CN209050760U - A kind of feeding mechanical arm - Google Patents
A kind of feeding mechanical arm Download PDFInfo
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- CN209050760U CN209050760U CN201821935500.4U CN201821935500U CN209050760U CN 209050760 U CN209050760 U CN 209050760U CN 201821935500 U CN201821935500 U CN 201821935500U CN 209050760 U CN209050760 U CN 209050760U
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Abstract
The utility model belongs to cooperation mechanical arm technical field, discloses a kind of feeding mechanical arm, and feeding mechanical arm includes pedestal, mechanical arm body and device for feeding, and the bottom end of the machinery arm body is connect with base rotation, and device for feeding is set to the top of mechanical arm body；When concrete application, mechanical arm can be from specified clamping coordinate position feeding, and it is edible for user to be sent to specified feeding coordinate position.The utility model detects the curent change in steering engine by current sensor, regulates and controls to feeding process, control steering engine can hover in time after touch event occurs for device for feeding, high degree of automation can be used cooperatively with a variety of tablewares；Effect by user to device for feeding applied force, the intention of automatic identification user, realize feeding again, improve it is handling, it is more intelligent, reduce the manipulation difficulty of user.Therefore, the utility model is suitble to promote the use of.
Description
Technical field
The utility model belongs to cooperation mechanical arm technical field, and in particular to a kind of feeding mechanical arm.
Background technique
Mechanical arm be a multiple-input and multiple-output, nonlinearity, close coupling complication system.Because of its unique operation spirit
Activity is used widely in fields such as industry assembling, safety anti-explosives；With the deep research and development of mechanical arm, structure and essence
Degree is greatly improved, and is not only applied in current field, and also expansion to many direct auxiliary people is operated
Technical field, or even the work of people can be partially replaced, in health maintenance field, there is the mechanical arm investment fortune for feeding
With, it is some lost capacity or person entirely incapable of legal transaction person's assisting in feeding, reduces the labor intensity of nursing staff,
Also the working radius that can increase nursing staff enables nursing staff to look after more people simultaneously.
Mechanical arm for feeding mainly includes two major classes, and one kind is to be determined using universal cooperation mechanical arm it
Inhibition and generation programming development achieves feeding function.However universal cooperation mechanical arm cost is high, generally in 10 to 20 ten thousand people
Coin or so realizes that daily life function as feeding is unreasonable with the mechanical arm of such valuableness, therefore such mechanical arm is only
It rests in some laboratories or demonstration project.
Another kind of is the feeding mechanical arm specially researched and developed for feeding, and this kind of mechanical arm also lacks on the market, also deposits very much
In many deficiencies.Such as: almost mechanical arm can only use single spoon to scoop food, it is difficult to and realization smoothly dips,
Food in service plate can not be scooped to the greatest extent, cause food waste；Such mechanical arm is bulky, it is difficult to control, some mechanical arm is logical
It crosses and individual control stick is set, control is carried out by chin by diner and chooses food, but is unsatisfactory；Such feeding is mechanical
Arm is required mostly using matched integrated service plate, and such purpose is to make the three-dimensional coordinate of clamping food fully controllable, still
This also brings serious limitation, and service plate grid quantity determines vegetable quantity；Service plate volume limits food total amount etc..
Therefore, it is needed in this field in order to further increase the feeding smooth degree of feeding mechanical arm and manipulation convenient degree etc.
More reasonable technical solution is proposed, the technical issues of to better solve instantly.
Utility model content
The utility model provides a kind of feeding mechanical arm, it is intended to the device for feeding for improving feeding mechanical arm, it can
Food is smoothly obtained, the efficiency of feeding is improved and reduces food waste.
In order to realize said effect, the technology employed by the present utility model is
A kind of feeding mechanical arm, including pedestal, mechanical arm body and device for feeding, the bottom end and bottom of the machinery arm body
Seat rotation connection, device for feeding are set to the top of mechanical arm body.Specifically, being provided with control panel and bottom in the pedestal
Portion's steering engine, bottom steering engine is for driving mechanical arm to horizontally rotate；The mechanical arm body includes the sequentially connected horn of multistage,
By relatively rotating after horn servo driving in vertical direction, bottom steering engine and horn steering engine are electrically connected to control adjacent horn
Plate, and current sensor is respectively connected between each steering engine and control panel；The device for feeding includes the lower part mutually fastened
Spoon body and top spoon body, the lower part spoon body are fixedly attached to mechanical arm, and the top spoon body after feeding servo driving by erecting
Histogram realizes the opening and closing of device for feeding to rotation.
The utility model drives device for feeding by pedestal and mechanical arm body, and pedestal realizes the driving on horizontal plane, machine
Tool arm body realizes the driving on vertical plane, and device for feeding is sent after specified clamping position acquisition food to specified feeding position,
Convenient for users to dining.
Pedestal fix whole device, guarantee whole device be stably connected with and reliability service, therefore to above-mentioned technical proposal into
Row optimization, the pedestal includes bottom plate and bottom cover, and bottom cover is fastened on bottom plate, and the upper surface of bottom cover is provided with axis hole, bottom
The output shaft of portion's steering engine is pierced by axis hole vertically.
As a preferred option, the bottom plate can be fastened on desktop or other certain designated positions, linger in advance on bottom plate
Hole is connect, is fixed using connector.
Further, above-mentioned technical proposal is optimized, it is described to realize driving of the mechanical arm body on vertical plane
Mechanical arm body include the first horn, the second horn, third horn and the 4th horn, the horn steering engine include the first rudder
Machine, the second steering engine and third steering engine；First horn is located above bottom cover and the output shaft of bottom steering engine is followed to rotate；It is described
First steering engine level is set in the first horn, and the output shaft of the first steering engine connect with the lower end of the second horn and drives the second horn
Rotation；The upper end of second horn is equipped with third horn, and the second steering engine level is set to the lower end of third horn, the second steering engine
Output shaft is connect with the upper end of the second horn；The third steering engine level is set to the upper end of third horn, the output of third steering engine
Axis connect with the lower end of the 4th horn and the 4th horn is driven to rotate.
Further, above-mentioned technical proposal is continued to optimize and use preferred scheme, second horn is by two
Side arm disposed in parallel and the reinforcement connecting rod composition between two side arms, the lower end and upper end of two side arms are in clamping shape difference
It is connect with the first steering engine, the second steering engine.Reinforcing connecting rod can be improved the intensity of the second horn, by the second horn to clamp shape connection the
One steering engine and the second steering engine, can balance the stress of the second horn, so that stationarity is more preferable during operation for the second horn.
Further, above-mentioned technical proposal is optimized, the 4th horn includes interconnecting piece and power part, connection
Portion is connected with third steering engine, and power part is box body and internal setting feeding steering engine, and the output shaft of feeding steering engine stretches out power part, defeated
Shaft drives the rotation of top spoon body.
Further, above-mentioned technical proposal is optimized, the interconnecting piece is U-shaped structure, and interconnecting piece is in clamping shape
It is connect with third steering engine.
Further, above-mentioned technical proposal is continued to optimize, the relative rotation of top spoon body and lower part spoon body is not coaxial
It is arranged, is provided with runner on the output shaft of the feeding steering engine, top spoon body is connected to the edge of runner.
Further, above-mentioned technical proposal is optimized, the lower part spoon body is using inlay card connection, fastener connection
Or the mode being threadedly coupled is connected to the power part of the 4th horn.The disassembly, cleaning convenient for lower part spoon body being arranged in this way, it is convenient
Secondary use.
Further, above-mentioned technical proposal is optimized, lower part spoon body includes kettleholder and spoon, and the spoon is side
Shape, and the outer surface of spoon is cambered surface.Rectangular spoon is convenient for the surface of fitting service plate, more convenient in clamping food.
Further, steering engine is the entirety of a closed loop, only PWM duty cycle signal is supported to realize position monocycle PID control,
It does not support external extension programming, therefore device for feeding directly cannot be controlled by steering engine；In order to realize that cooperation mechanical arm is indispensable
Advanced feature, the control circuit of each steering engine is transformed, has removed the control chip of steering engine script, and described
The chip of STM32 series is integrated on control panel, chip is used for according to its operation of the circuital current of each steering engine variation control, so
It is achieved that freely controlling to steering engine.
Above content discloses the structure composition of the feeding mechanical arm, and it is mechanical that the utility model also provides a kind of feeding
The application of arm and control method, it is intended to the curent change of steering engine is incuded by current sensor, to realize the freedom to steering engine
Control so that a variety of feeding instructions issue it is more simple direct.
The application of the feeding mechanical arm disclosed by the utility model specifically comprises the following steps:
S01: the position put according to service plate sets the horizontal plane clamping coordinate points domain of device for feeding, and is demarcated as respectively
(xk, yk), k ∈ N and k ≠ 0；Feeding coordinate points (a, b, c) is concurrently set, abc is constant, and the control panel is equipped with and deposits
Module is stored up, the coordinate information of setting is stored；
S02: a clamping coordinate points signal is sent to feeding mechanical arm, control panel controls bottom steering engine and horn steering engine will
Device for feeding drives to corresponding clamping coordinate points, while controlling the 4th horn of third servo driving, makes the vertical court of device for feeding
Downwards；
S03: control panel control feeding steering engine opens device for feeding, while controlling horn servo driving device for feeding perpendicular
It directly is directed downward movement, the first steering engine forward direction turns over angle δ in moving process, and the second steering engine correspondence reversely turns over angle δ, simultaneously
Also forward direction turns over 2 δ of angle to third steering engine；Food is touched after device for feeding moving distance Z, the feeding steering engine of control panel control at this time will
Device for feeding is closed to obtain food；
S04: control panel control bottom steering engine and horn steering engine drive device for feeding to feeding coordinate points, while control panel
It controls third steering engine and device for feeding is switched into horizontal direction；
S05: control panel control feeding steering engine opens device for feeding, and feeding mechanical arm enters wait state at this time, waiting
User eats and waits next clamping coordinate points signal to be received.
It is the conventional steps for controlling feeding mechanical arm and carrying out feeding above, more specifically, in step S03, feeding dress
It sets after being moved to touch food downward, when the current value where current sensor detects it in horn steering engine circuit increases, to
Control panel transmission touches signal, and control panel controls horn steering engine locking at this time.The control process realizes that feeding mechanism is obtaining food
Hovering during object more can obtain automatically and intelligently food, improve the success rate of food acquisition.
Further, device for feeding is in motion process downwards, and the electric current of horn steering engine is with itself load one
And change, above-mentioned control process is optimized, the curent change pair for avoiding mechanical arm itself from generating during the motion
The judgement touched interferes, and filters out, includes the following steps: to the curent change of horn motor when not touching
1) low frequency filtering processing is carried out to current value of the horn steering engine within the continuous 200T time using the method for moving average, obtained
To the average current value I of current slotlongavg；
2) High frequency filter processing is carried out to current value of the horn steering engine within the continuous 50T time using the method for moving average, obtained
To the real-time current value I of current slotshortavg；
3) a threshold value is assigned, according to | Ishortavg-Ilongavg| > threshold is judged, if setting up
It is judged as and touches food, is judged as if invalid and does not touch food.
Through the above steps, the load that can be met with during the motion to mechanical arm itself changes and the current fluctuation of generation
It is filtered out, so that the current fluctuation is considered as normal curent change reaction, and is unlikely to be mistaken for the event of touching.
Processing is filtered out by electric current, the recognition correct rate for the event of touching can be improved, improves the feeding success rate of device for feeding.
Further, it when user wishes selectively to enjoy food, needs to select corresponding coordinate points from domain,
And clamping coordinate signal is sent to mechanical arm.As a kind of preferred embodiment being easy to implement, the feeding mechanical arm further includes
Wear-type E.E.G can be used using common model on the market in the brain-wave sensor being used cooperatively, general brain-wave sensor
Sensor or sheet brain-wave sensor are used to communicate to connect with control panel；It then sends and presss from both sides to feeding mechanical arm in step S02
The mode for taking coordinate points signal includes following subdivided step:
1) when device for feeding does not rest on feeding coordinate points, signal, control are sent to controller by E.E.G processor
Device controls mechanical arm and drives device for feeding to feeding coordinate points and enter wait state；If device for feeding is located at feeding coordinate points
And be waited for, then it is directly entered 2)；
2) service plate quantity is four, and user applies the effect in upper, lower, left, or right direction to device for feeding in perpendicular
The clamping coordinate signal of power, sending is answered with the clamping coordinate pair where four service plates respectively；Control panel is according to following relationship meter
Calculate the loading moment of bottom steering engine and horn steering engine:
Q=J (q)T× W, wherein W is the force vector that device for feeding is subject to, and Q is torque size suffered by corresponding steering engine, q
For the shaft locking angle for corresponding to steering engine at mechanical arm in the wait state, J (q) is under the angle, and the position of device for feeding is sweared
It measures and the partial differential matrix of the shaft locking angle of corresponding steering engine；
AndWherein, dp is the differential of mechanical arm tail end fixture three-dimensional coordinate；Dq is that each steering engine of mechanical arm is defeated
The differential of shaft rotational angle；
Corresponding moment vector Q (i), i=1~4 on up, down, left and right direction are obtained using above-mentioned relation formula；
3) low frequency filtering processing is carried out to current value of the horn steering engine within the continuous 500T time using the method for moving average, obtained
To the average current value I' of current slotlongavg；Use the method for moving average to horn steering engine within the continuous 50T time simultaneously
Current value carries out High frequency filter processing, obtains the real-time current value I' of current slotshortavg；
4) a threshold ' value is assigned, according toInto
Row judgement, is judged as the corresponding torque of application if setting up, and device for feeding is driven clamping coordinate corresponding to the torque by control panel
Point；It is judged as if invalid and does not apply corresponding torque.
Through the above steps, it can be achieved that user voluntarily selects the food for needing to have meal, and voluntarily judge to know by mechanical arm
The signal not received completes the order that user assigns.The mode that aforesaid way makes user issue an order is more simple
Directly, as long as can be improved the focus of itself, can Crush trigger arm device for feeding is driven to wait state；Meanwhile that is,
Make to be person entirely incapable of legal transaction, as long as can accomplish that device for feeding is cooperated to contain food in mouth, can easily realize
The transmission of signal；Improve the operability of feeding mechanical arm；In such a mode, the interior clamping coordinate points quantity of service plate is at most
It is four.
Compared with prior art, the utility model has the following beneficial effects:
1. the utility model sets device for feeding to include top spoon body and lower part spoon body, top spoon body and lower part are utilized
The mode clamping food that spoon body mutually fastens, feeding have higher success rate, and the application range of feeding mechanical arm is also more extensive.
2. the utility model by being transformed to steering engine, the chip of steering engine itself is removed, external chip control is utilized
The operating of steering engine processed is low in cost to realize opened loop control, but controls precision height, and effect is good.
3. the utility model detects the curent change in steering engine by current sensor, feeding process is regulated and controled, energy
Enough control steering engines after touch event occurs for device for feeding hover in time, and high degree of automation, can cooperate with a variety of tablewares makes
With.
4. the utility model, by effect of the user to device for feeding applied force, the intention of automatic identification user is real
Now feeding again, improve it is handling, it is more intelligent, reduce the manipulation difficulty of user.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings only shows the section Example of the utility model, therefore does not answer
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the decomposition texture schematic diagram of the utility model.
Fig. 3 is the overall structure diagram of pedestal.
Fig. 4 is the composed structure schematic diagram of the second horn
Fig. 5 is the composed structure schematic diagram of third horn.
Fig. 6 is the composed structure schematic diagram of the 4th horn.
Fig. 7 is the structural schematic diagram of top spoon body.
Fig. 8 is the structural schematic diagram of lower part spoon body.
Fig. 9 is the overall applicability process schematic of feeding mechanical arm.
Figure 10 is that mechanical arm judges that device for feeding touches the process schematic of food.
Figure 11 is the process schematic that clamping coordinate signal is sent to mechanical arm.
In figure: 1- bottom plate；2- bottom cover；The first horn of 3-；The second horn of 4-；401- side arm；402- reinforces connecting rod；5- third
Horn；The 4th horn of 6-；601- interconnecting piece；602- power part；7- device for feeding；The top 701- spoon body；The lower part 702- spoon body；8-
Bottom steering engine；9- runner.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further explaination to the utility model.
Embodiment 1:
As shown in Figure 1 and Figure 2, present embodiment discloses a kind of feeding mechanical arms, including pedestal, mechanical arm body and feeding
The bottom end of device 7, the machinery arm body is connect with base rotation, and device for feeding is set to the top of mechanical arm body.Specifically
It says, control panel and bottom steering engine 8 is provided in the pedestal, bottom steering engine is for driving mechanical arm to horizontally rotate；Described
Mechanical arm body includes the sequentially connected horn of multistage, adjacent horn by being relatively rotated after horn servo driving in vertical direction,
Bottom steering engine and horn steering engine are electrically connected to control panel, and are respectively connected with current sensor between each steering engine and control panel；
The device for feeding includes the lower part spoon body 702 and top spoon body 701 mutually fastened, and the lower part spoon body is fixedly attached to machine
Tool arm, the top spoon body realize the opening and closing of device for feeding by rotating after feeding servo driving in vertical direction.
The utility model drives device for feeding by pedestal and mechanical arm body, and pedestal realizes the driving on horizontal plane, machine
Tool arm body realizes the driving on vertical plane, and device for feeding is sent after specified clamping position acquisition food to specified feeding position,
Convenient for users to dining.
In the present embodiment, the pedestal, mechanical arm body and device for feeding are all made of plastic material and are made, and are arranged in this way
Advantage be it is light, convenient for reduce steering engine load.
As shown in figure 3, pedestal fixes whole device, guarantee whole device be stably connected with and reliability service, therefore to above-mentioned
Technical solution optimizes, and the pedestal includes bottom plate 1 and bottom cover 2, and bottom cover is fastened on bottom plate, and the upper surface of bottom cover is set
It is equipped with axis hole, the output shaft of bottom steering engine is pierced by axis hole vertically.
In the present embodiment, using a kind of preferred scheme, the bottom plate is fastened on desktop or dining chair, it is only necessary to side
Just feeding is carried out to user, reserves connecting hole on bottom plate, is fixed using connector.
As shown in Fig. 4, Fig. 5, Fig. 6, above-mentioned technical proposal is optimized, to realize mechanical arm body on vertical plane
Driving, the mechanical arm body include the first horn 3, the second horn 4, third horn 5 and the 4th horn 6, the horn
Steering engine includes the first steering engine, the second steering engine and third steering engine；First horn is located above bottom cover and follows bottom steering engine
Output shaft rotation；The first steering engine level is set in the first horn, and the lower end of the output shaft of the first steering engine and the second horn connects
It connects and the second horn is driven to rotate；The upper end of second horn is equipped with third horn, and the second steering engine level is set to third horn
Lower end, the output shaft of the second steering engine connect with the upper end of the second horn；The third steering engine level is set to the upper of third horn
End, the output shaft of third steering engine connect with the lower end of the 4th horn and the 4th horn are driven to rotate.
Above-mentioned technical proposal is continued to optimize and uses preferred scheme, second horn is disposed in parallel by two
Side arm 401 and reinforcement connecting rod 402 between two side arms form, and the lower end and upper end of two side arms are in clamping shape respectively with the
One steering engine, the connection of the second steering engine.Reinforcing connecting rod can be improved the intensity of the second horn, and the second horn is connected the first rudder to clamp shape
Machine and the second steering engine, can balance the stress of the second horn, so that stationarity is more preferable during operation for the second horn.
Above-mentioned technical proposal is optimized, the 4th horn includes interconnecting piece 601 and power part 602, interconnecting piece
It is connected with third steering engine, power part is box body and internal setting feeding steering engine, the output shaft of feeding steering engine stretch out power part, output
Axis drives the rotation of top spoon body.
Above-mentioned technical proposal is optimized, the interconnecting piece is U-shaped structure, and interconnecting piece is in clamping shape and third steering engine
Connection.
In the present embodiment, the bottom steering engine, the first steering engine, the second steering engine and third steering engine, on output shaft
It is provided with connecting flange, corresponding connector is connected and fixed by bolt and connecting flange.
As shown in Figure 7, Figure 8, above-mentioned technical proposal is continued to optimize, top spoon body and the relative rotation of lower part spoon body are not
It is coaxially disposed, is provided with runner 9 on the output shaft of the feeding steering engine, top spoon body is connected to the edge of runner.At this
In embodiment, the top spoon body and lower part spoon body are integrally formed, and buckling surface is smooth plane.
Above-mentioned technical proposal is optimized, the lower part spoon body is connected using inlay card connection, fastener connection or screw thread
The mode connect is connected to the power part of the 4th horn.The disassembly, cleaning convenient for lower part spoon body being arranged in this way, facilitate secondary use.
Above-mentioned technical proposal is optimized, lower part spoon body includes kettleholder and spoon, and the spoon is rectangular, and spoon
Outer surface be cambered surface.Rectangular spoon is convenient for the surface of fitting service plate, more convenient in clamping food.
Steering engine is the entirety of a closed loop, only PWM duty cycle signal is supported to realize position monocycle PID control, not supported
Outside extension programming, therefore device for feeding directly cannot be controlled by steering engine；In order to realize the advanced spy of cooperation mechanical arm indispensability
Property, the control circuit of each steering engine is transformed, the control chip of steering engine script has been removed, and on the control panel
The chip of integrated STM32 series, chip are used to so be achieved that according to its operation of the circuital current of each steering engine variation control
To freely controlling for steering engine.
Embodiment 2:
Present embodiment discloses the concrete applications and control of a kind of feeding mechanical arm, it is intended to incude rudder by current sensor
The curent change of machine, to realize freely control to steering engine so that a variety of feeding instructions issue it is more simple direct.
As shown in figure 9, the application of the feeding mechanical arm disclosed in the present embodiment specifically comprises the following steps:
S01: using the output shaft of bottom steering engine as origin, the position put according to service plate sets the horizontal plane of device for feeding
Coordinate points domain is clamped, and is demarcated as (x respectivelyk, yk), k ∈ N and k ≠ 0；Feeding coordinate points (a, b, c) is concurrently set, abc is
Constant, the control panel are equipped with memory module, the coordinate information of setting are stored；
S02: a clamping coordinate points signal is sent to feeding mechanical arm, control panel controls bottom steering engine and horn steering engine will
Device for feeding drives to corresponding clamping coordinate points, while controlling the 4th horn of third servo driving, makes the vertical court of device for feeding
Downwards；
S03: control panel control feeding steering engine opens device for feeding, while controlling horn servo driving device for feeding perpendicular
It directly is directed downward movement, the first steering engine forward direction turns over angle δ in moving process, and the second steering engine correspondence reversely turns over angle δ, simultaneously
Also forward direction turns over 2 δ of angle to third steering engine；Food is touched after device for feeding moving distance Z, the feeding steering engine of control panel control at this time will
Device for feeding is closed to obtain food；
S04: control panel control bottom steering engine and horn steering engine drive device for feeding to feeding coordinate points, while control panel
It controls third steering engine and device for feeding is switched into horizontal direction；
S05: control panel control feeding steering engine opens device for feeding, and feeding mechanical arm enters wait state at this time, waiting
User eats and waits next clamping coordinate points signal to be received.
In above-mentioned steps, point domain can be demarcated by preset mode, after being well placed service plate, by nursing staff into
Row manually sets multiple coordinate points, and each coordinate points correspond to a kind of position of food, the i.e. sustainable confession later of a set point domain
Subsequent dining is selected.
Each coordinate points corresponds to the position on horizontal plane, can be according to " preceding " " rear " " left side " when being demarcated manually
The mode on " right side " is adjusted setting.Four kinds of operations are corresponding to execute movement are as follows:
It is forward and backward: to be visited before mechanical arm and stretch or to after-contraction, correspond to horn steering engine and operate forward or backwards.
Left and right: mechanical arm horizontally rotates to the left or to the right, and corresponding bottom steering engine operates forward or backwards.
It is the conventional steps for controlling feeding mechanical arm and carrying out feeding above, more specifically, as shown in Figure 10, in step
In S03, device for feeding is moved to downward touch food after, current sensor detects the electric current in horn steering engine circuit where it
When value increases, signal is touched to control panel transmission, control panel controls horn steering engine locking at this time.The control process realizes feeding apparatus
Structure is obtaining the hovering in cooking cycle, more can obtain automatically and intelligently food, improve the success rate of food acquisition.
In the present embodiment, it will cause and pass through when device for feeding touches event with food using preferred scheme
The electric current of horn steering engine increases.Since the first steering engine is farthest from device for feeding, according to lever principle, arm of force longest, therefore
The current change quantity of one steering engine is most obvious.Therefore, it only needs to consider that the curent change of the first steering engine can determine whether in the present embodiment
Touch whether event occurs.
In motion process downwards, the electric current of horn steering engine becomes device for feeding together with the load of itself
Change, above-mentioned control process is optimized, the curent change for avoiding mechanical arm itself from generating during the motion is sentenced to what is touched
It is disconnected to interfere, the curent change of horn motor when not touching is filtered out, is included the following steps:
1) low frequency filtering processing is carried out to current value of the horn steering engine within the continuous 200T time using the method for moving average, obtained
To the average current value I of current slotlongavg；
2) High frequency filter processing is carried out to current value of the horn steering engine within the continuous 50T time using the method for moving average, obtained
To the real-time current value I of current slotshortavg；
3) a threshold value is assigned, according to | Ishortavg-Ilongavg| > threshold is judged, if setting up
It is judged as and touches food, is judged as if invalid and does not touch food.
Through the above steps, the load that can be met with during the motion to mechanical arm itself changes and the current fluctuation of generation
It is filtered out, so that the current fluctuation is considered as normal curent change reaction, and is unlikely to be mistaken for the event of touching.
Processing is filtered out by electric current, the recognition correct rate for the event of touching can be improved, improves the feeding success rate of device for feeding.
As shown in figure 11, it when user wishes selectively to enjoy food, needs to select corresponding coordinate from domain
Point, and clamping coordinate signal is sent to mechanical arm.As a kind of preferred embodiment being easy to implement, the feeding mechanical arm is also wrapped
The brain-wave sensor being used cooperatively is included, wear-type brain can be used using common model on the market in general brain-wave sensor
Wave sensor or sheet brain-wave sensor are used to communicate to connect with control panel；Then sent in step S02 to feeding mechanical arm
The mode for clamping coordinate points signal includes following subdivided step:
1) when device for feeding does not rest on feeding coordinate points, signal, control are sent to controller by E.E.G processor
Device controls mechanical arm and drives device for feeding to feeding coordinate points and enter wait state；If device for feeding is located at feeding coordinate points
And be waited for, then it is directly entered 2)；
2) service plate quantity is four, and user applies the effect in upper, lower, left, or right direction to device for feeding in perpendicular
The clamping coordinate signal of power, sending is answered with the clamping coordinate pair where four service plates respectively；Control panel is according to following relationship meter
Calculate the loading moment of bottom steering engine and horn steering engine:
Q=J (q)T× W, wherein W is the force vector that device for feeding is subject to, and Q is torque size suffered by corresponding steering engine, q
For the shaft locking angle for corresponding to steering engine at mechanical arm in the wait state, J (q) is under the angle, and the position of device for feeding is sweared
It measures and the partial differential matrix of the shaft locking angle of corresponding steering engine；
AndWherein, dp is the differential of mechanical arm tail end fixture three-dimensional coordinate；Dq is that each steering engine of mechanical arm is defeated
The differential of shaft rotational angle；
Corresponding moment vector Q (i), i=1~4 on up, down, left and right direction are obtained using above-mentioned relation formula；
3) low frequency filtering processing is carried out to current value of the horn steering engine within the continuous 500T time using the method for moving average, obtained
To the average current value I' of current slotlongavg；Use the method for moving average to horn steering engine within the continuous 50T time simultaneously
Current value carries out High frequency filter processing, obtains the real-time current value I' of current slotshortavg；
4) a threshold ' value is assigned, according toInto
Row judgement, is judged as the corresponding torque of application if setting up, and device for feeding is driven clamping coordinate corresponding to the torque by control panel
Point；It is judged as if invalid and does not apply corresponding torque.
Through the above steps, it can be achieved that user voluntarily selects the food for needing to have meal.It is captured and is used by brain-wave sensor
The wish at family, and voluntarily judged to identify the signal received by mechanical arm, complete the order that user assigns.Aforesaid way makes
The mode that user issues an order more it is simple directly, as long as can be improved the focus of itself, can Crush trigger arm will feed
Food device drives to wait state；Meanwhile even person entirely incapable of legal transaction, as long as can accomplish to cooperate device for feeding
Food is contained in mouth, applies the pressure of different directions to device for feeding using mouth, can easily realize the transmission of signal, is selected
Select the food for wanting to eat next time；Under the premise of service plate placement position is fixed, the setting of last dining is can be used in when dining
Record, alleviates the burden of fox personnel, improves the operability of feeding mechanical arm.In such a mode, the present embodiment is being eaten
The clamping coordinate points quantity being arranged in disk is four.
Embodiment 3:
Present embodiment discloses the concrete applications and control of a kind of feeding mechanical arm, it is intended to incude rudder by current sensor
The curent change of machine, to realize freely control to steering engine so that a variety of feeding instructions issue it is more simple direct.
Use the technical solution different from embodiment 2 in the present embodiment, it is specific the difference is that:
Not using the output shaft of bottom steering engine as origin in the present embodiment, but using arbitrary point as origin, then bottom steering engine
Output axial coordinate is (x0, y0), in this case, the clamping coordinate signal that mechanical arm receives makes corrections, to receive
Clamping coordinate points be (xk, yk), for k ∈ N and k ≠ 0, the clamping coordinate points after specific correction are (xk-x0, yk-y0)；
Other processes are in the same manner as in Example 2 in the present embodiment, are not described in more detail here.
Above is the several embodiments that the utility model is enumerated, but the utility model is not limited to above-mentioned optional reality
Apply mode, those skilled in the art can obtain other numerous embodiments according to the mutual any combination of aforesaid way, anyone
Other various forms of embodiments can be all obtained under the enlightenment of the utility model.Above-mentioned specific embodiment should not be understood in pairs
The limitation of the protection scope of the utility model, the protection scope of the utility model should be subject to be defined in claims,
And specification can be used for interpreting the claims.
Claims (10)
1. a kind of feeding mechanical arm, including pedestal, mechanical arm body and device for feeding (7), the bottom end of the machinery arm body with
Base rotation connection, device for feeding are set to the top of mechanical arm body；It is characterized by: being provided with control panel in the pedestal
With bottom steering engine (8), bottom steering engine is for driving mechanical arm to horizontally rotate；The mechanical arm body includes that multistage is sequentially connected
Horn, adjacent horn by after horn servo driving vertical direction relatively rotate, bottom steering engine and horn steering engine are electrically connected
To control panel, and current sensor is respectively connected between each steering engine and control panel；The device for feeding includes mutually fastening
Lower part spoon body (702) and top spoon body (701), the lower part spoon body is fixedly attached to mechanical arm, and the top spoon body is by feeding
It is rotated after eating servo driving in vertical direction, realizes the opening and closing of device for feeding.
2. feeding mechanical arm according to claim 1, it is characterised in that: the pedestal includes bottom plate (1) and bottom cover
(2), bottom cover is fastened on bottom plate, and the upper surface of bottom cover is provided with axis hole, and the output shaft of bottom steering engine is pierced by axis hole vertically.
3. feeding mechanical arm according to claim 2, it is characterised in that: the mechanical arm body includes the first horn
(3), the second horn (4), third horn (5) and the 4th horn (6), the horn steering engine include the first steering engine, the second steering engine
With third steering engine；First horn is located above bottom cover and the output shaft of bottom steering engine is followed to rotate；The first steering engine water
Flat to be set in the first horn, the output shaft of the first steering engine connect with the lower end of the second horn and the second horn is driven to rotate；Second
The upper end of horn be equipped with third horn, the second steering engine level be set to third horn lower end, the output shaft of the second steering engine with
The upper end of second horn connects；The third steering engine level is set to the upper end of third horn, the output shaft of third steering engine and the 4th
The lower end of horn connects and the 4th horn is driven to rotate.
4. feeding mechanical arm according to claim 3, it is characterised in that: second horn is disposed in parallel by two
Side arm (401) and reinforcement connecting rod (402) composition between two side arms, the lower end and upper end of two side arms are in clamping shape difference
It is connect with the first steering engine, the second steering engine.
5. feeding mechanical arm according to claim 3, it is characterised in that: the 4th horn includes interconnecting piece (601)
With power part (602), interconnecting piece is connected with third steering engine, and power part is box body and feeding steering engine is arranged in inside, feeding steering engine
Output shaft stretches out power part, and output shaft drives the rotation of top spoon body.
6. feeding mechanical arm according to claim 5, it is characterised in that: the interconnecting piece is U-shaped structure, and interconnecting piece is in
Clamping shape is connect with third steering engine.
7. feeding mechanical arm according to claim 5, it is characterised in that: be provided on the output shaft of the feeding steering engine
Runner (9), top spoon body are connected to the edge of runner.
8. feeding mechanical arm according to claim 5, it is characterised in that: the lower part spoon body is connected using inlay card, is tight
Firmware connection or the mode being threadedly coupled are connected to the power part of the 4th horn.
9. feeding mechanical arm according to claim 1, it is characterised in that: the top spoon body and lower part spoon body include
Kettleholder and spoon, the spoon is rectangular, and the outer surface of spoon is cambered surface.
10. feeding mechanical arm according to claim 1, it is characterised in that: integrate STM32 series on the control panel
Chip, chip are used for according to its operation of the circuital current of each steering engine variation control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821935500.4U CN209050760U (en) | 2018-11-22 | 2018-11-22 | A kind of feeding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821935500.4U CN209050760U (en) | 2018-11-22 | 2018-11-22 | A kind of feeding mechanical arm |
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| Publication Number | Publication Date |
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| CN209050760U true CN209050760U (en) | 2019-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821935500.4U Active CN209050760U (en) | 2018-11-22 | 2018-11-22 | A kind of feeding mechanical arm |
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| CN (1) | CN209050760U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202938A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of feeding mechanical arm and its feeding method |
-
2018
- 2018-11-22 CN CN201821935500.4U patent/CN209050760U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202938A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of feeding mechanical arm and its feeding method |
| CN109202938B (en) * | 2018-11-22 | 2022-04-08 | 北京密塔网络科技有限公司 | Feeding mechanical arm and feeding method thereof |
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Effective date of registration: 20230705 Address after: 201303 building C, No. 888, Huanhu West 2nd Road, Lingang New Area, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: SHANGHAI MITA NETWORK TECHNOLOGY Co.,Ltd. Address before: 100000 Beijing Chaoyang District Balizhuang Xili 61 Building 20 Floors 2006 Patentee before: BEIJING METASOTA NETWORK TECHNOLOGY Co.,Ltd. |