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Implementation method of a zero-return control system for a dispensing robot

A dispensing robot and control system technology, applied in general control systems, control/regulation systems, computer control, etc., can solve problems such as collision and damage of dispensing robots, and achieve the effects of solving motion interference, shortening return time, and improving work efficiency.

Active Publication Date: 2015-12-02
深圳市博为医疗机器人有限公司
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Problems solved by technology

[0007] In view of the shortcomings of the prior art above, the purpose of the present invention is to provide a zero-return control system of a dispensing robot and its implementation method, so as to solve the problem that the dispensing robot uses a position sensor to perform the zero-return operation in the prior art, which may easily cause the dispensing robot to return to zero. Problems with collision damage

Method used

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  • Implementation method of a zero-return control system for a dispensing robot
  • Implementation method of a zero-return control system for a dispensing robot
  • Implementation method of a zero-return control system for a dispensing robot

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[0029] The present invention provides a zero-return control system of a dispensing robot and its implementation method. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0030] see figure 2 , which is the zero return control system of the dispensing robot of the present invention, as shown in the figure, it includes: a main controller, several programmable motion control cards (in this embodiment, the number of programmable motion control cards There are two: programmable motion control card 1 and programmable motion control card 2), servo drive and relay terminal board; wherein, the main controller communicates with the programmable motion control ...

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Abstract

The invention discloses a dosage robot resetting control system and an implementation method thereof. A main controller sets each freedom degree control mode as an absolute position control mode according to a user command; in the absolute position control mode, a servo driver stores current position data of freedom degree in an EEP-ROM (electrically-erasable programmable read-only memory) of the servo driver through zero setting to serve as a zero position; experiments show that a dosage robot can be automatically reset under various working conditions and collision is avoided, the problem of motion interference of the dosage robot during resetting is solved well, resetting time of the robot is shortened, working efficiency of the robot is improved, and needs for cooperative work of robot arms are met well.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a zero-return control system of a dispensing robot and an implementation method thereof. Background technique [0002] With the continuous expansion of the application field of robots, the working environment of robots is becoming more and more complex, and the tasks they face are becoming more and more difficult. Single-arm robots can no longer meet the requirements of some difficult tasks, and require double-arm or even multi-arm cooperative operation to achieve Finish. [0003] In the process of preparing liquid medicine in the hospital, for the operation of medical medicine bottles (mainly ampoules and vials), if a dispensing robot is used for operation, after the dispensing robot is powered on, it needs to perform a zero return operation to return each axis of the robot to the initial state. Location. [0004] see figure 1 , which is a schematic diagram of the m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042G01D1/10
Inventor 肖德明何玉成胡颖雷鸣张宏曾晖李伟丁小容段丽芳
Owner 深圳市博为医疗机器人有限公司
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