Mechanical arm mode completion switching prompting method, mechanical arm mode completion switching prompting device and mechanical arm
By generating and converting initial signals in the controller of the robot arm, driving the motor to generate sound, solving the problem of lack of automatic prompts after switching of the robot arm mode, improving operating efficiency and safety, and not increasing the size and structure of the robot arm Spend.
Patent Information
- Application Number
- CN202411723252.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-27
- Publication Date
- 2025-01-07
AI Technical Summary
In the prior art, when the robot arm switches between different working modes, there is a lack of automatic and accurate mode switching prompts, which leads to the operator to manually push the robot arm to judge the switching is successful, which is inefficient and has safety risks.
By generating an initial prompt signal in the controller of the robot arm, it is converted into a sound-generating driving signal, and driving the motor to generate sound, to prompt that the robot arm mode switching is completed. This solution uses the controller, driving chip and inverter of the robot arm itself to convert the initial signal into a sound-generating driving signal. The stator winding coil of the driving motor vibrates to generate sound, prompting that the mode switching is completed.
After switching the robotic arm mode, it realizes that the switch is completed automatically and accurately, eliminating manual push operations, improving operation efficiency and safety, and integrating it into the original controller and motor without adding special prompt hardware.
Smart Images
Figure CN119260741A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of robot arm protection, and in particular to a robot arm mode switching completion prompting method, a robot arm mode switching completion prompting device and a robot arm. Background Art
[0002] The control purpose and strategy of the robot arm are different in different environments and task conditions. The working modes of the robot arm include position control mode, force / position mixed control mode, impedance control mode, zero-force drag mode, etc. When the robot arm performs different tasks such as handling, welding, spraying, and assembly, it may need to switch to the corresponding working mode to meet specific operating requirements. When the robot arm detects a fault or abnormality, it may need to automatically switch to a safe mode or maintenance mode to prevent further damage and perform fault handling.
[0003] In practical applications, when the robot arm switches between different working modes, it is necessary to accurately determine whether the robot arm has completed the working mode switch in a timely manner to prevent the issuance of inappropriate control instructions to the robot arm that has not yet completed the working mode switch. At present, a commonly used judgment method in the industry is to manually push the robot arm and observe the changes in its motion state to infer whether the switch is successful. This method is not only inefficient, but also has certain safety risks because it relies on the operator's intuitive feelings and judgment.
[0004] Therefore, how to enable the robotic arm to automatically and accurately remind the user after completing the mode switch has become an urgent problem to be solved. Summary of the invention
[0005] The purpose of the present invention is to address the corresponding deficiencies in the prior art and to provide a method for prompting a robot arm mode switch completion, a robot arm mode switch completion prompting device and a robot arm. After the robot arm completes the mode switch, the motor generates a sound to remind the user that the robot arm mode has been switched and can be used normally.
[0006] The objective of the present invention is achieved by adopting the following scheme: In a first aspect, a method for prompting a robot arm mode to complete switching is provided, comprising the following steps: S1, in response to the completion of the switching of the working mode of the robot arm, an initial prompt signal is generated; S2, generating a sound driving signal according to the initial prompt signal; S3, using the sound driving signal to drive the motor of the robotic arm to generate a prompt sound to prompt that the working mode of the robotic arm has been switched.
[0007] The generating the initial prompt signal comprises: generating the initial prompt signal by a controller of the robot arm itself.
[0008] In some embodiments, the step S2 includes: converting the initial prompt signal into an intermediate signal through a driver chip in the controller; and converting the intermediate signal into the sound driving signal through an inverter in the controller.
[0009] In some embodiments, step S3 includes: driving the winding coil of the stator winding of the motor itself to vibrate through the sound driving signal, thereby generating the prompt sound to prompt the switching of the working mode of the robot arm.
[0010] In a second aspect, a robot arm mode switching prompt device is provided, comprising: The prompt signal generating module is used to generate an initial prompt signal in response to the completion of the switching of the working mode of the robot arm; A prompt signal conversion module, used for converting the initial prompt signal into a sound driving signal having preset voltage characteristics and frequency characteristics; The prompt signal playing module is used to generate a prompt sound when the sound driving signal drives the motor of the mechanical arm to prompt that the working mode of the mechanical arm has been switched.
[0011] According to a third aspect, a robotic arm is provided, comprising the robotic arm mode switching completion prompt device.
[0012] In some embodiments, the robotic arm further includes a controller and a motor electrically connected to the controller, and the controller is used to control the motor to switch the working mode of the robotic arm.
[0013] In some embodiments, the prompt signal generating module is disposed in a controller of the robotic arm.
[0014] In some embodiments, the prompt signal playing module includes a winding coil of a stator winding of the motor.
[0015] The advantage of the present invention is that after the robot arm completes the mode switching, the motor generates a sound to inform the user that the robot arm has completed the switching, eliminating the need for the user to manually push the robot arm. Moreover, the hardware used in the solution of the present invention to prompt the robot arm to complete the mode switching can be integrated into the original controller and motor of the robot arm, without the need to set up special mode switching prompt hardware, and will not increase the overall size and structural complexity of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 A flowchart of a method for prompting a robot arm mode to complete switching according to an embodiment of the present invention; Figure 2It is a flow chart of generating a sound driving signal according to the initial prompt signal according to an embodiment of the present invention; Figure 3 It is a structural block diagram of a device for prompting a completion switch of a robot arm mode according to an embodiment of the present invention; Figure 4 A circuit structure diagram of a device for prompting a completion switch of a robot arm mode provided by an embodiment of the present invention; Figure 5 A control principle diagram of a robot arm mode completion switching prompt device provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0017] The first aspect of the present invention provides a method for prompting a robot arm mode switching completion, which can be applied to various robot arms such as industrial robot arms, service robot arms, and scientific research robot arms, and is used in the working mode of the robot arm.
[0018] like Figure 1 As shown, the robot arm mode completion switching prompt method includes the following steps: S1, in response to the robot arm's working mode switching, an initial prompt signal is generated. This step is executed when the robot arm needs to adapt to different working environments or task requirements, so as to complete the working mode switching. When executing this step, the preferred hardware components include sensors and controllers. These hardware can be a built-in part of the robot arm itself, which is used to monitor the working status of the robot arm in real time and make corresponding responses.
[0019] S2, generating a sound drive signal according to the initial prompt signal. This step is performed when the robot arm completes the mode switching. When performing this step, the preferred hardware components mainly include a controller, a driver chip and an inverter. These hardware components are usually integrated inside the robot arm. This design can reduce the size and weight of the robot arm and improve the reliability and stability of the system.
[0020] S3, using the sound driving signal to drive the motor of the robot arm to produce a prompt sound to prompt that the working mode of the robot arm has switched. This step will be executed when the working mode of the robot arm has been switched and the operator needs to be informed by a sound prompt. This step is preferably performed by a motor, and the motor can preferably be used as the original drive motor of the robot arm itself, that is, the drive motor of the robot arm itself is responsible for both the existing robot arm driving function and the sound prompt function of the present invention. In this way, there is no need to set up a special sound prompt structure in the robot arm, which helps to save costs and reduce size.
[0021] The generating of the initial prompt signal includes generating the initial prompt signal through the controller of the robot arm itself, and can also generate the initial prompt signal through other monitoring devices that are communicatively connected to the robot arm.
[0022] like Figure 2 As shown, further, step S2 specifically includes: S21, converting the initial prompt signal into an intermediate signal through the driver chip in the controller. When the robot arm needs to receive and execute instructions from the controller, it is usually necessary to convert the initial prompt signal into an intermediate signal through the driver chip. When performing this step, the preferred hardware components mainly include the driver chip in the controller and the signal processing circuit connected thereto, which are usually integrated inside the robot arm. This design can improve the reliability and stability of the system.
[0023] S22, converting the intermediate signal into the sound driving signal through the inverter in the controller. In the specific use of the robot arm, when it is necessary to convert the processed intermediate signal into a sound driving signal that can be directly recognized by the motor, this step will be executed. When executing this step, the preferred hardware component is the inverter integrated in the controller.
[0024] In step S3, the method for playing the prompt signal includes: S31, driving the winding coil of the stator winding of the motor itself to vibrate through the sound driving signal, thereby generating the prompt sound to prompt the robot arm to complete the switching of the working mode. When the robot arm switches from one working mode to another, in order to provide clear feedback to the operator, a prompt can be given through the sound generated by the motor. When performing this step, the preferred hardware components mainly include motors, stator windings and related control circuits, which are usually integrated inside the robot arm. This design can ensure that the sound prompt is closely coordinated with the motion control of the robot arm, improving the overall performance and reliability of the system.
[0025] Figure 3 The present invention is another embodiment of a robot arm mode switching prompt device, which may include a prompt signal generating module 100, a prompt signal converting module 200, and a prompt signal playing module 300. The prompt signal generating module 100 is connected to the prompt signal adjusting module 200, and the prompt signal adjusting module 200 is connected to the prompt signal playing module 300.
[0026] According to an embodiment of the present invention, the prompt signal generating module 100 is specifically configured to generate an initial prompt signal in response to the completion of the switching of the working mode of the robot arm.
[0027] The prompt signal conversion module 200 is specifically used to convert the initial prompt signal into a sound driving signal with preset voltage characteristics and frequency characteristics.
[0028] The prompt signal playing module 300 is specifically used to generate a prompt sound when the sound driving signal drives the motor of the robotic arm to prompt that the working mode of the robotic arm is switched.
[0029] Figure 4 Shows Figure 3 The circuit structure diagram of the robot arm mode completion switching prompt device shown.
[0030] The prompt signal generating module 100 includes a single-chip microcomputer 110, which is used to generate an initial prompt signal. The single-chip microcomputer 110 is set in the existing controller in the mechanical arm, and the existing hardware circuit in the controller can also be used directly as the single-chip microcomputer 110. The single-chip microcomputer 110 is used to receive code instructions, process status signals, and control moving parts. Through programming, the automatic control of the mechanical arm can be realized to improve production efficiency and accuracy. The encoder 120 is connected to the single-chip microcomputer 110 to measure the rotation angle or position of each joint of the mechanical arm, and feed back this information to the single-chip microcomputer 110. According to the feedback data of the encoder 120, the single-chip microcomputer 110 can adjust the motion state of the mechanical arm in real time to achieve precise position control and motion compensation.
[0031] The prompt signal conversion module 200 includes a driving chip 210, a three-phase bridge inverter circuit 220, and a current sampling circuit 230. One input end of the driving chip 210 is connected to the prompt signal generating module 100, and the other input end of the driving chip 210 is connected to the three-phase bridge inverter circuit 220. The three-phase bridge inverter circuit 220 is connected to the current sampling circuit 230. The driving chip 210 is used to convert the initial prompt signal into the intermediate signal. The three-phase bridge inverter circuit 220 is connected to a working power supply such as a 48V power supply. The 48V power supply is used to take a stable DC power supply as input, and convert DC power into AC power by controlling the conduction and cutoff of the switch device. The three-phase bridge inverter circuit 220 transmits the converted sound driving signal to the prompt signal playing module 300, and the current sampling circuit 230 is used to realize closed-loop control of the current.
[0032] The prompt signal playing module 300 includes the motor 310, which is connected to the prompt signal conversion module 200 and is used to receive the sound driving signal and emit sound. Specifically, the stator winding of the motor 310 includes a plurality of winding coils, the sound driving signal is used to generate a sound driving magnetic field in the motor 310, and the plurality of winding coils are used to vibrate under the action of the driving magnetic field, thereby generating sound to prompt the completion of the switching of the working mode of the robot arm.
[0033] The motor 310 is controlled by vector control with Id=0, and the motor 310 is controlled by the current loop, speed loop, position loop, torque loop, etc. in the controller.
[0034] The current loop is used to control the current of the motor 310 when it is running. The current loop receives the target current value from the outer loop (such as the speed loop or the position loop) and compares it with the actual current collected by the sensor to generate a current error signal. After the error signal is processed by the PI control component 111, a voltage control signal is output. After this voltage signal is converted into a pulse width modulation signal, its duty cycle is adjusted to achieve control of the current in the motor winding.
[0035] The speed loop is used to control the speed of the motor 310. The speed loop receives the speed command required by the system and compares it with the actual speed collected by the sensor to generate a speed error signal. After the error signal is processed by the PI control component 111, the target current value is output to the inner current loop. The speed loop can ensure that the motor 310 runs at a predetermined speed and improve the dynamic performance and steady-state accuracy of the motor 310.
[0036] The position loop is used to control the position of the motor 310. The position loop measures the position information of the motor rotor in real time by installing a position sensor or encoder and other equipment, and compares it with the expected position to generate a position error signal. After the error signal is processed by the PI control component 111, the target current value or position control instruction is output to the inner current loop. The position loop can achieve precise control of the motor rotor position and meet various position control requirements.
[0037] The torque loop receives the torque command and compares it with the actual torque obtained by the sensor or estimation method to generate a torque error signal. After the error signal is processed by the PI control component 111, a pulse width modulation signal is directly output to the inverter 221 to achieve fast and accurate control of the torque of the motor 310.
[0038] Injecting the initial prompt signal into the α-axis or β-axis of the current loop may indirectly affect the output torque of the motor 310, resulting in torque pulsation. The torque pulsation will reduce the running smoothness of the motor 310 and affect the performance and life of the motor 310. Injecting the initial prompt signal into the q-axis of the current loop directly affects the smoothness of the torque, resulting in torque pulsation and output instability.
[0039] Injecting the initial prompt signal into the d-axis of the current loop has a small direct impact on the torque, which can significantly reduce the torque pulsation, and help improve the running stability and output torque stability of the motor 310. In order to reduce the torque pulsation, the initial prompt signal is injected into the d-axis of the current loop.
[0040] The volume of the sound can be adjusted by adjusting the amplitude of the initial prompt signal, and the height of the sound can be adjusted by adjusting the frequency of the initial prompt signal.
[0041] Figure 5 A control principle diagram of a robot arm mode switching prompt device provided in an embodiment of the present application. Figure 5 The three-phase bridge inverter circuit 220 includes an inverter 221, and the inverter 211 is connected to the driving chip 210 and the prompt signal playing module 300, and is used to convert the intermediate signal into a sound driving signal.
[0042] The current sampling circuit 230 includes a low pass filter (LFP) 231 for filtering out the sound driving signal in the current.
[0043] When the robot arm needs to perform different work tasks, it may need to switch to different motion modes. When the robot arm completes the mode switching, the prompt signal generating module 100 will receive the corresponding switching signal, and the single-chip microcomputer 110 in the prompt signal generating module 100 senses the switching signal sent by the controller for controlling the robot arm to switch the working mode, and generates the initial prompt signal when sensing the switching signal. The driving chip 210 in the prompt signal conversion module 200 converts the initial prompt signal into an intermediate signal, and then the three-phase bridge inverter circuit 220 in the prompt signal conversion module 200 completes the drive control of the motor 310 by receiving the drive signal, controlling the conduction and cutoff of the power switch device, realizing the conversion from DC to AC, output filtering and smoothing, and transmitting the sound drive signal to the motor 310. Finally, the sound driving signal is in the prompt signal playing module 300, and the sound driving signal is used to generate a sound driving magnetic field in the motor 310 in the prompt signal playing module 300. The stator winding of the motor 310 includes a plurality of winding coils, and the plurality of winding coils are used to vibrate under the action of the driving magnetic field, thereby generating a sound to prompt the completion of the switching of the working mode of the robot arm. The inverter 221 can convert the intermediate signal into the sound driving signal in the prompt signal adjustment module 200.
[0044] An embodiment of yet another aspect of the present invention provides a robotic arm, comprising the robotic arm mode switching completion prompt device as described above.
[0045] The method for prompting the completion of the mode switch of the robotic arm, the device for prompting the completion of the mode switch of the robotic arm, and the robotic arm provided by the present invention generate specific sound signals by driving the motor to clearly inform the user that the robotic arm has completed the mode switch. This design cleverly eliminates the traditional step of the user manually pushing the robotic arm to confirm the status, which not only improves the convenience of operation, but also ensures that the user can instantly and accurately know the working status of the robotic arm, thereby improving the overall operational efficiency and safety. The hardware used in the solution of the present invention to prompt the robotic arm that the mode switch has been completed can be integrated into the original controller and motor of the robotic arm, and there is no need to set up special mode switch prompt hardware, which will not increase the overall size and structural complexity of the robotic arm.
Claims
1. A method for prompting a robot arm mode switching completion, characterized in that: The following steps are involved: S1, in response to the completion of the switching of the working mode of the robot arm, an initial prompt signal is generated; S2, generating a sound driving signal according to the initial prompt signal; S3, using the sound driving signal to drive the motor of the robotic arm to generate a prompt sound to prompt that the working mode of the robotic arm has been switched.
2. The method for prompting the completion of the switching of the robot arm mode according to claim 1, characterized in that: Generating the initial prompt signal comprises: The initial prompt signal is generated by the controller of the robot arm itself.
3. The method for prompting the completion of switching of the robot arm mode according to claim 1, characterized in that: The step S2 comprises: Converting the initial prompt signal into an intermediate signal through a driving chip in the controller; The intermediate signal is converted into the sound-generating drive signal by an inverter in the controller.
4. The method for prompting the completion of switching of the robot arm mode according to claim 1, characterized in that: The step S3 comprises: The sound driving signal drives the winding coil of the stator winding of the motor itself to vibrate, thereby generating the prompt sound to prompt the switching of the working mode of the robot arm.
5. A robot arm mode switching prompt device, characterized in that: include: The prompt signal generating module is used to generate an initial prompt signal in response to the completion of the switching of the working mode of the robot arm; A prompt signal conversion module, used for converting the initial prompt signal into a sound driving signal having preset voltage characteristics and frequency characteristics; The prompt signal playing module is used to generate a prompt sound when the sound driving signal drives the motor of the mechanical arm to prompt that the working mode of the mechanical arm has been switched.
6. A robotic arm, characterized in that: It includes the robot arm mode completion switching prompt device as described in claim 6.
7. The robot arm according to claim 6, characterized in that: It also includes a controller and a motor electrically connected to the controller, and the controller is used to complete the working mode switching of the robot arm.
8. The robot arm according to claim 7, characterized in that: The prompt signal generating module is arranged in the controller of the robot arm.
9. The mechanical arm according to claim 7, characterized in that: The prompt signal playing module includes a winding coil of the stator winding of the motor.