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Steering engine ID setting method, system and equipment and storage medium

A technology of steering gear and relative position relationship, applied in the direction of machine execution device, manipulator, program control design, etc., can solve the problem of error-prone repair process, achieve the effect of easy operation and ensure accuracy

Pending Publication Date: 2022-03-01
深圳市幻尔科技有限公司
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  • Claims
  • Application Information

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Problems solved by technology

[0006] In terms of after-sales maintenance, if a joint of the customer is broken and needs to be replaced, when giving feedback to the maintenance personnel, it is necessary to inform the number of the servo that is broken, and then the maintenance personnel must set the ID before returning it to the customer. It is easy to make mistakes during the repair process

Method used

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  • Steering engine ID setting method, system and equipment and storage medium
  • Steering engine ID setting method, system and equipment and storage medium
  • Steering engine ID setting method, system and equipment and storage medium

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Embodiment Construction

[0050] The application will be described in further detail below in conjunction with the accompanying drawings.

[0051] In the prior art, the ID settings of the steering gears of a general set of robots (such as robotic arms) are set incrementally starting from 1. For example, if the robotic arm has 6 steering gears, the 6 steering gears will be set before installation. ID1~6, and then install the servo with the corresponding ID number at the corresponding position, and it cannot exceed the preset ID range, cannot be reversed, and cannot be the same.

[0052] If it exceeds the ID range, it cannot be controlled, because the ID number of the corresponding position has been fixed inside the program when the robot arm is developed and designed. If reversed, there will be a disorder of control. If they are the same, the servos with the same ID number will act at the same time, and when reading the internal information of the servos with the ID number, the servos with the same ID ...

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Abstract

The invention discloses a steering engine ID setting method, system and device and a storage medium, and the method comprises the steps: receiving an ID setting instruction, and controlling each steering engine to enter an initialization state; acquiring the external force applied to each steering engine in real time; based on the magnitude of the external force borne by the steering engine, when the external force reaches a threshold value and the duration reaches a preset time, adding a preset numerical value to the ID of the corresponding steering engine on the basis of the initial ID, and based on the same steering engine, after the ID of the steering engine is added with the preset numerical value on the basis of the initial ID, when the magnitude of the external force reaches the threshold value again and the duration reaches the preset time, adding the ID of the corresponding steering engine on the basis of the initial ID; adding a preset value again on the basis of the previous ID; according to the scheme, the steering engine ID can be rapidly set without disassembling the steering engine for ID setting, operation is convenient, and a user can conveniently set the steering engine ID by himself / herself.

Description

technical field [0001] The present application relates to the field of steering gear, and in particular to a method, system, device and storage medium for setting a steering gear ID. Background technique [0002] The steering gear is the joint of the robot. By controlling the angle of each steering gear, the robot can be controlled to perform different actions. For example, the existing bionic robotic arm robot has multiple steering gears to control the arm to perform various actions. There is a micro-control unit inside each servo, and the servos are connected in series, and finally connected to the main control board. The steering gear is connected with the bus topology. Using the design mode of one master and multiple slaves, only when the master sends control commands or query commands, can the slaves take corresponding actions or return data, avoiding bus conflicts caused by multiple slaves actively sending data at the same time. The main control board controls the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F9/30B25J17/02
CPCG06F9/30076B25J17/02
Inventor 夏陆政张晨阳
Owner 深圳市幻尔科技有限公司
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