CN101058181A - Robot comprising modular and standardization components - Google Patents
Robot comprising modular and standardization components Download PDFInfo
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- CN101058181A CN101058181A CN 200710041709 CN200710041709A CN101058181A CN 101058181 A CN101058181 A CN 101058181A CN 200710041709 CN200710041709 CN 200710041709 CN 200710041709 A CN200710041709 A CN 200710041709A CN 101058181 A CN101058181 A CN 101058181A
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Abstract
The invention relates to a modularized and standardized robot, comprising the energy module, plan and control module, sense module, communications module, linking component, with each linking components forming into the robot frame through the screws, the plan and control module composed of processor, storage unit, linking telecommunications through standard communications interface and drive module and communications module, through standard communications interface and sense module connecting to the telecommunications, with the drive module composed of drive mechanism, servo generator, drive mechanism, drive wheel and linking to the sense module through the standard communications interface. Robot modularization, standard component installation combines the similar functions together to form a standard component for the convenience of assembly, not restricting to certain area and certain robot.
Description
Technical field
The robot in a kind of intellectual technology field that the present invention relates to, concrete is the robot that a kind of modularization and modular unit constitute.
Background technology
Robot can replace the manpower machine of work automatically, and " robot is a kind of multi-functional operation machine of Reprogrammable, finishes several work with the action with various programmings, is used for materials hauling, workpiece, instrument and various device." in general, robot is a kind of machine with the function of similar " people " to a certain extent, these functions are: the actuating mechanism of robot has the function of some organ (four limbs, sense organ etc.) of similar people or other biological body.Robot has versatility, the job category diversity, and operation program is variable flexibly.Robot has in various degree intelligent, as functions such as memory, perception, reasoning, decision-making, study.Robot has independence, and robot system can not rely on people's intervention and the variation that conforms automatically at work.Robot is the carrier of multi-door technology such as collection sensing, control, information processing, machinery, electronics, computer.But present robot system has composition structure miscellaneous, and the modular assembly and the mounting means of standard do not arranged yet.
Find by prior art documents, in " higher education equipment " o. 11th in 2005,45 pages disclosed " can expand the design of teaching machine robot system ", introduced a kind of robot system method for designing that can expand, introduce the modularization notion, the robot assembly is classified, and connect by certain interface shape, but also can only be applicable to the mechanical arm structure, versatility, applicability are lower.Though have robot assembly's notion to occur to the literature search of prior art, there are not couple robot assembly, module to make complete, comprehensive division, description, also be zero substantially to the analysis of its function, effect.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art part, the robot that provides a kind of modularization and modular unit to constitute.A series of robot modularized, modular units, flexible assembling each other utilizes these assemblies to can be assembled into for having the robot system of various difference in functionalitys.
The objective of the invention is to be achieved through the following technical solutions, the present invention includes: energy module, planning control module, driver module, sensing module, communication module, coupling assembling; Each coupling assembling connects and composes robot frame by screw, and energy module, planning control module, driver module, sensing module, communication module are mounted on respectively on the coupling assembling, constitutes the robot entity;
Described energy module comprises lithium ion battery and electric power management circuit plate, lithium ion battery input (+,-), output (+,-) circuit links to each other with circuit board, the electric weight output of electric power management circuit plate adopts two core aviation plugs as the connecting interface output DC, and its electric weight input adopts direct insertion plug as charging inlet;
Described planning control module, comprise internal processor, memory cell, and have the RS232 serial ports and communicate by letter with driver module, communicate by letter with communication module by USB interface, communicate by letter with sensing module by USB interface with USB interface, adopting two core aviation plugs is the electric energy that interface obtains energy module, uses the direct current of energy module to import as electrical source of power;
Described driver module comprises: tributary motor driver, DC servo motor, transmission mechanism, driving wheel; Described tributary motor driver is the casing that has various communication interfaces, be connected with the planning control modular telecommunications by the RS232 serial ports, be connected with energy module by two core aviation plug interfaces and obtain electric energy, the sensing module that has the digital quantity signal input by the control of numeral output D0 interface, and pass through AD, CAN, the DI interface is communicated by letter with the sensing module with the corresponding interface output, by (+,-) the terminal interface control DC servo motor running that links to each other with DC servo motor, DC servo motor passes through travelling gear, parts of bearings links to each other with driving wheel, exports as power;
Described sensing module comprises infrared distance measurement, supersonic sounding, vision multiple sensors, do not have ad hoc structure, the multisensor syste that can select, make up according to the user, wherein infrared distance measurement, ultrasonic range finder sensor have the output of analog quantity AD interface, vision sensor has USB interface output, thereby can telecom-connect with planning control module or driver module;
Adopt wireless communication mode between the described communication module, follow the communications protocol of IEEE802.11b/g.The communication of communication module and planning control module is based on usb protocol, thereby can realize the communication between the multiple objective programming control module.
Described each module and coupling assembling all have 30 °, 45 °, 60 ° or 90 ° of oblique angle shape interfaces, realize being connected between each module and the coupling assembling, and the butt joint between the coupling assembling, during connection with the connector of respective angles to pasting, and fix by screw, nut.
Described coupling assembling adopts the industrial aluminum profile of standard, connects and composes robot frame by screw, nut between the aluminium section bar, or directly is connected with other modules, is used for fixing the robot assembly.According to the actual design needs aluminium section bar is cut into various difformities, angle, length, so that they are interconnected, are assembled into robot frame, and other machines people module, assembly disperseed to be installed on each connector, be assembled into the robot of various different purposes, as wheeled, crawler type, mechanical arm and mechanical handgrip.
The industrial aluminum profile of described standard, its aluminium section bar end face are cut into 30 ° or 45 ° or 60 ° or 90 ° of oblique angle shape interfaces.
Functions such as energy module current collection of the present invention source discharges and recharges, overshoot discharge prevention, electric quantity of power supply demonstration are in one; Driver module can be communicated by letter with planning control module, sensing module by standard interface, finishes robot power output; Sensing module can be communicated by letter with planning control module, driver module by standard interface, obtains environmental data for system; Communication module adopts the 802.11b/g communications protocol, links to each other with the planning control modular telecommunications by USB interface, can realize the data communication between multisystem; It is one that the planning control module has functions such as computing, storage, control, can carry out telecommunications with driving, sensing, communication module to be connected, and as central arithmetic unit, provides other modules specifically to move strategy.
The present invention relates to that a kind of robot modularized, modular unit, assembly are installed, communication means, each module, assembly have various, specific independently function, be free to be combined into the robot system of various different purposes, as wheeled, arm-type etc.Modular like this assembly mounting means breaks the whole up into parts robot system, abbreviate, and reduced the cost of whole system maintenance, replacement, upgrading, also alleviated the workload of system debug.In addition, each module involved in the present invention all adopts the interface format of standard, can conveniently be used for the combination of module, inter-module.Such combination will reduce the consumption of robot system at interface, protocol section.
Robot modularized, the modular unit of series of the present invention utilizes these assemblies can be assembled into various dissimilar robots, as have autonomous intelligence the mobile robot, have multivariant mechanical arm or mechanical handgrip etc.Robot modularized, modular unit installation method is an one with the partial fusion that has similar functions in the robot components, become a standard package, make things convenient for assembling, replacement between the assembly, different assemblings, connected mode can realize different robot functions, and not only being confined to certain specific area or certain particular machines people, the present invention can be applicable to multiple fields such as military affairs, industry, security, education.
Description of drawings
Fig. 1 assembles schematic diagram for embodiments of the invention 1 two-wheel differential mobile robot;
Wherein: A is a schematic side view, and B is a front elevational schematic.
Fig. 2 assembles schematic diagram for embodiments of the invention 2 mobile robots of three-wheel omnidirectional;
Fig. 3 is the five degree of freedom robotic arm assembling schematic diagram of embodiments of the invention 3;
Among above-mentioned Fig. 1-3,1-sensing module, 2-coupling assembling, 3-communication module, 4-driver module, 5-planning control module, 6-energy module.
Fig. 4 is an energy module schematic diagram among the embodiment;
Fig. 5 is a planning control module diagram among the embodiment;
Fig. 6 is a driver module schematic diagram among the embodiment;
Fig. 7 is a sensing module interface schematic diagram among the embodiment;
Fig. 8 is the shape schematic diagram of coupling assembling among the embodiment.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, assemble schematic diagram for the module of present embodiment, the two-wheel differential mobile robot that assembly constitutes.Sensing module 1 telecom-connects with planning control module 5, and environmental information is provided; Communication module 3 telecom-connects with planning control module 5, finishes data interaction with other system; Two cover driver modules 4 constitute two-wheel differential mobile robots' drive unit, can finish the robot fore-and-aft direction straight line, rotatablely move; Energy module 6 telecom-connects with sensing module 1, communication module 3, driver module 5, planning control module 5, for the usefulness of described assembly module energy; Coupling assembling 2 cuts into various different lengths, angle according to design in advance, couples together by screw, forms robot frame, and other machines people assembly is installed on the connector, finally forms two-wheel differential mobile robot entity.
In the present embodiment; energy module 6 is the integrated rectangular box of lithium ion battery and power management; as shown in Figure 4; its have simultaneously discharge and recharge, function such as overshoot discharge prevention, electric quantity of power supply demonstration; be connected to them with other modular telecommunications electric energy is provided; the electric energy input and output adopt two core aviation plugs as connection, adopt LCD display display power supply residual capacity, realize the electric overprotection of resetting automatically by internal circuit.Planning control module 5 is that to have functions such as computing, storage, control be the box control computer of rectangle of one, internal processor, memory cell, its interface schematic diagram as shown in Figure 5, communicate by letter with driver module 4 by 9 core RS232 serial ports, communicate by letter with communication module 3 by USB interface, communicate by letter with sensing module 1 with USB interface by USB interface.Driver module 4 comprises driver, servomotor, transmission mechanism, driving wheel etc., the driver portion interface as shown in Figure 6, be connected by RS232 serial ports telecommunications with planning control module 5, can accept control signal by this interface, driver is the motor-driven control box, by the motion of servomotor interface drive motors, motor links to each other with driving wheel by transmission mechanisms such as travelling gear, bearings, as robot power output; Also can export the sensing module 1 that the control of DO interface has the digital quantity signal input, and communicate by letter with sensing module 1 with the corresponding interface output by interfaces such as AD, CAN, DI by numeral.Sensing module 1 includes infrared distance measurement, supersonic sounding, vision etc., it is the multisensor syste that to select, to make up according to the user, as shown in Figure 7, various sensors have analog quantity (AD), CAN (bus), digital quantity (DO), USB interface respectively, can telecom-connect with planning control module 5 or driver module 4, for the entire machine robot system obtains environmental data.Communication module 3 is the module bodies with wireless communication capability, can realize the information interaction between each robot system, communication module 3 telecom-connects with the USB interface of planning control module 5, and follows the communications protocol of IEEE802.11b/g, can realize the data communication between multisystem.Coupling assembling 2 adopts the industrial aluminum profile of standard, and as shown in Figure 8, the aluminium section bar end face is cut into 30 °, 45 °, 60 ° or 90 ° of angle of isocline shapes.30 °, 45 °, 60 ° or 90 ° of angle of isocline shape interfaces that each above-mentioned module all has can be realized being connected with coupling assembling 2, also can dock between the assembly simultaneously, during connection with the connector of respective angles to subsides, be connected and fixed by screw, nut and get final product.
Present embodiment is robot modularized, the modular unit installation method is an one with the partial fusion that has similar functions in the robot components, becomes a standard package, makes things convenient for assembling, the replacement between the assembly and is connected.Modular like this assembly mounting means breaks the whole up into parts robot system, abbreviate, and reduced the cost of whole system maintenance, replacement, upgrading, also alleviated the workload of system debug.In addition, each related module of present embodiment all adopts the interface format of standard, can conveniently be used for the combination of module, inter-module.Such combination will reduce the consumption of robot system at interface, protocol section.
As shown in Figure 2, assemble schematic diagram for the module of present embodiment, the mobile robot of three-wheel omnidirectional that assembly constitutes.Sensing module 1 telecom-connects with planning control module 5, and environmental information is provided; Communication module 3 telecom-connects with planning control module 5, finishes data interaction with other system; Three cover driver modules 4 constitute the three-wheel mobile robots' of omnidirectional drive unit, can finish the robot any direction straight line, rotatablely move; Energy module 6 telecom-connects with sensing module 1, communication module 3, driver module 5, planning control module 5 etc., for the usefulness of described assembly module energy; Coupling assembling 2 cuts into various different lengths, angle according to design in advance, couples together by screw, forms robot frame, and other machines people assembly is installed on the connector, finally forms the mobile robot of three-wheel omnidirectional entity.
The function of each standard module, effect, the telecommunications between it connect with embodiment 1.Present embodiment is robot modularized, the modular unit installation method is an one with the partial fusion that has similar functions in the robot components, becomes a standard package, makes things convenient for assembling, the replacement between the assembly and is connected.Modular like this assembly mounting means breaks the whole up into parts robot system, abbreviate, and reduced the cost of whole system maintenance, replacement, upgrading, also alleviated the workload of system debug.In addition, each related module of present embodiment all adopts the interface format of standard, can conveniently be used for the combination of module, inter-module.Such combination will reduce the consumption of robot system at interface, protocol section.
As Fig. 3 is the module of present embodiment 3, the five degree-of-freedom manipulator assembling schematic diagram that assembly constitutes.
As shown in Figure 3, communication module 3 telecom-connects with planning control module 5, finishes data interaction with other system; Five cover driver modules 4 constitute the drive unit of five degree-of-freedom manipulator, can finish the motion that mechanical arm such as Fig. 3 show direction; Energy module 6 telecom-connects with sensing module 1, communication module 3, driver module 5, planning control module 5 etc., for the usefulness of described assembly module energy; Coupling assembling 2 cuts into various different lengths, angle according to design in advance, couples together by screw, forms robot frame, and other machines people assembly is installed on the connector, finally forms the five degree-of-freedom manipulator entity.
The function of each standard module, effect, the telecommunications between it connect with embodiment 1.Present embodiment is robot modularized, the modular unit installation method is an one with the partial fusion that has similar functions in the robot components, becomes a standard package, makes things convenient for assembling, the replacement between the assembly and is connected.Modular like this assembly mounting means breaks the whole up into parts robot system, abbreviate, and reduced the cost of whole system maintenance, replacement, upgrading, also alleviated the workload of system debug.In addition, each related module of present embodiment all adopts the interface format of standard, can conveniently be used for the combination of module, inter-module.Such combination will reduce the consumption of robot system at interface, protocol section.
Claims (5)
1. the robot that constitutes of modularization and modular unit comprises: energy module, planning control module, driver module, sensing module, communication module, coupling assembling; Each coupling assembling connects and composes robot frame by screw, and energy module, planning control module, driver module, sensing module, communication module are mounted on respectively on the coupling assembling, constitutes the robot entity;
Described energy module comprises lithium ion battery and electric power management circuit plate, lithium ion battery input "+,-" output "+,-" circuit links to each other with circuit board, the electric weight output of electric power management circuit plate adopts two core aviation plugs as the connecting interface output DC, and its electric weight input adopts direct insertion plug as charging inlet;
Described planning control module, comprise internal processor, memory cell, and have the RS232 serial ports and communicate by letter with driver module, communicate by letter with communication module by USB interface, communicate to connect by USB interface and sensing module with USB interface, adopting two core aviation plugs is the electric energy that interface obtains energy module, uses the direct current of energy module to import as electrical source of power;
Described driver module comprises: tributary motor driver, DC servo motor, transmission mechanism, driving wheel; Described tributary motor driver is the casing that has various communication interfaces, be connected with the planning control modular telecommunications by the RS232 serial ports, be connected with energy module by two core aviation plug interfaces and obtain electric energy, the sensing module that has the digital quantity signal input by the control of numeral output DO interface, and pass through AD, CAN, the DI interface communicates to connect with the sensing module with the corresponding interface output, by "+;-" terminal interface links to each other with DC servo motor and controls the DC servo motor running, DC servo motor passes through travelling gear, parts of bearings links to each other with driving wheel, exports as power;
Described sensing module comprises infrared distance measurement, supersonic sounding, vision multiple sensors, wherein infrared distance measurement, ultrasonic range finder sensor have the output of analog quantity AD interface, vision sensor has USB interface output, thereby telecom-connects with planning control module or driver module;
Adopt wireless communication mode between the described communication module, follow the communications protocol of IEEE802.11b/g.
2. the robot that modularization as claimed in claim 1 and modular unit constitute is characterized in that, the communication of described communication module and planning control module is based on usb protocol, thus the communication between the realization multiple objective programming control module.
3. the robot that modularization as claimed in claim 1 or 2 and modular unit constitute, it is characterized in that, described each module and coupling assembling all have 30 °, 45 °, 60 ° or 90 ° of oblique angle shape interfaces, realize being connected between each module and the coupling assembling, and the butt joint between the coupling assembling, during connection with the connector of respective angles to pasting, and fix by screw, nut.
4. the robot that constitutes as claim 1 or 3 described modularizations and modular unit, it is characterized in that, described coupling assembling adopts the industrial aluminum profile of standard, connect and compose robot frame by screw, nut between the aluminium section bar, or directly be connected with other modules, be used for fixing the robot assembly.
5. the robot that modularization as claimed in claim 4 and modular unit constitute is characterized in that the industrial aluminum profile of described standard, its aluminium section bar end face are cut into 30 ° or 45 ° or 60 ° or 90 ° of oblique angle shape interfaces.
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| CNB2007100417096A CN100488732C (en) | 2007-06-07 | 2007-06-07 | Robot comprising modular and standardized components |
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| CNB2007100417096A CN100488732C (en) | 2007-06-07 | 2007-06-07 | Robot comprising modular and standardized components |
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| CN101058181A true CN101058181A (en) | 2007-10-24 |
| CN100488732C CN100488732C (en) | 2009-05-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103166296A (en) * | 2013-04-01 | 2013-06-19 | 江苏久祥汽车电器集团有限公司 | Power management system of robot |
| CN101758498B (en) * | 2009-10-16 | 2013-09-11 | 郭超 | Universal robot body assembly |
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN104122823A (en) * | 2014-07-30 | 2014-10-29 | 上海工程技术大学 | Modularized home mobile robot platform |
| CN104200718A (en) * | 2014-09-30 | 2014-12-10 | 东莞市博思电子数码科技有限公司 | Education robot for Internet of Things |
| CN105425691A (en) * | 2016-01-26 | 2016-03-23 | 苏州工业职业技术学院 | Intelligent sensing device for intelligent robot |
| CN105479489A (en) * | 2015-12-22 | 2016-04-13 | 上海交通大学 | Modularized programmable on-chip system experimental device for robot |
| CN105666504A (en) * | 2016-04-20 | 2016-06-15 | 广州蓝海机器人系统有限公司 | Robot with professional explaining function |
| CN105896209A (en) * | 2014-12-16 | 2016-08-24 | 北京雷动云合智能技术有限公司 | Robot general expansion interface |
| CN106002991A (en) * | 2016-05-25 | 2016-10-12 | 北京百度网讯科技有限公司 | Intelligent robot based on artificial intelligence |
| CN106113067A (en) * | 2016-07-18 | 2016-11-16 | 北京科技大学 | A kind of Dual-Arm Mobile Robot system based on binocular vision |
| CN111203863A (en) * | 2020-01-20 | 2020-05-29 | 武汉科技大学 | Modular-design group robot |
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2007
- 2007-06-07 CN CNB2007100417096A patent/CN100488732C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758498B (en) * | 2009-10-16 | 2013-09-11 | 郭超 | Universal robot body assembly |
| CN103166296A (en) * | 2013-04-01 | 2013-06-19 | 江苏久祥汽车电器集团有限公司 | Power management system of robot |
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN104122823A (en) * | 2014-07-30 | 2014-10-29 | 上海工程技术大学 | Modularized home mobile robot platform |
| CN104200718A (en) * | 2014-09-30 | 2014-12-10 | 东莞市博思电子数码科技有限公司 | Education robot for Internet of Things |
| CN105896209A (en) * | 2014-12-16 | 2016-08-24 | 北京雷动云合智能技术有限公司 | Robot general expansion interface |
| CN105479489A (en) * | 2015-12-22 | 2016-04-13 | 上海交通大学 | Modularized programmable on-chip system experimental device for robot |
| CN105425691A (en) * | 2016-01-26 | 2016-03-23 | 苏州工业职业技术学院 | Intelligent sensing device for intelligent robot |
| CN105666504A (en) * | 2016-04-20 | 2016-06-15 | 广州蓝海机器人系统有限公司 | Robot with professional explaining function |
| CN106002991A (en) * | 2016-05-25 | 2016-10-12 | 北京百度网讯科技有限公司 | Intelligent robot based on artificial intelligence |
| CN106113067A (en) * | 2016-07-18 | 2016-11-16 | 北京科技大学 | A kind of Dual-Arm Mobile Robot system based on binocular vision |
| CN106113067B (en) * | 2016-07-18 | 2018-11-06 | 北京科技大学 | A kind of Dual-Arm Mobile Robot system based on binocular vision |
| CN111203863A (en) * | 2020-01-20 | 2020-05-29 | 武汉科技大学 | Modular-design group robot |
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Granted publication date: 20090520 Termination date: 20120607 |