A (en) * | 2024-10-14 | 2024-12-31 | 江苏齐鑫智能科技有限公司 | Double manipulator access file box method applied to closed warehouse file storage equipment |
| CN119217367B (en) * | 2024-10-14 | 2025-03-28 | 江苏齐鑫智能科技有限公司 | Double-manipulator file box accessing method applied to closed bin file storage equipment |
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