CN118061194A - Method and device for detecting working state of model driving arm, medium and mechanical arm - Google Patents
Method and device for detecting working state of model driving arm, medium and mechanical arm Download PDFInfo
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Abstract
The invention relates to the technical field of detection, in particular to a method and a device for detecting the working state of a model driving arm, a medium and a mechanical arm. The method for detecting the working state of the model driving arm comprises the steps of firstly judging the working state of the driving arm according to whether first stop information and second stop information are obtained after the driving arm rotates for one circle, obtaining the first stop information and the second stop information according to power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, obtaining a second stop relative angle according to the relative angle when the second stop information is obtained, and judging the working state of the driving arm according to the first stop relative angle and the second stop relative angle. The invention can timely find out whether the driving arm is in an abnormal working state, improves the safety of the model and reduces the probability of safety accidents.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a method and a device for detecting the working state of a model driving arm, a medium and a mechanical arm.
Background
Currently, large mobile exhibition models usually involve relatively complex internal mechanical structures (the model generally drives a transmission rod through an internal driving arm, so as to drive the articulation of the model), and an art-designing skin exists outside the model, so that once wiring and sensors inside the model are problematic in the use process, maintenance becomes very tedious and troublesome, so that in order to avoid the problem of introducing additional electrical failures, no additional sensors such as photoelectric switches, magnetic switches and the like are uniformly introduced to detect the operation state of the driving arm inside the model except for the driving wires of the necessary motor and the motor coding signal output cables.
For this purpose, a limiting member is added at a necessary position of the rotation of the driving arm of the model, and thus, the preset movement angle of each driving arm of the model is limited, but each time the model is started, the driving arm repeatedly impacts the limiting member, so that the caused metal fatigue finally leads to deformation and even falling of the limiting member. Once the limiting piece falls off, the mechanism and the appearance of the model can be further damaged due to the fact that a certain driving arm in the model exceeds a preset movement angle of the driving arm, and the inside of the structure collides. In addition, the physical obstruction of other devices, walls and fences caused by the limitation of places and unreasonable placement direction of the model can limit the movement of a certain joint of the model, so that the model cannot exert the optimal display effect.
Therefore, there is a need in the art for a new method and apparatus, medium and mechanical arm for detecting the operating state of the driving arms of a model, for detecting whether each driving arm of the model is properly constrained at low cost and without the need for additional sensors and cables therefor, and in particular for detecting whether each driving arm of the model is properly constrained at power-up.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method and a device for detecting the working state of a model driving arm, a medium and a mechanical arm.
The invention adopts the following technical scheme to realize the aim:
The utility model provides a method for detecting model driving arm operating condition, the driving arm has the stiff end, the driving arm stiff end is connected on drive part, be equipped with at least one locating part in the direction of rotation of driving arm, the contained angle that locating part and driving arm stiff end are connected and are constituted is preset motion angle, the method includes:
s1, according to whether first stop information and second stop information are obtained after the driving arm rotates for one circle, the working state of the driving arm is judged for the first time;
s2, if first stop information and second stop information are obtained according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, and obtaining a second stop relative angle according to the relative angle when the second stop information is obtained;
S3, calculating a current movement angle according to the first stop relative angle and the second stop relative angle;
S4, calculating a difference value between the current movement angle and a preset movement angle;
S5, judging the working state of the driving arm again according to whether the absolute value of the difference value is larger than the preset angle threshold value or not;
And S6, if the absolute value of the difference value is larger than the preset angle threshold, judging the working state of the driving arm finally according to whether the current movement angle is larger than the preset movement angle.
Further, the operating conditions include normal restriction, excessive restriction, unrestricted, and completely unrestricted; the method further comprises the steps of:
when the driving arm is judged to be in one of three abnormal working states of over-limit, out-of-limit and complete out-of-limit, an alarm message is sent.
Further, the method according to any one of the preceding claims is included, the driving arm has a fixed end, the fixed end of the driving arm is connected to the driving component, at least one limiting member is disposed in the rotation direction of the driving arm, and an included angle formed by connecting the limiting member and the fixed end of the driving arm is a preset movement angle, and the device includes:
The relative position encoder is used for detecting the relative angle between the rotary motion position of the driving arm and the initial position of the driving arm when the power-on and power-on are performed in real time;
The power detection unit is used for detecting power data of the driving arm when the driving arm moves in real time;
the control unit is used for driving the driving arm to move;
the computing unit is used for obtaining first stop information and second stop information according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, obtaining a second stop relative angle according to the relative angle when the second stop information is obtained, calculating a current movement angle according to the first stop relative angle and the second stop relative angle, and calculating a difference value between the current movement angle and a preset movement angle;
the storage unit is used for storing a preset angle threshold value and a preset power threshold value;
The judging unit is used for judging the working state of the driving arm according to whether the first stop information and the second stop information are obtained, whether the absolute value of the difference value is larger than the preset angle threshold value or not and whether the current movement angle is larger than the preset movement angle or not.
Further, the relative position encoder is arranged on the driving arm.
Further, the power detection unit is arranged on a motor drive board card, and the motor drive board card is connected with the drive arm through a drive wire.
Further, the operating conditions include normal restriction, excessive restriction, unrestricted, and completely unrestricted;
when the driving arm rotates for one circle, the first stopping information and the second stopping information are not obtained, and the judging unit judges that the driving arm is completely out of limit;
When the absolute value of the difference value is not larger than the preset angle threshold value, the judging unit judges that the driving arm is normally limited;
when the absolute value of the difference value is larger than the preset angle threshold value and the current movement angle is larger than the preset movement angle, the judging unit judges that the driving arm loses limitation;
And when the absolute value of the difference value is larger than the preset angle threshold value and the current movement angle is smaller than the preset movement angle, the judging unit judges that the driving arm is excessively limited.
Further, the first stopping information is power data generated when the driving arm moves to a first rotating direction at a first preset speed and touches an obstacle, and the power data detected by the power detection unit exceeds a preset power threshold;
The second stopping information is power data generated when the driving arm moves to a second rotating direction at a first preset speed and touches an obstacle, and the power data detected by the power detection unit exceeds a preset power threshold value;
the first rotation direction and the second rotation direction are opposite directions.
Further, the method further comprises the following steps:
the alarm device is connected with the judging unit;
When the judging unit judges that the driving arm is in one of three abnormal working states of excessive limitation, limitation losing and complete limitation losing, the judging unit outputs information of the abnormal working state to the alarm equipment so as to trigger the alarm equipment to send out alarm information;
the alarm message comprises at least one of a sound signal, a light signal, a vibration signal, an image signal and a bus prompt.
The mechanical arm comprises the device for detecting the working state of the model driving arm, and further comprises a driving arm and a driving part, wherein the driving arm is provided with a fixed end and a connecting end, the fixed end of the driving arm is connected to the driving part, and the connecting end of the driving arm is connected to the driven part.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the steps of the method as claimed in any one of the preceding claims.
Compared with the prior art, the invention provides a method and a device for detecting the working state of a model driving arm, a medium and a mechanical arm, and the method has the following beneficial effects:
1. The invention can realize detection of the working state of the driving arm when the power-on is started, avoid that a certain driving arm in the model exceeds the preset movement angle to further damage the mechanism and the appearance of the model due to the collision of the inside of the structure, and avoid that other equipment, walls and barriers are physically blocked to limit the movement of a certain joint of the model due to the limitation of a field and the unreasonable placement direction of the model, so that the model cannot exert the best display effect.
2. The invention can ensure that the driving arm finds the correct relative position to expand the correct action, avoid the collision between a certain joint of the model and other equipment and tourists in the field caused by excessive rotation of the driving arm, thereby causing the loss of the model and the equipment, and having the possibility of threatening the safety of the tourists, can timely find out whether the driving arm is in an abnormal working state, improve the safety of the model and reduce the probability of safety accidents.
3. The invention has low cost, and can detect whether each driving arm of the model is correctly limited without adding a sensor and a cable thereof.
Drawings
FIG. 1 is a flow chart of a method for detecting the operating state of a model drive arm in an embodiment of the invention;
FIG. 2 is a schematic diagram of the working principle of the device for detecting the working state of the model driving arm in the embodiment of the invention;
FIG. 3 is a schematic diagram of a specific flow of the drive arm start-up self-test;
Fig. 4 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention.
The mark 1, relative position encoder; 2. a power detection unit; 3. a control unit; 4. an arithmetic unit; 5. a storage unit; 6. a judging unit; 7. an alarm device; 8. a motor drives the board card; 9. a driving arm; 10. a base; 11. a limiting piece; 111. a first limiting member; 112. a second limiting piece; 12. presetting a movement angle; 13. a driving device; 14. a speed reducing device; 15. a relative position detecting device.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, the driving arm 9 has a fixed end, the fixed end of the driving arm 9 is connected to a driving component, a limiting member 11 is disposed in a rotation direction of the driving arm 9, and an included angle formed by connecting the limiting member 11 and the fixed end of the driving arm 9 is a preset movement angle 12, and the method includes:
s1, according to whether first stop information and second stop information are obtained after the driving arm 9 rotates for one circle, the working state of the driving arm 9 is judged for the first time;
s2, if first stop information and second stop information are obtained according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, and obtaining a second stop relative angle according to the relative angle when the second stop information is obtained;
S3, calculating a current movement angle according to the first stop relative angle and the second stop relative angle;
s4, calculating a difference value between the current movement angle and the preset movement angle 12;
s5, judging the working state of the driving arm 9 again according to whether the absolute value of the difference value is larger than the preset angle threshold value or not;
And S6, if the absolute value of the difference value is larger than the preset angle threshold, judging the working state of the driving arm 9 finally according to whether the current movement angle is larger than the preset movement angle 12.
Referring to fig. 1 and 4, in the present embodiment, the operating states include normal restriction, excessive restriction, unrestricted, and completely unrestricted; the method further comprises the steps of:
When it is determined that the drive arm 9 is in one of three abnormal operating conditions of being excessively restricted, losing restriction and completely losing restriction, an alarm message is issued.
Referring to fig. 2 to 4, a device for detecting an operating state of a model driving arm includes any one of the above methods, the driving arm 9 has a fixed end, the fixed end of the driving arm 9 is connected to a driving component, at least one limiting member 11 is disposed in a rotation direction of the driving arm 9, the limiting member 11 performs an inhibiting effect on rotation of the driving arm 9, an included angle formed by connecting the limiting member 11 and the fixed end of the driving arm 9 is a preset movement angle 12, the limiting member 11 may be, but is not limited to, a reinforcing steel bar, and may perform an inhibiting effect on the driving arm 9, and the limiting member 11 may be one or two, specifically, when the limiting member 11 is one, that is, only one limiting member 11 is provided in a rotation circumference of the driving arm 9, the limiting member 11 limits rotation of the driving arm 9 beyond one circumference, and the preset movement angle 12 is a maximum angle of rotation of the driving arm 9 around the fixed end, and approaches 360 °; when the two limiting members 11 are two, namely, two limiting members 11 are arranged in the rotation circumference of the driving arm 9 and are marked as a first limiting member 111 and a second limiting member 112, the preset movement angle 12 is an included angle formed by connecting the first limiting member 111 and the second limiting member 112 with the fixed end of the driving arm 9, under normal conditions, under the condition that no other obstruction exists in the rotation range of the driving arm 9, the rotation angle (namely the current movement angle) of the driving arm 9 is the same as the preset movement angle 12, but each time the driving arm 9 is powered on for self-checking, the driving arm 9 collides with the first limiting member 111 and the second limiting member 112, metal fatigue can be possibly caused for a long time, so that the first limiting member 111 and the second limiting member 112 are bent and deformed, but the first limiting member 111 and the second limiting member 112 are not fallen, at the moment, the rotation angle (namely the current movement angle) of the driving arm 9 is slightly larger than the preset movement angle 12, and the working state of the driving arm 9 is acceptable at the moment; in the present embodiment, the number of the stoppers 11 is two, which are denoted as a first stopper 111 and a second stopper 112.
The device comprises:
The relative position encoder 1 is used for detecting the relative angle between the rotary motion position of the driving arm 9 and the initial position of the driving arm 9 when the power-on and power-on are performed in real time;
specifically, the initial position of the driving arm 9 defaults to the 0 scale when the power is turned on, the driving arm 9 starts from the initial position, performs rotational movement in one direction, the relative angle is marked as positive, the driving arm 9 starts from the initial position, performs rotational movement in the opposite direction, the relative angle is marked as negative, for example, when the driving arm 9 rotates anticlockwise, the relative angle is marked as positive, and when the driving arm 9 rotates clockwise, the relative angle is marked as negative;
In combination with the above-mentioned preset movement angle 12, for example, the preset movement angle 12 is 120 °, the driving arm 9 is located between the first limiting member 111 and the second limiting member 112, the relative angle between the initial position of the driving arm 9 and the first limiting member 111 is 30 ° when the power is turned on, the relative angle between the initial position of the driving arm 9 and the second limiting member 112 is-90 °, and the rotation angle (i.e., the current movement angle) of the driving arm 9 is 30 ° - (-90 °) =120°.
A power detection unit 2, wherein the power detection unit 2 is used for detecting power data when the driving arm 9 moves in real time;
A control unit 3, wherein the control unit 3 is used for driving the driving arm 9 to move;
specifically, the control unit 3 drives the driving arm 9 to move through the motor driving board card 8;
The computing unit 4 is used for obtaining first stop information and second stop information according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, obtaining a second stop relative angle according to the relative angle when the second stop information is obtained, calculating a current movement angle according to the first stop relative angle and the second stop relative angle, and calculating a difference value between the current movement angle and a preset movement angle 12;
the current motion angle should be positive, and if negative, it is converted to positive by absolute value.
A storage unit 5, wherein the storage unit 5 stores a preset angle threshold value and a preset power threshold value;
The judging unit 6 is configured to judge the working state of the driving arm 9 according to whether the first stopping information and the second stopping information are obtained, whether the absolute value of the difference is greater than the preset angle threshold, and whether the current movement angle is greater than the preset movement angle 12.
Specifically, the judging unit 6 may take a preset angle threshold and a preset power threshold stored in the storage unit 5, and judge whether the driving arm 9 rotates for one revolution (i.e., 360 °) to obtain first stop information and second stop information, judge whether the absolute value of the difference is greater than the preset angle threshold, and judge whether the current movement angle is greater than the preset movement angle 12;
The value of the preset angle threshold is between 0.1 and 2 degrees, and is specifically set according to the metal fatigue strength of the limiting piece 11 and the maximum angle of the limiting piece 11 which is bent and deformed until falling off.
The arithmetic unit 4 may be connected to the relative position encoder 1 and the power detection unit 2, respectively.
Referring to fig. 1 and 4, in the present embodiment, the relative position encoder 1 is provided on the driving arm 9, so as to detect the relative angle of the driving arm 9 during the rotational movement.
Referring to fig. 2 and 4, in the present embodiment, the power detection unit 2 is mounted on a motor drive board 8, and the motor drive board 8 is connected to a drive arm 9 through a drive line.
Wherein, the motor drive board card 8 is installed in the chassis, and the chassis can be arranged at one side of the model.
Referring to fig. 2-4, in this embodiment, the operating conditions include normal restriction, excessive restriction, unrestricted, and completely unrestricted;
Wherein, when the first stop information and the second stop information are not obtained after the driving arm 9 rotates for one circle, the judging unit 6 judges that the driving arm 9 is completely out of limit, and the limiting piece 11 is completely fallen off at the moment;
When the absolute value of the difference is not greater than the preset angle threshold, the judging unit 6 judges that the driving arm 9 is normally limited;
For example, the preset angle threshold is selected to be 0.8 °, the limiting members 11 are two, the preset movement angle 12 is 120 °, the current movement angle is 120.5 °, the absolute value of the difference between the current movement angle and the preset movement angle 12 is 0.5 °, and 0.5 ° <0.8 °, at this time, the judging unit 6 judges that the driving arm 9 is normally limited.
When the absolute value of the difference is greater than the preset angle threshold and the current movement angle is greater than the preset movement angle 12, the judging unit 6 judges that the driving arm 9 is out of limit;
The working state that the driving arm 9 loses limitation does not occur when the limiting pieces 11 are one, and the working state that the driving arm 9 loses limitation occurs only when the limiting pieces 11 are two and one of the limiting pieces 11 falls off;
For example, the preset angle threshold is selected to be 0.8 °, the preset movement angle 12 is 120 °, the current movement angle is 356 ° (because one of the limiting members 11 falls off, and the remaining limiting member 11 blocks the driving arm 9 to make the current movement angle approach 360 °), the absolute value of the difference between the current movement angle and the preset movement angle 12 is 236 °,236 ° >0.8 °, and the current movement angle 356 ° is greater than 120 ° of the preset movement angle 12, at this time, the judging unit 6 judges that the driving arm 9 loses restriction;
When the absolute value of the difference is greater than the preset angle threshold and the current movement angle is less than the preset movement angle 12, the judging unit 6 judges that the driving arm 9 is excessively limited, and at this time, other obstacles (such as other devices, tourists, etc. in the field) exist within the range of the preset movement angle 12.
For example, the preset angle threshold is selected to be 0.8 °, the limiting pieces 11 are two, the preset movement angle 12 is 120 °, the current movement angle is 90 °, the absolute value of the difference between the current movement angle and the preset movement angle 12 is 30 °,30 ° >0.8 °, and the current movement angle 90 ° is smaller than 120 ° of the preset movement angle 12, at this time, the judging unit 6 judges that the driving arm 9 is excessively limited.
Referring to fig. 1 to 4, in the present embodiment, the first stopping information is power data generated when the driving arm 9 moves at a first preset speed in a first rotation direction to touch an obstacle, and the power data detected by the power detecting unit 2 exceeds a preset power threshold;
The second stopping information is power data generated when the driving arm 9 moves to a second rotation direction at a first preset speed and touches an obstacle, and the power data detected by the power detection unit 2 exceeds a preset power threshold value at the moment;
the first rotation direction and the second rotation direction are opposite directions.
And obtaining first blocking information and second blocking information according to the fact that the power data detected by the power detection unit 2 exceeds a preset power threshold.
In this embodiment, the two limiting members 11 are denoted as a first limiting member 111 and a second limiting member 112, if there is no other obstacle in the range of the preset movement angle 12, the first limiting member 111 and the second limiting member 112 are obstacles, when the driving arm 9 moves in the first rotation direction at the first preset speed to touch the obstacle, the power detection unit 2 detects the surge power data, the operation unit 4 reads the surge power data, and determines whether the surge power data exceeds a preset power threshold (generally, exceeds the preset power threshold), and when the surge power data exceeds the preset power threshold, the surge power data is used as first stop information, and at this time, the relative position encoder 1 detects the relative angle between the rotation angle when the driving arm 9 touches the obstacle and the initial position of the driving arm 9 when the driving arm is powered on according to the first stop information, which is the first stop relative angle; when the driving arm 9 moves to the first rotation direction at the first preset speed and touches an obstacle, the driving arm 9 moves to the second rotation direction at the first preset speed, when the obstacle is touched again, the power detection unit 2 detects the surge power data again, the operation unit 4 reads the surge power data and judges whether the surge power data exceeds a preset power threshold (generally exceeds) or not, when the surge power data exceeds the preset power threshold, the surge power data is used as second stop information, and at the moment, the relative position encoder 1 detects the relative angle between the rotation angle when the driving arm 9 touches the obstacle again and the initial position of the driving arm 9 when the power is turned on according to the second stop information, and the relative angle is the second stop relative angle.
Specifically, the first preset speed is a constant low speed, and the preset power threshold is set according to a specific joint of the model;
For example, if the normal operation power peak value achieving the first preset speed is 10 watts, the preset power threshold value may be set to 1.5 times or 2 times of the power peak value, that is, 15 watts or 20 watts, when the driving arm 9 rotates once and does not touch the obstacle, the driving arm 9 always rotates at the first preset speed, if the driving arm 9 touches the obstacle, the driving arm 9 suddenly stops, the power peak value will increase suddenly, and once the preset power threshold value is exceeded, it is determined that the driving arm 9 touches the obstacle (i.e., the limiting member 11 or other devices, guests in the field, etc.), wherein 1.5 times or 2 times may be understood as the preset overrun of the power peak value, that is, the preset power threshold value=normal operation power peak value×the preset overrun of the power peak value, and less than 1.5 times or 2 times may be understood as the overrun of the power peak value, and the corresponding threshold value is obtained through the normal operation power peak value×overrun, so that the preset overrun ratio may also be taken as a criterion, and when the overrun of the power peak value exceeds the preset power peak value, the preset overrun exceeds the preset overrun and is determined as the obstacle, and reaches the overrun 9.
Referring to fig. 2 and 4, in the present embodiment, further including:
an alarm device 7 connected to the judgment unit 6;
Wherein, when the judging unit 6 judges that the driving arm 9 is in one of three abnormal working states of excessive limitation, limitation losing and complete limitation losing, the information of the abnormal working state is output to the alarm device 7 to trigger the alarm device 7 to send out alarm information.
The alarm message comprises at least one of a sound signal, a light signal, a vibration signal, an image signal and a bus prompt, so as to play a role in prompting and warning.
Specifically, the alarm device 7 may be an alarm, an alarm lamp or an alarm bus, and when the alarm device 7 is an alarm or an alarm lamp, the alarm device may be prompted by a sound signal, a light signal or the like, and when the alarm device 7 is an alarm bus, the alarm bus may be one of buses such as RS485, CAN or LIN, and may send the detected working state information of the driving arm 9 to the peripheral device in a contracted data packet.
In addition, when the judging unit 6 judges that the driving arm 9 is normally limited (i.e., in a normal operation state), normal state indication information may also be issued by the alarm device 7.
For example, when the judging unit 6 judges that the driving arm 9 is normally limited, the alarm device 7 is triggered to emit green light; when the judging unit 6 judges that the driving arm 9 completely loses the limit, the alarm device 7 is triggered to emit red light; when the judging unit 6 judges that the driving arm 9 loses the limit, the alarm device 7 is triggered to emit yellow light; when the judging unit 6 judges that the driving arm 9 is excessively limited, the alarm device 7 is triggered to emit blue light, and the current working state of the driving arm 9 is displayed in real time.
When the driving arm 9 is in an excessively limited abnormal working state, the driving arm 9 is blocked by other obstacles (such as other equipment and tourists in the field), and the driving arm 9 needs to stop working at the moment, so that the damage caused by collision between a certain joint driven by the driving arm 9 and the other equipment and tourists in the field is avoided, and the damage to tourists in an ornamental model is further avoided;
when the driving arm 9 is in an abnormal working state of losing restriction or losing restriction completely, it means that one of the limiting members 11 falls off or falls off completely, at this time, the driving arm 9 cannot find a correct relative position to expand a correct action, and a certain joint of the model and other devices and tourists in the field may collide due to excessive rotation of the driving arm, so that the model and the devices are lost, and the safety possibility of the tourists is threatened, so that the driving arm 9 also stops working under the condition of losing restriction and losing restriction completely.
When the driving arm 9 is in an abnormal working state of being excessively limited, losing limitation or completely losing limitation, after the driving arm 9 stops working, the alarm device 7 generates a corresponding signal according to the abnormal working state, so that a field user or a remote factory can know the type of the abnormal working state of the fault, and a corresponding maintenance and replacement plan is formulated, thereby improving the maintenance efficiency.
Referring to fig. 4, a mechanical arm comprises the device for detecting the working state of the driving arm 9 of the model according to any one of the above description, and further comprises a driving arm 9 and a driving component, wherein the driving arm 9 has a fixed end and a connecting end, the fixed end of the driving arm 9 is connected to the driving component, and the connecting end of the driving arm 9 is connected to the driven component.
In this embodiment, a plurality of mechanical arms are disposed in the model, each mechanical arm is connected to a different joint through a driven component connected to the connecting end of the driving arm 9, so as to drive the joint to move, for example, a joint of a leg, a joint of a head or a joint of a front claw of the model (in this embodiment, the model is a dinosaur model), the driven component may be a transmission rod, and the transmission rod acts on a corresponding joint on the model, so that the joint on the model rotates relatively, and then drives the corresponding joint on the model.
Specifically, the driving component includes a driving device 13 and a speed reducer 14, where the driving device 13 may be a motor, which is not described in detail herein, the speed reducer 14 may be a reduction gearbox, which is not described in detail herein, the output shaft of the driving device 13 is connected to the speed reducer 14, the output shaft of the speed reducer 14 is connected to the fixed end of the driving arm 9, the output shaft of the driving device 13 may be sleeved with a relative position detecting device 15, the relative position detecting device 15 may be a relative position encoder 1, the relative position detecting device 15 may directly detect the direction in which the output shaft of the driving device 13 rotates, how much the output shaft rotates, and according to the reduction ratio (the reduction ratio is a fixed parameter once the speed reducer 14 is designed and installed on a single product) of the subsequent speed reducer 14, the relative angle through which the driving arm 9 rotates can be indirectly calculated.
The speed reducer 14 is mounted on the base 10, and the base 10 may be a mounting seat or a mounting rod inside the model.
When the driving device 13 adopts an alternating current servo motor, the motor driving board card 8 is connected with the driving device 13 through a UVW three-phase driving line.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the steps of the method as claimed in any one of the preceding claims.
The storage medium may be connected to each unit and device respectively, so as to store the first stop information, the second stop information, the first stop relative angle, the second stop relative angle, the current movement angle, the preset movement angle 12, the abnormal working state report, the difference between the current movement angle and the preset movement angle 12, and the working state of the driving arm 9, so as to facilitate the subsequent maintenance or the calling and checking of other devices.
In summary, the invention can realize detection of the working state of the driving arm 9 when the power-on is started, avoid that the mechanism and the appearance of the model are further damaged due to the fact that a certain driving arm 9 in the model exceeds the preset movement angle 12 of the driving arm, and avoid that the movement of a certain joint of the model is limited due to physical obstruction of other equipment, walls and fences caused by limitation of places and unreasonable placement direction of the model, so that the model cannot exert the best display effect.
The invention can ensure that the driving arm 9 finds the correct relative position to expand the correct action, avoid collision between a certain joint of the model and other equipment and tourists in the field caused by excessive rotation of the driving arm, further cause the loss of the model and the equipment, and have the possibility of threatening the safety of the tourists, can timely find out whether the driving arm 9 is in an abnormal working state, improve the safety of the model and reduce the probability of safety accidents.
The invention has low cost and can detect whether each driving arm 9 of the model is correctly limited without adding a sensor and a cable thereof.
What is not described in detail in this specification is prior art known to those skilled in the art.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention. It will be apparent that the described embodiments are merely some, but not all, embodiments of the invention. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present invention or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, which also falls within the scope of the present invention.
Claims (10)
1. The method for detecting the working state of the driving arm of the model is characterized in that the driving arm is provided with a fixed end, the fixed end of the driving arm is connected to a driving part, at least one limiting piece is arranged in the rotation direction of the driving arm, and an included angle formed by connecting the limiting piece and the fixed end of the driving arm is a preset movement angle, and the method comprises the following steps:
s1, according to whether first stop information and second stop information are obtained after the driving arm rotates for one circle, the working state of the driving arm is judged for the first time;
s2, if first stop information and second stop information are obtained according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, and obtaining a second stop relative angle according to the relative angle when the second stop information is obtained;
S3, calculating a current movement angle according to the first stop relative angle and the second stop relative angle;
S4, calculating a difference value between the current movement angle and a preset movement angle;
S5, judging the working state of the driving arm again according to whether the absolute value of the difference value is larger than the preset angle threshold value or not;
And S6, if the absolute value of the difference value is larger than the preset angle threshold, judging the working state of the driving arm finally according to whether the current movement angle is larger than the preset movement angle.
2. The method of claim 1, wherein the operating state comprises normal restriction, excessive restriction, loss of restriction, and complete loss of restriction; the method further comprises the steps of:
when the driving arm is judged to be in one of three abnormal working states of over-limit, out-of-limit and complete out-of-limit, an alarm message is sent.
3. A device for detecting the working state of a model driving arm, comprising the method of any one of claims 1 or 2, wherein the driving arm has a fixed end, the fixed end of the driving arm is connected to a driving component, at least one limiting member is arranged in the rotation direction of the driving arm, and an included angle formed by connecting the limiting member and the fixed end of the driving arm is a preset movement angle, and the device comprises:
The relative position encoder is used for detecting the relative angle between the rotary motion position of the driving arm and the initial position of the driving arm when the power-on and power-on are performed in real time;
The power detection unit is used for detecting power data of the driving arm when the driving arm moves in real time;
the control unit is used for driving the driving arm to move;
the computing unit is used for obtaining first stop information and second stop information according to the power data, obtaining a first stop relative angle according to the relative angle when the first stop information is obtained, obtaining a second stop relative angle according to the relative angle when the second stop information is obtained, calculating a current movement angle according to the first stop relative angle and the second stop relative angle, and calculating a difference value between the current movement angle and a preset movement angle;
the storage unit is used for storing a preset angle threshold value and a preset power threshold value;
The judging unit is used for judging the working state of the driving arm according to whether the first stop information and the second stop information are obtained, whether the absolute value of the difference value is larger than the preset angle threshold value or not and whether the current movement angle is larger than the preset movement angle or not.
4. A device according to claim 3, wherein the relative position encoder is provided on the drive arm.
5. The device of claim 4, wherein the power detection unit is mounted on a motor drive board that is connected to the drive arm via a drive line.
6. The apparatus of claim 5, wherein the operating state comprises normal restriction, excessive restriction, loss of restriction, and complete loss of restriction;
when the driving arm rotates for one circle, the first stopping information and the second stopping information are not obtained, and the judging unit judges that the driving arm is completely out of limit;
When the absolute value of the difference value is not larger than the preset angle threshold value, the judging unit judges that the driving arm is normally limited;
when the absolute value of the difference value is larger than the preset angle threshold value and the current movement angle is larger than the preset movement angle, the judging unit judges that the driving arm loses limitation;
And when the absolute value of the difference value is larger than the preset angle threshold value and the current movement angle is smaller than the preset movement angle, the judging unit judges that the driving arm is excessively limited.
7. The apparatus according to claim 6, wherein the first stopping information is power data generated when the driving arm moves in a first rotation direction at a first preset speed to touch an obstacle, and the power data detected by the power detection unit exceeds a preset power threshold;
The second stopping information is power data generated when the driving arm moves to a second rotating direction at a first preset speed and touches an obstacle, and the power data detected by the power detection unit exceeds a preset power threshold value;
the first rotation direction and the second rotation direction are opposite directions.
8. The apparatus as recited in claim 7, further comprising:
the alarm device is connected with the judging unit;
When the judging unit judges that the driving arm is in one of three abnormal working states of excessive limitation, limitation losing and complete limitation losing, the judging unit outputs information of the abnormal working state to the alarm equipment so as to trigger the alarm equipment to send out alarm information;
the alarm message comprises at least one of a sound signal, a light signal, a vibration signal, an image signal and a bus prompt.
9. A mechanical arm, characterized in that the mechanical arm comprises the device for detecting the working state of the model driving arm according to any one of claims 3 to 8, and further comprises a driving arm and a driving part, wherein the driving arm is provided with a fixed end and a connecting end, the fixed end of the driving arm is connected to the driving part, and the connecting end of the driving arm is connected to the driven part.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, causes the processor to perform the steps of the method according to any one of claims 1 or 2.
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