Control method of mechanical arm, mechanical arm and power supply switching device of mechanical arm

Abstract

The invention relates to the technical field of robots, and provides a control method of a mechanical arm, the mechanical arm and a power source switching device of the mechanical arm, and the control method comprises the steps that when the electric quantity of an energy storage module is larger than or equal to first electric quantity, a power source switching circuit is controlled to enable the energy storage module to supply power to an end effector; when the electric quantity of the energy storage module is smaller than the first electric quantity and the mechanical arm is in a first working mode, the power switching circuit is controlled to enable the energy storage module to supply power to the end effector, and the effector interface outputs electric energy to the end effector; and when the electric quantity of the energy storage module is smaller than the first electric quantity and the mechanical arm is in the second working mode, the power supply switching circuit is controlled to enable the energy storage module to stop supplying power to the end executor, and the executor interface outputs electric energy to the end executor. According to the invention, the energy storage module can preferentially supply power when the electric quantity is sufficient, and supply power to the end effector in cooperation with the effector interface when the electric quantity is insufficient, so that the mechanical arm can stably operate under various load conditions.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control method for a robotic arm, a robotic arm, and a power switching device for the robotic arm. Background Technology

[0002] With the development of technology, robots are widely used in various fields such as power, medical, and security. As the main mechanical structure of a robot, the robotic arm has significantly increased its demand for transient power and pulse loads from end effectors such as electric grippers, vacuum adsorption systems / valve islands, vision light sources and cameras, and local I / O expansion units. However, the limited power supply capacity of the robotic arm end effector severely restricts its application in complex scenarios.

[0003] In related technologies, in order to ensure the stability of the power supply to the end effector of the robotic arm and enhance its control capabilities, an external power cable is often introduced to power the end effector. However, introducing an external power cable can restrict the movement of the robotic arm and pose a safety hazard. Summary of the Invention

[0004] The main objective of this application is to provide a control method for a robotic arm, a robotic arm, and a power switching device for the robotic arm, so that the energy storage module prioritizes power supply when the power is sufficient, and automatically works with the actuator interface to supply power to the end effector when the power is insufficient, without the need to connect to an external power source through an external power cable, thereby ensuring that the robotic arm can operate stably under various load conditions.

[0005] This application provides a control method for a robotic arm, the robotic arm including a robotic arm end effector, an end effector, an energy storage module, and a power switching circuit; the end effector is connected to the robotic arm end effector, the robotic arm end effector includes an actuator interface, the end effector is connected to the actuator interface, and the actuator interface is at least used to output electrical energy to the end effector; the power switching circuit connects the energy storage module and the end effector; the control method includes: When the energy storage module's charge is greater than or equal to a preset first charge, the power switching circuit is controlled to supply power from the energy storage module to the end effector. When the energy storage module's charge is less than the first charge and the robotic arm is in the first working mode, the power switching circuit is controlled to supply power from the energy storage module to the end effector, and the actuator interface outputs power to the end effector. When the energy storage module's charge is less than the first charge and the robotic arm is in the second working mode, the power switching circuit is controlled to stop the energy storage module from supplying power to the end effector, and the actuator interface outputs power to the end effector.

[0006] In one exemplary embodiment, the working power of the end effector of the robotic arm in the first operating mode is greater than the working power of the end effector in the second operating mode.

[0007] In one exemplary embodiment, the robotic arm performs a first target task in the first working mode and a second target task in the second working mode; wherein, the first target task includes one or more of the following: welding task, cutting task, and handling task; and the second target task includes one or more of the following: debugging task, mounting task, and sorting task.

[0008] In one exemplary embodiment, when the robotic arm is in a first operating mode, the operating power of the end effector is greater than or equal to the power provided by the actuator interface, and the operating power of the end effector is less than or equal to the sum of the power provided by the actuator interface and the power provided by the energy storage module; when the robotic arm is in a second operating mode, the operating power of the end effector is less than or equal to the power provided by the actuator interface.

[0009] In one exemplary embodiment, the power switching circuit is also connected to the actuator interface, and the control method further includes: When the robotic arm is in the second working mode or idle state, the power switching circuit is controlled to transfer electrical energy from the actuator interface to the energy storage module. When the robotic arm switches from the second working mode to the first working mode, the power switching circuit is controlled to stop the transmission of electrical energy from the actuator interface to the energy storage module.

[0010] In one exemplary embodiment, the control method further includes: The discharge current and a preset first current threshold are obtained during the process of the energy storage module supplying power to the end effector. Based on the discharge current and the first current threshold, the discharge current supplied by the energy storage module to the end effector is controlled. or The charging current and a preset second current threshold are obtained during the process of transmitting electrical energy from the actuator interface to the energy storage module. Based on the charging current and the second current threshold, the power transmission from the actuator interface to the energy storage module is controlled.

[0011] In one exemplary embodiment, controlling the power switching circuit to transfer electrical energy from the actuator interface to the energy storage module includes: The power switching circuit is controlled so that the charging current of the energy transferred from the actuator interface to the energy storage module is less than or equal to the current output by the actuator interface.

[0012] A second aspect of this application provides a robotic arm, the robotic arm including a robotic arm end effector, an end effector actuator, an energy storage module, a controller, and a power switching circuit; the end effector actuator is connected to the robotic arm end effector, the robotic arm end effector includes an actuator interface, the end effector actuator is connected to the actuator interface, the actuator interface is at least used to output electrical energy to the end effector actuator; the power switching circuit is connected to the energy storage module and the end effector, the controller is connected to the power switching circuit and the energy storage module; the controller is used to execute the control method of the robotic arm as described in the first aspect.

[0013] A third aspect of this application provides a power switching device for a robotic arm. The robotic arm includes an end effector, an end effector actuator, and an energy storage module. The power switching device includes a controller and a power switching circuit. The end effector actuator is connected to the end effector, and the end effector includes an actuator interface. The end effector actuator is connected to the actuator interface, and the actuator interface is used at least to output electrical energy to the end effector actuator. The power switching circuit connects the energy storage module and the end effector actuator. The controller connects the power switching circuit and the energy storage module. The power switching circuit includes a first power supply circuit, one end of which is connected to the energy storage module, and the other end of which is connected to the end effector actuator. The controller is used for: When the energy storage module's charge is greater than or equal to a preset first charge, the first power supply circuit is turned on to connect the energy storage module and the end effector. When the energy storage module's power is less than the first power and the robotic arm is in the first working mode, the first power supply circuit is controlled to be turned on to connect the energy storage module and the end effector, and the actuator interface outputs power to the end effector. as well as When the energy storage module's charge is less than the first charge and the robotic arm is in the second working mode, the first power supply circuit is controlled to disconnect, thereby disconnecting the energy storage module from the end effector, and the actuator interface outputs power to the end effector.

[0014] In one exemplary embodiment, the power switching circuit further includes a charging circuit, one end of which is connected to the actuator interface, and the other end of which is connected to the energy storage module; the controller is further configured to: When the robotic arm is in the second working mode or idle state, the charging circuit is turned on to connect the actuator interface and the energy storage module. as well as When the robotic arm switches from the second working mode to the first working mode, the charging circuit is disconnected to disconnect the actuator interface and the energy storage module.

[0015] This application provides a control method for a robotic arm, a robotic arm, and a power switching device for the robotic arm. The robotic arm includes an end effector, an end effector actuator, an energy storage module, and a power switching circuit. The end effector actuator is connected to the end effector, and the end effector includes an actuator interface. The end effector actuator is connected to the actuator interface, and the actuator interface is used at least to output electrical energy to the end effector actuator. The power switching circuit connects the energy storage module and the end effector actuator. The control method includes: when the energy storage module's charge is greater than or equal to a preset first charge, controlling the power switching circuit to supply power from the energy storage module to the end effector actuator; when the energy storage module's charge is less than the first charge and the robotic arm is in a first operating mode, controlling the power switching circuit to supply power from the energy storage module to the end effector actuator, and the actuator interface outputting electrical energy to the end effector actuator; when the energy storage module's charge is less than the first charge and the robotic arm is in a second operating mode, controlling the power switching circuit to stop the energy storage module from supplying power to the end effector actuator, and the actuator interface outputting electrical energy to the end effector actuator. This application prioritizes power supply to the end effector when the energy storage module has sufficient power. When the energy storage module's power is less than a first power level and the robotic arm is in a first operating mode, the energy storage module and the actuator interface work together to supply power to the end effector. When the energy storage module's power is less than the first power level and the robotic arm is in a second operating mode, the actuator interface supplies power to the end effector. This allows the energy storage module to prioritize power supply when it has sufficient power and automatically work with the actuator interface to supply power to the end effector when the power is insufficient, eliminating the need to connect to an external power source via an external power cable, thereby ensuring that the robotic arm can operate stably under various load conditions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a control method for a robotic arm provided in an embodiment of this application; Figure 2 This is a schematic diagram of the overall structure of a robotic arm provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of a power switching device for a robotic arm provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a power switching device provided in another embodiment of this application; Figure 5 This is a schematic diagram of the current protection structure provided in the embodiments of this application; Figure 6 This is a schematic diagram of the current closed-loop control structure provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the energy storage module provided in the embodiments of this application; The reference numerals in the attached figures are as follows: Robotic arm end effector 110; actuator interface 111; end effector 120; energy storage module 130; battery 131; management chip 132; monitoring unit 1321; control unit 1322; controller 140; power switching circuit 150; first power supply circuit 151; charging circuit 152; protection module 21; current limiting module 22; first detection resistor 23; first operational amplifier 24; second detection resistor 31; second operational amplifier 32; comparator 33; power switch 34. Detailed Implementation

[0018] As industries such as semiconductor manufacturing, electronic assembly, and precision logistics move towards lightweighting and miniaturization, the transient power and pulse load requirements of end effectors connected to the robotic arm, the main mechanical structure of a robot, such as electric grippers, vacuum adsorption systems / valve islands, vision light sources and cameras, and some electrical interfaces, are increasing significantly. However, current collaborative robotic arms or lightweight industrial robotic arms have limited power supply capabilities for their electrical interfaces, i.e., end-tool I / O, and the number of electrical interfaces is relatively small, which severely restricts the integration of end effectors and their application in complex scenarios.

[0019] In order to enhance the control capability of the end effector of the robotic arm, related technologies often introduce external power cables to extend the power supply. However, adding external cables will bring many problems: (1) Complex structure: External cables move with the robotic arm in multiple degrees of freedom, and are very easy to get tangled, broken or worn, resulting in low reliability; (2) Cumbersome wiring: Wiring costs are high and the cycle is long in industrial sites, and may affect trajectory planning; (3) Difficult maintenance: External cables are easy to be damaged and difficult to detect, and the cost of covering and replacing them is high; (4) Limited movement: Excessive external cables affect the speed, flexibility and spatial layout of the robotic arm.

[0020] In addition, there are also related technologies that use energy storage units such as supercapacitors and lithium batteries to provide temporary power, but there are still some problems: (1) There is a lack of coordination between different power supply methods and dynamic adjustment has not been achieved; (3) There is no power threshold judgment mechanism, making it difficult to reasonably distribute current pressure; (4) There is a lack of protection mechanisms such as reverse flow, overcurrent, and overtemperature, resulting in poor safety.

[0021] In view of the above, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Please see Figure 1 This application provides a control method for a robotic arm, which is applied to a robotic arm. The robotic arm includes a robotic arm end effector, an end effector, an energy storage module, and a power switching circuit. The end effector is connected to the robotic arm end effector, which includes an actuator interface. The end effector is connected to the actuator interface, and the actuator interface is used to output electrical energy to the end effector. The power switching circuit connects the energy storage module and the end effector.

[0024] It is understood that the end effector of the robotic arm in this embodiment may be provided with multiple actuator interfaces, i.e., electrical interfaces, to meet the control requirements of the end effector in complex scenarios. The end effector connects to the actuator interface to obtain electrical energy and control signals from the robot control system. For example, the end effector may include tools such as grippers, suction cups, welding torches, and tightening torches, which can be mechanically connected to the end effector of the robotic arm. A power switching circuit connects the energy storage module and the end effector, enabling the energy storage module to supply power to the end effector. It should be noted that the actuator interface at the end of the robotic arm can provide voltages such as 5V, 12V, and 24V.

[0025] The control method of this application embodiment includes steps S101 to S103.

[0026] Step S101: When the energy storage module’s charge is greater than or equal to a preset first charge, control the power switching circuit to make the energy storage module supply power to the end effector.

[0027] Understandably, when the energy storage module has sufficient power, it should prioritize supplying power to the end effector. That is, when the energy storage module's power is greater than or equal to a preset first power level, the power switching circuit can be controlled to connect the energy storage module and the end effector, allowing the energy storage module to supply power to the end effector.

[0028] Step S102: When the energy storage module's power is less than the first power level and the robotic arm is in the first working mode, the power switching circuit is controlled to supply power from the energy storage module to the end effector, and the actuator interface outputs power to the end effector.

[0029] When the energy storage module's power is insufficient (less than the first power level) and the robotic arm is in the first working mode, the control power switching circuit connects the energy storage module and the end effector, so that the energy storage module supplies power to the end effector, and the actuator interface supplies power to the end effector at the same time.

[0030] Specifically, when the energy storage module's power is insufficient, the operating mode of the robotic arm is first determined, and based on this mode, the power supply method—whether the energy storage module supplies power to the end effector or the actuator interface supplies power to the end effector—is determined. For example, when the robotic arm performs welding or cutting operations via the end effector, the power switching circuit can be controlled to allow the energy storage module to supply power to the end effector, providing greater power to drive the welding and cutting operations. Simultaneously, the actuator interface outputs power to the end effector, providing less power to the torque sensor, position sensor, tactile sensor, and other sensors integrated within the end effector. Through the coordinated power supply of the energy storage module and the actuator interface, the power requirements for the end effector's main tasks such as welding and cutting can be met, as well as the power requirements for other low-power devices within the end effector.

[0031] Step S103: When the energy storage module's power is less than the first power level and the robotic arm is in the second working mode, the power switching circuit is controlled to stop the energy storage module from supplying power to the end effector, and the actuator interface outputs power to the end effector.

[0032] When the energy storage module's power is insufficient (less than the first power level) and the robotic arm is in the second working mode, the control power switching circuit disconnects the connection between the energy storage module and the end effector, so that the energy storage module stops supplying power to the end effector, while the actuator interface supplies power to the end effector.

[0033] Specifically, when the energy storage module's power is insufficient, the operating mode of the robotic arm is first determined, and based on this mode, a power supply method is determined that supplies power to the end effector only through the actuator interface. For example, when the robotic arm is sorting small items (such as medicines) through the end effector, the power switching circuit can be controlled to stop the energy storage module from supplying power to the end effector, while the actuator interface outputs power to the end effector to provide a smaller power source for the end effector to perform the sorting work. This power supply method via the actuator interface can meet the low-power requirements of the end effector.

[0034] The control method for the robotic arm provided in the above embodiments includes: when the power of the energy storage module is greater than or equal to a preset first power level, controlling the power switching circuit to supply power to the end effector by the energy storage module; when the power of the energy storage module is less than the first power level and the robotic arm is in a first working mode, controlling the power switching circuit to supply power to the end effector by the energy storage module, and the actuator interface outputting electrical energy to the end effector; when the power of the energy storage module is less than the first power level and the robotic arm is in a second working mode, controlling the power switching circuit to stop supplying power to the end effector by the energy storage module, and the actuator interface outputting electrical energy to the end effector. In this embodiment, when the energy storage module has sufficient power, it prioritizes supplying power to the end effector. When the energy storage module's power is less than a first power level and the robotic arm is in a first working mode, the energy storage module and the actuator interface work together to supply power to the end effector. When the energy storage module's power is less than the first power level and the robotic arm is in a second working mode, the actuator interface supplies power to the end effector. This allows the energy storage module to prioritize supplying power when it has sufficient power and automatically work with the actuator interface to supply power to the end effector when the power is insufficient, eliminating the need to connect to an external power source via an external power cable, thereby ensuring that the robotic arm can operate stably under various load conditions.

[0035] In one exemplary embodiment, the operating power of the end effector of the robotic arm in a first operating mode is greater than that of the end effector in a second operating mode.

[0036] The power consumption of the end effector of the robotic arm varies in different working modes. Specifically, the first working mode is a high-load operation mode, and the second working mode is a low-load operation mode. That is, the end effector of the robotic arm has a higher power consumption in the first working mode and a lower power consumption in the second working mode.

[0037] In one exemplary embodiment, the robotic arm performs a first target task in a first working mode and a second target task in a second working mode; wherein the first target task includes one or more of the following: welding task, cutting task, handling task; and the second target task includes one or more of the following: debugging task, mounting task, sorting task.

[0038] For example, a robotic arm performs different tasks in different working modes. For instance, in the first working mode, the robotic arm performs primary target tasks such as welding, cutting, and handling, while in the second working mode, it performs secondary target tasks such as debugging, mounting, and sorting.

[0039] Specifically, in fields such as industrial manufacturing, construction, and logistics, robotic arms, through end effectors, can perform welding tasks such as sheet metal welding and pipe welding; cutting tasks such as sheet metal cutting and pipe cutting; and handling tasks such as cargo handling and palletizing. In fields such as electronics manufacturing and pharmaceuticals, robotic arms, through end effectors, can perform chip mounting and camera module mounting tasks, and drug sorting tasks.

[0040] In one exemplary embodiment, when the robotic arm is in a first working mode, the working power of the end effector is greater than or equal to the power provided by the actuator interface, and the working power of the end effector is less than or equal to the sum of the power provided by the actuator interface and the power provided by the energy storage module; when the robotic arm is in a second working mode, the working power of the end effector is less than or equal to the power provided by the actuator interface.

[0041] When the robotic arm is in its first working mode, i.e., high-load operation, the end effector's operating power is relatively high. Therefore, the energy storage module and the actuator interface need to work together to provide power. Specifically, the end effector's operating power is greater than or equal to the power provided by the actuator interface, and less than or equal to the sum of the power provided by the actuator interface and the power provided by the energy storage module. By coordinating the power supply through the energy storage module and the actuator interface, the total power provided can stably drive the end effector.

[0042] In one exemplary embodiment, the power switching circuit is also connected to the actuator interface, and the control method further includes steps S201 and S202.

[0043] Step S201: When the robotic arm is in the second working mode or idle state, the power switching circuit is controlled to transfer the electrical energy from the actuator interface to the energy storage module.

[0044] Step S201: When the robotic arm switches from the second working mode to the first working mode, the power switching circuit is controlled to stop the transmission of electrical energy from the actuator interface to the energy storage module.

[0045] It is understood that the electrical energy from the actuator interface at the end effector of the robotic arm can power the energy storage module. This embodiment employs power path management technology to manage the charging and discharging of the energy storage module. Specifically, the actuator interface can output electrical energy to the end effector while simultaneously outputting electrical energy to the energy storage module to charge it. When the energy storage module's charge level is greater than or equal to a first charge level, or when the robotic arm switches from a second operating mode to a first operating mode, the system switches to a power supply mode where the energy storage module discharges, allowing it to power the end effector.

[0046] For example, when the robotic arm is in the second working mode or idle state, i.e., when the robotic arm is in a low-load operating mode, standby, or paused during task execution, the power switching circuit connects the actuator interface and the energy storage module, so that the power from the actuator interface is transferred to the energy storage module. Furthermore, when the robotic arm switches from the second working mode to the first working mode, i.e., from a low-load operating mode to a high-load operating mode, the power switching circuit disconnects the connection between the actuator interface and the energy storage module, so that the power from the actuator interface stops being transferred to the energy storage module. This embodiment can use the actuator interface as a power source and dynamically adjust the charging management process of the energy storage module according to the working mode. That is, in the light-load operating mode, the actuator interface at the end of the robotic arm provides power to the energy storage module; in the high-load operating mode, the actuator interface stops providing power to the energy storage module. Simultaneously, the actuator interface and the energy storage module can work together to meet the power consumption of the end effector, thereby eliminating the need for traditional electrical cabinet wiring, simplifying wiring, and meeting the high power requirements of the end effector.

[0047] In one exemplary embodiment, the control method may further include steps S301 and S302.

[0048] Step S301: Obtain the discharge current during the process of the energy storage module supplying power to the end effector and the preset first current threshold.

[0049] Step S302: Based on the discharge current and the first current threshold, control the discharge current of the energy storage module to supply power to the end effector.

[0050] For example, during the process of the energy storage module supplying power to the end effector, the discharge current of the energy storage module and the preset first current threshold can be obtained. By comparing the discharge current and the first current threshold, it can be determined whether the discharge current is greater than the first current threshold, i.e. whether there is an overcurrent problem. When it is determined that the discharge current is greater than the first current threshold, the magnitude and direction of the discharge current supplied by the energy storage module to the end effector can be controlled to achieve constant current discharge and prevent current backflow, i.e., reverse flow blocking.

[0051] Alternatively, steps S401 and S402 may also be included.

[0052] Step S401: Obtain the charging current and the preset second current threshold during the process of transmitting electrical energy from the actuator interface to the energy storage module.

[0053] Step S402: Based on the charging current and the second current threshold, control the power transmission from the actuator interface to the energy storage module.

[0054] Similarly, during the process of transmitting electrical energy from the actuator interface to the energy storage module, the current signal output by the actuator interface, i.e., the charging current of the energy storage module and the preset second current threshold, can be obtained. By comparing the charging current and the second current threshold, it can be determined whether the charging current is greater than the second current threshold, i.e. whether there is an overcurrent problem. When it is determined that the charging current is greater than the second current threshold, the magnitude and direction of the charging current transmitted from the actuator interface to the energy storage module can be controlled to achieve constant current charging and prevent current backflow, i.e., reverse flow blocking.

[0055] For example, embodiments of this application may employ bidirectional buck-boost technology, which enables bidirectional voltage regulation. Specifically, a bidirectional converter can be used to achieve bidirectional energy transfer between two different voltage levels. Furthermore, the energy storage module includes a battery, which can be compatible with lithium iron phosphate batteries, ternary lithium batteries, solid-state battery packs, etc. For example, the battery in embodiments of this application may be composed of multiple lithium iron phosphate batteries connected in series and parallel.

[0056] The energy storage module prioritizes power supply when the battery is sufficiently charged, and works in conjunction with the actuator interface when the battery is low, ensuring stable operation of the robotic arm under different load conditions. This eliminates the need for traditional electrical cabinet wiring, greatly simplifying power cabling at the robotic arm's end effector. The robotic arm can achieve efficient power supply and energy replenishment without external cable connections. This design not only reduces wiring complexity and the risk of failure due to cable wear and tangling, but also improves the robotic arm's flexibility and freedom of movement, enhancing the overall system reliability.

[0057] In this embodiment of the application, multiple safety protection mechanisms, such as reverse current protection, overcurrent protection, and overtemperature protection, can be employed throughout the charging and discharging process of the energy storage module. By monitoring changes in current, temperature, and voltage in real time, potential safety risks can be identified and addressed, and the distribution of charging and discharging current can be automatically adjusted or the power supply can be cut off. This ensures the safe operation of the actuator interface at the end of the robotic arm and the energy storage module under extreme working environments, improves system reliability, and avoids damage caused by electrical faults.

[0058] In one exemplary embodiment, step S201 may specifically include: The power switching circuit controls the power supply to ensure that the charging current from the actuator interface to the energy storage module is less than or equal to the current output from the actuator interface.

[0059] During the process of transferring electrical energy from the actuator interface to the energy storage module, the power switching circuit can be controlled to ensure that the charging current of the electrical energy transferred from the actuator interface to the energy storage module is less than or equal to the current output by the actuator interface, so as to ensure the stability of the current output by the actuator interface.

[0060] For example, the embodiments of this application can control the charging process of the energy storage module in three stages. During the charging process, temperature-zone derating, recharge, and rapid fault exit are supported. Specifically, the first stage is the pre-charging stage: when the voltage of the energy storage module is less than a preset first voltage threshold, a small current soft start is performed, and timeout and temperature protection are set; the second stage is the constant current stage: charging is first performed according to the set charging current threshold. When there are external power supply or load fluctuations, the charging current is controlled to be less than or equal to the current output by the actuator interface, and ripple and thermal stress are suppressed through slope control to ensure the stability of the current output by the actuator interface; the third stage is the constant voltage stage: when the voltage of the energy storage module approaches the target voltage, the constant voltage stage is entered, the charging voltage is kept constant, the charging current gradually decreases, and charging stops when the charging current is less than or equal to a preset termination threshold or when the constant voltage timing time is reached.

[0061] In practical applications, it is assumed that the maximum output current of the actuator interface is I1, the maximum output power is W1, and the voltage across the actuator interface is V2; the minimum operating voltage of the end effector is V1 (including line voltage drop compensation); the maximum charging current of the energy storage module is I2, the maximum discharging current is I3, the full charge voltage is V3, and the undervoltage threshold is V4.

[0062] In the first operating mode, the working power W_sys of the end effector of the robotic arm is greater than the maximum output power W1 of the actuator interface (W_sys > W1). Specifically, when the robotic arm is in the first operating mode, i.e., performing the high-load first target task (such as rapid handling or locking operations), the working power of the end effector surges, and the working power W_sys of the end effector is greater than the maximum output power W1 of the actuator interface. When the current I_adp output by the actuator interface equals the maximum output current I1 (W_sys > W1 and I_adp = I1), the power switching circuit controls the power supply to stop the transfer of electrical energy from the actuator interface to the energy storage module, i.e., disconnecting the charging path of the energy storage module and switching to the discharge preparation state. According to the energy balance, during the discharge process, the energy storage module needs to output power W_bat_need = (W_sys) / W_adp. W1) / η2, where η2 is the efficiency, and the output current of the energy storage module is I_bat = W_bat_need / V_bat. The discharge condition is met when the output current I_bat of the energy storage module is less than or equal to the maximum discharge current I3 and the voltage V_bat is greater than the undervoltage threshold V4 (I_bat ≤ I3 and V_bat > V4). This allows the synchronous buck-boost topology of the energy storage module to be switched to boost mode, enabling the voltage V_bat of the energy storage module to stably increase to near the operating voltage V_sys of the end effector. The power switching circuit adjusts the output current I_bat of the energy storage module to ensure that the operating current I_sys of the end effector is close to its rated current value; when load fluctuations cause a slight decrease in the operating voltage V_sys of the end effector, the current I_bat of the energy storage module is increased to ensure that the operating voltage V_sys of the end effector remains stable within the preset voltage range.

[0063] In the second operating mode, the working power W_sys of the end effector of the robotic arm is less than or equal to the maximum output power W1 of the actuator interface (W_sys≤W1). Specifically, during the process of the robotic arm switching to the second operating mode to perform a light-load second target task (such as debugging or chip mounting), the working power of the end effector is W_sys = V_sys×(I_adp + I_bat), where I_adp is the current output by the actuator interface and I_bat is the current output by the energy storage module. Therefore, the remaining power of the actuator interface can be determined as W_remain = W1-W_sys. When the voltage V_bat of the energy storage module is less than the full-charge voltage V3, the arm enters charging mode and controls the power switching circuit to maintain the charging current I_chg at the preset charging threshold W_remain, i.e., I_chg = W_remain / (V_bat × η1), where η1 is the efficiency, ensuring that the current output by the actuator interface does not exceed the maximum output current I1. When the voltage V_bat of the energy storage module is greater than or equal to the full-charge voltage V3 (i.e., V_bat ≥ V3), the power switching circuit controls the power supply to stop the transfer of power from the actuator interface to the energy storage module. Simultaneously, it allows the synchronous buck-boost topology of the energy storage module to operate in pass-through mode. This means the input voltage V_in and operating voltage V_sys of the actuator at the input end are close (V_in ≈ V_sys), reducing energy conversion losses. When load fluctuations occur, the charging current I_chg can be readjusted within a very short response time to stabilize the current output from the actuator interface within the maximum output current I1.

[0064] For example, smooth transition control can be implemented during the switching between the first and second operating modes of the robotic arm. Specifically, during the peak start-up phase: the discharge current I_bat smoothly rises from 0 to the target value, and the voltage ripple is ensured to be less than the specified amplitude by controlling the slew rate. During the peak exit phase: when switching from the first operating mode to the second operating mode, i.e., from high load operation to low load operation, the current I_bat output by the energy storage module decreases to 0 linearly, while the charging current I_chg gradually recovers to achieve a smooth current transition without sudden changes. When the actuator interface is unexpectedly disconnected, the energy storage module discharges to maintain the stability of the end effector's operating current I_sys; during the re-switching period, the end effector's operating voltage V_sys is kept continuous to prevent deviations or instability in the robotic arm's movements and to avoid voltage fluctuations and current surges when switching between different operating modes.

[0065] Please see Figure 2 This application also provides a robotic arm, which includes a robotic arm end effector 110, an end effector 120, an energy storage module 130, a controller 140, and a power switching circuit 150. The end effector 120 is connected to the robotic arm end effector 110, and the robotic arm end effector 110 includes an actuator interface 111. The end effector 120 is connected to the actuator interface 111, and the actuator interface 111 is used to output electrical energy to the end effector 120. The power switching circuit 150 is connected to the energy storage module 130 and the end effector 120, and the controller 140 is connected to the power switching circuit 150 and the energy storage module 130. The controller 140 is used to execute the control method of the robotic arm as described in the above embodiment.

[0066] The robotic arm of this embodiment has all the technical effects of the robotic arm control method described above. That is, when the energy storage module 130 has sufficient power, it prioritizes supplying power to the end effector 120; when the energy storage module 130 has less power than a first power level and the robotic arm is in a first working mode, the energy storage module 130 and the actuator interface 111 work together to supply power to the end effector 120; when the energy storage module 130 has less power than the first power level and the robotic arm is in a second working mode, the actuator interface 111 supplies power to the end effector 120. This allows the energy storage module 130 to prioritize supplying power when it has sufficient power, and automatically work with the actuator interface 111 to supply power to the end effector 120 when the power is insufficient, without needing to connect to an external power source through an external power cable, thereby ensuring that the robotic arm can operate stably under various load conditions.

[0067] Please see Figure 3This application also provides a power switching device for a robotic arm. The robotic arm includes a robotic arm end effector 110, an end effector 120, and an energy storage module 130. The power switching device includes a controller 140 and a power switching circuit 150. The end effector 120 is connected to the robotic arm end effector 110. The robotic arm end effector 110 includes an actuator interface 111, and the end effector 120 is connected to the actuator interface 111. The actuator interface 111 is used at least to output electrical energy to the end effector 120. The power switching circuit 150 connects the energy storage module 130 and the end effector 120. The controller 140 connects the power switching circuit 150 and the energy storage module 130. The power switching circuit 150 includes a first power supply circuit 151, one end of which is connected to the energy storage module 130. The other end is connected to the end effector 120; the controller 140 is used to: control the first power supply circuit 151 to conduct when the power of the energy storage module 130 is greater than or equal to a preset first power, so as to connect the energy storage module 130 and the end effector 120; control the first power supply circuit 151 to conduct when the power of the energy storage module 130 is less than the first power and the robotic arm is in a first working mode, so as to connect the energy storage module 130 and the end effector 120, and the actuator interface 111 outputs electrical energy to the end effector 120; and control the first power supply circuit 151 to disconnect when the power of the energy storage module 130 is less than the first power and the robotic arm is in a second working mode, so as to disconnect the energy storage module 130 and the end effector 120, and the actuator interface 111 outputs electrical energy to the end effector 120.

[0068] It is understood that the robotic arm end effector 110 of this embodiment may be provided with multiple actuator interfaces 111, i.e., electrical interfaces, to meet the control requirements of the end effector 120 in complex scenarios. The end effector 120 connects to the actuator interfaces 111 to obtain electrical energy and control signals from the robot control system. For example, the end effector 120 may include tools such as grippers, suction cups, welding torches, and tightening torches, which can be mechanically connected to the robotic arm end effector 110.

[0069] The power switching device includes a voltage switching circuit and a controller 140. The power switching circuit 150 includes a first power supply circuit 151, which connects the energy storage module 130 and the end effector 120. The first power supply circuit 151 connects the energy storage module 130 and the end effector 120, allowing the energy storage module 130 to supply power to the end effector 120. It should be noted that the actuator interface 111 of the robotic arm end effector 110 can provide voltages such as 5V, 12V, and 24V.

[0070] In one embodiment, the controller 140 can be used to control the first power supply circuit 151 to supply power to the end effector 120 when the energy storage module 130 has sufficient power. That is, when the power of the energy storage module 130 is greater than or equal to a preset first power level, the controller controls the first power supply circuit 151 to be turned on to connect the energy storage module 130 and the end effector 120, so that the energy storage module 130 supplies power to the end effector 120.

[0071] In another embodiment, the controller 140 can also be used to control the first power supply circuit 151 to be turned on when the power of the energy storage module 130 is insufficient (e.g., less than a first power level) and the robotic arm is in a first working mode, so as to connect the energy storage module 130 and the end effector 120, so that the energy storage module 130 supplies power to the end effector 120, and at the same time, the actuator interface 111 supplies power to the end effector 120. Specifically, when the power of the energy storage module 130 is insufficient, the working mode of the robotic arm is first determined, and the power supply method of supplying power from the energy storage module 130 to the end effector 120 and from the actuator interface 111 to the end effector 120 is determined according to the working mode of the robotic arm. For example, when the robotic arm performs welding, cutting, or other tasks via the end effector 120, the first power supply circuit 151 can be turned on to allow the energy storage module 130 to supply power to the end effector 120, providing greater power to drive the end effector 120 in welding, cutting, and other tasks. Simultaneously, the actuator interface 111 outputs power to the end effector 120, providing less power to the torque sensor, position sensor, tactile sensor, and other sensors integrated within the end effector 120. Through the coordinated power supply of the energy storage module 130 and the actuator interface 111, the power supply requirements for the end effector 120 to perform its main tasks such as welding and cutting can be met, as well as the power supply requirements for other low-power devices within the end effector 120.

[0072] In another embodiment, the controller 140 can also be used to disconnect the first power supply circuit 151 when the power of the energy storage module 130 is insufficient (e.g., less than a first power level) and the robotic arm is in the second working mode. This disconnects the energy storage module 130 from the end effector 120, causing the energy storage module 130 to stop supplying power to the end effector 120. Simultaneously, the actuator interface 111 supplies power to the end effector 120. Specifically, when the power of the energy storage module 130 is insufficient, the working mode of the robotic arm is first determined, and based on the working mode, a power supply method is determined that only the actuator interface 111 supplies power to the end effector 120. For example, when the robotic arm is sorting small items (such as medicines) through the end effector 120, the first power supply circuit 151 can be disconnected to stop the energy storage module 130 from supplying power to the end effector 120. At the same time, the actuator interface 111 outputs electrical energy to the end effector 120 to provide a smaller power to drive the end effector 120 to sort small items. The low power requirements of the end effector 120 can be met by powering it through the actuator interface 111.

[0073] The power switching device for the robotic arm provided in the above embodiment includes a robotic arm end effector 110, an end effector 120, and an energy storage module 130. The power switching device includes a controller 140 and a power switching circuit 150. The end effector 120 is connected to the robotic arm end effector 110. The robotic arm end effector 110 includes an actuator interface 111, and the end effector 120 is connected to the actuator interface 111. The actuator interface 111 is used at least to output electrical energy to the end effector 120. The power switching circuit 150 connects the energy storage module 130 and the end effector 120. The controller 140 connects the power switching circuit 150 and the energy storage module 130. The power switching circuit 150 includes a first power supply circuit 151, one end of which is connected to the energy storage module 130. The other end is connected to the end effector 120; the controller 140 is used to: control the first power supply circuit 151 to conduct when the power of the energy storage module 130 is greater than or equal to a preset first power, so as to connect the energy storage module 130 and the end effector 120; control the first power supply circuit 151 to conduct when the power of the energy storage module 130 is less than the first power and the robotic arm is in a first working mode, so as to connect the energy storage module 130 and the end effector 120, and the actuator interface 111 outputs electrical energy to the end effector 120; and control the first power supply circuit 151 to disconnect when the power of the energy storage module 130 is less than the first power and the robotic arm is in a second working mode, so as to disconnect the energy storage module 130 and the end effector 120, and the actuator interface 111 outputs electrical energy to the end effector 120. In this embodiment, when the energy storage module 130 has sufficient power, the first power supply circuit 151 is turned on, enabling the energy storage module 130 to supply power to the end effector 120. When the power of the energy storage module 130 is less than a first power level and the robotic arm is in a first working mode, the energy storage module 130 and the actuator interface 111 work together to supply power to the end effector 120. When the power of the energy storage module 130 is less than the first power level and the robotic arm is in a second working mode, the first power supply circuit 151 is disconnected, and the actuator interface 111 supplies power to the end effector 120. This allows the energy storage module 130 to prioritize power supply when it has sufficient power, and automatically work with the actuator interface 111 to supply power to the end effector 120 when the power is insufficient, without needing to connect to an external power source through an external power cable, thereby ensuring that the robotic arm can operate stably under various load conditions.

[0074] In one exemplary embodiment, the power consumption of the end effector 120 of the robotic arm varies in different operating modes. Specifically, the first operating mode is a high-load operation mode, and the second operating mode is a low-load operation mode. That is, the operating power of the end effector 120 is higher in the first operating mode and lower in the second operating mode.

[0075] For example, a robotic arm performs different tasks in different working modes. For instance, in the first working mode, the robotic arm performs primary target tasks such as welding, cutting, and handling, while in the second working mode, it performs secondary target tasks such as debugging, mounting, and sorting.

[0076] Specifically, in fields such as industrial manufacturing, construction, and logistics, the robotic arm, through the end effector 120, can perform welding tasks such as sheet metal welding and pipe welding; cutting tasks such as sheet metal cutting and pipe cutting; and handling tasks such as cargo handling and palletizing. In fields such as electronics manufacturing and pharmaceuticals, the robotic arm, through the end effector 120, can perform chip mounting and camera module mounting tasks, and drug sorting tasks.

[0077] In one exemplary embodiment, when the robotic arm is in its first operating mode, i.e., the high-load operation mode, the end effector 120 has a high operating power. Therefore, the energy storage module 130 and the actuator interface 111 need to work together to provide power. Specifically, the operating power of the end effector 120 is greater than or equal to the power provided by the actuator interface 111, and the operating power of the end effector 120 is less than or equal to the sum of the power provided by the actuator interface 111 and the power provided by the energy storage module 130. By working together to provide power through the energy storage module 130 and the actuator interface 111, the total power provided can stably drive the end effector 120.

[0078] In one exemplary implementation, such as Figure 4 As shown, the power switching circuit 150 also includes a charging circuit 152, one end of which is connected to the actuator interface 111, and the other end of which is connected to the energy storage module 130. The controller 140 is also used to: control the charging circuit 152 to be turned on when the robotic arm is in the second working mode or idle state, so as to connect the actuator interface 111 and the energy storage module 130; and control the charging circuit 152 to be turned off when the robotic arm switches from the second working mode to the first working mode, so as to disconnect the connection between the actuator interface 111 and the energy storage module 130.

[0079] It is understood that the controller 140 can control the charging circuit 152 to be turned on, so that the electrical energy of the actuator interface 111 can be transferred to the energy storage module 130 to power the energy storage module 130. This embodiment of the application can use power path management technology to manage the charging and discharging of the energy storage module 130. Specifically, the actuator interface 111 can output electrical energy to the end effector 120 while simultaneously outputting electrical energy to the energy storage module 130 to charge the energy storage module 130. When the charge of the energy storage module 130 is greater than or equal to a first charge level, or when the robotic arm switches from the second working mode to the first working mode, the system switches to a power supply mode where the energy storage module 130 discharges, so that the energy storage module 130 supplies power to the end effector 120.

[0080] For example, when the robotic arm is in the second operating mode or idle state, i.e., when the robotic arm is in a low-load operating mode, standby, or paused during task execution, the controller 140 controls the charging circuit 152 to be turned on, thereby connecting the actuator interface 111 and the energy storage module 130, so that the power of the actuator interface 111 is transferred to the energy storage module 130. Furthermore, when the robotic arm switches from the second operating mode to the first operating mode, i.e., from the low-load operating mode to the high-load operating mode, the controller 140 controls the charging circuit 152 to be turned off, thereby disconnecting the connection between the actuator interface 111 and the energy storage module 130, so that the power of the actuator interface 111 is stopped from being transferred to the energy storage module 130. In this embodiment, the actuator interface 111 can be used as a power source to dynamically adjust the charging management process of the energy storage module 130 according to the working mode. That is, in the light-load operation mode, the actuator interface 111 of the robotic arm end effector 110 provides power to the energy storage module 130, and in the high-load operation mode, the actuator interface 111 stops providing power to the energy storage module 130. At the same time, the actuator interface 111 and the energy storage module 130 can work together to meet the power consumption of the end effector 120, thereby eliminating the traditional electrical cabinet tail wire, simplifying the wiring and meeting the high power requirements of the end effector 120.

[0081] In one exemplary implementation, such as Figure 6 As shown, the energy storage module 130 may include a battery 131 and a management chip 132; one end of the management chip 132 is connected to the battery 131, and the other end of the management chip 132 is connected to the charging circuit 152, the first power supply circuit 151, and the controller 140. The management chip 132 includes a monitoring unit 1321 and a control unit 1322.

[0082] It is understood that the management chip 132 can employ bidirectional buck-boost technology, which enables bidirectional voltage regulation. Specifically, it can achieve bidirectional energy transfer between two different voltage levels through a bidirectional converter. The battery 131 in this embodiment is compatible with lithium iron phosphate batteries, ternary lithium batteries, solid-state battery packs, etc. For example, the battery 131 in this embodiment can be composed of multiple lithium iron phosphate batteries connected in series and parallel. By real-time acquisition of parameters such as voltage, current, and temperature of the battery 131 by the monitoring unit 1321, the control unit 1322 can determine whether there are abnormal conditions (such as excessive voltage, excessive current, or excessive temperature) according to preset protection rules, and disconnect the first power supply circuit 151 or the charging circuit 152 when an abnormal condition is detected, thereby improving the safety of the energy storage module 130 during charging and discharging. Furthermore, the control unit 1322 can send the generated battery 131 status report to the controller 140 to achieve more intelligent management and fault handling.

[0083] In one exemplary implementation, such as Figure 5 As shown, this embodiment of the application can provide a current protection structure at the actuator interface 111. Specifically, the current protection structure includes a protection module 21 and a current limiting module 22. The protection module 21 and the current limiting module 22 can manage and protect the current output by the actuator interface 111. It is understood that the protection module 21 can integrate a surge suppressor, a filter circuit, and an overvoltage protection unit to ensure the stability of the current output by the actuator interface 111 and prevent damage to the internal circuitry caused by external power fluctuations or transient impacts. The current after protection enters the current limiting module 22, which can monitor the current after protection in real time and automatically limit the current amplitude when the current reaches a preset limit threshold to prevent the actuator interface 111 from overloaded. The limit threshold can be 80%-90% of the maximum current output by the actuator interface 111, for example, the limit threshold can be 85% of the maximum current output by the actuator interface 111. The embodiments of this application can ensure that the actuator interface 111 stably outputs electrical energy to the end effector 120 and / or stably outputs electrical energy to the energy storage module 130, thereby improving the reliability of the robotic arm.

[0084] For example, such as Figure 5 As shown, the current limiting module 22 is connected to the controller 140 through the first detection resistor 23 and the first operational amplifier 24. The first detection resistor 23 converts the current signal limited by the current limiting module 22 into a voltage signal; the first operational amplifier 24 amplifies the voltage signal and outputs the amplified voltage signal to the controller 140 so that the controller 140 can obtain the current status output by the actuator interface 111.

[0085] In one exemplary implementation, such as Figure 6 As shown, in this embodiment, a current closed-loop control structure can be set in the first power supply circuit 151 and the charging circuit 152. The current closed-loop control structure can receive control signals output by the controller 140 via PWM (Pulse Width Modulation) or DAC (Digital-to-Analog Converter) to precisely control the magnitude and direction of the discharge current supplied by the energy storage module 130 to the end effector 120, thereby achieving constant current discharge and preventing backflow (i.e., reverse current blocking) to ensure power supply safety. Similarly, the current closed-loop control structure can control the magnitude and direction of the charging current transferred from the actuator interface 111 to the energy storage module 130, thereby achieving constant current charging and preventing backflow (i.e., reverse current blocking).

[0086] Specifically, the current closed-loop control structure includes a second sensing resistor 31, a second operational amplifier 32, a controller 140, a comparator 33, and a power switch 34. One end of the second sensing resistor 31 is connected to the energy storage module 130 or the actuator interface 111, and the second sensing resistor 31 is used to convert the current signal output by the energy storage module 130 or the actuator interface 111 into a voltage signal. The first end of the second operational amplifier 32 is connected to the other end of the second sensing resistor 31, and the second end of the second operational amplifier is connected to the controller 140. The second operational amplifier 32 is used to amplify the voltage signal and output the amplified voltage signal to the ADC (analog-to-digital converter) of the controller 140. The first end of the comparator 33 is connected to the third end of the second operational amplifier 32, and the second end of the comparator 33 is connected to the controller 140. The third end of the comparator 33 is connected to the first end of the power switch 34. The controller 140 is connected to the second end of the power switch 34. The comparator 33 is used to generate a switching signal to control the power switch 34 to turn on or off based on the amplified voltage signal and a preset voltage threshold, and outputs the switching signal to the controller 140. Furthermore, the controller 140 can generate a control signal to turn the power switch 34 on or off. The power switch 34 can control the on or off of the first power supply circuit 151 or the charging circuit 152.

[0087] In one exemplary embodiment, during the process of power transmission from actuator interface 111 to energy storage module 130, the current closed-loop control structure in charging circuit 152 can be controlled so that the charging current of power transmission from actuator interface 111 to energy storage module 130 is less than or equal to the current output by actuator interface 111, thereby ensuring that the current output by actuator interface 111 is stable.

[0088] For example, the charging process of the energy storage module 130 can be controlled in three stages according to the embodiments of this application. During the charging process, temperature derating, recharge, and rapid fault exit are supported. Specifically, the first stage is the pre-charge stage: when the voltage of the energy storage module 130 is less than the preset first voltage threshold, a small current soft start is performed and timeout and temperature protection are set; the second stage is the constant current stage: charging is performed first according to the set charging current threshold. When there are external power supply or load fluctuations, the charging current is controlled to be less than or equal to the current output by the actuator interface 111, and ripple and thermal stress are suppressed by slope control to ensure the stability of the current output by the actuator interface 111; the third stage is the constant voltage stage: when the voltage of the energy storage module 130 is close to the target voltage, the constant voltage stage is entered, the charging voltage is kept constant, the charging current gradually decreases, and charging stops when the charging current is less than or equal to the preset termination threshold or the constant voltage timing time is reached.

[0089] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0090] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0091] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a robotic arm, characterized in that, The robotic arm includes a robotic arm end effector, an end effector, an energy storage module, and a power switching circuit; the end effector is connected to the robotic arm end effector, the robotic arm end effector includes an actuator interface, the end effector is connected to the actuator interface, and the actuator interface is at least used to output electrical energy to the end effector; The power switching circuit connects the energy storage module and the end effector; the control method includes: When the energy storage module's charge is greater than or equal to a preset first charge, the power switching circuit is controlled to supply power from the energy storage module to the end effector. When the energy storage module's charge is less than the first charge and the robotic arm is in the first working mode, the power switching circuit is controlled to supply power from the energy storage module to the end effector, and the actuator interface outputs power to the end effector. When the energy storage module's charge is less than the first charge and the robotic arm is in the second working mode, the power switching circuit is controlled to stop the energy storage module from supplying power to the end effector, and the actuator interface outputs power to the end effector.

2. The control method for the robotic arm according to claim 1, characterized in that, The working power of the end effector of the robotic arm in the first working mode is greater than that of the end effector in the second working mode.

3. The control method for the robotic arm according to claim 1, characterized in that, The robotic arm performs a first target task in the first working mode and a second target task in the second working mode; wherein, the first target task includes one or more of the following: welding task, cutting task, and handling task; the second target task includes one or more of the following: debugging task, mounting task, and sorting task.

4. The control method for the robotic arm according to claim 1, characterized in that, When the robotic arm is in the first working mode, the working power of the end effector is greater than or equal to the power provided by the actuator interface, and the working power of the end effector is less than or equal to the sum of the power provided by the actuator interface and the power provided by the energy storage module; When the robotic arm is in the second working mode, the working power of the end effector is less than or equal to the power provided by the actuator interface.

5. The control method for the robotic arm according to claim 1, characterized in that, The power switching circuit is also connected to the actuator interface, and the control method further includes: When the robotic arm is in the second working mode or idle state, the power switching circuit is controlled to transfer electrical energy from the actuator interface to the energy storage module. When the robotic arm switches from the second working mode to the first working mode, the power switching circuit is controlled to stop the transmission of electrical energy from the actuator interface to the energy storage module.

6. The control method for the robotic arm according to claim 5, characterized in that, The control method further includes: The discharge current and a preset first current threshold are obtained during the process of the energy storage module supplying power to the end effector. Based on the discharge current and the first current threshold, the discharge current supplied by the energy storage module to the end effector is controlled. or The charging current and a preset second current threshold are obtained during the process of transmitting electrical energy from the actuator interface to the energy storage module. Based on the charging current and the second current threshold, the power transmission from the actuator interface to the energy storage module is controlled.

7. The control method for the robotic arm according to claim 5, characterized in that, The control of the power switching circuit to transfer electrical energy from the actuator interface to the energy storage module includes: The power switching circuit is controlled so that the charging current of the energy transferred from the actuator interface to the energy storage module is less than or equal to the current output by the actuator interface.

8. A robotic arm, characterized in that, The robotic arm includes an end effector, an end effector, an energy storage module, a controller, and a power switching circuit; the end effector is connected to the end effector, the end effector includes an actuator interface, the end effector is connected to the actuator interface, and the actuator interface is at least used to output electrical energy to the end effector; the power switching circuit is connected to the energy storage module and the end effector, and the controller is connected to the power switching circuit and the energy storage module; the controller is used to execute the control method of the robotic arm as described in any one of claims 1 to 7.

9. A power switching device for a robotic arm, characterized in that, The robotic arm includes a robotic arm end effector, an end effector, and an energy storage module. The power switching device includes a controller and a power switching circuit. The end effector is connected to the robotic arm end effector, and the robotic arm end effector includes an actuator interface. The end effector is connected to the actuator interface, and the actuator interface is used at least to output electrical energy to the end effector. The power switching circuit is connected to the energy storage module and the end effector, and the controller is connected to the power switching circuit and the energy storage module; The power switching circuit includes: A first power supply circuit, one end of which is connected to the energy storage module, and the other end of which is connected to the end effector; The controller is used for: When the energy storage module's charge is greater than or equal to a preset first charge, the first power supply circuit is turned on to connect the energy storage module and the end effector. When the energy storage module's power is less than the first power and the robotic arm is in the first working mode, the first power supply circuit is controlled to be turned on to connect the energy storage module and the end effector, and the actuator interface outputs power to the end effector. as well as When the energy storage module's charge is less than the first charge and the robotic arm is in the second working mode, the first power supply circuit is controlled to disconnect, thereby disconnecting the energy storage module from the end effector, and the actuator interface outputs power to the end effector.

10. The power switching device for the robotic arm according to claim 9, characterized in that, The power switching circuit also includes: A charging circuit, one end of which is connected to the actuator interface, and the other end of which is connected to the energy storage module; The controller is also used for: When the robotic arm is in the second working mode or idle state, the charging circuit is turned on to connect the actuator interface and the energy storage module. as well as When the robotic arm switches from the second working mode to the first working mode, the charging circuit is disconnected to disconnect the actuator interface and the energy storage module.

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