CN219380692U - Robot with airborne display interaction mechanism - Google Patents
Robot with airborne display interaction mechanism Download PDFInfo
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- CN219380692U CN219380692U CN202223371980.5U CN202223371980U CN219380692U CN 219380692 U CN219380692 U CN 219380692U CN 202223371980 U CN202223371980 U CN 202223371980U CN 219380692 U CN219380692 U CN 219380692U
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Abstract
The utility model belongs to the field of the artificial efficiency design and use of airborne equipment, and provides an airborne display interaction mechanism robot, which comprises: the device comprises a control system, a base and a display; the control system is arranged in the base; a mechanical arm is arranged above the base, the mechanical arm is provided with a plurality of joint arms, and a joint is arranged between every two adjacent joint arms and between the head end joint arm and the base; the acquisition system is used for acquiring moment information at each joint; the display is arranged on the base through the mechanical arm; the control system is respectively in communication connection with the joint, the acquisition system and the display; the control system realizes the gesture adjustment of the display by controlling the articulation of the mechanical arm; the control system is used for generating control signals according to the moment information acquired by the acquisition system, and each joint generates counteracting moment according to the control signals so as to balance the stress of each joint.
Description
Technical Field
The utility model belongs to the field of the artificial efficiency design and use of airborne equipment, and particularly relates to an airborne display interaction mechanism robot.
Background
At present, the airborne control display screen mostly adopts a fixed support or an embedded mechanical structure, so that the flexibility is low, and the long-time control display is easy to cause health problems such as visual fatigue, cervical vertebra discomfort and eye fatigue. Cervical vertebra health has also become a very interesting issue for pilots, unmanned aerial vehicle control ground station operators, command center commanders, war chariot operators, etc. From the future development trend of weapons, the monitoring and decision-making operation has become the main task mode of the personnel, and particularly in the application of special equipment such as early warning machines, battlefield command machines and the like, the aircrew needs to use the display for a long time. Therefore, how to effectively prevent and change the problems and ensure the physical health of operators and users is an important problem facing the present day. The improvement of the ergonomic performance of the display is an attempt to solve the above problems, and is also an important content of the design optimization of the ergonomic design of the equipment.
The prior art has the following defects and shortcomings: in the prior art, the load control display screen mostly adopts a fixed support or an embedded mechanical structure, the overall stability of the display after position adjustment is poor, the display is easy to shake to generate deviation, an operator manually adjusts the left and right, the height and the pitching of the display, in a working scene, the adjustment speed is low, the manual adjustment is accurate, the error is large, the repeated adjustment is complicated, the control is difficult, even if the adjustment is good, the display is easy to shake after the adjustment, the stability is poor, and the long-time control of the display easily causes the health problems of visual fatigue, cervical vertebra discomfort, eye fatigue and the like.
Disclosure of Invention
The utility model provides an onboard display interaction mechanism robot, which solves the problem of poor overall stability of a display after position adjustment.
In order to achieve the above purpose, the present application provides the following technical solutions:
an on-board display interactive mechanism robot, comprising: the device comprises a control system, a base and a display; the control system is arranged in the base; a mechanical arm is arranged above the base, the mechanical arm is provided with a plurality of joint arms, and a joint is arranged between every two adjacent joint arms and between the head end joint arm and the base; the acquisition system is used for acquiring moment information at each joint; the display is arranged on the base through the mechanical arm; the control system is respectively in communication connection with the joint, the acquisition system and the display; the control system realizes the gesture adjustment of the display by controlling the articulation of the mechanical arm; the control system is used for generating control signals according to the moment information acquired by the acquisition system, and each joint generates counteracting moment according to the control signals so as to balance the stress of each joint.
Further, in the on-board display interaction mechanism robot described above, the control system includes a main controller; the main controller comprises a mechanical arm controller and a user interaction machine; the mechanical arm controller controls the mechanical arm; the user interaction machine is used for controlling man-machine interaction.
Further, in the on-board display interaction mechanism robot described above, the mechanical arm includes a first joint, a second joint, a third joint, a large arm, a small arm, and a display bracket; the big arm is the head end section arm, and the first end of the big arm is arranged on the base through the first joint; and the big arm can rotate around a first rotation axis of the first joint relative to the base; the first end of the small arm is arranged at the second end of the large arm through the second joint, and the first end of the small arm can rotate around a second rotation axis of the second joint relative to the large arm; the display bracket is a tail end joint arm, the first end of the display bracket is arranged at the second end of the small arm through the third joint, and the first end of the display bracket can rotate around a third rotation axis relative to the small arm; the mechanical arm controller controls the first joint to rotate, the second joint to rotate and the third joint to rotate.
Further, in the on-board display interaction mechanism robot as described above, the first rotation axis, the second rotation axis, and the third rotation axis are parallel to each other. The first joint, the second joint and the third joint are in communication connection with the mechanical arm controller.
Further, in the on-board display interaction mechanism robot as described above, each joint is provided with a motor; the acquisition system comprises a sensor acquisition circuit; each joint is provided with the sensor acquisition circuit and a joint driver; the mechanical arm controller is respectively in communication connection with the sensor acquisition circuit and the joint driver; the sensor acquisition circuit is used for sending acquired data information to the mechanical arm controller; the joint driver is used for controlling the motor.
Further, in the on-board display interaction mechanism robot described above, the sensor acquisition circuit includes a joint speed sensor, a joint position sensor, and a hall sensor; the joint speed sensor sends the acquired speed information of the joint to the mechanical arm controller; the joint position sensor sends the acquired position information of the joint to the mechanical arm controller; and the Hall sensor sends the acquired current information of the joint to the mechanical arm controller.
Further, in the above-mentioned on-board display interaction mechanism robot, the mechanical arm controller performs zero force control, calculates and feeds back moment values of joints to be compensated to the joint drivers, and each joint driver works in a moment mode and sends the received compensation moment values to each joint motor, so that each joint meets the force balance.
Further, in the above-mentioned on-board display interaction mechanism robot, the control system first calculates the magnitudes of gravity, friction and inertial force applied to each joint in the current pose of the display; and then the control system transmits moment values with corresponding magnitudes to each joint to compensate the stress of each joint, so that each joint meets the stress balance, and the display can stably maintain the current pose.
Further, in the on-board display interaction mechanism robot as described above, the on-board display interaction mechanism robot includes a support rod for supporting the display bracket; one end of the supporting rod is rotatably connected with the first joint, and a rotating shaft at one end of the supporting rod is overlapped with the first rotating shaft of the first joint; the other end of the supporting rod is connected with the display bracket.
Further, in the above-mentioned robot with the interactive mechanism of the on-board display, the other end of the supporting rod is provided with a telescopic structure to adapt to the position length change of the display bracket; the number of the support rods is 2, and the support rods are symmetrically arranged on two sides of the display bracket; the supporting rod is in communication connection with the control system, and the control system controls the telescopic lifting of the telescopic structure.
Further, in the on-board display interaction mechanism robot described above, the support rod is driven by an air cylinder; the support bar may independently support the display bracket.
Further, in the on-board display interaction mechanism robot, the display bracket is provided with a gripping handle, and the display bracket is in communication connection with the control system; the grip handle is provided with a control mode switching button for switching working modes.
Further, in the on-board display interaction mechanism robot described above, the operation mode includes a drag mode; and the dragging mode is a dragging teaching mode, and the operator is matched to drag the display to easily reach the designated working position.
Furthermore, in the airborne display interaction mechanism robot, the communication connection mode adopts the EhterCAT communication; the joint driver is a joint servo driver.
The technical scheme of the utility model has the following beneficial effects:
according to the robot with the interactive mechanism of the airborne display, according to the characteristic that the carried mechanical arm has multi-degree-of-freedom motion, the robot with the interactive mechanism of the airborne display is controlled in a moment mode by matching with an accurate robot dynamics parameter identification technology, the interactive mechanism of the airborne display is dragged to reach a proper pose expected to be reached by an operator by utilizing the self-adaptive dragging display interaction mechanism of the dragging teaching function, the free movement of front and back, up and down and pitching of the robot with the interactive mechanism of the airborne display can be realized through a position mode, and the robot can be stopped immediately when unnecessary contact occurs with the outside, so that the safety of the operator and the equipment is protected. This airborne display interaction mechanism robot display position adjustment back overall stability is showing and is improving, and the effectual man-machine interaction experience that has improved even the display rocks in use, through zero power control, the display also can keep good stability, through dragging the teaching, the display speed of adjustment and the obvious promotion of regulation precision have solved the poor problem of overall stability after the display position adjustment.
Drawings
FIG. 1 is a schematic view showing the internal construction of a first joint of an on-board display interactive mechanism robot according to the present utility model;
FIG. 2 is a schematic diagram of a mechanical arm structure of an on-board display interaction mechanism robot according to the present utility model;
FIG. 3 is a schematic view of a display bracket of an on-board display interaction mechanism robot according to the present utility model;
FIG. 4 is a schematic diagram of the connection between the mechanical arm controller and the joints of the robot with the interactive mechanism of the onboard display;
FIG. 5 is a schematic diagram of the overall structure of an on-board display interaction mechanism robot according to the present utility model;
FIG. 6 is a schematic diagram of an on-board display interactive mechanism robot utilizing standard D-H parameters.
The figure number description: the device comprises a base 1, a mechanical arm 2, a display bracket, a display 4, a supporting rod 5, a control system 6, a first joint 8, a big arm 9, a second joint 10, a small arm 11, a third joint 12, an interface flange 13, a collision avoidance bar 14, a grabbing handle 15 and a display screen 16.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the embodiments of the present utility model will be described in further detail with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be 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 utility model will be understood in specific cases by those of ordinary skill in the art.
1-6, wherein FIG. 1 is a schematic view showing the internal construction of a first joint of an on-board display interaction mechanism robot according to the present utility model; FIG. 2 is a schematic diagram of a mechanical arm structure of an on-board display interaction mechanism robot according to the present utility model; FIG. 3 is a schematic view of a display bracket of an on-board display interaction mechanism robot according to the present utility model; FIG. 4 is a schematic diagram of the connection between the mechanical arm controller and the joints of the robot with the interactive mechanism of the onboard display; FIG. 5 is a schematic diagram of the overall structure of an on-board display interaction mechanism robot according to the present utility model; FIG. 6 is a schematic diagram of an on-board display interactive mechanism robot utilizing standard D-H parameters.
Briefly, the basic technical scheme of the utility model is briefly described as follows:
the application provides an on-board display interaction mechanism robot, include: the robot comprises a base, a mechanical arm, a display, a control system and an acquisition system, wherein the control system is a key part of the robot with the onboard display interaction mechanism. The lowest end of the airborne display interaction mechanism robot is provided with a base, a mechanical arm is arranged above the base, the mechanical arm is provided with a plurality of section arms, and a joint is arranged between every two adjacent section arms and between the head end section arm and the base; the acquisition system is used for acquiring moment information at each joint; the display is installed on the base through the arm, and control system is connected with joint, acquisition system, display communication respectively, and above-mentioned machine carries display interaction mechanism robot when actual adjustment, and control system realizes adjusting the gesture of display through the joint motion of control arm, and then adjusts the relative position appearance of display and operating personnel, solves operating personnel and keeps same posture office for a long time and brings the uncomfortable problem of health. The control system generates control signals according to the moment information acquired by the acquisition system, and each joint generates counteracting moment according to the control signals so as to balance stress of each joint.
An on-board display interactive mechanism robot of the present utility model is discussed in detail below. The robot with the onboard display interaction mechanism comprises a base, a mechanical arm, a display, an acquisition system and a control system, and further comprises a supporting rod.
The core components of the present application are a control system and a robotic arm, which are described in detail below.
The control system is arranged in the base and comprises a main controller; the main controller includes: the manipulator controller and the user interaction machine are used for controlling the manipulator controller and the user interaction machine. The mechanical arm controller is positioned at the lower part of the main controller (namely the lower computer control unit) and is used for controlling the mechanical arm. The user interaction machine is located at an upper portion of the main controller (i.e., the upper computer control unit and the upper computer control software is installed), and is used for control of man-machine interaction, specifically, for example, a drag teaching function.
In order to meet the real-time requirement between the control system and each component, CAN communication or EhterCAT communication, preferably EhterCAT communication, is adopted. Specifically, SVPWM waves are adopted between the control system and each component to control the rotating speed and the rotating direction of the motor through a full-bridge driving circuit;
the mechanical arm of this application is as the actuating mechanism of this machine carries display interaction mechanism robot, specifically includes: the first joint, the second joint, the third joint, the big arm, the small arm and the display bracket. The big arm is a head end section arm, a first end of the big arm is arranged on the base through a first joint, and the big arm can rotate around a first rotation axis of the first joint relative to the base. The first end of the forearm is mounted to the second end of the forearm by a second joint, and the first end of the forearm is rotatable relative to the forearm about a second axis of rotation of the second joint. The display bracket is an end section arm, the first end of the display bracket is arranged at the second end of the forearm through a third joint, and the first end of the display bracket can rotate around a third rotation axis relative to the forearm. The display bracket is arranged at the tail end of the mechanical arm. The first axis of rotation, the second axis of rotation, and the third axis of rotation are parallel to one another. The first joint, the second joint and the third joint are in communication connection with the mechanical arm controller. The communication connection can adopt an EhterCAT communication mode. The mechanical arm controller controls the first joint to rotate, the second joint to rotate and the third joint to rotate.
Each joint is provided with a motor, a first joint is taken as an example to specifically introduce a joint structure, and the first joint is provided with a motor for driving the joint to rotate. The number of the motors can be one or two, and when two motors are arranged, each motor can be respectively and rotatably connected with the first rotating shaft of the first joint; when a motor is provided, the motor is rotatably connected to the first rotary shaft. The first joint can be fixedly connected with the base, and also can be movably connected with the base. The large arm rotates around a first rotation axis of the first joint for up-down and front-back adjustment of the display. The second joint and the third joint are identical in structure with the first joint, the forearm rotates around a second rotation axis of the second joint for up-down and front-back adjustment of the display, and the display bracket rotates around a third rotation axis of the third joint for pitching adjustment of the display. The free movement of the front and back, up and down and pitching of the display is further realized through the rotation of the first joint, the second joint and the third joint.
Specifically, the communication connection may adopt an EhterCAT communication mode.
When the robot with the on-board display interaction mechanism is used, the control system firstly calculates the weight, friction force, inertia force and the like of each joint of the display interaction mechanism under the pose of the current display, and then the control system transmits moment values with corresponding magnitudes to each joint of the display interaction mechanism to compensate the stress of each joint; therefore, each joint meets the stress balance, and the display can stably maintain the current pose.
That is, when the on-board display interaction mechanism robot is used, through a zero-force control technology based on moment compensation, the motor driver works in a moment mode, the on-board display interaction mechanism robot control system reads information such as current positions, speeds, accelerations and the like of all joints through the driver, calculates moment values required by the motors of all the joints to maintain the current pose, and transmits the calculated moment values to the motor through the driver, so that the gravity, friction and the like of the on-board display interaction mechanism robot are overcome. At this time, the robot with the interaction mechanism of the airborne display can move in compliance with the external force only by overcoming small inertia force under the traction of the external force. Therefore, each joint meets the stress balance, and the display can stably maintain the current pose.
According to the robot with the onboard display interaction mechanism, the robot with the onboard display interaction mechanism has the characteristic of multi-degree-of-freedom motion according to the carried mechanical arm, the zero-force control of the robot with the onboard display interaction mechanism is realized by matching with an accurate kinetic parameter identification technology, the dragging display interaction mechanism with the self-adaptive dragging teaching function reaches a proper pose expected to be reached by an operator, the free movement of the robot with the onboard display interaction mechanism in front and back, up and down and pitching can be realized through a position mode, and the robot with the onboard display interaction mechanism can be stopped immediately when unnecessary contact occurs with the outside, so that the safety of the operator and the equipment is protected. And the human-computer interaction experience is effectively improved.
In the following, we describe how the manipulator controller and the manipulator are used in combination (i.e., the application of the technology for identifying the dynamic parameters of the on-board display interactive mechanism robot).
In a specific embodiment, the acquisition system comprises a sensor acquisition circuit, each joint is provided with the sensor acquisition circuit and a joint driver, and specifically, the first joint, the second joint and the third joint are provided with the sensor acquisition circuit and the joint driver. The mechanical arm controller is respectively connected with the sensor acquisition circuit and the joint driver in a communication way. And the sensor acquisition circuit is used for sending the acquired data information to the mechanical arm controller. The joint driver is used for controlling the motor. Each joint driver is in communication connection with the mechanical arm controller in a CAN bus mode or an EhterCAT mode. And the real-time control performance is ensured, and preferably, each joint driver is in communication connection with the mechanical arm controller in an EhterCAT mode. The sensor acquisition circuit includes: the system comprises a joint speed sensor, a joint position sensor, a Hall sensor and the like, wherein speed information, position information and current information of a joint are respectively acquired and sent to a mechanical arm controller, the mechanical arm controller performs zero force control, compensation moment values of the joints to be compensated are obtained through calculation and fed back to joint drivers, the joint drivers work in a moment mode, the received compensation moment values are sent to joint motors, and accordingly stress balance of the joints is met, and the display can stably maintain the current pose. Preferably, the shutdown driver is a joint servo driver.
First,: when the control system of the robot of the interactive mechanism of the airborne display is electrified, self-checking and parameter initialization processing of relevant hardware of the robot of the interactive mechanism of the airborne display are needed, and the self-checking comprises self-checking of a motor, a motor driver and a position sensor, self-checking of a controller and self-checking of an operation panel. Parameter initialization includes on-board display interaction mechanism robot zeroing, operation mode, controller device, network communication device initialization, and the like.
Secondly: the joints of the robot of the interaction mechanism of the airborne display are enabled and are in a state of receiving instructions. And judging whether an effective instruction exists or not through monitoring the input instruction, analyzing the instruction, and controlling the movement of the robot of the interaction mechanism of the airborne display to respond to the requirement of a user. When the mechanical arm is operated into a moment mode, the mechanical arm controller obtains compensation moment values required to be compensated for all joints by using a zero-force control algorithm according to initial value signals of joint positions (namely rotation angles), speeds and the like acquired by all sensors of all joints, and sends the compensation moment values to corresponding all joint drivers through buses, and then all joint drivers send the received compensation moment values to all joint motors by using the algorithm, so that the motors of all joints are controlled to normally operate.
Wherein the first joint, the second joint and the third joint operate by adopting the same mechanism. In the following, the first joint is taken as an example, and the hardware configuration of the first joint is described with reference to fig. 1, and the joint servo driver is preferably an Elmo gold series servo driver. The first joint adopts 48V direct current power supply, and a 5V voltage stabilizing circuit and a 24V voltage stabilizing circuit are arranged in the first joint to respectively supply power to the sensor (a joint speed sensor, a joint position sensor and a Hall sensor) and the joint servo driver. The SVPWM waves are adopted to control the rotating speed and the rotating direction of the motor in the first joint through a full-bridge driving circuit; the joint speed sensor and the joint position sensor may transmit real-time running speed and position ("position" i.e. "rotation angle") to the joint. The joint is internally provided with a joint Hall sensor. The data collected by the sensor is transmitted to the joint servo driver, then the speed information, the position information and the current information of the first joint are transmitted to the mechanical arm controller in an EhterCAT mode through the communication circuit, and the mechanical arm controller receives the information data, performs corresponding algorithm processing and feeds back to the joint servo driver in the EhterCAT mode. The second joint, the third joint and the first joint operate in the same mode, so that the joints meet the stress balance, and the display can stably maintain the current pose.
The above description is of how the robot arm controller and the robot arm are used in combination. We introduce the free movement (mathematical model) of up and down, back and forth, pitch of the on-board display interactive mechanism robot (mechanical arm) through a positional model.
Forward displacement solving by using standard D-H parameter method, l 1 Length of large arm l 2 For the length of the forearm l 3 For the length of the end display, the variable is θ i ,i＝1,2,3
The MDH rule is used to describe the structural parameters of the display interaction mechanism, so that the coordinate system of each connecting rod is established. The display interaction mechanism MDH coordinate system is as follows:
TABLE 1 display interaction mechanism MDH parameters
Wherein: θ is the joint angle, d is the link offset, l is the link length, and αi is the link torsion angle. To make the initial state in the contracted state, the joint offset angle is set to be offset= [ (29×pi)/36- (13×pi)/18 0]; the joint variable range [ min max ] is qlim= [ -3 x pi/4 0;0 (13 pi)/18; pi pi; ].
l1 has a length of 160mm; l2 has a length of 154mm; l3 is 138mm, and is the distance from the tail end of the mechanical arm to the center of the display screen.
The corresponding homogeneous transformation matrix of each connecting rod coordinate system is as follows
Solving the positive kinematics according to the above method to obtain
If usedRepresenting the pose of the tail end of the mechanical arm, and obtaining
Wherein:
θ ij is theta i +θ j Is abbreviated as cos θ ij ＝cos(θ i +θ j ),sinθ ij ＝sin(θ i +θ j )，
The front-back, up-down and pitching functions of the robot with the interactive mechanism of the airborne display can be realized through the track planning of the formula.
With the above description, we understand the main operation of the on-board display interactive mechanism robot, and we describe the display and other components of the on-board display interactive mechanism robot.
A display, which may include a mouse, a keyboard. The display may be a liquid crystal display, or may be a touch screen. The display is in communication with the control system, and in particular, the communication connection may be in the form of an EhterCAT communication.
The display comprises a display screen, and the display screen has a software selection function and is used for realizing software function switching.
Specifically, the software selection function includes a normal mode, a synchronous mode, and a drag mode;
in the normal mode, the positions where the first rotation axis, the second rotation axis and the third rotation axis need to be reached are input in the program, and the first rotation axis, the second rotation axis and the third rotation axis automatically run to the target positions.
The synchronous mode is that the robot with the interactive mechanism of the airborne display completes the action of track planning through track planning. Specifically, the first rotating shaft, the second rotating shaft and the third rotating shaft run according to the planned angles, so that the on-board display interaction mechanism robot completes the track planning action. Of course, the track planning action can be changed by changing the track function, and the track planning is consistent before and after the track planning. That is, the current position and the start position of the trajectory planning must be made consistent before the synchronization mode is performed.
And the drag mode can finish drag teaching according to the prompt of the software interface.
The display bracket comprises an interface flange, and the display bracket is connected with the forearm through the interface flange. The display bracket is of a frame structure, and the display is installed and fixed inside the frame structure. The pitch angle of the display is adjusted by rotation of the third joint.
The on-board display interaction mechanism robot further includes a support bar for more effectively supporting the display bracket. One end of the supporting rod is rotatably connected with the first joint, a rotating shaft at one end of the supporting rod is overlapped with a first rotating shaft of the first joint, and the supporting rod can rotate around the first rotating shaft relative to the base; the other end of the supporting rod can be fixedly connected with the display bracket; or the other end of the supporting rod can be movably connected with the display bracket, the other end of the supporting rod can be provided with a telescopic structure, and the telescopic structure is connected with the display bracket, so that the display bracket is convenient to adapt to the position length change of the display bracket; preferably, the support rods are provided in 2 numbers and symmetrically arranged on two sides of the display bracket. The supporting rod can be in communication connection with the control system, and the control system controls the telescopic lifting of the telescopic structure of the supporting rod so as to support the display bracket at multiple angles. Specifically, the communication connection may adopt an EhterCAT communication mode. The support rod additionally provides support force, so that the display can be stably kept in the current pose. Particularly when the display is arranged to be a large screen (the weight is large), the stability of the display bracket is increased by the support rods, so that the robot with the onboard display interaction mechanism is safer and more comfortable for operators to use. Preferably, the support rod may be driven by a cylinder.
Further, in one embodiment, the support bar may be controlled by a control system to independently support the display bracket. Specifically, the joint speed sensor, the joint position sensor and the joint Hall sensor respectively acquire speed information, position information and current information of the joint and send the information to the mechanical arm controller, the mechanical arm controller feeds back the information to the supporting rod through calculation, and the supporting rod replaces each joint to meet the stress balance, so that the display can stably maintain the current pose, and zero-force control is realized.
The display bracket is provided with a grip handle. The display bracket is in communication with the control system, and in particular, the communication connection may be in the form of an EhterCAT communication. The control mode switching button (for realizing hardware function switching) is arranged on the grab handle, and the mode for switching the working mode is the same (namely the working mode is the same) between the hardware function switching mode and the software function switching mode through the switching button, namely the common mode, the synchronous mode and the dragging mode, and particularly the mode is switched to the dragging mode, namely the dragging teaching mode (the mode is controlled by a user interaction machine), and the operator is matched to drag the display to easily reach the designated working position. The on-board display interaction mechanism robot can respectively realize hard switching and soft switching of corresponding functions through the hardware buttons on the grip and the operation buttons on the display screen, and the reliability of the movement of the on-board display interaction mechanism robot is fully ensured. Dragging teaching refers to the process of enabling the tail end of the robot of the interactive mechanism of the airborne display to move according to a required track through manual dragging, and then recording moving points by the robot of the interactive mechanism of the airborne display to restore teaching movement. That is, the control system realizes the dragging teaching function of the mechanical arm by grabbing the handle switching button. The application task of the robot with the interactive mechanism of the airborne display is taught in an intuitive way, so that the programming efficiency of the industrial robot in the application deployment stage can be greatly shortened, a complex programming process is avoided, the robot is easy to learn and simple to operate, the requirements on operators are greatly reduced, the usability of the mechanical arm is enhanced, and the debugging efficiency of the robot is also improved. Through dragging teaching, the robot with the onboard display interaction mechanism can quickly learn how to enable the display to reach the designated working position, and human-computer interaction experience is more convenient.
Preferably, the communication connection mode adopts EhterCAT communication.
Specifically, the operator learns how to get the display to a first position of the display corresponding to a first pose of the operator by dragging the teaching in the first pose by the on-board display interaction mechanism robot (the specific component is the user interaction machine); the operator makes the robot of the interaction mechanism of the on-board display learn how to make the display reach a second position of the display corresponding to the second pose of the operator through dragging teaching under the second pose; by analogy, the operator can learn how to let the on-board display interaction mechanism robot reach the nth position of the display corresponding to the nth pose of the operator by dragging teaching under the nth pose (N is a natural number greater than 1). Then, the on-board display interaction mechanism robot grasps N position arrival methods. If the operator is detected to be in the Mth pose (M is a natural number which is more than 1 and less than N), the robot with the onboard display interaction mechanism automatically sends the display to the Mth position corresponding to the Mth pose, so that the relative pose of the display and the operator can be adaptively adjusted, and the health problems of visual fatigue, cervical vertebra discomfort, eye fatigue and the like of the operator are solved.
The control system is provided with a plurality of working modes of positions and moments, and specifically, the on-board display interaction mechanism robot grasps the N position arrival methods so as to meet the application requirements of different scenes (corresponding to the N positions) of the on-board display interaction mechanism robot.
Further, the edge of the display bracket is provided with an anti-collision strip for protecting the display and related equipment from collision damage. Specifically, when the display executes the preset motion trail, if unnecessary contact with objects in the environment occurs, the motion can be stopped immediately, and the safety of the on-board display interaction mechanism robot and the contact environment is protected.
It will be apparent to those skilled in the art that the present utility model may be practiced in other embodiments that depart from the spirit or essential characteristics thereof. It is apparent that the present utility model is not limited to the details of the above-described exemplary embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. All changes that come within the scope of the utility model or equivalents thereto are intended to be embraced therein.
Claims (14)
1. An on-board display interactive mechanism robot, comprising:
the device comprises a control system, a base and a display;
the control system is arranged in the base;
a mechanical arm is arranged above the base, the mechanical arm is provided with a plurality of joint arms, and a joint is arranged between every two adjacent joint arms and between the head end joint arm and the base;
the acquisition system is used for acquiring moment information at each joint;
the display is arranged on the base through the mechanical arm;
the control system is respectively in communication connection with the joint, the acquisition system and the display; the control system realizes the gesture adjustment of the display by controlling the articulation of the mechanical arm;
the control system is used for generating control signals according to the moment information acquired by the acquisition system, and each joint generates counteracting moment according to the control signals so as to balance the stress of each joint.
2. The on-board display interactive mechanism robot of claim 1, wherein,
the control system comprises a main controller;
the main controller comprises a mechanical arm controller and a user interaction machine;
the mechanical arm controller controls the mechanical arm;
the user interaction machine is used for controlling man-machine interaction.
3. The on-board display interactive mechanism robot of claim 2, wherein,
the mechanical arm comprises a first joint, a second joint, a third joint, a big arm, a small arm and a display bracket;
the big arm is the head end section arm, and the first end of the big arm is arranged on the base through the first joint; and the big arm can rotate around a first rotation axis of the first joint relative to the base;
the first end of the small arm is arranged at the second end of the large arm through the second joint, and the first end of the small arm can rotate around a second rotation axis of the second joint relative to the large arm;
the display bracket is a tail end joint arm, the first end of the display bracket is arranged at the second end of the small arm through the third joint, and the first end of the display bracket can rotate around a third rotation axis relative to the small arm;
the mechanical arm controller controls the first joint to rotate, the second joint to rotate and the third joint to rotate.
4. The on-board display interactive mechanism robot of claim 3, wherein,
the first rotation axis, the second rotation axis and the third rotation axis are parallel to each other; the first joint, the second joint and the third joint are in communication connection with the mechanical arm controller.
5. The on-board display interactive mechanism robot of claim 3, wherein,
each joint is provided with a motor;
the acquisition system comprises a sensor acquisition circuit;
each joint is provided with the sensor acquisition circuit and a joint driver;
the mechanical arm controller is respectively in communication connection with the sensor acquisition circuit and the joint driver;
the sensor acquisition circuit is used for sending acquired data information to the mechanical arm controller;
the joint driver is used for controlling the motor.
6. The on-board display interactive mechanism robot of claim 5, wherein,
the joint driver is a joint servo driver;
the sensor acquisition circuit comprises a joint speed sensor, a joint position sensor and a Hall sensor;
the joint speed sensor sends the acquired speed information of the joint to the mechanical arm controller;
the joint position sensor sends the acquired position information of the joint to the mechanical arm controller;
and the Hall sensor sends the acquired current information of the joint to the mechanical arm controller.
7. The on-board display interactive mechanism robot of claim 6, wherein,
the mechanical arm controller performs zero force control, obtains moment values of all joints to be compensated through calculation and feeds back the moment values to all joint drivers, and all the joint drivers work in a moment mode and send the received compensation moment values to all joint motors so that all the joints meet the stress balance.
8. The on-board display interactive mechanism robot of claim 7, wherein,
the control system firstly calculates the weight, friction and inertia force of each joint under the current pose of the display;
and then the control system transmits moment values with corresponding magnitudes to each joint to compensate the stress of each joint, so that each joint meets the stress balance, and the display can stably maintain the current pose.
9. The on-board display interactive mechanism robot of claim 3, wherein,
comprises a support rod for supporting the display bracket;
one end of the supporting rod is rotatably connected with the first joint, and a rotating shaft at one end of the supporting rod is overlapped with the first rotating shaft of the first joint;
the other end of the supporting rod is connected with the display bracket.
10. The on-board display interactive mechanism robot of claim 9, wherein,
the other end of the supporting rod is provided with a telescopic structure so as to adapt to the position length change of the display bracket;
the number of the support rods is 2, and the support rods are symmetrically arranged on two sides of the display bracket;
the supporting rod is in communication connection with the control system, and the control system controls the telescopic lifting of the telescopic structure.
11. The on-board display interactive mechanism robot of claim 9, wherein,
the support rod is driven by an air cylinder;
the support bar may independently support the display bracket.
12. The on-board display interactive mechanism robot of claim 3, wherein,
the display bracket is provided with a grip handle,
the display bracket is in communication connection with the control system;
the grip handle is provided with a control mode switching button for switching working modes.
13. The on-board display interactive mechanism robot of claim 12, wherein,
the working mode comprises a dragging mode;
and the dragging mode is a dragging teaching mode, and the operator is matched to drag the display to easily reach the designated working position.
14. The on-board display interactive mechanism robot of any one of claims 1 to 13,
the communication connection mode adopts the EhterCAT communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223371980.5U CN219380692U (en) | 2022-12-14 | 2022-12-14 | Robot with airborne display interaction mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223371980.5U CN219380692U (en) | 2022-12-14 | 2022-12-14 | Robot with airborne display interaction mechanism |
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| CN219380692U true CN219380692U (en) | 2023-07-21 |
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| CN202223371980.5U Active CN219380692U (en) | 2022-12-14 | 2022-12-14 | Robot with airborne display interaction mechanism |
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| CN (1) | CN219380692U (en) |
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