Automatic test mechanical arm device based on vision calibration, control system and control method thereof

Abstract

The invention discloses an automatic test mechanical arm device based on vision calibration. The automatic test mechanical arm device based on vision calibration comprises a control system, a mechanical arm main body, an end executer, a gas pump and a test tube rack, wherein the mechanical arm main body comprises a first servo motor fixed to a support platform, a second servo motor adjacent to thefirst servo motor, a large arm connected with the second servo motor, a third servo motor connected with the large arm, and a small arm connected with the third servo motor; the mechanical arm main body is connected with the end executer through an L-shaped workpiece; the end executer comprises an injector and a camera; and the axis of the camera is vertical to the upper plane of the test tube rack. The gas pump is located behind the mechanical arm main body, and the injector is connected with the gas pump through a hose; and the gas pump is used for driving the injector to suck or drain a liquid. The automatic test mechanical arm device based on vision calibration is capable of realizing automatic test, and is high in interference resistance, repeatability and efficiency.

Description

technical field [0001] The invention belongs to the technical field of automatic inspection manipulators, and relates to a visual calibration-based automatic inspection manipulator device, a control system and a control method thereof. Background technique [0002] At present, most of the sampling methods used in the laboratory analysis instruments used in hospitals, scientific research and other units are manual operation modes, such as test tube insertion type and whole row push type, which consume manpower and cause problems due to different operators. Variations in post-processing. With the advancement of science and technology, the emergence of automatic inspection manipulators becomes possible. If the mechanical arm is positioned to the target test tube, the position of the target test tube must first be determined. As the "eyes" of the entire system, the vision system is used for the identification and positioning of target test tubes. Whether the target test tubes ...

AI Technical Summary

Problems solved by technology

[0004] (1) It is in an open-loop control state during the working process, and there is no feedback information during the movement of the robotic arm, so it is impossible to determine the actual situation of the robotic arm movement

[0005] (2) Cannot eliminate external interference independently

There will be more or less errors in artificial placement, and the above-mentioned system has no feedback device and cannot feed back errors

If the error is small, the positioning cannot be done accurately; if the error is too large, the system will not work properly.

[0006] (3) Can not meet the requirements of fast visual servo control

[0007] (4) The positioning accuracy is not high

The interference generated by the outside world and itself will reduce the accuracy of the identification and positioning of the subsequent test tubes, and effective measures cannot be taken to correct them. The accumulation of these interferences will greatly reduce the accuracy of the positioning of the test tubes in the entire system

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