A Method for Precisely and Fast Homing of Manipulator

Abstract

The invention provides a method for achieving accurate and rapid returning of a mechanical arm. The method comprises the steps that a touch block passes through an origin switch in the forward direction or the negative direction at a constant speed, and when an origin switch signal is detected, the touch block continuously moves a section of distance dp1 to reach a feedback position P1; the touch block continuously moves forwards at a constant speed, and after the edge of the touch block leaves the origin switch, the touch block continuously moves a section of distance dp2 to reach a feedback position P2; the touch block reversely passes through the origin switch at the same constant speed, and corresponding feedback positions P3 and P4 are obtained; a feedback position P5 and a Z deviation Z5 are recorded when the touch block stops finally; an average value P0 of P1, P2, P3 and P4 serves as an origin reference value; a Z deviation Z0 at the P0 position is calculated according to a whole-circle Z pulse number C, the feedback position P5 and the Z deviation Z5; and displacement from the feedback position P5 to a real origin P00 is calculated, and the mechanical arm returns back to the origin according to the displacement. According to the method for achieving accurate and rapid returning of the mechanical arm, returning accuracy and repeated positioning accuracy of the mechanical arm are further improved, and the retrieving speed of the mechanical arm is increased.

Description

technical field [0001] The invention relates to the technical field of numerical control machine tool control, in particular to a method for precise and rapid return of a manipulator. Background technique [0002] A method for the manipulator to return to the origin in the prior art is to search for the origin by the servo motor, and when it touches the origin switch, it will decelerate and stop immediately, and use this point as the origin. Whether the method of returning to the origin is a mechanical proximity switch or an optical sensor switch, the accuracy of returning to the origin is not high. Affected by temperature, noise, dust, power fluctuations, etc., the signal response time will vary every time. In addition to the sudden deceleration and stop process from returning to the origin at high speed, even if mechanical reasons are excluded, the difference in each return to the origin is above the silk level. Another way to return to the origin is to directly search fo...

AI Technical Summary

Problems solved by technology

Generally, this is considered as the real origin, but because sometimes this point is just in the middle of the origin block action, it is prone to malfunction, and in addition to other process requirements, an offset can be set; at this time, this point is the real mechanical origin

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