CN212601833U

CN212601833U - Multi-connection and interconnection control system of industrial-grade mechanical arm

Info

Publication number: CN212601833U
Application number: CN202020842415.4U
Authority: CN
Inventors: 麦骞誉
Original assignee: Lubang Technology Licensing Co ltd
Current assignee: Lubang Technology Licensing Co ltd
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2021-02-26
Anticipated expiration: 2030-05-19

Abstract

The utility model relates to a ally oneself with and interconnection control system of ally oneself with of industrial grade arm, its characterized in that: the mechanical arm is provided with more than one mechanical arm; the mechanical arm is provided with a control main board, a mechanical arm and a force and torque sensing module; the manipulator is controlled by the control mainboard; the stress end on the force and torque sensing module is connected with the manipulator, and the force and torque sensing module is in communication connection with the control mainboard; the client terminal equipment is used for interconnecting the action data of more than one mechanical arm to establish a corresponding control network; the client terminal equipment is respectively communicated and interconnected with more than one mechanical arm; the computer server is used for issuing corresponding tasks to more than one mechanical arm according to the control instruction and/or the action data; the computer server is communicated and interconnected with the client terminal equipment. The system can control other mechanical arms by any mechanical arm in the system, one-to-many control is realized, and the stress condition of a controlled party can be fed back in time, so that the operation and control of an operator are facilitated, and the practicability is enhanced.

Description

Multi-connection and interconnection control system of industrial-grade mechanical arm

Technical Field

The utility model relates to a robot control system specifically is a many of industrial grade arm and interconnection control system that ally oneself with.

Background

The control of the mechanical arm at the present stage mainly comprises control modes such as computer programming control, real-time controller control and the like; although the accuracy of computer programming control is high, the programming difficulty is high, the use is very inconvenient (particularly special conditions such as action change is needed), and the programming work needs to be completed by professional personnel, so the investment cost is high; although the real-time control of the controller is lower in accuracy compared with computer programming control, the control and the use are more convenient, simple and easy, and the investment cost is lower.

The most widely applied principle technology in real-time control of the controller is action sensing technology, namely, an operator wears the controller with a plurality of sensing modules and makes the corresponding programmed actions, and the sensing modules store and transmit action data corresponding to the actions made by the operator to the mechanical arm, so that the mechanical arm follows the actions of the operator in real time, and the effect of real-time control is achieved. However, the mechanical hip and the human arm have certain differences, such as different lengths and sizes of joints between the mechanical arm and the human arm, so that the mechanical arm is difficult to accurately simulate the actions of an operator. In addition, in a control mode of real-time control by a controller, one-to-one control (one controller controls one mechanical arm) is easy, but one-to-many control (one controller controls a plurality of mechanical arms) is difficult to realize, so that in the prior art, operators and controllers with the same number as the mechanical arms are required to be arranged for controlling the plurality of mechanical arms, and the control effect of one-to-many control can be achieved only by simultaneous operation or computer programming; this is because in the existing robot arm control system, only there is data transmission between the control end and the robot arm, and there is no interconnection between the robot hip and the robot arm, so that the robot arms cannot be controlled and simulated each other.

Therefore, further improvements are needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide a many of industrial grade arm and interconnected control system, this system enables other arms of arbitrary arm control in the system, realizes a to many controls, and can in time feed back by the atress condition of control side to make things convenient for operator operation control, strengthen the practicality.

The purpose of the utility model is realized like this:

the utility model provides a ally oneself with and interconnection control system of industrial grade arm which characterized in that: comprises that

The mechanical arms are provided with more than one; the mechanical arm is provided with a control main board for controlling the operation of the mechanical arm and/or transmitting action data, a mechanical arm for carrying a workpiece and a force and torque sensing module for detecting the stress condition of the mechanical arm; the manipulator is controlled by the control main board; the stress end on the force and torque sensing module is connected with the manipulator, and the force and torque sensing module is in communication connection with the control mainboard;

the client terminal equipment is used for interconnecting the action data of more than one mechanical arm to establish a corresponding control network; the client terminal equipment is respectively communicated and interconnected with more than one mechanical arm;

the computer server is used for issuing corresponding tasks to more than one mechanical arm according to the control instruction and/or the action data; and the computer server is communicated and interconnected with the client terminal equipment.

And a database for storing action data is arranged on the control main board and/or the computer server.

The action data comprises stress force data, stress direction data, rotation angle data of joint points and rotation speed data of the joint points.

The communication and interconnection connection mode comprises wired communication connection and/or wireless communication connection.

The control mode of the multi-connection and interconnection control system comprises

One-to-many control, wherein an operator or one mechanical arm is used as a control party, more than one mechanical arm is used as a controlled party, and one control party simultaneously and/or synchronously controls more than one controlled party;

and/or power-assisted drive control, wherein the mechanical arm is controlled to move and/or stop in an auxiliary manner according to external force;

and/or force feedback control, which feeds back the force to the control party in a certain proportion according to the stress condition of the controlled party.

The one-to-many control includes the following control steps:

taking an operator wearing a controller as a control party; or selecting a corresponding mechanical arm on a computer server as a control party; or, a mechanical arm arranged on the control main board is used as a control party;

selecting a corresponding mechanical arm as a controlled party on a computer server; or, a mechanical arm arranged on the control main board is used as a controlled party;

the control party completes the required action to generate corresponding first action data to be fed back to the control mainboard, and the first action data is transmitted to the computer server through the control mainboard;

and fourthly, the computer server analyzes and calculates the first action data to generate corresponding control data, and transmits the control data to more than one controlled party so that the more than one controlled party can complete corresponding actions simultaneously and/or synchronously.

The power-assisted drive control comprises the following control steps:

(1) when the mechanical arm is acted by external force, the force torque sensing module senses the stress condition of the mechanical arm to generate corresponding second action data to be fed back to the control mainboard, and the second action data is transmitted to the computer server through the control mainboard;

(2) the computer server analyzes and calculates the second action data to generate corresponding assistance data, and feeds the assistance data back to the control main board of the corresponding mechanical arm;

(3) the control mainboard controls the mechanical arm to move according to the assistance data so as to assist in controlling the mechanical arm to complete corresponding actions.

The force feedback control comprises the following control steps:

when the controlled party is subjected to resistance action in the working process, the force and torque sensing module senses the resistance condition so as to generate corresponding third action data and feed the third action data back to the control mainboard, and the third action data is transmitted to the computer server through the control mainboard;

(II) the computer server analyzes and calculates the third action data to generate corresponding resistance data, and feeds the resistance data back to the control party;

and (III) the controller limits the movement of an operator according to the resistance data or the control main board limits the movement of the mechanical arm according to the resistance data, so that the control party senses that the controlled party is subjected to resistance action at the same time.

The resistance received by the controlled party in the working process is fed back to the controlled party according to a certain proportion, and the fed back proportion is set on the control mainboard and/or the computer server.

The utility model has the advantages as follows:

the system can enable any mechanical arm in the system to accurately control other mechanical arms, so that the control method can simultaneously and synchronously control more than one mechanical arm. The application range comprises the dragging teaching among a plurality of mechanical arms, namely the mechanical arms can drag by hands, record the motion of the mechanical arms and replay the motion of the mechanical arms; the mechanical arm and the computer server can realize synchronous multi-connection communication through wired or wireless modes.

In addition, the force and torque sensing module can enable the mechanical arm to have instant feedback and adjustment when the mechanical arm touches an object or an obstacle, so that the operation and the control are convenient, and the control flexibility is improved; because the force and torque sensing module can reflect the stress condition of the mechanical arm in real time, for example, when the mechanical arm touches an obstacle or has a load, the system can adjust the force and range required by dragging, thereby increasing the control reality so that an operator can better complete related actions.

Drawings

Fig. 1 is an architecture diagram of a multi-connected and interconnected control system according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a robot arm according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of the force and torque sensing module capable of detecting the direction of the force according to an embodiment of the present invention.

Fig. 4 is a schematic view illustrating the mechanical arm being dragged according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of force feedback between a control party and a controlled party according to an embodiment of the present invention.

Fig. 6 is a schematic view of the mechanical arm receiving an upward force from an incline according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of the mechanical arm of fig. 6 under stress.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Referring to fig. 1-7, the multi-linkage and interconnection control system for industrial-grade mechanical arm comprises

The mechanical arms are arranged at more than one; the mechanical arm is provided with a control mainboard for controlling the operation of the mechanical arm and/or transmitting action data, a mechanical arm for carrying a workpiece and a force and torque sensing module for detecting the stress condition of the mechanical arm; the manipulator is controlled by the control mainboard; the force end of the force and torque sensing module is connected with the mechanical arm and between the mechanical arm and the mechanical arm, and can also detect the force conditions of the mechanical arm when the mechanical arm touches an object, holds the object, drags for teaching and the like, as shown in fig. 5, the force end of the force and torque sensing module in the embodiment is the bottom, can detect the force directions including the X-axis direction, the Y-axis direction, the Z-axis direction, the twisting direction and the like, and is in communication connection with the control mainboard; specifically, the mechanical arm can be a conventional similar device on the market, and the control main board is mainly used for controlling hardware on the mechanical arm and effectively inputting or outputting parameters such as speed, angle, force and the like related in a control instruction into the mechanical arm;

customer Premises Equipment (CPE) for interconnecting the motion data of more than one robot arm to establish a corresponding control network; the client terminal equipment is respectively communicated and interconnected with more than one mechanical arm;

the computer server is used for issuing corresponding tasks to more than one mechanical arm according to the control instruction and/or the action data; the computer server is communicated and interconnected with the client terminal equipment.

Furthermore, a database for storing action data is arranged on the control main board and/or the computer server so as to control the main board and/or the computer server to transmit the action data, and the data recording function can store action records of an operator to the cloud end, so that the computer system has the characteristics of saving computer programming time and improving efficiency.

Further, the motion data includes force-receiving force data, force-receiving direction data, rotation angle data of the joint point, rotation speed data of the joint point, and the like.

Furthermore, the communication and interconnection connection mode includes a wired communication connection and/or a wireless communication connection. Specifically, the client terminal device is wirelessly connected with a control main board and a computer server on the mechanical arm respectively through a 5G (or 4G or 3G, etc.) wireless communication technology. The client terminal equipment related to the embodiment is equivalent to a WIFI enhanced router, and can interconnect all mechanical arms through a 5G network and connect the mechanical arms to a computer server. The client terminal equipment supporting the 5G network can receive the 5G network signals, a wireless network is established according to the signals, the 5G signals can be subjected to secondary relay, stronger 5G signals are sent out, the 5G network is used for controlling interconnection, time delay is reduced to the minimum, some instant control, dragging teaching and the like are facilitated. It should be noted that, the delay time is lower when the wired connection is used, but the application range is limited, and the user can select the wired connection or the wireless connection according to the actual requirement.

Further, the control modes of the multi-connected and interconnected control system comprise

Further, the one-to-many control includes the following control steps:

The dragging teaching refers to controlling the mechanical arm to move by hand so as to control the mechanical arm to be dragged to make a series of actions, and recording the rotating angle and the rotating speed of each joint point at each time point during the dragging period so as to play the actions repeatedly at a later period, wherein the related action data is stored in a database (a memory) on a control mainboard. In practical application, the dragging teaching can be realized by an operator, or one of the mechanical arms (a control party) can control more than one other mechanical arm (a controlled party); through the modes of software section input loaded on a computer server or control mainboard input on the mechanical arm and then transmission to the server and the like, any mechanical arm can be selected as a control party, more than one mechanical arm can be selected as a controlled party, and the operation and the use are very convenient; if the control party and the controlled party are not preset, the system can operate in a preset mode (namely, any mechanical arm is dragged, and other interconnected mechanical arms in the system can move along with the mechanical arm, so that simultaneous/synchronous control is realized).

Further, the power-assisted drive control comprises the following control steps:

In practical application, the force and torque sensing module can effectively increase the controllability of the mechanical arm, so that the control is smoother and safer; when the mechanical arm is dragged, the mechanical arm has a certain weight, so that the mechanical arm needs to be dragged in the prior art, and in order to solve the problems, the system plays a role in assisting power according to data such as stress direction, stress force and the like fed back by the force and torque sensing module. As shown in fig. 4, when the mechanical arm is subjected to a horizontal dragging force a, the force and torque sensing module senses that the mechanical arm moves in a dragged direction, the stressed dragging information is fed back to the control main board, the stressed dragging information comprises dragging force, dragging reversal and the like, and horizontal forward motion data is generated through a series of algorithms; and then the motion data is fed back to a control main board of the mechanical arm to control the mechanical arm to move horizontally forwards. The force application direction is moved a certain position by the force application direction, the force applied side can reduce the stress or does not feel the force application along with the movement, corresponding action data is detected in real time through the force and torque sensing module, then, a balance or force application counteracting action is continuously generated through an algorithm, so that the easy dragging control is realized, the joint motor on the mechanical arm is matched with the dragged direction to make corresponding rotation, and the mechanical arm can be easily dragged to a required position.

Further, the force feedback control includes the following control steps:

Furthermore, the resistance received by the controlled party in the working process is fed back to the controlled party according to a certain proportion, and the fed back proportion is set on the control mainboard and/or the computer server.

The force and torque sensing module plays an important role when the mechanical arm takes the object; when a manipulator of a controlled party just contacts an object, a force and torque sensing module on the controlled party generates corresponding action data, so that a force obtained through an algorithm is added to a force application to be counteracted by the controlled party during dragging, the control is convenient to apply an extra force to drag the manipulator, and the controlled party feels the gravity of the controlled party for taking the object; this additional applied force can adjust the specific gravity, making the drag too burdensome. As shown in fig. 5, when the controlled party (the right arm in the figure) picks up one kilogram of object, the controlling party (the left arm in the figure) is not subjected to external force (except its own gravity), the force and torque sensing module on the controlled party senses one kilogram of gravity from the object, the related stress information is processed by the computer server and then is transmitted to the controlling party in a certain proportion, so as to apply additional force on the controlled party, and the controlling party can feel that the controlled party has picked up the object; specifically, the object is subjected to a one kilogram gravity C, when the controller controls the controlled party to move upwards, the controlled party needs to apply an upward force of one kilogram to pick up the object, the computer server obtains an initial application force F0 corresponding to the gravity C through an algorithm and transmits the initial application force F0 to the controller, the controller needs to apply the upward force to counteract the initial application force F0 to control the controlled party to pick up the object, and the initial application force F0 enables the controller to feel that the controlled party picks up the object, so that the control feeling is increased. The ratio between the initial application force F0 and the gravitational force C can be set by programming, such as a ratio of 1 for the initial application force F0 and the gravitational force C: 100 or 1000, etc. Since the force of the controller to pick up the object is always downward, and the controlled party can be in any direction, the algorithm on the system can cancel the initial applied force F0 by multiplying the dragged force by a direction coefficient, so that the stress condition sensed during dragging becomes more real; as shown in FIGS. 6 and 7, the vertical vector of the minimum dragging force F1 in any direction must first counteract the initial applied force F0 to drag the controlled object, and the minimum dragging force F1 required in any direction is different, so as to increase the reality of the control, wherein F0-F1 & cos theta is more than or equal to 0.

The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a ally oneself with and interconnection control system of industrial grade arm which characterized in that: comprises that

2. A multi-gang and interconnected control system of industrial grade robotic arms as claimed in claim 1, wherein: the communication and interconnection connection mode comprises wired communication connection and/or wireless communication connection.