-- coding: utf-8 --

import os import sys import socket import threading import time os.add_dll_directory("C:/Users/yyy/Desktop/工比代码/2023/RobotLoader") import DobotDllType as dType

创建socket客户端变量

socket_client1 = ''

定义全局变量

i = 1 j = 0 k = 0 m = 1

定义机械臂状态,用键值存储

CON_STR = { dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError", dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound", dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}

加载机械臂动态链接库DobotDll.dll

api = dType.load()

连接机械臂

state = dType.ConnectDobot(api, "COM6", 115200)[0]

打印机械臂连接状态

print("Connect status:",CON_STR[state])

设置机械臂末端为夹爪

dType.SetEndEffectorParams(api, 59.7, 0, 0, 1)

初始化清空机械臂的指令

dType.SetQueuedCmdClear(api)

开始执行队列指令

dType.SetQueuedCmdStartExec(api) print('Starting...')

def weizhi1(): time_start1=time.time() dType.SetPTPCmdEx(api, 0,247, -157, 48, 12, isQueued=1) #抓取物料 dType.SetEndEffectorGripper(api, 1, 1, isQueued=1) while True: time_end1 = time.time() if(time_end1-time_start1) > 2: break else : pass

def weizhi2(): if j==0 and i==4: time.sleep(3)#3 else: time_start2=time.time() dType.SetPTPCmdEx(api, 0, (197 + j50), (-157 + i46), -2+(m*50), 12, isQueued=1) dType.SetEndEffectorGripper(api, 1, 1, isQueued=1) while True: time_end2 = time.time() if(time_end2-time_start2) > 3:#3 break else : pass

传送带运行设置

def target_reach(): # 传送带速度19000pulse/s dType.SetEMotorEx(api, 0, 1, 19000, isQueued=1)#dType.SetEMotorEx(api, 0, 1, 19000, isQueued=1) time_start = time.time() weizhi2() socket_client.send("arrive".encode('utf-8')) #传送带运行到中间2s时发信号：解决左臂重复接收信号问题。 while True: time_end = time.time() # 3.5秒后传送带停止 if (time_end - time_start) > 4:#if (time_end - time_start) > 3: break else: pass

码垛堆叠多个方块

def pileup(): #移点 dType.SetPTPCmdEx(api, 0, 197, -157, 48, 12, isQueued=1)

# 抓取
dType.SetEndEffectorGripper(api, 1, 1, isQueued=1)
# 延时400ms
dType.dSleep(400)
# 放置                   
dType.SetPTPCmdEx(api, 0, 11, -275, 74, 12, isQueued=1)   #y=-279 R=20
# 释放
dType.SetEndEffectorGripper(api, 1, 0, isQueued=1)
#传送带运行
dType.SetEMotorEx(api, 0, 1, 19000, isQueued=1)#dType.SetEMotorEx(api, 0, 1, 19000, isQueued=1)
#计时开始
time_start = time.time()
weizhi1()
dType.dSleep(2000)#2000                 
socket_client.send("arrive".encode('utf-8'))     #传送带运行到中间2s时发信号：解决左臂重复接收信号问题。
while True:
    time_end = time.time()
    # 4秒后传送带停止
    if (time_end - time_start) > 4:#4
        break
    else :
        pass
# 传送带停止，触发相机拍照定位                                                           
dType.SetEMotorEx(api, 0, 0, 0, isQueued=1)

#抓到传送带上面
dType.SetPTPCmdEx(api, 0, 11, -275, 74, 12, isQueued=1)#dType.SetPTPCmdEx(api, 0, -56, -255, 74, 20, isQueued=1)      #y=-279 R=20
pass

def pileup1():

global i,j,k,m
# 默认释放夹爪
dType.SetEndEffectorGripper(api, 1, 0, isQueued=1)

# 传送带固定运行3.5s
target_reach()
# 传送带停止，触发相机拍照定位                                                           
dType.SetEMotorEx(api, 0, 0, 0, isQueued=1)

# 一层
dType.SetPTPCmdEx(api, 0, (197 + j*50), (-157 + i*46), -2+(m*50), 12, isQueued=1)

if j==1 and i==0 and m==1:
      dType.SetPTPCmdEx(api, 0,247, -157, 48, 12, isQueued=1)
      dType.SetEndEffectorGripper(api, 1, 1, isQueued=1)
      time.sleep(0.4)
      dType.SetPTPCmdEx(api, 0, 11, -275, 74, 20, isQueued=1)         #x=-56  y=-279
else:
    pass
    

# 抓