Dish washing machine and control system of mechanical arm of dish washing machine

Abstract

The invention discloses a mechanical arm of a dish washing machine and a control system of the mechanical arm, the system comprises the mechanical arm, a driving system and a driven system, the mechanical arm comprises an arm body, a joint and an end effector, the driving system is used for controlling the arm body and the joint of the mechanical arm, and the driven system is used for controlling the end effector of the mechanical arm. The end effector is provided with a pressure detection device used for detecting the acting force generated by the end effector to tableware, and the pressure detection device obtains the acting force of the end effector and the tableware and sends the acting force to a controller of the driven system. The controller of the driven system sends a feedback signal to the controller of the driving system, and the controller of the driving system controls the arm body and the joint to move to a position suitable for taking tableware according to the feedback signal; the arm body, the joint and the end effector of the mechanical arm are controlled through the driving system and the driven system respectively, accurate control over the mechanical arm is achieved, and the working efficiency of the dish washing machine is improved.

Description

Technical Field

[0001] The present invention belongs to the field of smart home, and in particular relates to a control system for a dishwasher and a mechanical arm thereof. Background Art

[0002] In the prior art, dishwashers typically use structures such as spray arms and filters to clean tableware. During the cleaning process, the tableware is usually placed in a specific position inside the dishwasher, where it is rinsed and cleaned by a jet of water sprayed from the spray arms. While this cleaning method can effectively clean the tableware, it has the following problems: Due to the limitations of the spray arms and filters, it is impossible to effectively clean the details of the tableware, such as the gaps between chopsticks and the curved part of a spoon, resulting in limited cleaning results. The use of structures such as spray arms and filters requires a large flow of water, resulting in high water consumption and is not conducive to environmental protection and resource conservation. Before using the dishwasher, the tableware needs to be neatly arranged, and the position of the tableware cannot be freely adjusted during the cleaning process, making the operation relatively cumbersome. In the prior art, both placing and removing the tableware requires manual operation, and automatic placement and removal cannot be achieved, resulting in a low level of intelligence.

[0003] In order to solve these problems, the present invention provides a control system for a dishwasher and a robotic arm thereof. The present invention controls the arm body, joints and end effector of the robotic arm respectively through an active system and a passive system to achieve precise control of the robotic arm.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a control system for a dishwasher and a robotic arm thereof.

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: a control system for a dishwasher's robotic arm, the system including a robotic arm, an active system and a driven system, and a controller of the active system and a controller of the driven system. The robotic arm includes an arm body, a joint, and an end effector. The active system is used to control the arm body and joints of the robotic arm, and the driven system is used to control the end effector of the robotic arm. The end effector is provided with a pressure detection device for detecting the force it generates on the tableware. The pressure detection device obtains the force between the end effector and the tableware and sends it to the controller of the driven system; the controller of the driven system sends a feedback signal to the controller of the active system, and the controller of the active system controls the arm body and joints to move to a suitable position for picking up the tableware according to the feedback signal.

[0007] Furthermore, the active system and the passive system include a communication module.

[0008] An angle sensor is provided at the joint of the robotic arm to detect the angular displacement signal of the joint of the robotic arm and feed the signal back to the controller of the driven system through the communication module.

[0009] Furthermore, the end effector includes a finger, and a force sensor and a torque motor are provided at the finger joint to detect the force between the end effector and the tableware, and the force is fed back to the controller of the driven system through the communication module; the controller of the driven system sends a feedback signal to the controller of the active system, and after receiving the feedback signal, the controller of the active system drives the torque motor of the robotic arm joint to generate force for the robotic arm.

[0010] Furthermore, the robotic arm also includes a D / A conversion module and a servo valve. After the controller of the driven system receives the motion control signal sent by the controller of the active system, it converts the control signal of the active system into a current signal through the D / A conversion module, and sends the current signal to the servo valve. By controlling the opening of the servo valve, the joint movement of the robotic arm is controlled.

[0011] Furthermore, the robotic arm also includes a servo amplifier, which converts the control signal of the active system into a current signal through a D / A conversion module, passes the current signal through the servo amplifier, and sends the amplified current signal to the servo valve, thereby controlling the joint movement of the robotic arm by controlling the opening of the servo valve.

[0012] Furthermore, the robotic arm also includes an A / D module; after the active system controls the robotic arm to be located above the tableware in the dishwasher, the pressure detection device obtains the force between the end effector and the tableware, and then sends the force between the end effector and the tableware to the controller of the driven system through the A / D module.

[0013] Furthermore, the driving modes of the robotic arm include pneumatic drive, motor drive, and hydraulic drive.

[0014] Furthermore, the communication module adopts a wireless communication method to realize data transmission between the active system and the driven system.

[0015] Furthermore, the robotic arm is provided with a human-computer interaction interface for displaying the working status of the robotic arm; the human-computer interaction interface uses a touch screen to implement operation control.

[0016] Furthermore, a dishwasher adopts a control system of a dishwasher robot arm to realize automatic cleaning, placement and removal of tableware.

[0017] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0018] The present invention achieves precise control of the robotic arm by controlling the arm body, joints, and end effector of the robotic arm through active and passive systems, thereby improving the operating efficiency and reliability of the dishwasher. The end effector described in this application is provided with the pressure detection device described above, which is used to detect the force it exerts on the tableware. In this way, the end effector can ensure that the tableware is picked up with appropriate force, avoiding damage to the tableware due to excessive force, and also preventing the tableware from being dropped due to insufficient force.

[0019] The controller of the slave system sends a feedback signal to the controller of the active system, which then controls the arm and joints to move to the appropriate position for picking up tableware. This feedback control method can adjust the position of the robotic arm in real time, ensuring that it can accurately pick up tableware and place it in the dishwasher for cleaning.

[0020] The control system of the present invention can improve the automation level of the dishwasher, reduce the user's labor intensity, and also improve the dishwasher's cleaning effect. Furthermore, the control system of the present invention can achieve intelligent control of the dishwasher's robotic arm, enabling it to adapt to tableware of different shapes and sizes, thereby improving the dishwasher's versatility and practicality. By improving the structure of the robotic arm, including the upper arm, lower arm, wrist, and fingers, the robotic arm is made more ergonomically designed, improving its operational flexibility and accuracy.

[0021] Through the coordinated control of the active and passive systems, efficient control of the robotic arm can be achieved, shortening the operating cycle of the dishwasher and improving its cleaning efficiency. The control system of the present invention has good stability and reliability, reducing the maintenance cost of the dishwasher and extending its service life.

[0022] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an undue limitation of the present invention. Obviously, the drawings described below are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive effort. In the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the control system structure of a dishwasher robot arm of the present invention;

[0025] Figure 2 It is a hierarchical schematic diagram of a control system of a dishwasher robot arm according to the present invention.

[0026] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] Example 1

[0031] like Figure 1 As shown,

[0032] A control system for a dishwasher's robotic arm, the system comprising a robotic arm, an active system and a driven system, and a controller for the active system and a controller for the driven system, the robotic arm comprising an arm body, joints, and an end effector, the arm body comprising an upper arm, a lower arm, and a wrist, the end effector comprising a finger of the robotic arm, the active system being used to control the arm body and joints of the robotic arm, the driven system being used to control the end effector of the robotic arm, the end effector being provided with a pressure detection device for detecting the force it generates on tableware, the pressure detection device acquiring the force between the end effector and the tableware and sending it to the controller of the driven system; the controller of the driven system sending a feedback signal to the controller of the active system, and the controller of the active system controlling the arm body and joints to move to a suitable position for picking up tableware according to the feedback signal.

[0033] In this embodiment, the active system and the driven system respectively control the arm body, joints and end effector of the robotic arm, thereby achieving precise control of the robotic arm and improving the working efficiency and reliability of the dishwasher.

[0034] The end effector of the present application is provided with the pressure detection device for detecting the force exerted on the tableware. In this way, it can be ensured that the end effector picks up the tableware with appropriate force, avoiding damage to the tableware due to excessive force, and also preventing the tableware from falling due to insufficient force.

[0035] The controller of the slave system sends feedback signals to the controller of the active system, which then controls the arm and joints to move to the appropriate position for picking up tableware. This feedback control method can adjust the position of the robotic arm in real time, ensuring that it can accurately pick up tableware and place it in the dishwasher for cleaning.

[0036] The control system of the present invention can improve the automation level of the dishwasher and reduce the labor intensity of the user. At the same time, it can also improve the cleaning effect of the dishwasher, making it more suitable for homes, restaurants and other public places. In addition, through the control system of the present invention, intelligent control of the mechanical arm of the dishwasher can be achieved, so that it can adapt to tableware of different shapes and sizes, thereby improving the versatility and practicality of the dishwasher. By improving the structure of the mechanical arm, including the upper arm, lower arm, wrist and fingers, the mechanical arm is made more ergonomically designed, and its operational flexibility and accuracy are improved. Through the coordinated control of the active system and the driven system, efficient control of the mechanical arm can be achieved, shortening the working cycle of the dishwasher and improving its cleaning efficiency. The control system of the present invention has good stability and reliability, reducing the maintenance cost of the dishwasher and increasing its service life.

[0037] In this embodiment, the active system and the driven system include a communication module, and angle sensors are provided at the joints of the robotic arm to detect the angular displacement signals of the joints of the robotic arm and feed the signals back to the controller of the driven system through the communication module.

[0038] In this embodiment, the present invention can understand the working status of the robotic arm in real time and ensure its normal operation by monitoring the joint angle displacement of the robotic arm in real time; by feeding back the joint angle displacement signal to the controller of the driven system, the movement of the robotic arm can be controlled more accurately and its working accuracy can be improved. By monitoring the angle displacement of the robotic arm in real time, abnormal conditions can be discovered in time during the operation of the robotic arm to avoid damage or safety accidents caused by improper movement of the robotic arm. By feeding back the angle displacement signal of the robotic arm to the controller of the driven system, coordinated control of the active system and the driven system can be achieved, thereby improving the stability and reliability of the entire control system.

[0039] In addition, the present invention can conveniently monitor the working status of the robotic arm and perform fault diagnosis by providing the angle sensor and the communication module, thereby reducing maintenance costs.

[0040] In this embodiment, the end effector includes a finger, and a force sensor and a torque motor are provided at the finger joint to detect the force between the end effector and the tableware, and the force is fed back to the controller of the driven system through the communication module; the controller of the driven system sends a feedback signal to the controller of the active system, and after receiving the feedback signal, the controller of the active system drives the torque motor of the robotic arm joint to generate force for the robotic arm.

[0041] In this embodiment, the robotic arm also includes a D / A conversion module and a servo valve. After the controller of the slave system receives the motion control signal sent by the controller of the active system, it converts the control signal of the active system into a current signal through the D / A conversion module, and sends the current signal to the servo valve. By controlling the opening of the servo valve, the joint movement of the robotic arm is controlled.

[0042] By converting the control signal into a current signal through the D / A conversion module, precise control of the servo valve can be achieved, thereby improving the control accuracy of the robotic arm and achieving real-time adjustment of the robotic arm movement, thereby improving the stability of the system; by converting the control signal into a current signal through the D / A conversion module and controlling the opening of the servo valve, a rapid response to the movement of the robotic arm can be achieved, which can ensure that the robotic arm is faster when performing tasks and improve the efficiency of the entire system. The present application simplifies the system structure and reduces the system complexity by converting the control signal of the active system into a current signal and controlling the opening of the servo valve to control the joint movement of the robotic arm. This can reduce the maintenance cost of the system and improve the reliability of the system.

[0043] In this embodiment, the robotic arm also includes a servo amplifier, which converts the control signal of the active system into a current signal through a D / A conversion module, passes the current signal through the servo amplifier, and sends the amplified current signal to the servo valve, thereby controlling the opening of the servo valve to control the joint movement of the robotic arm.

[0044] By amplifying the current signal through the servo amplifier, real-time adjustment of the movement of the robotic arm can be achieved, thereby improving the stability of the system, ensuring that the robotic arm is more stable when performing tasks, and improving the reliability of the entire system; by amplifying the current signal through the servo amplifier and sending it to the servo valve, a rapid response to the movement of the robotic arm can be achieved, ensuring that the robotic arm is more efficient when performing tasks, and improving the efficiency of the entire system. By amplifying the current signal through the servo amplifier and sending it to the servo valve, the structure of the system can be simplified and the complexity of the system can be reduced. After amplifying the current signal through the servo amplifier, sending it to the servo valve can improve the compatibility of the system. This ensures that the robotic arm can work in conjunction with various types of active systems and improves the flexibility of the system.

[0045] The servo amplifier has strong anti-interference capability, can effectively suppress external interference signals, ensure accurate transmission of control signals, and improve the stability of the entire system.

[0046] In this embodiment, the robotic arm also includes an A / D module; after the active system controls the robotic arm to be located above the tableware in the dishwasher, the pressure detection device obtains the force between the end effector and the tableware, and then sends the force between the end effector and the tableware to the controller of the driven system through the A / D module.

[0047] In this embodiment, the driving modes of the robotic arm include pneumatic drive, motor drive, and hydraulic drive. By adopting multiple driving modes, the present application can select the most suitable driving mode according to actual needs, thereby improving the flexibility of the system. This ensures that the robotic arm can achieve optimal performance in different application scenarios.

[0048] In this embodiment, the communication module adopts a wireless communication method to realize data transmission between the active system and the driven system. By adopting a wireless communication method, the present application can realize the free layout between the active system and the driven system and improve the flexibility of the system. This can ensure that the robotic arm can perform at its best in different application scenarios. In actual applications, the wireless communication method can make the distance between the active system and the driven system farther and the layout more flexible, thereby adapting to more complex scenario requirements. In addition, by adopting a wireless communication method, communication failures caused by damaged or loose cables can be avoided, thereby improving the stability of the system. This can ensure that the robotic arm is more stable when performing tasks and improve the reliability of the entire system. The wireless communication method reduces the dependence on hardware equipment and reduces the risk of system failure due to hardware failure.

[0049] In this embodiment, the robotic arm is provided with a human-machine interaction interface for displaying the working status of the robotic arm; the human-machine interaction interface uses a touch screen to implement operation control.

[0050] Example 2

[0051] A dishwasher utilizes a control system for a dishwasher robotic arm to automatically clean, arrange, and remove tableware. By utilizing the control system for the dishwasher robotic arm, this application enables automatic cleaning, arrangement, and removal of tableware, significantly improving dishwashing efficiency. This saves users time and improves their quality of life. The use of an automated dishwasher robotic arm reduces the user's burden of dishwashing and reduces manual labor. The control system for the dishwasher robotic arm enables precise cleaning and arrangement of tableware, ensuring cleanliness and neatness. This improves dishwashing quality and provides users with a better user experience.

[0052] Furthermore, the control system for the dishwasher robot arm can achieve efficient use of water resources and energy, reducing energy consumption during the dishwashing process, achieving energy conservation and environmental protection, and meeting the sustainable development needs of modern society. The control system for the dishwasher robot arm can reduce labor costs and energy consumption costs, thereby reducing the cost of using the dishwasher.

[0053] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments of equivalent changes using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. The implementation schemes in the above-mentioned embodiments can also be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above-mentioned embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A control system for a dishwasher robot arm, the system comprising a robot arm, an active system, a passive system, and a controller for the active system and the passive system. The robot arm comprises an arm body, joints, and an end effector. The active system is used to control the arm body and joints of the robot arm, and the passive system is used to control the end effector of the robot arm. The system is characterized in that: The end effector is provided with a pressure detection device for detecting the force it generates on the tableware. The pressure detection device obtains the force between the end effector and the tableware and sends it to the controller of the driven system; The controller of the driven system sends a feedback signal to the controller of the active system, and the controller of the active system controls the arm and the joint to move to a position suitable for picking up tableware according to the feedback signal.

2. The control system for a dishwasher robot arm according to claim 1, characterized in that: The active system and the passive system include a communication module, An angle sensor is provided at the joint of the robotic arm to detect the angular displacement signal of the joint of the robotic arm and feed the signal back to the controller of the driven system through the communication module.

3. The control system for a dishwasher robot arm according to claim 2, characterized in that: The end effector includes a finger, The finger joints are provided with force sensors and torque motors. detecting the action force between the end effector and the tableware, and feeding back the action force to the controller of the driven system through the communication module; The controller of the slave system sends a feedback signal to the controller of the active system, After receiving the feedback signal, the controller of the active system drives the torque motor of the joint of the robotic arm to cause the robotic arm to generate force.

4. The control system for a dishwasher robot arm according to claim 3, characterized in that: The robotic arm also includes a D / A conversion module, a servo valve, After the controller of the slave system receives the motion control signal sent by the controller of the active system, The control signal of the active system is converted into a current signal through a D / A conversion module, and the current signal is sent to the servo valve. By controlling the opening of the servo valve, the joint movement of the robotic arm is controlled.

5. The control system for a dishwasher robot arm according to claim 4, characterized in that: The robot arm also includes a servo amplifier, which converts the control signal of the active system into a current signal through a D / A conversion module. The current signal passes through the servo amplifier, and the amplified current signal is sent to the servo valve. The opening of the servo valve is controlled to control the joint movement of the robot arm.

6. The control system for a dishwasher robot arm according to claim 5, characterized in that: The robotic arm also includes an A / D module; After the active system controls the robotic arm to be located above the tableware in the dishwasher, the pressure detection device obtains the force between the end effector and the tableware, and sends the force between the end effector and the tableware to the controller of the driven system through the A / D module.

7. A control system for a dishwasher robot arm according to any one of claims 1 to 6, characterized in that: The driving modes of the robotic arm include pneumatic drive, motor drive, and hydraulic drive.

8. The control system for a dishwasher robot arm according to claim 6, characterized in that: The communication module uses wireless communication to achieve data transmission between the active system and the passive system.

9. The control system for a dishwasher robot arm according to claim 8, characterized in that: The robotic arm is provided with a human-computer interaction interface for displaying the working status of the robotic arm; The human-computer interaction interface uses a touch screen to achieve operation control.

10. A dishwasher, characterized in that: The control system of the dishwasher robot arm according to any one of claims 1 to 9 is used to realize automatic cleaning, placement and removal of tableware.

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