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Manipulator origin return method and device

A manipulator, origin technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low accuracy of origin return results

Active Publication Date: 2018-12-07
GREE ELECTRIC APPLIANCES INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a method and device for returning to the origin of a manipulator, to at least solve the problem of the accuracy of the return-to-origin results caused by the inability to ensure that the origin is found to be the same point in the related art when the manipulator is returning to the origin. low technical issues

Method used

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  • Manipulator origin return method and device
  • Manipulator origin return method and device
  • Manipulator origin return method and device

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Embodiment 1

[0027] According to an embodiment of the present invention, an embodiment of a method for returning to the origin of a manipulator is provided. It should be noted that the steps shown in the flow charts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although A logical order is shown in the flowcharts, but in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0028] figure 1 It is a flowchart of a method for returning to the origin of a manipulator according to an embodiment of the invention, such as figure 1 As shown, the method includes the following steps:

[0029] Step S102, during the process of returning the manipulator to the origin, driving the manipulator to run in a given direction;

[0030] Step S104, when the origin switch has a jump edge, determine the approximate area of ​​the origin of the manipulator, wherein the origin ...

Embodiment 2

[0042] According to an embodiment of the present invention, an embodiment of a device for returning to the origin of a manipulator is provided, figure 2 is a schematic diagram of an optional manipulator origin return device according to an embodiment of the present invention, such as figure 2 As shown, the device includes: a driving unit 40, used to drive the manipulator to run in a given direction during the process of homing the manipulator; a first determining unit 42, used to determine the manipulator when the origin switch has a jump edge. The approximate area of ​​the origin, wherein the origin switch is the origin switch of the manipulator on the direction axis of the given direction; the second determination unit 44 is used to determine from the approximate area when the origin Z pulse of the encoder has a jump edge The precise position of the origin, where the encoder is installed in the servo motor, the servo motor is the servo motor on the direction axis of the ma...

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Abstract

The invention discloses an origin return method of a manipulator and a device thereof, wherein the method includes the following steps: driving the manipulator to run in a given direction during the process of conducting the origin return of the manipulator; determining the approximate area of the origin of the manipulator when hopping rim appears on an origin switch, wherein the origin switch is the one on the direction axis where the manipulator runs in the given direction; determining the accurate position of the origin from the approximate area when hopping rim appears on an encoder's origin Z impulse, wherein the encoder is arranged in a servo motor, and the servo motor is the one on the direction axis where the manipulator runs. The origin return method of the manipulator and the device thereof resolve the technical problem in correlative technologies that the accuracy of the origin return result is low due to the fact that there is no guarantee that the origin found each time is the same one when conducting the origin return of the manipulator.

Description

technical field [0001] The invention relates to the field of numerical control machine tool control, in particular to a method and device for returning to the origin of a manipulator. Background technique [0002] At present, the servo motor used by the manipulator usually has two kinds of encoders, which are incremental encoders and absolute encoders. When the manipulator with incremental encoder is turned on, it needs to return to the origin, that is, to find the origin reference point. The patent No. CN102814816B discloses a method for accurately finding the origin of a manipulator, but this method has at least the following two defects: (1), this method is only suitable for the initial position of the manipulator in the origin sensing area or the positive direction of the origin sensing area , and when the initial position of the manipulator is in the negative direction of the origin sensing area, this method will fail; (2), the position of this method will be different...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1628B25J13/00
Inventor 胡飞鹏何春茂胡余生王长恺康燕曲菲黄男王虎颜鲁齐
Owner GREE ELECTRIC APPLIANCES INC