Man-machine cooperative operation control mechanism for mechanical arm

Abstract

The utility model belongs to the technical field of industrial automation control, and particularly relates to a mechanical arm man-machine cooperative operation control mechanism which comprises a rocker operating handle, a cooperative mechanical arm, an industrial grade wireless communication device, an upper computer and a joint simulation platform mechanism. The sensor comprises a laser distance measuring sensor and an inertial sensor; the rocker operating handle is in transmission connection with the collaborative mechanical arm, the upper computer and the joint simulation platform mechanism through the industrial-grade wireless communication device. According to the utility model, the inertial sensor and the laser ranging sensor collect data in real time and cooperate with the wireless communication device, the host computer and the joint simulation platform to carry out fusion processing, so that an operator can obtain the state of the mechanical arm and an environment information instruction in real time to control and cooperate with the mechanical arm to execute corresponding actions; the operation precision and efficiency are improved, and the real-time performance and precision of man-machine cooperation are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation control technology, specifically relating to a human-machine collaborative operation control mechanism for a robotic arm. Background Technology

[0002] With the rapid development of intelligent manufacturing and the continuous improvement of industrial automation, the demand for human-machine collaborative operations is increasing in high-risk, complex, or high-precision scenarios. In traditional industrial operation modes, direct human involvement in high-risk environments (such as radiation, high-temperature, and dusty environments) faces extremely high safety risks, and the accuracy and efficiency of manual operation are significantly limited in complex tasks. Meanwhile, some existing collaborative systems suffer from high communication latency (e.g., traditional Bluetooth transmission latency >30ms), inaccurate operation response, and insufficient multi-device collaboration capabilities, making it difficult to meet the requirements of modern industry for efficient, safe, and precise operations. According to the "2024 World Robotics Report," the global failure rate of industrial robots in complex operating environments due to defects in collaborative systems is as high as 35%, and the proportion of human intervention costs is increasing year by year. Therefore, developing a low-latency, high-precision, and highly collaborative human-machine collaborative operating system has become an urgent industry need.

[0003] Traditional human-robot collaborative operation mainly relies on manual control of robotic arms to complete tasks, depending on simple command transmission modes, such as remote control operation based on Bluetooth transmission. Operators send commands through a handle, and the robotic arm receives and executes the corresponding actions. However, this process has significant delays and lacks real-time data feedback, making it difficult to achieve precise control.

[0004] It has the following disadvantages:

[0005] 1. High communication latency: Traditional Bluetooth transmission latency is >30ms, which causes the operator and the robotic arm to move out of sync, affecting the accuracy and efficiency of the operation. In high-risk environments, the latency may cause safety accidents.

[0006] 2. The lack of real-time data feedback means that operators cannot obtain key data such as the position, posture, and force of the robotic arm in real time, making it difficult to accurately monitor and adjust the operation process, resulting in a low completion rate for complex tasks.

[0007] 3. Insufficient multi-device collaboration capability: In scenarios requiring multiple robotic arms to work together, existing human-machine operation control devices struggle to achieve precise synchronization and coordinated control between multiple devices, limiting their application in large-scale industrial production. Utility Model Content

[0008] To address the problems mentioned in the background section, this invention provides a robotic arm human-machine collaborative operation control mechanism. This mechanism solves the problems of high communication latency, non-real-time data feedback, and insufficient multi-device collaboration capabilities in existing systems. It enables low-latency, high-precision collaborative operation between humans and machines, improving operational efficiency and safety in complex scenarios while reducing manual intervention costs, thus meeting the demands of modern industry for efficient, safe, and precise operations.

[0009] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm human-machine collaborative operation control mechanism, comprising a joystick operating handle, a collaborative robotic arm, an industrial-grade wireless communication device, a host computer, and a co-simulation platform mechanism. The joystick operating handle adopts a Hall effect joystick structure design and integrates multiple sensors, including a laser rangefinder sensor installed at the front end of the joystick operating handle for environmental obstacle detection and an inertial sensor installed at the top of the joystick operating handle for real-time acquisition of three-dimensional attitude. The joystick operating handle is interconnected with the collaborative robotic arm, the host computer, and the co-simulation platform mechanism through the industrial-grade wireless communication device.

[0010] Furthermore, the inertial sensor is an HBK3DM-CV7-AR model, which is soldered to the main control board of the joystick control handle via an I2C interface; the laser rangefinder is a Baumer OM30-P0350.HV.YIN model, with a ranging range of 0.035-5m, and the laser rangefinder is connected to the ADC pin of the main control board of the joystick control handle via an analog output of 0-10V.

[0011] Furthermore, the Hall effect joystick is an HJ-08 industrial-grade joystick, which is connected to the main control board of the joystick operating handle via an SPI interface and is positioned in the palm of the joystick operating handle to achieve precise control of X / Y axis displacement.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1) This utility model collects and fuses data in real time through multiple sensors, including inertial sensors and laser rangefinders. Operators can obtain real-time information on the status and environment of the robotic arm and control the robotic arm to perform corresponding actions, thereby improving the accuracy of operations by more than 40% and increasing the completion rate of complex tasks from 65% to 95%. The multi-device collaboration capability is enhanced through the joystick operation handle, collaborative robotic arm, host computer, and joint simulation platform mechanism, which can realize precise synchronization and coordinated control between multiple robotic arms. In scenarios such as assembly line assembly and handling of large workpieces, the production efficiency is increased by more than 30%.

[0014] 2) Communication latency is significantly reduced. By adopting the EtherNet / IP protocol combined with industrial-grade wireless communication devices, the command transmission latency is reduced from >30ms in traditional solutions to ≤15ms, greatly improving the real-time performance and accuracy of human-machine collaboration.

[0015] Operators can remotely control the robotic arm to complete tasks, avoiding direct contact with dangerous environments, fundamentally eliminating the dilemma of "trading life for safety," and reducing the accident rate.

[0016] With its modular design, it is easy to integrate with different types of robotic arms, sensors and execution devices, and is suitable for various scenarios such as industrial manufacturing, logistics sorting, agricultural harvesting and hazardous operations, with broad application prospects. Attached Figure Description

[0017] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings;

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the rocker operating handle in this utility model.

[0020] Explanation of icon numbers:

[0021] 1. Joystick control handle; 11. Hall effect joystick; 12. Inertial sensor; 13. Laser rangefinder sensor; 2. Collaborative robotic arm; 21. Robotic arm controller; 3. Industrial-grade wireless communication device; 4. Host computer; 5. Co-simulation platform mechanism. Detailed Implementation

[0022] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0023] Please see Figures 1-2This utility model provides the following technical solution: a robotic arm human-machine collaborative operation control mechanism, including a joystick operating handle 1, a collaborative robotic arm 2, an industrial-grade wireless communication device 3, a host computer 4, and a co-simulation platform mechanism 5. The joystick operating handle 1 adopts a Hall effect joystick 11 structure design and integrates multiple sensors, including a laser rangefinder 13 installed at the front end of the joystick operating handle 1 for environmental obstacle detection and an inertial sensor 12 installed at the top of the joystick operating handle 1 for real-time acquisition of three-dimensional attitude. The joystick operating handle 1 is interconnected with the collaborative robotic arm 2, the host computer 4, and the co-simulation platform mechanism 5 through the industrial-grade wireless communication device 3. The base of the collaborative robotic arm 2 is equipped with a controller 21 for data transmission and command control of the robotic arm with the sensors, the host computer 4, and the co-simulation platform mechanism 5. The operator inputs action commands through the joystick operating handle 1 to control the movement, rotation, and grasping of the collaborative robotic arm 2.

[0024] Specifically, the inertial sensor 12 is an HBK 3DM-CV7-AR model inertial sensor with an accuracy of ±0.1° / s angular velocity. It is soldered to the main control board of the joystick operating handle 1 via the I2C interface SDA / SCL pins. The laser rangefinder 13 is a Baumer OM30-P0350.HV.YIN model laser rangefinder with a ranging range of 0.035-5m. The laser rangefinder 13 is connected to the PA0 pin of the STM32 ADC on the main control board of the joystick operating handle 1 via an analog output of 0-10V. The inertial sensor 12 is used to collect real-time data such as the position, attitude, and acceleration of the robotic arm, while the laser rangefinder 13 is used to detect real-time data such as the spatial position, environmental obstacles, etc. of the control end. After being processed by a dedicated signal conditioning circuit, the sensor data is transmitted to the controller 21 of the robotic arm, the host computer 4, and the ROS-Matlab-Simulink co-simulation platform mechanism 5.

[0025] Sensor data dashboard: inertial attitude angle (dynamic curve), laser range measurement value (bar chart), joystick position (X / Y axis coordinates).

[0026] Specifically, the Hall effect rocker 11 is an HJ-08 industrial-grade rocker, which is connected to the main control board of the rocker operation handle 1 via an SPI interface MOSI / MISO / SCK. It is positioned in the palm of the rocker operation handle 1 to achieve precise control of X / Y axis displacement.

[0027] Specifically, the main control board uses an STM32 H743VI main control board, which is connected to an Ethernet chip with a model of LAN8720 through the RMII interface, and integrates a 5V to 3.3V step-down circuit to power the sensor, and GND common ground to ensure signal stability.

[0028] The joystick control handle 1 has a shell made of 3D printed ABS material, with a sensor window (laser rangefinder light-transmitting hole), a mesh port (M12 waterproof connector) and an anti-slip grip design.

[0029] The industrial-grade wireless communication device 3's communication module uses the EtherNet / IP protocol to realize command and data transmission between the operating handle and the robotic arm controller. This module features strong anti-interference capabilities and high transmission speed, ensuring command transmission latency ≤15ms and stable and reliable data transmission.

[0030] Specifically, the industrial-grade wireless communication device 3 uses an Advantech EKI-2525 8-port gigabit industrial switch, which supports IEEE 1588PTP time synchronization and QoS (802.1p priority), is powered by 24VDC, and is installed in a control cabinet.

[0031] The industrial-grade wireless communication device 3 uses CAT6A shielded twisted-pair cable (transmission delay ≤0.1μs / m) for its cables and connectors, with M12-D coded waterproof connectors crimped at both ends (compliant with IEC 61076-2-101 standard), and the shielding layer is grounded to reduce electromagnetic interference.

[0032] The ROS-Matlab-Simulink co-simulation platform, component 5, is used for system modeling, simulation, and algorithm development. 1. ROS version: Noetic (Ubuntu 20.04), used to build the node communication network. 2. Matlab-Simulink: R2022b, integrating the ROS Toolbox for data interaction. The co-simulation platform component 5 can receive sensor data in real time, perform multi-source data fusion and processing, and provide optimized control commands to the controller.

[0033] The co-simulation platform, mechanism 5, is equipped with the Rviz visualization diagnostic system: developed based on ROS, it can display the robot arm's status, motion trajectory, sensor data, and other information in real time, presenting them to the operator in a visual manner. Operators can use this system to monitor the robot arm's operation process in real time, promptly identify and resolve problems, and improve the reliability and safety of operations.

[0034] The working principle and usage process of this utility model are as follows: During use, the operator inputs action commands via a joystick control handle 1. These commands are transmitted to the host computer 4 via an industrial-grade wireless communication device 3 based on the EtherNet / IP protocol. Upon receiving the commands, the host computer 4 combines real-time data collected by the sensor group, including the position, attitude, and environmental obstacles of the control terminal, and generates drive signals through an intelligent control algorithm to control the collaborative robotic arm 2 to perform corresponding actions. During operation, the sensor group continuously collects data and transmits it to the host computer 4 and the co-simulation platform mechanism 5. The co-simulation platform mechanism 5 performs data fusion processing and analysis, optimizes the control algorithm, and ensures the accuracy and adaptability of the collaborative robotic arm 2's movements. The Rviz visual diagnostic system displays the operation process and data in real time, allowing the operator to adjust commands promptly based on feedback information, achieving dynamic collaboration between human and machine.

[0035] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions conceived without inventive effort should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. A robotic arm human-machine collaborative operation control mechanism, characterized in that: The system includes a joystick operating handle (1), a collaborative robotic arm (2), an industrial-grade wireless communication device (3), a host computer (4), and a co-simulation platform mechanism (5). The joystick operating handle (1) adopts a Hall effect joystick (11) structure design and integrates multiple sensors, including a laser rangefinder (13) installed at the front end of the joystick operating handle (1) for detecting environmental obstacles and an inertial sensor (12) installed at the top of the joystick operating handle (1) to collect three-dimensional attitude data in real time. The joystick operating handle (1) is interconnected with the collaborative robotic arm (2), the host computer (4), and the co-simulation platform mechanism (5) through the industrial-grade wireless communication device (3).

2. The robotic arm human-machine collaborative operation control mechanism according to claim 1, characterized in that: The inertial sensor (12) is an HBK 3DM-CV7-AR inertial sensor, which is soldered to the main control board of the joystick operating handle (1) via an I2C interface; the laser rangefinder (13) is a BaumerOM30-P0350.HV.YIN laser rangefinder, with a range of 0.035-5m. The laser rangefinder (13) is connected to the ADC pin of the main control board of the joystick operating handle (1) via an analog output of 0-10V.

3. The robotic arm human-machine collaborative operation control mechanism according to claim 1, characterized in that: The Hall effect rocker (11) is an HJ-08 industrial-grade rocker, which is connected to the main control board of the rocker operation handle (1) via an SPI interface. It is located in the palm position of the rocker operation handle (1) to achieve fine control of X / Y axis displacement.

4. The robotic arm human-machine collaborative operation control mechanism according to claim 2, characterized in that: The main control board is an STM32 H743VI main control board, which is connected to an Ethernet chip of model LAN8720 via the RMII interface, and integrates a 5V to 3.3V step-down circuit to power the sensor.

5. The robotic arm human-machine collaborative operation control mechanism according to claim 1, characterized in that: The industrial-grade wireless communication device (3) uses an 8-port gigabit industrial switch of model EKI-2525 from Advantech.

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