CN115592660A - Joint servo module and collision signal processing method - Google Patents
Joint servo module and collision signal processing method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application provides a joint servo module and a collision signal processing method, which are applied to the field of robots and comprise a motor, a brake, an acceleration sensor and a sensor signal processing system; an acceleration sensor for detecting a collision signal at a joint; the sensor signal processing system is used for receiving and processing the collision signal to obtain an alarm signal and outputting the alarm signal to the robot controller; and the brake is used for receiving a braking command and controlling the motor to stop. When the mechanical arm is collided or vibrated by external force, the acceleration sensor is used for detecting and outputting collision signals, the sensor signal processing system is used for carrying out data processing on the collision signals and generating alarm signals to the robot controller, so that the robot controller can give out instructions in time to control the mechanical arm to stop.
Description
Technical Field
The application relates to the field of robots, in particular to a joint servo module and a collision signal processing method.
Background
The robot arm generally has multiple degrees of freedom, and performs operation tasks such as grabbing, carrying, picking and the like on an operation object in an actual operation process. In the operation process of the mechanical arm, the safety is of vital importance, especially for a cooperative robot, the cooperative robot needs to be operated in the same operation environment with people, and whether the mechanical arm is safe or not in the action process is a problem which needs to be considered. The collision safety of the robot arm is one of the most important considerations. Once the mechanical arm is contacted with a human body and collides, the action must be stopped immediately so as to reduce the injury. And a plurality of implementation methods are available in the prior art for detecting external force collision.
The most direct method for detecting external force collision is to install a torque sensor at each joint, and when the mechanical arm is impacted by external force, the torque sensor can directly detect the impact, so that the action of the mechanical arm is stopped under the control of a control system. Its advantage is that it detects reliably, accurately, but its shortcoming is, torque sensor is expensive, has increased the whole cost of arm by a wide margin. Another commonly used solution is to install 6 degree of freedom force sensors additionally at the tail end of the mechanical arm, and can sense the collision force in 6 directions, the external force detection on the tail end of the mechanical arm is accurate and sensitive, but when other parts of the mechanical arm are subjected to external force, the detection accuracy and reliability are reduced, and simultaneously, the cost is also high. The method has the advantages that the method is good in economy and belongs to a sensorless mode, but the method has the defects that the sensitivity to the external force is low, if the method collides with a human body, the external force is difficult to sense in time, and further the operation of the mechanical arm is difficult to stop in time.
Therefore, it is necessary to provide a processing scheme for collision occurrence of the robot arm, which can detect collision information and process and analyze the collision information when the robot arm collides with an external force, and transmit the result of the processing and analysis to the robot controller in time.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a joint servo module and a collision signal processing method, which can detect collision information when a robot arm collides with an external force, process and analyze the collision information, and transmit a result of the processing and analysis to a robot controller in time.
The embodiment of the specification provides the following technical scheme:
a joint servo module comprises a motor, a brake, an acceleration sensor and a sensor signal processing system, wherein the motor, the brake, the acceleration sensor and the sensor signal processing system are arranged at a joint of a mechanical arm;
an acceleration sensor for detecting a collision signal of the first arm or the second arm at the joint;
the sensor signal processing system is used for receiving and processing the collision signal to obtain an alarm signal and outputting the alarm signal to the robot controller so as to generate a braking instruction;
and the brake is used for receiving a braking command and controlling the motor to stop.
According to the technical scheme, when the mechanical arm collides or vibrates, the acceleration sensor is used for detecting and outputting the collision signal, so that the sensor signal processing system receives the collision signal, performs data processing on the collision signal, generates the alarm signal according to the collision signal and outputs the alarm signal to the robot controller in time, and the robot controller performs decision processing.
Preferably, the device further comprises a speed reducer arranged at the joint;
a stator of the motor for coupling with a first arm at the joint;
the rotor of the motor and the speed reducer are output components and are used for coupling a second arm at the joint;
acceleration sensor and sensor signal processing the systems are all integrated on the encoder on the stator side;
the acceleration sensor is used for detecting a collision signal of the first arm at the joint.
Through the technical scheme, the acceleration sensor and the sensor signal processing system are integrated on the circuit board of the motor encoder, so that the influence on the original size and the internal installation of the module due to the addition of the acceleration sensor and the sensor signal processing system is reduced;
meanwhile, the acceleration sensor is integrated on the encoder on the stator side, so that a coordinate system can be established on the plane where the encoder circuit board is located by the acceleration sensor, the acceleration sensor decomposes the acquired collision signal into components in three directions based on the coordinate system established by the acceleration sensor, the output collision signal can not be influenced by the state and direction of each joint of the mechanical arm, the acceleration signal of each joint can be processed independently, unnecessary interference factors are eliminated, and the detection result is more accurate.
Preferably, an acceleration sensor data exchange port is integrated on the encoder on the stator side for realizing data interaction with the outside.
Preferably, the sensor signal processing system is implemented based on an FPGA chip.
By the technical scheme, high-speed interaction of data can be realized, the instantaneity of data detection, processing and judgment is improved, and the timeliness and the sensitivity of detection are further improved.
The embodiment of the present specification further provides a collision signal processing method, including the following steps:
s1, acquiring a collision signal output by an acceleration sensor, wherein the collision signal is an original acceleration signal acquired by the acceleration sensor on a first arm or a second arm at a joint of a mechanical arm;
s2, conditioning and amplifying and performing analog-to-digital conversion on the original acceleration signal to obtain an actual acceleration value;
s3, carrying out data processing on the actual acceleration value to obtain a return value;
and S4, comparing the return value with a preset value, and outputting an alarm signal if the return value is greater than the preset value.
Through the technical scheme, the collision information is processed and analyzed, and the processing and analyzing result is transmitted to the robot controller in time.
Preferably, the data processing in step S3 includes:
s311, acquiring a spatial movement acceleration value of the first arm or the second arm;
s312, calculating a difference value between the actual acceleration value and the space movement acceleration value, and taking an absolute value of the difference value to obtain an acceleration difference absolute value;
s313, integrating the absolute value of the acceleration difference based on the duration corresponding to the absolute value of the acceleration difference to obtain a collision energy value;
and S314, taking the collision energy value as a return value.
Microscopically, the smaller collision or the slight collision is actually continuous contact within a period of time, and by integrating the absolute value of the acceleration difference with the corresponding duration, unnecessary interference can be filtered and a quantization error can be detected to a certain extent, so that the reliability of data processing and the sensitivity of external force collision detection are further improved.
Preferably, the impact energy value includes a first impact component value, a second impact component value and a third impact component value;
calculating the square sum of the first collision component value, the second collision component value and the third collision component value, and taking the square root of the square sum to obtain a total root mean square value;
the first impact component value, the second impact component value, the third impact component value, and the total root mean square value are taken as return values.
Through the technical scheme, the first collision component value, the second collision component value, the third collision component value and the total root-mean-square value are set as return values, the judgment paths are increased through the return values, a plurality of groups of judgment mechanisms are established, and the sensitivity and the accuracy of external force collision detection are further improved.
Preferably, an integration time period and a set value are preset;
and when the duration time period corresponding to the absolute value of the acceleration difference is greater than the integration time period and the absolute value of the acceleration difference is greater than a set value, integrating the absolute value of the acceleration difference, otherwise, not integrating.
By reasonably presetting the integral time period and the set value, when the duration time period corresponding to the absolute value of the acceleration difference is greater than the integral time period and the absolute value of the acceleration difference is greater than the set value, the absolute value of the acceleration difference is integrated, and the next step is carried out, so that part of interference factors can be effectively filtered, and the sensitivity and the reliability of external force collision detection are improved.
Preferably, the data processing in step S3 includes:
s321, carrying out discrete processing on the actual acceleration value to obtain a plurality of discrete acceleration values;
s322, carrying out differential calculation on the discrete acceleration values to obtain a plurality of differential values;
s323, taking the absolute value of each difference value, and accumulating the absolute values of all the difference values in a fixed time period to obtain an accumulated value;
and S324, taking the accumulated value as a return value.
Through the technical scheme, the absolute value accumulation of discrete processing, difference and difference values is utilized, a data interaction link and a comparison link with the outside are omitted, the internal direct processing of the sensor signal processing system can be relied on, the output return value is compared with the preset value, the detection processing efficiency is improved, and the timeliness of mechanical arm control is further improved.
Preferably, the data processing in step S3 includes:
s331, extracting vibration frequency and vibration amplitude from the actual acceleration value by adopting a frequency domain analysis method;
and S332, outputting the vibration amplitude as a return value when the vibration frequency is in a preset frequency range.
According to the technical scheme, the vibration frequency and the vibration amplitude are extracted from the actual acceleration value by using a frequency domain analysis method, the vibration amplitude is used as a return value, the vibration condition of the mechanical arm is analyzed, and whether the mechanical arm has the vibration abnormity caused by external force collision or the vibration abnormity caused by self is judged by analyzing the vibration condition of the mechanical arm.
Compared with the prior art, the beneficial effects that can be achieved by the at least one technical scheme adopted by the embodiment of the specification at least comprise:
1. when the mechanical arm is collided by external force, collision signals are obtained by detecting the collision signals at the joints, the collision signals are input into the sensor signal processing system for data processing, alarm signals are generated according to the collision signals, and the alarm signals are timely output to the robot controller for decision processing;
2. through setting up overall structure in each department joint, can guarantee that each section arm can both in time be detected when taking place external force collision, sensitivity and the accuracy that detects when the improvement arm receives external force collision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is an exploded view of a joint servo module according to one embodiment;
FIG. 2 is a schematic diagram showing the position of an acceleration sensor according to the first embodiment;
FIG. 3 is a block diagram of a hardware system of a collision signal processing method according to the first embodiment;
FIG. 4 is a flow chart illustrating a collision signal processing method according to a first embodiment;
FIG. 5 is a schematic flow chart of the conditioning amplification and analog-to-digital conversion process according to the first embodiment;
FIG. 6 is a flow chart of data processing according to the first embodiment;
FIG. 7 is a block diagram of the processing of collision energy values and total root mean square values in the first embodiment;
FIG. 8 is a block diagram of the processing of an alarm signal in accordance with one embodiment;
FIG. 9 is a flowchart showing data processing in the second embodiment;
FIG. 10 is a block diagram showing processing of an alarm signal according to the second embodiment;
FIG. 11 is a flowchart showing data processing in the third embodiment;
fig. 12 is a processing block diagram of the vibration frequency and the vibration amplitude in the third embodiment.
Description of the drawings: 1. a motor; 2. a brake; 3. a speed reducer; 4. an acceleration sensor; 5. an encoder.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number and aspects set forth herein. In addition, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to or other than one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
The inventor finds that solutions in the prior art, which can detect that the mechanical arm has external force collision in time and control the mechanical arm to stop running, respectively have different defects, such as high cost, low sensitivity and the like.
Based on this, the embodiment of the present specification provides a joint servo module, and referring to fig. 1 and fig. 2, the joint servo module includes a motor 1, a brake 2, a speed reducer 3, an acceleration sensor 4, a sensor signal processing system, and an encoder 5, which are arranged at a joint of a mechanical arm; through each joint servo module, all carry out collision signal to each arm of arm and detect to through the sensor signal processing system among each joint servo module, handle the collision signal that each joint servo module detected, no matter any one arm in the arm takes place external force and collides, all can generate alarm signal in time and export to robot control ware, supply robot control ware to make a decision. The total cost is lower than the processing scheme of relying on a torque sensor to detect the abnormity of the mechanical arm, and the sensitivity is higher than the processing scheme of relying on a 6-degree-of-freedom force sensor and relying on the current change of a servo motor to detect the occurrence of external force collision of the mechanical arm.
The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.
Example one
The embodiment of the present specification provides a joint servo module, as shown in fig. 1 and fig. 2, including a motor 1, a brake 2, a speed reducer 3, an acceleration sensor 4, a sensor signal processing system, and an encoder 5, for being disposed at a joint of a robot arm.
The stator of the motor 1 is used for coupling the first arm at the joint.
The rotor of the motor 1 and the reducer 3 serve as an output assembly for coupling the second arm at the joint.
The encoder 5 is annular, and the encoder 5 is coaxially installed on the axial end face of the stator side of the motor 1.
The acceleration sensor 4 and the sensor signal processing system are integrated on the circuit board of the encoder 5, and the sensor signal processing system realizes the collision signal processing of the acceleration sensor 4 based on the FPGA chip.
The acceleration sensor 4 is arranged behind the circuit board of the encoder 5, and an XYZ coordinate system is established by taking the plane of the circuit board of the encoder 5 as a reference, wherein the plane of the circuit board of the encoder 5 is an XY plane in the XYZ coordinate system. The acceleration sensor 4 is configured to detect a collision signal of the first arm at the joint, decompose the acquired collision signal into collision signals in three directions of XYZ based on an XYZ coordinate system, and output the collision signals to the sensor signal processing system.
The sensor signal processing system is used for receiving and processing the collision signal. In the present embodiment, it is preferred that, the collision signal is an original acceleration signal acquired by the acceleration sensor 4 on the first arm or the second arm at the joint of the mechanical arm. And performing conditioning amplification and analog-to-digital conversion on the collision signal to obtain an actual acceleration value, performing data processing on the actual acceleration value to obtain a return value, and comparing the return value with a preset value to obtain an alarm signal and outputting the alarm signal to the robot controller. The robot controller may be a superordinate robot controller in the conventional sense.
The brake 2 is used for receiving a stop command sent by the robot controller and controlling the motor 1 to stop.
In the in-service use process, every joint department of arm all can install joint servo module, and acceleration sensor 4 in every joint servo module only detects the collision signal that corresponds the stator side of motor 1 in the joint, and then through the joint servo module of each joint department, can all carry out real-time detection and control to each arm of arm. When external force collision occurs on one arm of the mechanical arm, the acceleration changes, a collision signal is detected, and after the corresponding acceleration sensor 4 detects the collision signal, the collision signal is transmitted to the sensor signal processing system for processing.
Because the collision signals detected by the acceleration sensor 4 in each joint servo module take an XYZ coordinate system as a reference to generate collision signals in three directions, namely the collision signals in the three directions all take the stator side of the corresponding joint as a reference, the collision signals are not affected by the positions, directions and the like of the arms of the mechanical arm, and the arms of the mechanical arm can be independently processed respectively to eliminate the interference between the arms, so that the detection result is more accurate.
Referring to fig. 2 and 3, an acceleration sensor data exchange port is further integrated on the circuit board of the encoder 5, and includes a CanOpen/EtherCat communication interface and two SPI interfaces implemented based on an FPGA. The Canopen/EtherCat communication interface realized based on the FPGA is used for realizing the butt joint with the robot controller. The two SPI interfaces are used for high-speed data exchange with external equipment. A data bus is also opened on the circuit board of the encoder 5 to enable direct data interaction with an external processing device.
The embodiment of the present specification further provides a collision signal processing method, and with reference to fig. 4 and 5, the method specifically includes the following steps:
s1, acquiring a collision signal output by an acceleration sensor 4, wherein the collision signal is an original acceleration signal acquired by the acceleration sensor 4 on a first arm or a second arm of a mechanical arm joint, and the collision signal has three directional components which are respectively alpha x0 ，α y0 ，α z0 。
Wherein the components alpha of the collision signal in three directions are acquired using the position where the acceleration sensor 4 is installed x0 ，α y0 ，α z0 Component a of the collision signal in three directions x0 ，α y0 ，α z0 All take the stator side at the joint as the referenceTherefore, the detection device is not influenced by the positions, directions and the like of the arms of the mechanical arm, and the arms of the mechanical arm can be independently processed respectively, so that the interference between the arms is eliminated, and the detection result is more accurate.
S2, the collision signal alpha is converted into a collision signal x0 ，α y0 ，α z0 The actual acceleration value alpha is obtained after being input into a low-pass filter circuit and passing through a conditioning amplifying circuit and an analog-to-digital conversion circuit x ，α y ，α z 。
Wherein the collision signal alpha x0 ，α y0 ，α z0 After being processed by the conditioning amplifying circuit, the collision signal alpha is improved x0 ，α y0 ，α z0 Is converted into a digital signal, i.e. the actual acceleration value alpha, by analog-to-digital conversion x ，α y ，α z And the subsequent data processing is convenient.
S3, aiming at the actual acceleration value alpha x ，α y ，α z And processing the data to obtain a return value.
And S4, comparing the return value with a preset value, and outputting an alarm signal if the return value is greater than the preset value.
By comparing the return value with the preset value and applying a judgment mechanism, whether the mechanical arm is collided by external force or not is quickly judged, and then the robot controller can timely give corresponding treatment conveniently.
Referring to fig. 6, the data processing in step S3 includes:
s311, obtaining the spatial movement acceleration value alpha 'of the first arm or the second arm from the robot controller' x ，α′ y ，α′ z Of spatial travel acceleration value α' x ，α′ y ，α′ z Is the spatial movement acceleration of the first arm or the second arm calculated based on the robot dynamics model of the mechanical arm;
the spatial movement acceleration values are acquired from the robot controller by data transmission through a communication bus interface integrated on a circuit board of the encoder 5.
S312, calculating the actual acceleration value alpha x ，α y ，α z And spatial movement acceleration value alpha' x ，α′ y ，α’ z And taking the absolute value of the difference to obtain the absolute value delta alpha of the acceleration difference x ，δα y ，δα z ；
Absolute value of acceleration difference delta alpha x ，δα y ，δα z Are respectively the formulas (1) to (3):
δα x ＝|α x -α′ x |； (1)
δα y ＝|α y -α′ y |； (2)
δα z ＝|α z -α′ z |； (3)
s313, based on the absolute value delta alpha of the acceleration difference x ，δα y ，δα z Integrating the absolute value of the acceleration difference by the corresponding duration time to obtain a collision energy value, wherein the collision energy value comprises a first collision component value delta x A second collision component value delta y And a third collision component value δ z ；
The first collision component value δ x A second collision component value delta y And a third collision component value δ z The calculation formulas of (a) are respectively formula (4) to formula (6):
wherein, t 0 As a starting point of the duration, t 1 The end point of the duration.
Referring to fig. 6 and 7, an integration period and a set value are set
500ms is adopted as the integration period in the present embodiment. In the present embodiment, the absolute value of the acceleration difference δ α x ，δα y ，δα z Any value of the three satisfies the following conditions: greater than the set value
And the corresponding duration time is more than 500ms, integral operation is executed, and the first collision component value delta of the calculation result is output x A second collision component value delta y And a third collision component value δ z To the acceleration sensor data exchange port and the data bus.
When an actual collision occurs, microscopically, even a small collision or a slight collision is a continuous contact for a period of time, 500ms is set as an integral time period, and an absolute value of an acceleration difference with the duration of less than 500ms is not calculated, so that some interference factors can be filtered to a certain extent, and the reliability of collision detection is improved.
According to the first collision component value delta x A second collision component value delta y And a third collision component value δ z To obtain the total root mean square value delta xyz Total root mean square value delta xyz Is shown in equation (7):
s314, determining the first collision component value delta x A second collision component value delta y Third collision component value δ z And total root mean square value delta xyz As a return value.
Referring to fig. 8, two preset values are set in the present embodiment, and the two preset values are δ th1_stop And delta th2_stop 。
When the first collision component value delta x A second collision component value delta y A third collision component value delta z Any one of which is greater than delta th1_stop Or total root mean square value delta xyz Greater than delta th2_stop And then, outputting an alarm signal to the robot controller.
During actual collision detection, by setting the first collision component value delta x A second collision component value delta y A third collision component value delta z And the total root mean square value delta xyz As a return value, a plurality of judgment paths are added, and as long as one path meets the judgment condition, an alarm signal is output, so that the accuracy and timeliness of collision detection are improved.
Example two
The difference from the first embodiment is that, referring to fig. 9, the data processing in step S3 includes:
s321, comparing the actual acceleration value alpha x ，α y ，α z Performing discrete treatment to obtain alpha x ，α y ，α z A number of discrete acceleration values.
S322, respectively for alpha x ，α y ，α z And carrying out differential calculation on the plurality of discrete acceleration values to obtain a plurality of differential values corresponding to each component.
S323, calculating the absolute values of a plurality of difference values corresponding to each component to obtain the difference absolute values delta alpha of the three components x 、Δα y 、Δα z Accumulating all the difference absolute values corresponding to each component in a fixed time period to respectively obtain accumulated values lambda x 、λ y 、λ z 。
Δα x 、Δα y 、Δα z Are respectively shown in equations (8) to (10):
Δα x ＝|α x (k)-α x (k-1)|； (8)
Δα y ＝|α y (k)-α y (k-1)|； (9)
Δα z ＝|α z (k)-α z (k-1)|； (10)
where k represents the current time and k-1 represents the previous time.
Accumulated value lambda x 、λ y 、λ z Are respectively shown in equations (11) to (13):
wherein, N is the total number of the time length and the differential time step selected according to the reference.
S324, accumulating the value lambda x 、λ y 、λ z Respectively as return values.
Referring to fig. 10, the preset value is set to one, specifically λ, in the present embodiment th_stop When the accumulated value is lambda x 、λ y 、λ z Is greater than lambda th_stop Then, an alarm signal is output to the robot controller, and an accumulated value lambda is output at the same time x 、λ y 、λ z To the acceleration sensor data exchange port.
EXAMPLE III
The difference from the first embodiment is that, referring to fig. 11, the data processing in step S3 includes:
s331, adopting a frequency domain analysis method to obtain an actual acceleration value alpha x ，α y ，α z Extracting the vibration frequency f f_x 、f f_y 、f f_z And amplitude of vibration λ f_x 、λ f_y 、λ f_z ；
S332, when the vibration frequency is in the preset frequency range f th2 -f th1 And when the vibration amplitude is within the range, outputting the corresponding vibration amplitude as a return value.
Referring to fig. 12, the preset value is λ in the present embodiment th When the vibration amplitude is lambda f_x 、λ f_y 、λ f_z Is greater than a predetermined value λ th And outputting vibration frequency and amplitude data to an acceleration sensor data exchange port or outputting an alarm signal to a robot controller. When the robot controller is in actual use, the mechanical arm is collided by external force to cause abnormal vibration or abnormal self vibration, and the robot controller can timely obtain feedback to process the abnormal vibration.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the product embodiments described later, since they correspond to the method, the description is simple, and the relevant points can be referred to the partial description of the system embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A joint servo module is characterized by comprising a motor (1) arranged at a joint of a mechanical arm, a brake (2), an acceleration sensor (4) and a sensor signal processing system;
the acceleration sensor (4) is used for detecting a collision signal of a first arm or a second arm at the joint;
the sensor signal processing system is used for receiving and processing the collision signal to obtain an alarm signal and outputting the alarm signal to the robot controller so as to generate a braking instruction;
and the brake (2) is used for receiving the braking instruction and controlling the motor (1) to stop.
2. Joint servo module according to claim 1, further comprising a reducer (3) for setting at the joint;
a stator of the motor (1) for coupling a first arm at the joint;
the rotor of the motor (1) and the speed reducer (3) are output components and are used for coupling a second arm at the joint;
the acceleration sensor (4) and the sensor signal processing system are integrated on the encoder (5) on the stator side;
the acceleration sensor (4) is used for detecting a collision signal of the first arm at the joint.
3. Joint servo module according to claim 2, wherein the stator-side encoder (5) has integrated thereon an acceleration sensor data exchange port for enabling data interaction with the outside.
4. The joint servo module of any one of claims 1-3, wherein the sensor signal processing system is implemented on an FPGA chip.
5. A collision signal processing method, characterized by the steps of:
s1, acquiring a collision signal output by an acceleration sensor (4), wherein the collision signal is an original acceleration signal acquired by the acceleration sensor (4) on a first arm or a second arm at a joint of a mechanical arm;
s2, conditioning and amplifying the collision signal and performing analog-to-digital conversion to obtain an actual acceleration value;
s3, carrying out data processing on the actual acceleration value to obtain a return value;
and S4, comparing the return value with a preset value, and outputting an alarm signal if the return value is greater than the preset value.
6. The collision signal processing method according to claim 5, wherein the data processing in step S3 includes:
s311, acquiring a spatial movement acceleration value of the first arm or the second arm;
s312, calculating a difference value between the actual acceleration value and the space movement acceleration value, and taking an absolute value of the difference value to obtain an acceleration difference absolute value;
s313, integrating the absolute value of the acceleration difference based on the duration corresponding to the absolute value of the acceleration difference to obtain a collision energy value;
and S314, taking the collision energy value as a return value.
7. The crash signal processing method according to claim 6 wherein the crash energy value comprises a first crash component value, a second crash component value and a third crash component value;
calculating a sum of squares of the first collision component value, the second collision component value and the third collision component value, and taking a square root of an arithmetic number of the sum of squares to obtain a total root mean square value;
taking the first impact component value, the second impact component value, the third impact component value and the total root mean square value as return values.
8. The collision signal processing method according to claim 6, characterized in that an integration period and a set value are preset;
when the continuous time period corresponding to the acceleration difference absolute value is larger than the integration time period and the acceleration difference absolute value is larger than a set value, integrating the acceleration difference absolute value, otherwise, not integrating.
9. The collision signal processing method according to claim 5, wherein the data processing in step S3 includes:
s321, performing discrete processing on the actual acceleration value to obtain a plurality of discrete acceleration values;
s322, carrying out differential calculation on the discrete acceleration values to obtain a plurality of differential values;
s323, taking the absolute value of each difference value, and accumulating the absolute values of all the difference values in a fixed time period to obtain an accumulated value;
and S324, taking the accumulated value as a return value.
10. The collision signal processing method according to claim 5, wherein the data processing in step S3 includes:
s331, extracting vibration frequency and vibration amplitude from the actual acceleration value by adopting a frequency domain analysis method;
and S332, outputting the vibration amplitude as a return value when the vibration frequency is in a preset frequency range.
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