Configuration method and device of mechanical arm tooling and electronic equipment

Abstract

The embodiment of the invention provides a configuration method and device of a mechanical arm tooling and electronic equipment, in the configuration method, a plurality of tool reference points can be added for a to-be-configured tooling, and each tool reference point can be configured; and when the tool reference point needs to be switched, only the target tool reference point needs to be replaced, so that the flexibility, the precision and the efficiency of the system can be improved, and the method is particularly suitable for application scenes of complex tooling such as a combined tooling and multi-mechanism cooperation. By applying the embodiment of the invention, fine configuration can be carried out on the tooling, precision compensation can be carried out on the mechanical arm tooling based on configuration and switching of multiple tool reference points, precise collaborative operation of multiple tools, posture optimization and precise obstacle avoidance of the mechanical arm, path planning of the mechanical arm and the like can be ensured, and then the tooling can be precisely controlled.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a configuration method, device, and electronic equipment for a robotic arm end effector. Background Art

[0002] Currently, robots are widely used in industrial automation. Many robots use mechanical arms to imitate certain movements of human arms to perform tasks such as handling and processing.

[0003] A robotic arm is typically equipped with an end effector, which is the vehicle for interacting with objects in the world around it. It can be understood as "the mechanism at the end of the robotic arm used to pick up objects," hence the name end effector. It is primarily used to assist equipment in picking up and moving workpieces. Common examples include suction cups and grippers.

[0004] At present, the robotic arm can be equipped with a single-zone end picker or a combination end picker. The combination end picker integrates multiple gripping or operating mechanisms at the same robot end, and realizes multifunctional synchronous operation of complex workpieces through collaborative work.

[0005] In order to accurately control the end effector, the end effector needs to be finely configured. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a configuration method, device, and electronic device for a robot arm end effector to achieve refined configuration of the robot arm end effector. The specific technical solution is as follows:

[0007] The present invention provides a method for configuring a robot arm end effector, including:

[0008] Display the end pickup configuration interface;

[0009] Based on the user's selection in the end-tool configuration interface, a tool reference point setting option interface is displayed; at least one configurable tool reference point is displayed in the tool reference point setting option interface;

[0010] In response to the tool reference point adding instruction, displaying one or more added tool reference points on the tool reference point setting option interface;

[0011] In response to the tool reference point configuration instruction, configuring the tool reference point currently displayed on the tool reference point setting option interface;

[0012] In response to the data transmission port setting instruction, the data input port and the data output port of the end picker to be configured are configured.

[0013] In some embodiments, after the configuration of the data input port and the data output port of the end picker is completed, the method further includes: displaying a three-dimensional preview image; the three-dimensional preview image includes the configuration result of the end picker.

[0014] In some embodiments, when multiple sub-end pickers are configured, at least one of the following information of each sub-end picker is displayed in the three-dimensional preview image: position; identification; positioning point.

[0015] In some embodiments, the method further comprises: displaying a combined end picker configuration sub-interface in response to a user clicking on any sub-end picker in the three-dimensional preview image;

[0016] In response to the data transmission port setting instruction, based on the combined terminal picker configuration sub-interface, the data input port and the data output port are configured for the sub-terminal picker clicked by the user.

[0017] In some embodiments, a preview option is displayed in the tool reference point setting option interface, and when the preview option is selected, a three-dimensional preview image is displayed.

[0018] In some embodiments, the tool reference point setting option interface further displays a combined end effector switch, and when the switch is turned on, the preview option is displayed.

[0019] In some embodiments, configuring the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction includes:

[0020] In the case where the configured end effector is a single-zone end effector, a data transmission port configuration option for the single-zone end effector is displayed in the tool reference point setting option interface;

[0021] In response to the configuration instruction for the data transmission port of the single-zone picker, the data input port and the data output port of the single-zone picker are configured.

[0022] In some embodiments, configuring the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction includes:

[0023] When the configured end effector is a combination end effector, the combination end effector configuration sub-interface is displayed;

[0024] In response to a data transmission port setting instruction for the combination end picker, based on the combination end picker configuration sub-interface, the combination end picker to be configured is partitioned into multiple sub-end pickers, and based on the combination end picker configuration sub-interface, the data input port and data output port are configured for each sub-end picker.

[0025] In some embodiments, in response to the data transmission port setting instruction, partitioning the to-be-configured combined end picker into a plurality of sub-end pickers, and configuring the data input port and the data output port for each sub-end picker includes:

[0026] Based on the user's selection in the combined end pickup configuration sub-interface, the partition configuration options are displayed;

[0027] In response to the partition configuration instruction, partitioning the combined end picker into a plurality of sub-end pickers;

[0028] Based on the user's selection in the combined end pickup configuration sub-interface, data transmission port configuration options are displayed;

[0029] In response to a plurality of data transmission port setting instructions, the data input port and the data output port of each sub-end pickup are configured respectively.

[0030] In some embodiments, the method further includes:

[0031] On the combined end picker configuration sub-interface, a two-dimensional preview image of the partitioning effect is further displayed; in the two-dimensional preview image, all sub-end pickers and their respective logos are displayed in a tiled manner;

[0032] When displaying the partition configuration options, the partition effect two-dimensional preview image and the partition configuration options are displayed side by side;

[0033] When the data transmission port configuration option is displayed, the partition effect two-dimensional preview image and the data transmission port configuration option are displayed side by side.

[0034] In some embodiments, after at least one tool reference point in the tool reference point setting option interface is configured, the method further includes:

[0035] In response to the tool reference point activation instruction, a configured tool reference point is activated from various tool reference points as the current tool reference point of the end effector to be configured, so that the robot arm end effector can move based on the current tool reference point after configuration.

[0036] In some embodiments, the tool reference point activation instruction is generated after the user selects the target tool reference point in the tool reference point setting option interface and clicks an activation button.

[0037] The present application also provides a configuration device for a robot arm end effector, comprising:

[0038] The first display module is used to display the end picker configuration interface;

[0039] A second display module is configured to display a tool reference point setting option interface based on a user's selection in the end effector configuration interface; the tool reference point setting option interface displays at least one configurable tool reference point of the end effector to be configured;

[0040] a tool reference point adding module, configured to display one or more added tool reference points on the tool reference point setting option interface in response to a tool reference point adding instruction;

[0041] a tool reference point configuration module, configured to configure the tool reference point currently displayed on the tool reference point setting option interface in response to a tool reference point configuration instruction;

[0042] The data transmission port configuration module is used to configure the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction.

[0043] An embodiment of the present application further provides an electronic device, including:

[0044] Memory for storing computer programs;

[0045] The processor is configured to implement any of the above methods when executing a program stored in the memory.

[0046] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned methods is implemented.

[0047] Beneficial effects of the embodiments of the present application:

[0048] In the embodiment of the present application, the tool reference point of the end effector of the robotic arm refers to the origin of the tool coordinate system of the end effector. The robotic arm end effector moves based on the tool reference point.

[0049] The embodiments of the present application provide a configuration method, device, and electronic device for a robotic arm end picker. In this configuration method, multiple tool reference points can be added for the end picker to be configured, and each tool reference point can be configured; when it is necessary to switch the tool reference point, it is only necessary to replace the target tool reference point, thereby improving the flexibility, accuracy, and efficiency of the system, and is particularly suitable for complex end pickers, such as combined end pickers and multi-mechanism collaborative application scenarios. By applying the embodiments of the present application, the end picker can be finely configured, and based on the configuration and switching of multiple tool reference points, the accuracy compensation of the robotic arm picker can be performed, thereby optimizing the robotic arm posture, and then accurately controlling the end picker.

[0050] In addition, in some embodiments of the present application, when the configured end picker is a combination end picker, the combination end picker can be partitioned into multiple sub-end pickers. On the combination end picker configuration interface, the data input port and data output port are configured for each sub-end picker, the operation path is optimized, and the ease of configuration is improved.

[0051] Furthermore, in some embodiments of the present application, when the preview function is turned on, a three-dimensional preview image of the robot arm end picker can be displayed, and the position and identification of each sub-end picker can be displayed on the end picker in the three-dimensional image, making the configuration result clear and intuitive.

[0052] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0054] Figure 1 A schematic flow chart of a first embodiment of a method for configuring a robot arm end effector provided in an embodiment of the present application;

[0055] Figure 2 A schematic flow chart of a second embodiment of the method for configuring a robot arm end effector provided in an embodiment of the present application;

[0056] Figure 3 A schematic flow chart of a third embodiment of a method for configuring a robot arm end effector according to an embodiment of the present application;

[0057] Figure 4 A schematic diagram of a first state (a state in which the basic properties button is clicked) of an end effector configuration interface displayed in a configuration method for a robotic arm end effector provided in an embodiment of the present application;

[0058] Figure 5 for Figure 4 Schematic diagram of the second state of the end effector configuration interface (the state in which the tool reference point setting button is clicked and the combined end effector switch is turned off);

[0059] Figure 6 for Figure 4 Schematic diagram of the third state of the end effector configuration interface (the state in which the tool reference point setting button is clicked and the combined end effector switch is turned on);

[0060] Figure 7A schematic diagram of the first state of the combined end effector configuration sub-interface displayed in the configuration method of the robot arm end effector provided in an embodiment of the present application (a state in which the partition configuration button is clicked and a two-dimensional preview image of the partition effect is displayed);

[0061] Figure 8 for Figure 7 Schematic diagram of the second state of the combined end picker configuration sub-interface (the DI (data input) / DO (data output) setting button is clicked and a two-dimensional preview image of the partitioning effect is displayed);

[0062] Figure 9 A schematic diagram of displaying a three-dimensional preview image in the configuration method of the robot arm end effector provided in an embodiment of the present application;

[0063] Figure 10 A schematic diagram of the structure of a configuration device for a robotic arm end effector provided in an embodiment of the present application;

[0064] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0066] In order to achieve refined configuration of a robot arm end effector, embodiments of the present application provide a configuration method, device, and electronic device for a robot arm end effector, which are described below respectively.

[0067] Next, the configuration method of the robot arm end tool provided in the embodiment of the present application is described in detail.

[0068] See also Figure 1 , Figure 1 A schematic diagram of a first embodiment of a method for configuring a robotic arm end effector according to an embodiment of the present application; the process includes the following steps:

[0069] Step S101, displaying the end picker configuration interface;

[0070] This step may be to display the end picker configuration interface after the control system of the robot arm enters the end picker configuration state. For example, the end picker configuration interface may be displayed after the user selects the end picker configuration option in the main interface of the robot arm control system.

[0071] Step S102: Based on the user's selection on the tool picker configuration interface, a tool reference point setting option interface is displayed; the tool reference point setting option interface displays at least one configurable tool reference point;

[0072] See also Figures 4 to 6 ,in, Figure 4 A schematic diagram of a first state (a state in which the basic properties button is clicked) of an end effector configuration interface displayed in a configuration method for a robotic arm end effector provided in an embodiment of the present application; Figure 5 for Figure 4 Schematic diagram of the second state of the end effector configuration interface (the state in which the tool reference point setting button is clicked and the combined end effector switch is turned off); Figure 6 for Figure 4 Schematic diagram of the third state of the end effector configuration interface (the state in which the tool reference point setting button is clicked and the combined end effector switch is turned on).

[0073] It should be noted that in this application document, the tool reference point can be the TCP (Tool Center Point) of the robot arm end effector, or other reference points. In the interface diagrams in this article, the tool reference point is taken as the TCP as an example.

[0074] like Figures 4 to 6 As shown in the figure, the tool reference point setting button and basic property button can be displayed in the end picker configuration interface. Figure 5 and Figure 6 As shown, when the user clicks the tool reference point setting button, the tool reference point setting option interface can be displayed; when the user clicks the basic property button, the basic property option interface can be displayed.

[0075] In this embodiment, the tool reference point displayed on the end effector configuration interface can be obtained from the real machine through interaction between the system and the robot arm. Figure 5 As shown, you can click the "Get" button, and the system will interact with the robotic arm to obtain the real machine tool reference point.

[0076] Continue to see Figure 1 , step S103, in response to the tool reference point adding instruction, displaying one or more added tool reference points on the tool reference point setting option interface;

[0077] like Figure 5 and Figure 6 As shown, the tool picker configuration interface can display a tool reference point add button, for example: Figure 5 and Figure 6 The “+” in the .

[0078] The user can add one or more tool reference points by clicking the Add Tool Reference Point button. Figure 6 As shown in the figure, after adding tool reference points, each tool reference point is displayed on the end picker configuration interface.

[0079] Step S104, in response to the tool reference point configuration instruction, configuring the tool reference point currently displayed on the tool reference point setting option interface;

[0080] like Figure 6 As shown, after the user selects a tool reference point, the name, position, posture and other information of the tool reference point can be configured. In this embodiment, the end effector to be configured can add multiple tool reference points according to the actual situation of the end effector, for example, up to 16 tool reference points can be added.

[0081] Step S105 , in response to the data transmission port setting instruction, configuring the data input port and the data output port of the end picker to be configured.

[0082] After the tool reference point configuration is completed, the data transmission ports, including DI / DO, can be set.

[0083] In this embodiment, after the tool reference point configuration and DI / DO configuration are completed, the robot arm end effector can be precisely controlled based on these configurations.

[0084] In the configuration method of the robotic arm end effector provided in the embodiment of the present application, multiple tool reference points can be added for the end effector to be configured, for example, up to 16 tool reference points can be added, and each tool reference point can be configured; when it is necessary to switch the tool reference point, it is only necessary to replace the target tool reference point to activate it, thereby improving the flexibility, accuracy and efficiency of the system, and is particularly suitable for complex end effectors, such as combined end effectors and multi-mechanism collaborative application scenarios. By applying the embodiment of the present application, the end effector can be finely configured, and based on the configuration and switching of multiple tool reference points, the accuracy compensation of the robotic arm end effector can be performed, ensuring the precise collaborative operation of multiple tools, the optimization of the robotic arm posture and precise obstacle avoidance, and the simplification of the robotic arm path planning, etc., thereby enabling the precise control of the end effector.

[0085] In some embodiments, after the configuration of the data input port and data output port of the end effector is completed, a three-dimensional preview image can be displayed; the three-dimensional preview image includes the configuration results of the end effector. In this way, the user can intuitively and clearly see the partition configuration of the end effector.

[0086] In some embodiments, the end picker to be configured can be configured with multiple sub-end pickers. In the case of configuring multiple sub-end pickers, the three-dimensional preview image displays at least one of the following information of each sub-end picker: position; identification; positioning point. Figure 9 , Figure 9This is a schematic diagram of displaying a three-dimensional preview image in the configuration method of the robot arm end tool provided in the embodiment of the present application. Figure 9 As shown, in this three-dimensional preview image, the end picker is configured as 10 sub-end pickers, showing the position and identification of each sub-end picker (i.e., the number in the figure), and also showing the positioning points of each sub-end picker. The positioning points of each sub-end picker are respectively located at the edge and center of each sub-end picker.

[0087] In this embodiment, after displaying the 3D preview image, a combination pickup configuration sub-interface may be displayed in response to a user clicking on any sub-pickup in the 3D preview image. Thus, in response to a data transmission port setting instruction, the data input port and data output port of the sub-pickup clicked by the user may be configured based on the data transmission port configuration options in the combination pickup configuration sub-interface.

[0088] See also Figure 7 and Figure 8 The combination end picker configuration sub-interface has two states. Figure 7 A schematic diagram of the first state of the combined end effector configuration sub-interface displayed in the configuration method of the robot arm end effector provided in an embodiment of the present application (a state in which the partition configuration button is clicked and a two-dimensional preview image of the partition effect is displayed); Figure 8 for Figure 7 The second state of the combined end picker configuration sub-interface (the DI (data input) / DO (data output) setting button is clicked, and the two-dimensional preview image of the partition effect is displayed) is shown. For example, by clicking the sub-end picker numbered 1, Figure 8 The combined end effector configuration sub-interface shown above allows you to directly configure the DI / DO settings for the sub-end effector numbered 1. This makes user operations more flexible and convenient, ensures the optimization of the operation path, and improves the ease of configuration.

[0089] like Figure 6 As shown, the tool reference point setting options interface displays a preview option. When the preview option is selected, a 3D preview image is displayed. The tool reference point setting options interface also displays a combination end picker switch. When the switch is turned on, the preview option is displayed. When the combination end picker switch is turned on, the end picker is configured as a combination end picker, and when it is turned off, the end picker is configured as a single-zone end picker.

[0090] In some embodiments, the basic properties of the robot arm end effector can be set first, and then the tool reference point and DI / DO settings can be performed. After the basic properties, tool reference point and DI / DO of the robot arm end effector are set, the preview function can be turned on to display a three-dimensional preview image of the robot arm end effector, so that the partition configuration of the end effector can be seen intuitively and clearly.

[0091] For details, see Figure 2 , Figure 2 A flow chart of a second embodiment of the method for configuring a robot arm end effector provided in an embodiment of the present application; the flow chart is a flow chart for configuring a configured end effector as a combined end effector; Figure 2 As shown, the process includes the following steps:

[0092] Step S201, configuring the basic properties of the end picker to be configured;

[0093] This step is performed after the robot control system enters the end effector configuration state and displays the end effector configuration option interface.

[0094] like Figure 4 As shown in FIG, when the user clicks the basic attribute button, the basic attribute option interface may be displayed. The user may configure the basic attributes of the end pickup to be configured based on the basic attribute interface.

[0095] like Figure 4 As shown, basic attributes may include: tool type (e.g. Figure 4 The physical structure properties of the end effector, such as the "suction cup" shown in the figure), "size", "sponge thickness", and "symmetry", can be set by the user based on the physical structure of the end effector currently connected to the robot arm. The system can also interact with the robot arm, allowing the robot arm to import the physical structure information of the currently connected end effector into the end effector configuration interface.

[0096] Step S202, configuring and activating the tool reference point of the end effector to be configured;

[0097] In this step, the specific configuration process can refer to Figure 1 In the illustrated embodiment, steps S102 to S104 are performed by first adding and setting one or more tool reference points, which will not be described in detail here.

[0098] After at least one tool reference point has been configured in the tool reference point setup options interface, the target tool reference point can be activated. Specifically, in response to the tool reference point activation command, one of the configured tool reference points can be activated as the current tool reference point for the end effector to be configured, so that the configured end effector can move based on the current tool reference point.

[0099] like Figure 5 and Figure 6 As shown, multiple tool reference points and activation buttons can be displayed on the tool reference point setting option interface. When the user selects the target tool reference point on the tool reference point setting option interface and clicks the activation button, a tool reference point activation instruction is generated and activation is performed directly.

[0100] That is, in this embodiment, the tool reference point is activated during the configuration process, which is simpler and clearer than the related art, where activation is performed in a separate activation program.

[0101] like Figure 6 As shown in the figure, after the user configures a tool reference point, or configures all tool reference points, select a configured target tool reference point and click the "Set as Active Tool Reference Point" button to activate the tool reference point. Figure 6 As shown in the figure, after the tool reference point configuration and activation are completed, you can click the "Set" button to complete the configuration. Figure 5 and Figure 6 As shown, the position and angle of the end picker can also be edited by configuring the position, angle and other information.

[0102] Step S203, turning on the combination end picker switch to display the combination end picker configuration sub-interface;

[0103] This step can be Figure 6 and Figure 7 As shown in the figure, the combination end pick switch is displayed in the tool reference point setting option interface. Figure 6 After the middle combination picker switch is turned on, the display Figure 7 The combined end picker configuration sub-interface.

[0104] Step S204, combining the end picker partition configuration and DI / DO configuration;

[0105] In this step, the combination end picker to be configured can be divided into multiple sub-end pickers based on the combination end picker configuration sub-interface; and the data input port and data output port are configured for each sub-end picker on the combination end picker configuration sub-interface.

[0106] In this step, if Figure 7 and Figure 8 As shown in the figure, the partition configuration button and DI / DO setting button can be displayed on the combination end pickup configuration sub-interface. Figure 7As shown, after the user clicks the partition configuration button, the partition configuration options are displayed on the combined end picker configuration sub-interface. In this way, the combined end picker can be partitioned into multiple sub-end pickers in response to the partition configuration instruction. After the partition configuration, a two-dimensional preview image of the partition effect can be further displayed on the combined end picker configuration sub-interface; at this time, the two-dimensional preview image of the partition effect can be displayed in parallel with the partition configuration options. Figure 7 As shown, in the two-dimensional preview image of the partition effect, all sub-end pickers and their respective identifiers (such as Figure 7 Numbers 1, 2, 3, ...10). Figure 7 and Figure 8 In the actual display, numbers 1, 2, 3, ..., 10 are located at the middle positioning points of each sub-end picker, and there is some overlap in the figure. In the actual display, the numbers and the middle positioning points can be distinguished by different colors.

[0107] like Figure 7 As shown, taking the combined end picker as a suction cup as an example, the partition configuration of the combined end picker can be completed at one time by setting the number of sub-end pickers, uniform size, distribution direction and spacing (mm), and sub-sucker opening threshold (%).

[0108] like Figure 8 As shown in the figure, after the user clicks the DI / DO setting button, the data transmission port configuration options are displayed on the combined end picker configuration sub-interface. In this way, the DI / DO of each sub-end picker can be configured separately in response to multiple data transmission port setting instructions.

[0109] like Figure 8 As shown in the figure, after the user clicks the DI / DO setting button, the combined end picker configuration sub-interface will display all configurable sub-end pickers and the configurable DI / DO of each sub-end picker; the user can select the DI / DO for each sub-end picker and configure it accordingly. In this way, DI / DO configuration can be performed for multiple sub-end pickers at the same time on one interface.

[0110] like Figure 8 As shown, when the data transmission port configuration option is displayed, the partition effect two-dimensional preview image can be retained; at this time, the partition effect two-dimensional preview image and the data transmission port configuration option are displayed side by side.

[0111] Depend on Figure 7 and Figure 8 It can be seen that by displaying the 2D preview image of the partition effect, the user can clearly see the partition effect and the position of each tool reference point and other information, so that the user can check whether the configuration is reasonable based on the image. After the combination end picker partition configuration and DI / DO configuration are completed, if the user checks that there is something unreasonable in the configuration, such as Figure 7 and Figure 8 As shown, you can click the reset button on the combination end picker configuration sub-interface to reconfigure; if the user checks that there is no unreasonable configuration, you can click the finish button to return to the display end picker configuration interface.

[0112] In addition, users can also click on any sub-end picker in the 2D preview image of the partition effect. In response to the user clicking on any sub-end picker in the 2D preview image of the partition effect, data transmission port configuration options will be displayed, and users can directly configure DI / DO. This operation method is more flexible.

[0113] In this embodiment, the combination end picker configuration sub-interface can be displayed in a pop-up window. After the combination end picker configuration is completed, the pop-up window is hidden and the display end picker configuration interface is returned.

[0114] That is, the software used in the configuration method of the robot arm end tool in this embodiment has only two levels of interface, which makes user operation simple and optimizes the operation path, thereby improving the usability of the configuration.

[0115] Continue to see Figure 2 In this embodiment, after the basic properties of the robot arm end picker, the tool reference point and DI / DO are set, the preview function can also be enabled.

[0116] like Figure 2 As shown, after the basic properties, tool reference point, and DI / DO settings of the robot arm's end effector are completed, step S205 is executed to determine whether the preview function is enabled. If the preview function is enabled, step S206 is executed; if the preview function is not enabled, the user can return to the end effector configuration state to prepare for the next configuration.

[0117] After the basic properties, tool reference point and DI / DO of the robot arm are set, the interface of the robot arm configuration will be displayed. Figure 6 As shown, a preview option is also provided on the pickup configuration interface, through which the user can choose whether to enable the preview function.

[0118] Step S206: Display a three-dimensional preview image of the combined end picker in the simulation area.

[0119] In this way, in response to the preview function start instruction, the three-dimensional preview image of the combined end picker can be displayed in the simulation area of ​​the system. Figure 9 , Figure 9 This is a schematic diagram of displaying a three-dimensional preview image in the configuration method of the robot arm end tool provided in the embodiment of the present application. Figure 9 As shown, the positions and identifications of the various sub-end pickers are displayed on the end picker in the three-dimensional preview image displayed in the simulation area of ​​the system.

[0120] In this way, users can observe the configured 3D model of the combined end picker in the simulation area, and the configuration results are clearer and more intuitive.

[0121] The configuration method of the robot arm end effector provided in the embodiment of the present application can not only configure a combined end effector, but also configure a single-zone end effector.

[0122] For details, see Figure 3 , Figure 3 This is a flow chart of the third embodiment of the configuration method of the robot arm end tool provided in the embodiment of the present application. Figure 3 As shown, the method includes the following steps:

[0123] Step S301, configuring the basic properties of the end picker to be configured;

[0124] In this embodiment, step S301 can be combined with Figure 2 The shown step S201 is exactly the same and will not be repeated here.

[0125] Step S302: Determine whether the combined end effector is on or off. If on, it indicates that the configured end effector is a combined end effector, and execute steps S303 to S306; if off, execute step S307.

[0126] Step S303, configuring and activating the tool reference point of the combined end tool to be configured;

[0127] This step can be done with Figure 2 The step S202 shown is the same and will not be repeated here.

[0128] Steps S304-S306 can be Figure 2 Steps S204 to S206 are identical and will not be repeated here.

[0129] Step S307 , in response to the closing instruction of the combination end effector switch, displaying the data transmission port configuration options for the single-zone end effector in the tool reference point setting option interface;

[0130] Step S308, configuring and activating tool reference points for the single-zone end effector;

[0131] like Figure 5 As shown in the figure, when the combination end effector switch is turned off, the configured end effector is a single-zone end effector. In the tool reference point setting options interface, a single-zone end effector has only one tool reference point. After configuring this tool reference point, it is activated. A single-zone end effector has only one DI and DO, so the DI / DO option is directly displayed in the tool reference point setting options interface.

[0132] It should be noted that, in actual applications, the steps of setting and activating the tool reference points of the single-zone tooling and the steps of configuring and activating the tool reference points of the combination tooling to be configured can be performed before determining whether the combination tooling switch state is on or off in step S302. This is not a limitation here.

[0133] Step S309 : in response to the configuration instruction for the data transmission port of the single-zone picker, configuring the data input port and the data output port of the single-zone picker.

[0134] like Figure 5 As shown in the figure, for a single-zone picker, configure DI / DO directly in the tool reference point setting option interface.

[0135] In this embodiment, after the tool reference point and DI / DO configurations of the single-zone end effector are completed, the robotic arm end effector can be precisely controlled based on these configurations.

[0136] In this embodiment, not only can multiple tool reference points be set for the combined end picker to improve the flexibility, accuracy and efficiency of the system; but also for the single-zone end picker, DI / DO can be directly configured in the configuration panel, such as the tool reference point setting option interface; for the combined end picker, a pop-up window is used for configuration, and DI / DO configuration can be performed for multiple sub-end pickers at the same time in one interface, the operation path is optimized, and the ease of configuration is improved; at the same time, after completing the configuration of the combined end picker, the three-dimensional model of the combined end picker can be displayed in the simulation area by checking the preview option, so that the user can clearly and intuitively observe the configuration results of the configured combined end picker.

[0137] Next, the configuration device of the robot arm end tool provided in the embodiment of the present application is described.

[0138] See also Figure 10 , Figure 10 A schematic diagram of the configuration device of the robot arm end tool provided in the embodiment of the present application; Figure 10 As shown, the configuration device of the robot arm end tool includes:

[0139] The first display module 401 is used to display the end picker configuration interface;

[0140] The second display module 402 is used to display a tool reference point setting option interface based on the user's selection in the end picker configuration interface; the tool reference point setting option interface displays at least one configurable tool reference point;

[0141] A tool reference point adding module 403 is configured to display one or more added tool reference points on the tool reference point setting option interface in response to a tool reference point adding instruction;

[0142] A tool reference point configuration module 404 is configured to configure the tool reference point currently displayed on the tool reference point setting option interface in response to a tool reference point configuration instruction;

[0143] The data transmission port configuration module 405 is used to configure the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction.

[0144] By applying the embodiments of the present application, the end effector can be finely configured. Based on the configuration and switching of multiple tool reference points, the tool reference points of the robotic arm picker can be accurately compensated, thereby optimizing the robotic arm posture and accurately controlling the end effector.

[0145] The electronic device provided in the embodiments of the present application is described below.

[0146] See also Figure 11 , Figure 11 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 11 As shown, the electronic device includes:

[0147] Memory 501, used for storing computer programs;

[0148] The processor 502 is configured to execute the program stored in the memory, and implement the following steps:

[0149] Display the end pickup configuration interface;

[0150] Based on the user's selection in the end-tool configuration interface, a tool reference point setting option interface is displayed; at least one configurable tool reference point is displayed in the tool reference point setting option interface;

[0151] In response to the tool reference point adding instruction, displaying one or more added tool reference points on the tool reference point setting option interface;

[0152] In response to the tool reference point configuration instruction, configuring the tool reference point currently displayed on the tool reference point setting option interface;

[0153] In response to the data transmission port setting instruction, the data input port and the data output port of the end picker to be configured are configured.

[0154] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 502, the communication interface, and the memory 501 communicate with each other via the communication bus.

[0155] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0156] The communication interface is used for communication between the above electronic device and other devices.

[0157] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0158] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0159] In another embodiment provided in the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the configuration method of any of the above-mentioned robot arm end effectors are implemented.

[0160] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the configuration methods for the robot arm end effector in the above embodiments.

[0161] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0162] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0163] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so their description is relatively simple. For related portions, refer to the description of the method embodiments.

[0164] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A method for configuring a robot arm end tool, characterized in that: include: Display the end pickup configuration interface; Based on the user's selection in the end-tool configuration interface, a tool reference point setting option interface is displayed; at least one configurable tool reference point is displayed in the tool reference point setting option interface; In response to the tool reference point adding instruction, displaying one or more added tool reference points on the tool reference point setting option interface; In response to the tool reference point configuration instruction, configuring the tool reference point currently displayed on the tool reference point setting option interface; In response to the data transmission port setting instruction, the data input port and the data output port of the end picker to be configured are configured.

2. The method for configuring a robot arm end effector according to claim 1, wherein: After the configuration of the data input port and the data output port of the end picker is completed, the method further includes: A three-dimensional preview image is displayed; the three-dimensional preview image includes the configuration result of the end picker.

3. The configuration method of the robot arm end tool according to claim 2, characterized in that: In the case where a plurality of sub-end pickers are configured, the three-dimensional preview image displays at least one of the following information of each sub-end picker: position; identification; positioning point.

4. The method for configuring a robot arm end effector according to claim 2, wherein: The method further comprises: In response to a user clicking on any one of the sub-end pickers in the three-dimensional preview image, displaying a combined end picker configuration sub-interface; In response to the data transmission port setting instruction, based on the combined terminal picker configuration sub-interface, the data input port and the data output port are configured for the sub-terminal picker clicked by the user.

5. The method for configuring a robot arm end effector according to claim 2, wherein: A preview option is displayed in the tool reference point setting option interface. When the preview option is selected, a three-dimensional preview image is displayed.

6. The method for configuring a robot arm end effector according to claim 5, wherein: The tool reference point setting option interface also displays a combined end pick switch, and when the switch is turned on, the preview option is displayed.

7. The method for configuring a robot arm end effector according to claim 1, wherein: The step of configuring the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction includes: In the case where the configured end effector is a single-zone end effector, a data transmission port configuration option for the single-zone end effector is displayed in the tool reference point setting option interface; In response to the configuration instruction for the data transmission port of the single-zone picker, the data input port and the data output port of the single-zone picker are configured.

8. The method for configuring a robot arm end effector according to claim 1, wherein: The step of configuring the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction includes: When the configured end effector is a combination end effector, the combination end effector configuration sub-interface is displayed; In response to a data transmission port setting instruction for the combination end picker, based on the combination end picker configuration sub-interface, the combination end picker to be configured is partitioned into multiple sub-end pickers, and based on the combination end picker configuration sub-interface, the data input port and data output port are configured for each sub-end picker.

9. The method for configuring a robot arm end effector according to claim 8, wherein: The method of dividing the to-be-configured combined end picker into a plurality of sub-end pickers in response to the data transmission port setting instruction, and configuring a data input port and a data output port for each sub-end picker, comprises: Based on the user's selection in the combined end pickup configuration sub-interface, the partition configuration options are displayed; In response to the partition configuration instruction, partitioning the combined end picker into a plurality of sub-end pickers; Based on the user's selection in the combined end pickup configuration sub-interface, data transmission port configuration options are displayed; In response to a plurality of data transmission port setting instructions, the data input port and the data output port of each sub-end pickup are configured respectively.

10. The method for configuring a robot arm end effector according to claim 9, wherein: The method further comprises: On the combined end picker configuration sub-interface, a two-dimensional preview image of the partitioning effect is further displayed; in the two-dimensional preview image, all sub-end pickers and their respective logos are displayed in a tiled manner; When displaying the partition configuration options, the partition effect two-dimensional preview image and the partition configuration options are displayed side by side; When the data transmission port configuration option is displayed, the partition effect two-dimensional preview image and the data transmission port configuration option are displayed side by side.

11. The method for configuring a robot arm end effector according to claim 1, wherein: After at least one tool reference point in the tool reference point setting option interface is configured, the method further includes: In response to the tool reference point activation instruction, a configured tool reference point is activated from various tool reference points as the current tool reference point of the end effector to be configured, so that the robot arm end effector can move based on the current tool reference point after configuration.

12. The method for configuring a robot arm end effector according to claim 11, wherein: The tool reference point activation instruction is generated after the user selects the target tool reference point in the tool reference point setting option interface and clicks the activation button.

13. A device for configuring a robot arm end tool, characterized in that: include: The first display module is used to display the end picker configuration interface; A second display module is configured to display a tool reference point setting option interface based on a user's selection in the end picker configuration interface; the tool reference point setting option interface displays at least one configurable tool reference point; a tool reference point adding module, configured to display one or more added tool reference points on the tool reference point setting option interface in response to a tool reference point adding instruction; a tool reference point configuration module, configured to configure the tool reference point currently displayed on the tool reference point setting option interface in response to a tool reference point configuration instruction; The data transmission port configuration module is used to configure the data input port and the data output port of the end picker to be configured in response to the data transmission port setting instruction.

14. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 12 when executing a program stored in a memory.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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