Mechanical arm mode completion switching prompting device and mechanical arm

Abstract

The utility model provides a mechanical arm mode completion switching prompting device and a mechanical arm, the mechanical arm mode completion switching prompting device comprises a prompting signal generation module, a prompting signal conversion module and a prompting signal playing module which are arranged in the mechanical arm, the prompting signal generation module is used for generating an initial prompting signal when the mechanical arm completes working mode switching, and the prompting signal playing module is used for playing the initial prompting signal when the mechanical arm completes working mode switching. The prompt signal conversion module is connected with the prompt signal generation module and used for converting the initial prompt signal into a sound production driving signal with preset voltage characteristics and frequency characteristics, and the prompt signal playing module is connected with the prompt signal conversion module and used for playing the sound production driving signal. And the sound generating module is used for generating sound under the action of the sound generating driving signal to prompt that the working modes of the mechanical arm are switched.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm protection, specifically to a robotic arm mode completion switching prompt device and a robotic arm. Background Technology

[0002] The control objectives and strategies of robotic arms vary depending on the environment and task conditions. Robotic arms operate in various modes, including position control, force / position hybrid control, impedance control, and zero-force dragging. When in free space, the robotic arm primarily controls its position and orientation. When in contact with the environment, contact forces are generated. To achieve the desired force control or maintain good contact with the environment, it is necessary to control these interaction forces.

[0003] In practical applications, when robotic arms switch between different working modes, a key issue often arises: how to accurately determine whether the joint has completed the mode switch. Currently, a common method used in the industry is to manually push the robotic arm and observe changes in its movement to infer whether the switch was successful. This method is not only inefficient but also poses certain safety risks because it relies on the operator's intuition 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. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a robotic arm mode switching completion prompt device and robotic arm. After the robotic arm completes the mode switching, the drive motor generates a sound to remind the user that the robotic arm mode has been successfully switched and is ready for normal use.

[0006] The purpose of this utility model is achieved by the following solution: a robotic arm mode switching prompting device, comprising a prompting signal generating module, a prompting signal conversion module, and a prompting signal playback module for installation in the robotic arm; the prompting signal generating module is used to generate an initial prompting signal when the robotic arm completes the mode switching; the prompting signal conversion module is connected to the prompting signal generating module and is used to convert the initial prompting signal into a sound driving signal with preset voltage and frequency characteristics; the prompting signal playback module is connected to the prompting signal conversion module and is used to emit sound under the action of the sound driving signal to prompt the robotic arm to complete the mode switching.

[0007] The prompt signal generation module is installed in the controller of the robotic arm, and is used to sense the switching signal issued by the controller to control the robotic arm to complete the switching of working modes, and generate the initial prompt signal when the switching signal is sensed.

[0008] The prompt signal generation module includes a microcontroller, which is used to generate an initial prompt signal.

[0009] The prompt signal conversion module includes a driver chip and an inverter. The driver chip is connected to the prompt signal generation module and is used to convert the initial prompt signal into an intermediate signal. The inverter is connected to the driver chip and the prompt signal playback module and is used to convert the intermediate signal into the sound driving signal.

[0010] The prompt signal conversion module also includes a three-phase bridge inverter circuit for converting direct current to alternating current.

[0011] The prompt signal playback module is the drive motor of the robotic arm.

[0012] A second aspect of this utility model provides a robotic arm, including any of the robotic arm mode completion switching prompt devices described in the present invention.

[0013] The robotic arm also includes a controller; the prompt signal generation module is located in the controller.

[0014] The prompt signal playback module includes the stator winding of the drive motor; the stator winding includes multiple winding coils, and the sound driving signal is used to generate a sound driving magnetic field in the drive motor. The multiple winding coils are used to vibrate under the action of the sound driving magnetic field, thereby generating sound to prompt the robotic arm to switch its working mode.

[0015] The advantage of this invention is that after the robotic arm completes the mode switch, it informs the user that the switch has been completed by generating sound through the drive motor, thus avoiding the need for the user to push the robotic arm. Attached Figure Description

[0016] Figure 1 A functional block diagram of a robotic arm mode completion switching prompting device provided for embodiments of this application;

[0017] Figure 2 A circuit diagram of a robotic arm mode completion switching prompting device provided for an embodiment of this application;

[0018] Figure 3 This is a control principle diagram of a robotic arm mode completion switching prompt device provided for an embodiment of this application. Detailed Implementation

[0019] This utility model provides a robotic arm mode switching completion prompt device and a robotic arm. The device is applicable to robotic arms in various technical fields such as industrial automation, logistics, and agriculture. The robotic arm can switch modes when its work tasks change and it needs to perform different tasks. The robotic arm can also switch modes when the operating environment changes, such as a change in the work area or the appearance or disappearance of obstacles. Using this device, after the robotic arm completes a mode switch, it notifies the user by generating a sound through a drive motor.

[0020] See Figure 1 This is a block diagram of a robotic arm mode completion switching prompting device provided in this embodiment. The completion switching prompting device includes a prompt signal generation module 100, a prompt signal conversion module 200, and a prompt signal playback module 300 for installation in the robotic arm. The prompt signal generation module 100 is connected to the prompt signal conversion module 200, and the prompt signal conversion module 200 is connected to the prompt signal playback module 300.

[0021] In this embodiment of the application, the prompt signal generating module 100 is used to generate an initial prompt signal when the robotic arm switches working modes. The prompt signal generating module 100 is disposed in the controller of the robotic arm and is used to sense the switching signal issued by the controller for controlling the robotic arm to switch working modes, and generate the initial prompt signal when the switching signal is sensed.

[0022] The prompt signal conversion module 200 is used to convert the initial prompt signal into a sound driving signal with preset voltage and frequency characteristics.

[0023] The prompt signal playback module 300 is used to emit a sound under the action of the sound driving signal to prompt the robotic arm to complete the switching of the working mode.

[0024] Figure 2 A circuit diagram of a robotic arm mode completion switching prompt device provided in an embodiment of this application. (See also...) Figure 2The prompt signal generation module 100 includes a microcontroller 110, which generates an initial prompt signal. The microcontroller 110 is integrated into the existing controller within the robotic arm, or existing hardware circuitry within the controller can be used directly as the microcontroller 110. The microcontroller 110 receives code instructions, processes status signals, and controls moving parts. Through programming, automated control of the robotic arm can be achieved, improving production efficiency and precision. The encoder 120 is connected to the microcontroller 110 and measures the rotation angle or position of each joint of the robotic arm, feeding this information back to the microcontroller 110. Based on the feedback data from the encoder 120, the microcontroller 110 can adjust the robotic arm's motion state in real time, achieving precise position control and motion compensation.

[0025] The prompt signal conversion module 200 includes a driver chip 210, a three-phase bridge inverter circuit 220, and a current sampling circuit 230. One input terminal of the driver chip 210 is connected to the prompt signal generation module 100, and the other input terminal of the driver 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 driver 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 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 the DC power into AC power by controlling the conduction and cutoff of the switching devices. The three-phase bridge inverter circuit 220 transmits the converted sound driving signal to the prompt signal playback module 300. The current sampling circuit 230 is used to realize closed-loop control of the current.

[0026] The prompt signal playback module 300 includes the drive motor 310, which is connected to the prompt signal conversion module 200 and is used to receive a sound driving signal and emit sound. Specifically, the stator winding of the drive motor 310 includes multiple winding coils. The sound driving signal is used to generate a sound driving magnetic field in the drive motor 310, and the multiple winding coils are used to vibrate under the action of the generated driving magnetic field, thereby generating sound to prompt the robotic arm to switch its working mode.

[0027] Vector control with Id=0 is used for drive motor 310, and the control of drive motor 310 is realized by current loop, speed loop, position loop, torque loop, etc. in the controller.

[0028] The current loop is used to control the current during the operation of the drive motor 310. The current loop receives a target current value from an outer loop (such as a speed loop or position loop) and compares it with the actual current acquired by a sensor, generating a current error signal. This error signal is processed by the PI control element 111 and outputs a voltage control signal. This voltage signal is converted into a pulse width modulation signal, and its duty cycle is adjusted to control the current in the drive motor windings.

[0029] The speed loop is used to control the rotational speed of the drive motor 310. It receives the required speed command from the system and compares it with the actual rotational speed acquired by a sensor, generating a speed error signal. This error signal is processed by the PI control element 111, and a target current value is output to the inner current loop. The speed loop ensures that the drive motor 310 operates at the predetermined speed, improving the dynamic performance and steady-state accuracy of the drive motor 310.

[0030] The position loop is used to control the position of the drive motor 310. By installing position sensors or encoders, the position loop measures the position information of the drive motor rotor in real time and compares it with the desired position, generating a position error signal. This error signal is processed by the PI control element 111, and the target current value or position control command is output to the inner current loop. The position loop can achieve precise control of the drive motor rotor position, meeting various position control requirements.

[0031] The torque loop receives torque commands and compares them with the actual torque obtained through sensors or estimation methods to generate a torque error signal. After being processed by the PI control element 111, the error signal is directly output as a pulse width modulation signal to the inverter 221 to achieve fast and precise control of the torque of the drive motor 310.

[0032] Injecting an initial cue signal into the α-axis or β-axis of the current loop may indirectly affect the output torque of the drive motor 310, causing torque ripple. Torque ripple reduces the operational smoothness of the drive motor 310, affecting its performance and lifespan. Injecting an initial cue signal into the q-axis of the current loop directly affects torque smoothness, leading to torque ripple and output instability.

[0033] Injecting an initial warning signal along the d-axis of the current loop has a relatively small direct impact on torque, but can significantly reduce torque ripple, thus helping to improve the smoothness of the drive motor 310's operation and the stability of its output torque. To reduce torque ripple, an initial warning signal is injected along the d-axis of the current loop.

[0034] The volume of the sound is adjusted by changing the amplitude of the initial prompt signal, and the pitch of the sound is adjusted by changing the frequency of the initial prompt signal.

[0035] Figure 3 This is a control principle diagram of a robotic arm mode completion switching prompt device provided in an embodiment of this application. (See also...) Figure 3 The three-phase bridge inverter circuit 220 includes an inverter 221, which is connected to the driver chip 210 and the prompt signal playback module 300, and is used to convert the intermediate signal into a sound driving signal.

[0036] The current sampling circuit 230 includes a low-pass filter (LFP) 231 for filtering out the sound driving signal in the current.

[0037] When the robotic arm needs to perform different tasks, it may need to switch to different motion modes. When the robotic arm completes the mode switch, the prompt signal generation module 100 receives the corresponding switching signal. The microcontroller 110 in the prompt signal generation module 100 senses the switching signal issued by the controller to control the robotic arm to switch working modes, and generates the initial prompt signal when it senses the switching signal. The driver chip 210 in the prompt signal conversion module 200 converts the initial prompt signal into an intermediate signal. Then, the three-phase bridge inverter circuit 220 in the prompt signal conversion module 200 completes the drive control of the drive motor 310 by receiving the intermediate signal, controlling the conduction and cutoff of the power switching devices, realizing DC to AC conversion, output filtering and smoothing, and transmitting the sound drive signal to the drive motor 310. Finally, the sound drive signal is emitted in the prompt signal playback module 300. This sound drive signal generates a sound-emitting driving magnetic field in the drive motor 310 within the prompt signal playback module 300. The stator winding of the drive motor 310 includes multiple winding coils, which vibrate under the influence of the driving magnetic field to generate sound, thus prompting the robotic arm to switch its working mode. The inverter 221 can convert the intermediate signal into the sound drive signal in the prompt signal conversion module 200.

[0038] This application also provides a robotic arm, including the robotic arm mode completion switching prompt device described in any one of the claims.

[0039] The robotic arm also includes a controller and a drive motor 310; the prompt signal generation module is located in the controller, and the prompt signal playback module is the drive motor 310.

[0040] The robotic arm mode switching completion prompt device and robotic arm provided by this utility model, after the robotic arm has completed the mode switching, generate a specific sound signal through the drive motor to clearly inform the user that the robotic arm has completed the mode switching. 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 know the working status of the robotic arm in a timely and accurate manner, thereby improving the overall operating efficiency and safety.

Claims

1. A robotic arm mode completion switching prompt device, characterized in that, The device comprises a prompt signal generating module, a prompt signal converting module and a prompt signal playing module. The prompt signal generating module is used to generate an initial prompt signal when the mechanical arm completes the switching of working mode. The prompt signal converting module is connected with the prompt signal generating module and is used to convert the initial prompt signal into a sound-emitting driving signal with preset voltage characteristics and frequency characteristics. The prompt signal playing module is connected with the prompt signal converting module and is used to emit sound under the action of the driving signal to prompt the completion of the switching of working mode of the mechanical arm.

2. The apparatus according to claim 1, wherein The prompt signal generating module is arranged in the controller of the mechanical arm and is used to sense a switching signal emitted by the controller for controlling the completion of the switching of working mode of the mechanical arm and generate the initial prompt signal when the switching signal is sensed.

3. The apparatus according to claim 2, wherein The prompt signal generating module comprises a single-chip microcomputer which is used to generate the initial prompt signal.

4. The apparatus according to claim 1, wherein The prompt signal converting module comprises a driving chip and an inverter. The driving chip is connected with the prompt signal generating module and is used to convert the initial prompt signal into an intermediate signal. The inverter is connected with the driving chip and the prompt signal playing module and is used to convert the intermediate signal into the sound-emitting driving signal.

5. The apparatus according to claim 4, wherein The prompt signal converting module further comprises a three-phase bridge inverter circuit which is used to convert direct current into alternating current.

6. The apparatus according to claim 1, wherein The prompt signal playing module is a driving motor of the mechanical arm.

7. A robot arm, characterized in that The device further comprises a controller and the prompt signal generating module is arranged in the controller.

8. The robot arm of claim 7, wherein, The prompt signal playing module comprises a stator winding of the driving motor.

9. The robotic arm of claim 7, wherein, The stator winding comprises a plurality of winding coils and the sound-emitting driving signal is used to generate a sound-emitting driving magnetic field in the driving motor and the plurality of winding coils are used to vibrate under the action of the sound-emitting driving magnetic field to generate sound for prompting the completion of the switching of working mode of the mechanical arm. ​

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