Robot zero return method, motion controller, terminal device, and storage medium

Abstract

The present application discloses a method for a manipulator to return to zero, a motion controller, a terminal device, and a storage medium. The method for the manipulator to return to zero includes: executing a preset first zeroing action in a first direction by the manipulator until a preset first origin signal is triggered; capturing the first origin signal to obtain a first origin position; based on the first origin position, executing a preset second zeroing action in a second direction by the manipulator until a preset second origin signal is triggered; and capturing the second origin signal to obtain a second origin position. The present application meets the accuracy requirements for the manipulator to return to zero and improves the zeroing accuracy rate.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and in particular, to a manipulator zeroing method, a motion controller, a terminal device, and a storage medium. Background Art

[0002] Industrial manipulators are a type of high-tech automated production equipment developed in recent decades. Among them, Cartesian coordinate manipulators are one of the common manipulators and are increasingly widely used in injection molding, stamping, machine tools, and other related industries.

[0003] For a bus-type manipulator system, through the self-zeroing method of the servo driver, the limit and origin signals are connected to the main controller of the manipulator or the terminals of a remote digital input / output module. When the main controller starts to perform zeroing, it needs to trigger at the edge of the limit origin signal to lock the position of the encoder on the driver. However, the locked encoder position originates from the bus, and there is a certain communication cycle delay on the bus, resulting in inaccurate latched positions and thus reducing the zeroing accuracy. Summary of the Invention

[0004] The main purpose of this application is to provide a manipulator zeroing method, a motion controller, a terminal device, and a storage medium, aiming to meet the accuracy of manipulator zeroing and improve the zeroing accuracy rate.

[0005] To achieve the above objective, this application provides a manipulator zeroing method, which includes:

[0006] The manipulator performs a preset first zeroing action in a first direction until a preset first origin signal is triggered;

[0007] Capture the first origin signal to obtain a first origin position;

[0008] Based on the first origin position, the manipulator performs a preset second zeroing action in a second direction until a preset second origin signal is triggered;

[0009] Capture the second origin signal to obtain a second origin position.

[0010] Optionally, before the step of capturing the first origin signal to obtain a first origin position, it further includes:

[0011] Determine whether the first zeroing action fails;

[0012] If the first zeroing action fails, stop the zeroing process;

[0013] If the first zeroing action is successful, perform the step of capturing the first origin signal to obtain a first origin position and subsequent steps.

[0014] Optionally, before the step of capturing the second origin signal to obtain the second origin position, the method further includes:

[0015] Determining whether the second homing operation fails;

[0016] If the second homing operation fails, stop the homing process;

[0017] If the second homing operation is successful, execute the step of capturing the second origin signal to obtain the second origin position.

[0018] Optionally, the step of performing a preset first homing operation in a first direction by the manipulator until a preset first origin signal is triggered includes:

[0019] Moving the manipulator in the preset first speed and the first direction until the first origin signal is triggered, where the first origin signal includes a first signal edge;

[0020] The step of capturing the first origin signal to obtain the first origin position includes:

[0021] Capturing the first signal edge to obtain the first origin position.

[0022] Optionally, the step of performing a preset second homing operation in a second direction by the manipulator based on the first origin position until a preset second origin signal is triggered includes:

[0023] Moving the manipulator at the first origin position in the preset second speed and the second direction until the second origin signal is triggered, where the second speed is less than the first speed, and the second origin signal includes a second signal edge;

[0024] The step of capturing the second origin signal to obtain the second origin position includes:

[0025] Capturing the second signal edge to obtain the second origin position.

[0026] Optionally, before the step of performing a preset first homing operation in a first direction by the manipulator until a preset first origin signal is triggered, the method further includes:

[0027] Inputting the first origin signal and a preset limit into a preset input / output module, where the input / output module interacts with the actuator of the manipulator and also interacts with a preset main control module;

[0028] The step of capturing the first origin signal to obtain the first origin position includes:

[0029] Capture the first origin signal through the master control module to obtain the first origin position.

[0030] Optionally, before the step of performing a preset second homing operation in a second direction by the manipulator based on the first origin position until the second origin signal is triggered, the method further includes:

[0031] Input the second origin signal into a preset servo driver;

[0032] The step of capturing the second origin signal to obtain the second origin position includes:

[0033] Capture the second origin signal through the servo driver to obtain the second origin position.

[0034] An embodiment of the present application further provides a motion controller, which includes a manipulator homing device, and the manipulator homing device includes:

[0035] A manipulator main control board, configured to control the manipulator to perform a preset first homing operation in a first direction until a preset first origin signal is triggered.

[0036] A servo driver, configured to control the manipulator to perform a preset second homing operation in a second direction based on the first origin position until a preset second origin signal is triggered;

[0037] An input / output module, configured to connect the limit and origin signals of the actuator.

[0038] An embodiment of the present application further provides a terminal device, which includes a memory, a processor, and a manipulator homing program stored on the memory and executable on the processor. When the manipulator homing program is executed by the processor, the steps of the manipulator homing method as described above are implemented.

[0039] An embodiment of the present application further provides a computer-readable storage medium, on which a manipulator homing program is stored. When the manipulator homing program is executed by a processor, the steps of the manipulator homing method as described above are implemented.

[0040] The zero return method for a manipulator, motion controller, terminal device, and storage medium proposed in the embodiments of the present application. The manipulator performs a preset first zero return action in a first direction until a preset first origin signal is triggered; captures the first origin signal to obtain a first origin position; based on the first origin position, the manipulator performs a preset second zero return action in a second direction until a preset second origin signal is triggered; captures the second origin signal to obtain a second origin position. By combining the preset first zero return signal and the second zero return signal, an accurate origin position can be obtained, which can meet the accuracy requirements of the manipulator's zero return and improve the zero return accuracy rate. Based on the solution of the present application, in view of the fact that the existing zero return method for a manipulator has a certain delay, resulting in a reduction in zero return accuracy, a zero return method for a bus-type manipulator is designed. Finally, the zero return accuracy of the manipulator after applying the method of the present application has been significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the function modules of the terminal device to which the manipulator zero return device of the present application belongs;

[0042] Figure 2 It is a schematic flowchart of the first exemplary embodiment of the manipulator zero return method of the present application;

[0043] Figure 3 It is a schematic flowchart of the second exemplary embodiment of the manipulator zero return method of the present application;

[0044] Figure 4 It is a schematic flowchart of the third exemplary embodiment of the manipulator zero return method of the present application;

[0045] Figure 5 It is a zero return flowchart of the manipulator system related to the manipulator zero return method of the present application;

[0046] Figure 6 It is a schematic flowchart of the fourth exemplary embodiment of the manipulator zero return method of the present application;

[0047] Figure 7 It is a schematic diagram of the framework of the manipulator control system of the manipulator zero return method of the present application;

[0048] Figure 8 It is a schematic flowchart of the fifth exemplary embodiment of the manipulator zero return method of the present application;

[0049] Figure 9 It is a schematic diagram of the zero return method of the servo driver related to the manipulator zero return method of the present application;

[0050] Figure 10 It is a schematic flowchart of the sixth exemplary embodiment of the manipulator zero return method of the present application;

[0051] Figure 11Schematic diagram of master zero return for the robot arm zero return method of the present application;

[0052] Figure 12 Flow chart of the seventh exemplary embodiment of the robot arm zero return method of the present application;

[0053] Figure 13 Schematic diagram of servo drive index zero return for the robot arm zero return method of the present application.

[0054] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0055] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] The main solution of the embodiments of the present application is: the robot arm performs a preset first zero return action in a first direction until a preset first origin signal is triggered; the first origin signal is captured to obtain a first origin position; based on the first origin position, the robot arm performs a preset second zero return action in a second direction until a preset second origin signal is triggered; the second origin signal is captured to obtain a second origin position. By combining the preset first zero return signal and the second zero return signal, an accurate origin position can be obtained, which can meet the accuracy of the robot arm zero return and improve the zero return accuracy rate. Based on the solution of the present application, aiming at the existing robot arm zero return method with a certain delay resulting in a reduction in zero return accuracy, a zero return method for a bus-type robot arm is designed, and finally the zero return accuracy of the robot arm passing through the method of the present application has been significantly improved.

[0057] The embodiments of the present application consider that for a bus-type robot arm system, through the method of self-zero return of the servo drive, by connecting the limit and origin signals to the master control of the robot arm or the remote digital input / output terminals, the master control will perform the zero return action. When the limit origin signal edge is triggered, the position of the encoder on the drive needs to be locked. However, the locked encoder position is from the bus, and there is a certain communication cycle delay on the bus, resulting in inaccurate latched positions, thereby reducing the zero return accuracy.

[0058] Therefore, the solution of the embodiments of the present application starts from the actual problem that the industrial robot arm needs to perform zero return before working, combines the control ability of the master control board of the robot arm and the high-precision zero return ability of the servo drive, and designs a zero return method for a bus-type robot arm to meet the accuracy of the robot arm zero return.

[0059] It should be noted that in the embodiments of the present application, the first origin signal is the origin signal, and the second origin signal is the index signal; the first zero return action is the master zero return, and the second zero return action is the servo index zero return.

[0060] Specifically, referring to Figure 1 , Figure 1 which is a schematic diagram of the functional modules of the terminal device to which the manipulator zeroing device of the present application belongs. The manipulator zeroing device can be a device independent of the terminal device and capable of signal triggering and signal capture, and can be carried on the terminal device in the form of hardware or software. The terminal device can be an intelligent mobile terminal with data processing functions such as a motion controller, or a fixed terminal device with data processing functions, etc.

[0061] In this embodiment, the terminal device to which the manipulator zeroing device belongs at least includes an input / output module 110, a main control processor 130, and a communication module 140.

[0062] The main control processor 130 stores an operating system and a manipulator zeroing program. The manipulator zeroing device can store information such as the first zeroing position obtained by performing a preset first zeroing action in a first direction by the manipulator until a preset first origin signal is triggered and capturing the first origin signal, and based on the first origin position, performing a preset second zeroing action in a second direction by the manipulator until a preset second origin signal is triggered and capturing the second origin signal in the main control processor 130.

[0063] Among them, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are implemented:

[0064] Perform a preset first zeroing action in a first direction by the manipulator until a preset first origin signal is triggered;

[0065] Capture the first origin signal to obtain the first origin position;

[0066] Based on the first origin position, perform a preset second zeroing action in a second direction by the manipulator until a preset second origin signal is triggered;

[0067] Capture the second origin signal to obtain the second origin position.

[0068] Furthermore, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are also implemented:

[0069] Judge whether the first zeroing action fails;

[0070] If the first zeroing action fails, stop the zeroing process;

[0071] If the first zeroing action is successful, execute the steps of capturing the first origin signal to obtain the first origin position and subsequent steps.

[0072] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented: determining whether the second zeroing action fails to execute;

[0073] If the second zeroing action fails to execute, stop the zeroing process;

[0074] If the second zeroing action is successfully executed, execute the step of capturing the second origin signal to obtain the second origin position.

[0075] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0076] Move the manipulator at a preset first speed and in the first direction until the first origin signal is triggered, where the first origin signal includes a first signal edge;

[0077] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0078] Capture the first signal edge to obtain the first origin position.

[0079] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0080] Move the manipulator at a preset second speed and in the second direction at the first origin position until the second origin signal is triggered, where the second speed is less than the first speed, and the second origin signal includes a second signal edge;

[0081] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0082] Capture the second signal edge to obtain the second origin position.

[0083] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0084] Input the first origin signal and a preset limit into a preset input / output module, where the input / output module interacts with the actuator of the manipulator and also interacts with a preset main control module;

[0085] Further, when the manipulator zeroing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0086] Capture the first origin signal through the main control module to obtain the first origin position.

[0087] Further, when the manipulator homing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0088] Input the second origin signal into a preset servo driver;

[0089] Further, when the manipulator homing program in the main control processor 130 is executed by the processor, the following steps are further implemented:

[0090] Capture the second origin signal through the servo driver to obtain the second origin position.

[0091] In this embodiment, through the above solution, specifically, the manipulator executes a preset first homing action in a first direction until a preset first origin signal is triggered; capture the first origin signal to obtain the first origin position; based on the first origin position, the manipulator executes a preset second homing action in a second direction until a preset second origin signal is triggered; capture the second origin signal to obtain the second origin position. By combining the preset first homing signal and the second homing signal, an accurate origin position can be obtained, which can meet the accuracy of the manipulator homing and improve the homing accuracy rate. Based on the solution of the present application, aiming at the problem that the existing manipulator homing method has a certain delay, resulting in a reduction in the homing accuracy, a homing method for a bus-type manipulator is designed. Finally, the homing accuracy of the manipulator after passing through the method of the present application has been significantly improved.

[0092] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present application is proposed.

[0093] Refer to Figure 2 , Figure 2 which is a schematic flow chart of the first exemplary embodiment of the manipulator homing method of the present application. The manipulator homing method includes:

[0094] Step S210, execute a preset first homing action in a first direction by the manipulator until a preset first origin signal is triggered;

[0095] Specifically, the manipulator control system controls the servo axis. The common methods are pulse control and bus control. In recent years, thanks to the rapid development of industrial bus technology, the main control and servo markets of bus control are gradually expanding. In particular, the EtherCAT bus has become the mainstream of industrial bus control. For the control system of the manipulator, the homing of the manipulator is the action process of finding the origin or marking the zero point of the servo axis controlled by the manipulator. That is, when a fault occurs in the manipulator system or after a power failure and restart, through the homing action, the same coordinate point is found as the zero position of the axis coordinate system. Therefore, the homing action is a very important part of the manipulator system. And the homing accuracy determines the machining accuracy and repeat positioning accuracy of the entire manipulator system. However, in some manipulator scenarios, the structural limit and origin switch are far from the servo, resulting in the need to connect relatively long wires to the panel of the servo drive; and the CN1 interface of the servo drive panel needs to be welded, which requires professional tools and personnel to make cables during the assembly of the manipulator, thus increasing the assembly cost. Against this background, a homing method for a bus-type manipulator is proposed.

[0096] Among them, the first homing action is for the manipulator to perform the action of finding the origin. The manipulator is provided with a manipulator sensor for triggering the first origin signal, and the manipulator main control board is used to capture the first origin signal, thereby performing homing. The first homing action can be to find the preset limit (Lmt) and origin (Home) in the negative direction and capture the positive falling edge of the first origin signal, it can be to find the preset limit and origin in the negative direction and capture the positive rising edge of the first origin signal, or it can be to find the preset limit and origin in the positive direction and capture the positive falling edge of the first origin signal. This embodiment does not make a limitation in this regard. In this embodiment, an example is given of finding the preset limit and origin in the negative direction and capturing the positive falling edge of the first origin signal.

[0097] Step S220, capture the first origin signal to obtain the first origin position;

[0098] Specifically, when the manipulator performs the first homing action and finds the origin in the negative direction, the manipulator main control board captures the positive falling edge of the first origin signal, causing the manipulator to stop moving immediately, thereby reaching the first origin position, and the homing of the manipulator main control board is completed. However, since the first origin signal is triggered by the sensor of the manipulator, and when the manipulator main control board scans and captures the falling edge of the first origin signal, the position of the encoder of the corresponding axis is latched, and the latched position is transmitted from the encoder of the servo drive to the manipulator main control board through the bus. During this process, affected by the bus cycle delay and the main control scan cycle, the homing accuracy is not high. Therefore, a second homing action is required.

[0099] Step S230: Based on the first origin position, the robot arm performs a preset second homing operation in the second direction until a preset second origin signal is triggered.

[0100] Specifically, in step S220, the first origin signal is triggered by a sensor of the robot arm. When the main control board of the robot arm scans the falling edge of the origin signal, it latches the encoder position of the corresponding axis. The latched position is transmitted from the encoder of the servo drive to the main control board of the robot arm via the bus. During this process, affected by the bus cycle delay and the main control scanning cycle, the homing accuracy is not high, and there is a deviation of the first origin position (i.e., the position where the robot arm stops moving) relative to the origin. Therefore, in order to improve the homing accuracy, a secondary homing step for the servo drive is proposed.

[0101] Among them, the second homing operation is to perform an origin search action through the robot arm. The robot arm is provided with a robot arm sensor for triggering the second origin signal, and the servo drive is used to capture the second origin signal. The second origin signal is the index signal in the servo drive. The second homing operation includes, but is not limited to, homing by searching for the index signal in the positive direction and homing by searching for the index signal in the negative direction.

[0102] As an implementation solution, after the robot arm performs the first homing operation in the first direction to obtain the first origin position, it performs the second homing operation in the positive direction of the first direction. That is, the first direction and the second direction are in the same direction.

[0103] As another implementation solution, after the robot arm performs the first homing operation in the first direction to obtain the first origin position, it performs the second homing operation in the negative direction of the first direction. That is, the first direction and the second direction are opposite.

[0104] It should be noted that in this embodiment, before the servo drive index homing, there is no need to pre-write the limit and origin signals. Only by capturing the preset index signal by the servo drive can the homing operation be performed, and the homing accuracy is high.

[0105] Step S240: Capture the second origin signal to obtain the second origin position.

[0106] Specifically, when the robot arm performs the second homing operation and searches for the origin in the positive direction, the servo drive captures the positive falling edge of the index signal, causing the robot arm to stop moving immediately, thereby reaching the second origin position, and the servo drive index homing is completed.

[0107] In this embodiment, through the above solution, specifically, the manipulator performs a preset first homing operation in the first direction until a preset first origin signal is triggered; the first origin signal is captured to obtain the first origin position; based on the first origin position, the manipulator performs a preset second homing operation in the second direction until a preset second origin signal is triggered; the second origin signal is captured to obtain the second origin position. The origin position obtained by combining the preset main control homing rule and the index homing rule enables the manipulator to accurately home according to the origin position, which can meet the accuracy requirements of the manipulator homing and improve the homing accuracy rate.

[0108] Refer to Figure 3 , Figure 3 which is a schematic flowchart of the second exemplary embodiment of the manipulator homing method of the present application. Based on the above Figure 2 shown embodiment, before step S220 of capturing the first origin signal to obtain the first origin position, it further includes:

[0109] Step S310, determining whether the first homing operation fails;

[0110] Specifically, during the actual operation of the manipulator, it may fail to home. Therefore, the execution process of the manipulator is monitored in real time to determine whether the first homing operation fails, so as to display the external cause of the homing failure to the external user.

[0111] Step S320, if the first homing operation fails, stop the homing process;

[0112] Specifically, if it is confirmed that an unexpected error occurs in the first homing operation, the homing process is immediately stopped, the second homing operation is no longer performed, and an alarm signal is issued for professionals in the field to troubleshoot the manipulator system for errors.

[0113] Step S330, if the first homing operation is successful, execute the steps of capturing the first origin signal to obtain the first origin position; based on the first origin position, the manipulator performs a preset second homing operation in the second direction until a preset second origin signal is triggered; capturing the second origin signal to obtain the second origin position.

[0114] Specifically, during the execution of the first homing operation, first, the first origin signal needs to be searched for, then the first origin signal is triggered, and finally, the falling edge or rising edge of the first origin signal is captured to end the first homing operation. In this embodiment, each step of the execution process of the first homing operation needs to be monitored in real time. Therefore, it is possible that the first homing operation is not completed during the monitoring. Therefore, after confirming that the first homing operation is successful, step S220 is continued to capture the first origin signal to obtain the first origin position; step S230, based on the first origin position, the manipulator executes a preset second homing operation in the second direction until a preset second origin signal is triggered; step S240, capturing the second origin signal to obtain the second origin position. In this way, production safety is ensured, and the stability, safety, and reliability of the system are improved.

[0115] In this embodiment, through the above solution, specifically, it is determined whether the first homing operation fails; if the first homing operation fails, the homing process is stopped; if the first homing operation is successful, the first origin signal is captured to obtain the first origin position; based on the first origin position, the manipulator executes a preset second homing operation in the second direction until a preset second origin signal is triggered; the second origin signal is captured to obtain the second origin position. By monitoring in real time whether the first homing operation is completed normally, safety accidents caused by failures of the manipulator main control board are avoided, an error handling mechanism is provided, and the stability, safety, and reliability of the manipulator system are improved.

[0116] Refer to Figure 4 , Figure 4 is a schematic flowchart of the third exemplary embodiment of the manipulator homing method of the present application. Based on the above Figure 2 shown embodiment, before step S240, capturing the second origin signal to obtain the second origin position, it further includes:

[0117] Step S410, determining whether the second homing operation fails;

[0118] Specifically, during the actual operation of the manipulator, due to reasons such as electromagnetic interference and device aging, faults will inevitably occur during the execution process. In this case, if the faults are not detected and processed in time, the manipulator may work in an unpredictable and dangerous manner; this will not only reduce the service life of the manipulator, but in severe cases, the manipulator will not be able to work properly, and even cause immeasurable losses and catastrophic consequences. Therefore, the execution process of the manipulator is monitored in real time to determine whether the second homing operation fails.

[0119] Step S420: If the second homing operation fails, stop the homing process.

[0120] Specifically, if it is confirmed that an unexpected error occurs in the second homing operation, immediately stop the homing process and send an alarm signal for professionals in the field to troubleshoot errors in the manipulator system.

[0121] Step S430: If the second homing operation is successful, execute the step of capturing the second origin signal to obtain the second origin position.

[0122] Specifically, during the execution of the second homing operation, first, it is necessary to search for the second origin signal, then trigger the second origin signal, and finally capture the falling edge or rising edge of the second origin signal, and then the second homing operation ends. And the execution process of the second homing operation is monitored in real time for every two steps. Therefore, it is possible that the second homing operation is not completed during monitoring. Therefore, after confirming that the second homing operation is successful, continue to execute Step S240, the step of capturing the second origin signal to obtain the second origin position. In this way, production safety is ensured, and the stability, safety, and reliability of the system are improved.

[0123] In this embodiment, through the above solution, specifically, it is judged whether the second homing operation fails; if the second homing operation fails, stop the homing process; if the second homing operation is successful, execute the step of capturing the second origin signal to obtain the second origin position. By monitoring in real time whether the second homing operation is completed normally, safety accidents caused by failures of the manipulator main control board are avoided, an error handling mechanism is provided, and the stability, safety, and reliability of the manipulator system are improved.

[0124] Reference Figure 5 , Figure 5 is the homing flow chart of the manipulator system involved in the manipulator homing method of this application. As Figure 5 shown, when homing starts, first, start the main control homing, then execute the main control homing operation, and then judge whether the main control homing operation is completed. If so, start the index homing operation of the servo driver; if not, judge whether the main control homing fails. If so, the homing ends; if not, return to continue executing the main control homing operation;

[0125] Then, start the index homing of the servo driver, execute the index homing operation of the servo driver, and then judge whether the index homing of the servo driver is completed. If so, the homing ends, that is, the homing process is completed; if not, judge whether the index homing of the servo driver fails; if so, the homing ends; if not, return to continue executing the index homing operation of the servo driver.

[0126] Refer toFigure 6 , Figure 6 is a schematic flowchart of the fourth exemplary embodiment of the method for the manipulator of the present application to return to zero. Based on the above Figure 2 illustrated embodiment, before the step S210 of performing a preset first zero return action in the first direction by the manipulator until a preset first origin signal is triggered, it further includes:

[0127] Step S610, input the first origin signal and a preset limit into a preset input / output module, where the input / output module interacts with the actuator of the manipulator and also interacts with a preset main control module;

[0128] It should be noted that the zero return of the manipulator system includes the zero return of the absolute encoder and the zero return of the incremental encoder. Among them, the zero return of the absolute encoder is for the axis of the servo system in the manipulator equipped with an absolute encoder. The absolute encoder can remember the power-off state, and even after power-off restart or failure, it still ensures that the zero point of this axis coordinate system remains unchanged. The zero return of the incremental encoder is for the axis of the servo system in the manipulator equipped with an incremental encoder, which is a process of finding the zero point in a certain way. In the manipulator system controlled by a bus, for the zero return of the incremental encoder, generally the zero return method provided by the servo driver is adopted, that is, the limit and origin signals of the axis are connected to the servo driver, and the main control sends a zero return command and the servo driver completes the entire zero return action. Another zero return method is to connect the limit and origin signals of the axis to the DI on the main control board of the manipulator, as Figure 9 shown, Figure 9 is a schematic diagram of the zero return method of the servo driver involved in the method for the manipulator of the present application to return to zero. The figure shows the definition of the control signal terminal CN1 of the servo driver. It should be noted that since the existing zero return method is to physically connect the limit and origin signals of the manipulator axis to the DI on the CN1 terminal, and then map the DI to the corresponding limit and origin through servo parameters. However, in some manipulator cases, the structural limit and origin switches are far from the servo, resulting in the need to connect long wires to the panel of the servo driver; and the CN1 interface on the panel of the servo driver needs to be welded, so professional tools and personnel are required to make cables during the assembly of the manipulator, which increases the assembly cost.

[0129] Specifically, referring to Figure 7 , Figure 7This is a schematic diagram of the framework of the manipulator control system for the manipulator zero return method of this application. Specifically shown in the figure are a control cabinet and a remote end; the control cabinet includes a manipulator main control board (main control module) and servo drivers X, Y, and Z; the remote end includes a digital input / output module (IO module), and the input / output module is connected to the actuating mechanism of the manipulator. The X limit +, X limit -, X origin, Y limit +, Y limit -, Y origin, Z limit +, Z limit -, and Z origin of the actuating mechanism are connected to the input / output module. Among them, the manipulator main control board is connected to the servo driver X, the servo driver X is connected to the servo driver Y, the servo driver Y is connected to the servo driver Z, and the servo driver Z is connected to the digital input / output module. That is, in a bus manner, the digital input / output module is connected to the manipulator main control board by a single bus. In this way, the wire length between the digital input / output module and the panel of the servo driver can be saved, and the wire length will not increase correspondingly due to the number of servo drivers. In addition, the limit origin signal is connected to the digital input / output module by means of terminal pressing, and its wiring is more flexible without being welded to the terminals of the servo drive, saving welding materials and labor costs. Among them, the input / output module interacts with the origin limit signal connected to the actuating mechanism and also interacts with the main control module. In addition, the main control module directly controls the servo driver through the bus, and the servo driver controls the motor to drive the actuating mechanism to move.

[0130] Further, in step S220, the step of capturing the first origin signal to obtain the first origin position includes:

[0131] In step S620, the main control module captures the first origin signal to obtain the first origin position.

[0132] Specifically, the manipulator performs the first zero return action in a first direction and based on the limit range until the first origin signal is triggered. The main control board captures the first origin signal to obtain the corresponding first origin position. The input / output module is connected to the actuating mechanism of the manipulator, and the manipulator main control board (main control module) interacts with the input / output module, so that the manipulator main control board controls the movement of the manipulator and captures the first origin signal.

[0133] In this embodiment, through the above solution, specifically, the first origin signal and the preset limit are input into the preset input / output module. The input / output module interacts with the actuating mechanism of the manipulator and also interacts with the preset main control module; the main control module captures the first origin signal to obtain the first origin position. By writing the origin signal and the limit into the digital input / output module and enabling the digital input / output module to interact with the manipulator main control board in a bus connection manner, labor costs and preparation costs can be saved.

[0134] Refer to Figure 8 , Figure 8 , which is a schematic flowchart of the fifth exemplary embodiment of the method for the manipulator to return to zero in this application. Based on the above Figure 2 shown embodiment, before step S230, based on the first origin position, the manipulator performs a preset second return-to-zero action in the second direction until the second origin signal is triggered, further including:

[0135] Step S810, input the second origin signal into a preset servo driver;

[0136] Specifically, as Figure 9 shown, Figure 9 , which is a schematic diagram of the method for the servo driver involved in the method for the manipulator to return to zero in this application. The figure shows the definition of the control signal terminal CN1 of the servo driver. It should be noted that since the existing return-to-zero method is to physically connect the limit and origin signals of the manipulator axis to the DI on the CN1 terminal, and then map the DI to the corresponding limit and origin through servo parameters. However, in some manipulator cases, the structural limit and origin switches are far from the servo, resulting in the need to connect long wires to the panel of the servo driver; and the CN1 interface of the servo driver panel needs to be welded, resulting in the need for professional tools and personnel to make cables during the assembly of the manipulator, thus increasing the assembly cost. Therefore, in this embodiment, the limit and origin signals are connected to the digital input / output module by means of terminal pressing, and the servo driver is connected to the digital input / output module, so as to capture the second origin signal (index signal, that is, the encoder Z phase) through the servo driver. In this way, the wiring is more flexible without welding to the terminals of the servo drive, saving welding materials and labor costs.

[0137] Furthermore, step S240, the step of capturing the second origin signal to obtain the second origin position includes:

[0138] Step S820, capture the second origin signal through the servo driver to obtain the second origin position.

[0139] Specifically, since using the second origin signal (index signal, i.e., the encoder Z phase) in the servo drive for homing has high precision, but it is necessary to weld the terminals (CN1 interface) of the servo drive panel to the limit and origin signals, resulting in an increase in labor costs and material costs. Therefore, in this embodiment, the first origin signal (origin signal) in the manipulator main control board (main control module) is first used for the first homing to obtain the first origin position. When the manipulator is at the first origin position, the second origin signal (index signal) of the servo drive is used for the second homing. That is, the second origin signal is triggered by the sensor of the manipulator, and then the second origin signal is captured by the servo drive to obtain the second origin position. In this way, when the manipulator performs the second homing operation, there is no need for limit and the first origin signal, and it can be accurately homed only through the second origin signal inside the servo drive.

[0140] In this embodiment, through the above solution, specifically, the second origin signal is input into a preset servo drive; the second origin signal is captured by the servo drive to obtain the second origin position. By interacting the servo drive with the digital input / output module and capturing the second origin signal, it is not necessary to weld to the terminals of the servo drive, which can save welding materials and labor costs.

[0141] Refer to Figure 10 , Figure 10 is a schematic flow chart of the sixth exemplary embodiment of the manipulator homing method of this application. Based on the above Figure 2 shown embodiment, step S210, the step of performing a preset first homing operation in a first direction by the manipulator until a preset first origin signal is triggered includes:

[0142] Step S1010, the manipulator moves in a preset first speed and the first direction until the first origin signal is triggered, and the first origin signal includes a first signal edge;

[0143] Specifically, the manipulator moves at a high speed (first speed) in the first direction so that the sensor of the manipulator triggers the first origin signal, and the manipulator main control board captures the first origin signal. Among them, the first origin signal includes a first signal edge, and the first signal edge includes a first rising edge and a first falling edge. As an implementation solution, the first rising edge is captured. As another implementation solution, the first falling edge is captured. This embodiment takes the first falling edge as an example.

[0144] Further, step S210, the step of capturing the first origin signal to obtain the first origin position includes:

[0145] Step S1020, capturing the first signal edge to obtain the first origin position.

[0146] Specifically, when the first origin signal is triggered, capture the positive rising edge or positive falling edge of the first origin signal to stop the movement of the manipulator and reach the first origin position. As Figure 11 shown, Figure 11 This is the main control origin return schematic diagram of the manipulator origin return method of this application. The figure shows the origin, negative limit (-), positive limit (+) and movement trajectory. The origin signal is triggered by the sensor of the manipulator, and the positive falling edge of the first origin signal is captured by the main control board of the manipulator. As shown in the figure, it is specifically divided into the following three cases of different positions:

[0147] First, when the current position is in the positive direction of the origin: First, search for the origin signal at high speed. After the signal is triggered, the movement stops immediately; then, turn on the capture of the falling edge of the origin signal and move forward. After the capture is successful, the movement stops immediately.

[0148] Second, when the current position is at the origin: First, turn on the capture of the falling edge of the origin signal and move forward. After the capture is successful, the movement stops immediately.

[0149] Third, when the current position is in the negative direction of the origin: First, search for the origin signal at high speed. If the origin signal is not triggered and the negative limit is triggered, the movement stops immediately; then, turn on the capture of the falling edge of the origin signal and move forward. After the capture is successful, the movement stops immediately.

[0150] In this embodiment, through the above solution, specifically, the manipulator moves at a preset first speed and in the first direction until the first origin signal is triggered. The first origin signal includes a first signal edge; capture the first signal edge to obtain the first origin position. By the manipulator executing the first origin return action, a more accurate origin position can be obtained, which can improve the accuracy of the manipulator origin return.

[0151] Referring to Figure 12 , Figure 12 This is the flow schematic diagram of the seventh exemplary embodiment of the manipulator origin return method of this application. Based on the above Figure 8 shown embodiment, step S230, the step of performing a preset second origin return action in the second direction by the manipulator based on the first origin position until a preset second origin signal is triggered includes:

[0152] Step S1210, move the manipulator at a preset second speed and in the second direction at the first origin position until the second origin signal is triggered, where the second speed is less than the first speed, and the second origin signal includes a second signal edge;

[0153] Specifically, the manipulator moves at a low speed (second speed) in the second direction so that the sensor of the manipulator triggers a second home signal (index signal), and the servo driver captures the second home signal. Among them, the second home signal includes a second signal edge, and the second signal edge includes a second rising edge and a second falling edge. As an implementation solution, the second rising edge can be captured. As another implementation solution, the second falling edge can be captured. This embodiment takes the second falling edge as an example.

[0154] Further, in step S240, the step of capturing the second home signal to obtain the second home position includes:

[0155] Step S1220, capturing the second signal edge to obtain the second home position.

[0156] Specifically, after the servo driver triggers the second home signal (index signal), the manipulator stops moving. As an implementation solution, the falling edge of the index signal is opened for capture; as another implementation solution, the rising edge of the index signal is opened for capture. This embodiment takes the falling edge of the index signal as the implementation solution. Refer to Figure 13 , Figure 13 This is a schematic diagram of the index homing of the servo driver for the manipulator homing method of the present application. The figure shows the negative limit (-), positive limit (+), slider, and index signal. Based on the first home position, the servo driver searches for the next index signal at a low speed in the positive direction. After triggering the index signal, the manipulator stops moving. In this way, the manipulator can be homed very precisely.

[0157] Through the above solution in this embodiment, specifically, the manipulator moves at the preset second speed and in the second direction at the first home position until the second home signal is triggered. Among them, the second speed is less than the first speed, and the second home signal includes a second signal edge; capturing the second signal edge to obtain the second home position. Based on the first home position, secondary homing is performed, which can improve the homing accuracy of the manipulator.

[0158] In addition, the embodiment of the present application also proposes a motion controller, and the motion controller includes a manipulator homing device. The manipulator homing device includes:

[0159] A manipulator main control board for controlling the manipulator to perform a preset first homing action in the first direction until a preset first home signal is triggered.

[0160] A servo driver for controlling the manipulator to perform a preset second homing action in the second direction based on the first home position until a preset second home signal is triggered;

[0161] An input / output module for connecting the limit and origin signals of the actuator.

[0162] For the principle and implementation process of the manipulator returning to zero in this embodiment, please refer to the above-mentioned embodiments, and details will not be repeated here.

[0163] In addition, an embodiment of the present application also proposes a terminal device, which includes a memory, a processor, and a manipulator returning-to-zero program stored on the memory and executable on the processor. When the manipulator returning-to-zero program is executed by the processor, the steps of the manipulator returning-to-zero method described above are implemented.

[0164] Since all the technical solutions of the foregoing embodiments are adopted when the manipulator returning-to-zero program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of the foregoing embodiments, and details will not be repeated here one by one.

[0165] In addition, an embodiment of the present application also proposes a computer-readable storage medium, on which a manipulator returning-to-zero program is stored. When the manipulator returning-to-zero program is executed by the processor, the steps of the manipulator returning-to-zero method described above are implemented.

[0166] Since all the technical solutions of the foregoing embodiments are adopted when the manipulator returning-to-zero program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of the foregoing embodiments, and details will not be repeated here one by one.

[0167] Compared with the prior art, the manipulator returning-to-zero method, motion controller, terminal device, and storage medium proposed in the embodiments of the present application enable the manipulator to perform a preset first returning-to-zero action in a first direction until a preset first origin signal is triggered; capture the first origin signal to obtain a first origin position; based on the first origin position, the manipulator performs a preset second returning-to-zero action in a second direction until a preset second origin signal is triggered; capture the second origin signal to obtain a second origin position. By combining the preset first returning-to-zero signal and the second returning-to-zero signal, an accurate origin position can be obtained, which can meet the accuracy requirements of the manipulator returning to zero and improve the accuracy of returning to zero. Based on the solution of the present application, in view of the problem that the existing manipulator returning-to-zero method has a certain delay, resulting in a reduction in the accuracy of returning to zero, a returning-to-zero method for a bus-type manipulator is designed. Finally, the returning-to-zero accuracy of the manipulator using the method of the present application has been significantly improved.

[0168] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including such element.

[0169] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0170] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device (which can be a main controller, a motion controller, a controlled terminal, etc.) to execute the methods of each embodiment of the present application.

[0171] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for a manipulator to return to zero, characterized in that, The method for the manipulator to return to zero includes the following steps: The manipulator performs a preset first zero return action in a first direction until a preset first origin signal is triggered. The first zero return action refers to the zero return action in which the main control board of the manipulator controls the manipulator to search for the first origin signal according to the preset limit and origin information; Capture the first origin signal to obtain the first origin position; Based on the first origin position, the manipulator performs a preset second zero return action in a second direction until a preset second origin signal is triggered. The second zero return action refers to the zero return action in which the servo driver controls the manipulator to search for the second origin signal according to the first origin position; Capture the second origin signal to obtain the second origin position; Before the step of the manipulator performing a preset first zero return action in a first direction until a preset first origin signal is triggered, it further includes: Input the first origin signal and the preset limit into a preset input / output module. The input / output module interacts with the execution mechanism of the manipulator and also interacts with a preset main control module; The step of capturing the first origin signal to obtain the first origin position includes: The main control module captures the first origin signal to obtain the first origin position.

2. The method for returning a manipulator to zero as claimed in claim 1, wherein, Before the step of capturing the first origin signal to obtain the first origin position, it further includes: Judge whether the first zero return action fails; If the first zero return action fails, stop the zero return process; If the first zero return action is successful, execute the step of capturing the first origin signal to obtain the first origin position and subsequent steps.

3. The method for the manipulator to return to zero according to claim 1, characterized in that, Before the step of capturing the second origin signal to obtain the second origin position, it further includes: Judge whether the second zero return action fails; If the second zero return action fails, stop the zero return process; If the second zero return action is successful, execute the step of capturing the second origin signal to obtain the second origin position.

4. The method for the manipulator to return to zero as claimed in claim 1, characterized in that, The step of the manipulator performing a preset first zero return action in a first direction until a preset first origin signal is triggered includes: The manipulator moves in the first direction at a preset first speed until the first origin signal is triggered. The first origin signal includes a first signal edge; The step of capturing the first origin signal to obtain the first origin position includes: Capture the first signal edge to obtain the first origin position.

5. The method for the manipulator to return to zero according to claim 4, wherein The step of, based on the first origin position, the manipulator performing a preset second zero return action in a second direction until a preset second origin signal is triggered includes: The manipulator moves at a preset second speed and in the second direction at the first origin position until the second origin signal is triggered. Wherein, the second speed is less than the first speed, and the second origin signal includes a second signal edge; The step of capturing the second origin signal to obtain the second origin position includes: Capture the second signal edge to obtain the second origin position.

6. The method for the manipulator to return to zero as described in claim 1, characterized in that Before the step of performing a preset second homing operation in a second direction by the manipulator based on the first origin position until the second origin signal is triggered, the following steps are further included: Input the second origin signal into a preset servo driver; The step of capturing the second origin signal to obtain the second origin position includes: Capture the second origin signal through the servo driver to obtain the second origin position.

7. A motion controller, characterized in that, The motion controller includes a manipulator homing device, and the manipulator homing device includes: A manipulator main control board, configured to control the manipulator to perform a preset first homing operation in a first direction until a preset first origin signal is triggered; A servo driver, configured to control the manipulator to perform a preset second homing operation in a second direction based on the first origin position until a preset second origin signal is triggered; An input / output module, configured to connect the limit and origin signals of the actuator.

8. A terminal device, characterized in that, The terminal device includes a memory, a processor, and a manipulator homing program stored on the memory and executable on the processor. When the manipulator homing program is executed by the processor, the steps of the manipulator homing method according to any one of claims 1-6 are implemented.

9. A computer-readable storage medium, characterized in that, A manipulator homing program is stored on the computer-readable storage medium. When the manipulator homing program is executed by the processor, the steps of the manipulator homing method according to any one of claims 1-6 are implemented.

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