CN104097197A - Modular robot - Google Patents
Modular robot Download PDFInfo
- Publication number
- CN104097197A CN104097197A CN201310119952.0A CN201310119952A CN104097197A CN 104097197 A CN104097197 A CN 104097197A CN 201310119952 A CN201310119952 A CN 201310119952A CN 104097197 A CN104097197 A CN 104097197A
- Authority
- CN
- China
- Prior art keywords
- module
- communication
- modularization robot
- erecting bed
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a modular robot, which comprises a mounting table, at least one working module and a moving mechanism, wherein the mounting table is provided with a plurality of communication sockets and a remote transmission unit; all the working modules are arranged on the mounting table; a mechanical arm control module for controlling each working module to work is arranged in each working module; the moving mechanism is arranged below the mounting table; a moving control module for controlling the moving mechanism to run is arranged in the moving mechanism; all the control modules and the moving control module are correspondingly connected with the communication sockets one by one; each communication socket is connected with the remote transmission unit after being connected through a communication bus; the remote transmission unit is connected with a user terminal through a network. By adopting the modular robot, the quantity of control signal wires in the robot is reduced, electric connection among the modules can be finished by using only two power cables and two communication lines, and convenience is brought to a user.
Description
Technical field
The present invention relates to a kind of modularization robot, particularly relate to the modularization robot that a kind of wiring is few, be easy to install and use.
Background technology
Robot is the representative of high achievement in research of mechano-electronic research field; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In recent years, intelligent robot became one of up-to-date robot research direction, more and more miniaturization, intellectuality, and range of application is also permeated to social all trades and professions from industry, in service, medical treatment, education, a plurality of social fields such as amusement are used widely.Along with the development of mechanics of communication, adopt bussing technique to carry out distributed control, be that current high precision machines people controls the technology generally adopting.That distributed system adopts is open, standardization, modularization and Seriation Design.Each functional subsystem all adopts modular design method, and modules is separate, is independent of each other, and works simultaneously, and modules interconnects by bus, and is finally connected to master control terminal.When needs change or expanding system function, what's new node can be connected into easily to bus or unload from bus, affect hardly the work of other functional nodes of system.And the stelliform connection topology configuration of traditional type, all functional modules all will be connected to controller, and when functional module number increases, its system architecture becomes huge, line difficulty, stability, reliability all will be had a greatly reduced quality, and is unfavorable for the miniaturization of robot and practical.
Chinese patent ZL200810040146.3 discloses a kind of modularized personal robot, it comprises: sensing module, control module, driver module and standard interface module, sensing module is connected by the second standard interface module with control module, and control module is connected by the first standard interface module with driver module.Sensing module is fixed in the second standard interface module, one end of control module is fixed on the second standard module, the other end is fixed in the first standard interface module, and driver module is fixed on the other end of the first standard interface module, and driver module motion drives whole robot motion.The present invention adopts modular construction to form personal robot, but it controls other each modules by total control module, need holding wire power line more, to wiring, cause difficulty like this, if functional module increases, will be for line arrangements makes troubles, and need technical staff's design and installation while increasing module again, general personnel are difficult to operation.
Therefore, need the robot that a kind of modularization, circuit are few, conveniently install and use.
Summary of the invention
The shortcoming of prior art, the object of the present invention is to provide a kind of modularization robot in view of the above, for solving prior art robot interior complex circuit, the problem that is difficult for installing and using.
For achieving the above object and other relevant objects, the invention provides a kind of modularization robot, described modularization robot comprises: erecting bed, and erecting bed is provided with a plurality of communication sockets and a remote transmission unit; At least one operational module, all working module is installed on described erecting bed, is provided with the control module of controlling operational module work in each operational module; Travel mechanism, is arranged on the below of described erecting bed, is provided with the mobile module of controlling of controlling travel mechanism's operation in travel mechanism; All control modules and described mobile control module are corresponding connected one by one with described communication socket, after each communication socket is connected by communication bus, are connected with described remote transmission unit, and described remote transmission unit is connected with user terminal by network.
Preferably, described erecting bed end face is provided with a plurality of installing holes of equidistant arrangement, and described operational module is provided with securing member, and described securing member is plugged in described installing hole described operational module is fixed on described erecting bed.
Preferably, described communication bus adopts CAN bus communication mode or EtherCAT bus communication mode.
Preferably, described operational module is vision collecting module.
Preferably, described operational module is mechanical arm.
Further, be provided with the mechanical arm control module of controlling manipulator motion in described mechanical arm, mechanical arm is controlled in module and is provided with a plurality of control modules, after all control modules are connected by communication bus, is connected with described communication socket.
Preferably, on described erecting bed, be also provided with the power module that electric power is provided for described each operational module and travel mechanism.
Preferably, the described mobile module of controlling comprises a plurality of by the connected control module of communication bus, the corresponding motor that drives travel mechanism's operation of each control module, in each control module, be provided with the input and output control unit of microcontroller, driver element, communication module and image data, the input and output control unit of described driver element, communication module and image data is all connected with microcontroller.
Preferably, described travel mechanism is a plurality of independent rollers of controlling.
Preferably, described travel mechanism is crawler-type mobile mechanism.
As mentioned above, modularization robot of the present invention, has following beneficial effect:
The distributed control system structure of employing based on communication bus, realize each operational module, travel mechanism communicates by letter with remote transmission unit, it has reduced the control signal wire number in robot, only need two power lines and two connections can complete the electrical connection of each intermodule, for user brings convenience.Each module only need be by the communication interface standardization of self, if when user need to set up operational module, only need by operational module with communication interface and the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient; On mechanical connection, also adopt modularized design, erecting bed can be installed multiple operational module.
Accompanying drawing explanation
Fig. 1 is shown as the frame for movement schematic diagram of modularization robot of the present invention.
Fig. 2 is shown as the electrical control schematic diagram of modularization robot of the present invention.
Element numbers explanation
1 mechanical arm
11 mechanical arms are controlled module
101 control modules
2 erecting beds
3 vision collecting modules
31 visions are controlled module
4 travel mechanisms
41 move control module
401 driver elements
402 control modules
403 communication modules
405 motors
406 input and output control units
5 remote transmission units
6 communication sockets
7 communication buses
81 other control modules
The specific embodiment
By particular specific embodiment explanation embodiments of the present invention, person skilled in the art scholar can understand other advantages of the present invention and effect easily by the disclosed content of this description below.
Refer to Fig. 1 to Fig. 2.Notice, appended graphic the illustrated structure of this description, ratio, size etc., equal contents in order to coordinate description to disclose only, for person skilled in the art scholar, understand and read, not in order to limit the enforceable qualifications of the present invention, therefore the technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, not affecting under the effect that the present invention can produce and the object that can reach, all should still drop on disclosed technology contents and obtain in the scope that can contain.Simultaneously, in this description, quote as " on ", the term of D score, " left side ", " right side ", " centre " and " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under without essence change technology contents, when being also considered as the enforceable category of the present invention.
As shown in Figure 1, the invention provides a kind of modularization robot, it comprises: erecting bed 2, and erecting bed 2 is provided with a plurality of communication sockets 6 and a remote transmission unit 5; At least one operational module, all working module is installed on erecting bed 2, is provided with the control module of controlling operational module work in each operational module; Travel mechanism 4, is arranged on the below of erecting bed 2, is provided with the mobile module 41 of controlling of controlling travel mechanism's operation in travel mechanism 4; All control modules and mobile control module 41 are corresponding connected one by one with communication socket 6, and each communication socket 6 is connected with remote transmission unit 5 after being connected by communication bus 7, and remote transmission unit 5 is connected with user terminal by network.The present invention adopts communication bus to realize each operational module, travel mechanism communicates by letter with remote transmission unit, it has reduced the control signal wire number in robot, only need two power lines and two connections can complete the electrical connection of each intermodule, for user brings convenience.Each module only need be by self communication interface standardization, if when user need to set up operational module, only need by operational module with communication interface and the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient.
Modularization robot of the present invention is below described for example, above-mentioned operational module can be vision collecting module and mechanical arm, also can be the module of other job specification, as shown in Figure 1, operational module in the present embodiment is vision collecting module 3 and mechanical arm 1, and Fig. 2 is the electric drawings of each concrete intermodule of the present embodiment, and above-mentioned communication bus adopts CAN bus communication mode, also can adopt EtherCAT bus communication mode, in the present embodiment, adopt CAN bus communication mode.In above-mentioned vision collecting module 3, be provided with and control the vision control module 31 that picture pick-up device gathers image and memory image, this vision is controlled module 31 and is provided with communication module, by communication interface, be connected with above-mentioned communication socket 6, obtain the information that the next order of remote transmission and transmission are obtained.This mechanical arm 1 is four-degree-of-freedom mechanical arm, in it, be provided with the mechanical arm control module 11 of controlling manipulator motion, each joint at mechanical arm is equipped with drive motors, each drive motors is controlled by a control module 101, all control modules 101 are connected and are formed the mechanical arm control module 11 of this mechanical arm by communication bus (the present embodiment is CAN bus), finally by communication interface, be connected with above-mentioned communication socket 6, by communication bus 7, obtain remote transmission module 5 and receive to obtain order, make corresponding actions.For ease of user's subsequent expansion operational module, above-mentioned communication socket 6 is a plurality of, only the control module of N operational module of expansion (being other control module 81 in Fig. 2) need be connected with one of them communication socket 6, realized like this simplification of each intermodule electrical connecting wires, wiring quantity in each intermodule and each module reduces a lot, only has the positive and negative and CAN bus high-low signal line of root line power supply.
On above-mentioned erecting bed 2, be also provided with the power module that electric power is provided for above-mentioned each operational module and travel mechanism 4, in it, charged module can be each module for power supply, saves the outside power line of access.
As shown in Figure 2, the above-mentioned mobile module 41 of controlling comprises a plurality of by the connected control module 402 of communication bus (the present embodiment is CAN bus), the corresponding motor 405 that drives travel mechanism's operation of each control module 402, the input and output control unit 406 that is provided with microcontroller (the present embodiment employing dsp processor), driver element 401, communication module 403 and image data in each control module 402, the input and output control unit 406 of driver element 401, communication module 403 and image data is all connected with microcontroller.Each control module is connected in CAN bus by communication module 403, finally by communication interface, be connected with above-mentioned communication socket 6, microcontroller is connected with driver element 401 and sends control information and then the SERVO CONTROL motor movement motion state information of feedback controlled motor 405 simultaneously, communication module 403 is connected with CAN bus and microcontroller is received to such an extent that feedback information is sent in CAN bus, and the control information that communication module 403 issues from CAN bus sends to microcontroller.This control module also can have other corresponding expanding elements, and this control module also can be used as the control module in above-mentioned mechanical arm.
Input and output control unit 406 in the present embodiment can connect LED lamp, various sensor, can throw light on by driving LED lamp, and gather desired data by various sensors (it can be photoelectric sensor, pressure sensor etc.), as the speed of service and direction etc.
Above-mentioned travel mechanism 4 can be a plurality of independent rollers of controlling, and each roller is driven by a motor 405 all, an above-mentioned control module 402 of the corresponding connection of each motor.Above-mentioned travel mechanism 4 can be also crawler-type mobile mechanism, and this crawler-type mobile mechanism is controlled by the above-mentioned mobile module 41 of controlling.
Above-mentioned is the modularization of this modularization robot in electrical control, adopt distributed control, and CAN bus carries out communication, also can adopt other bus protocol communications, this bus communication has been saved each intermodule connection, also saved control signal wire quantity in module, this modularization robot volume is reduced, and when extended function module, be convenient to expansion, wiring is simple, only need, by interface docking, without professional and technical personnel's rewiring, design.
This modularization robot, when the modularization meeting on electric, also meets the easy-to-install target of modularization in frame for movement.At the end face of above-mentioned erecting bed 2, be provided with a plurality of installing holes 21 of equidistant arrangement, above-mentioned each operational module is provided with securing member, by securing member being plugged in installing hole 21, operational module can be fixed on erecting bed 2, the convenience simple in structure of this plug and play, and the distance between each installing hole equates, only need when making operational module, the distance between the securing member on operational module be made to integral multiple installing hole spacing, this installs fixed form and meets modularization need of production, has realized simplification, the standardization of mechanical connection.
Modularization robot of the present invention, in use, user need to buy corresponding operational module according to self, each operational module is fixed on erecting bed 2, as shown in Figure 1, on erecting bed, 2 are fixed with vision collecting module 3 and mechanical arm 1, after each module frame for movement connects, the communication interface that each module is carried is connected on corresponding communication socket 6, be that each module is all connected to communication bus 7(CAN bus or EtherCAT bus) on, setting all ID at wire module can directly be powered on and be given tacit consent to ID by toggle switch setting on hardware, also can in software, change, the baud rate that CAN bus is set reaches as high as 1Mbps, or the signaling rate of EtherCAT bus is set up to 10M/100Mbps.After setting, start bus system, now, user can control by user terminal Dui Gai robot, has made corresponding job requirement.For the module of difference in functionality, all unified interface, to realize quick-replaceable, increases the function of expanding system.
In sum, modularization robot of the present invention, employing communication bus is realized each operational module, travel mechanism communicates by letter with remote transmission unit, it has reduced the control signal wire number in robot, only need two power lines and two connections can complete the electrical connection of each intermodule, for user brings convenience.Each module only need be by communication interface standardization, if when user need to set up operational module, only need by operational module with communication interface and the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient.So the present invention has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all can, under spirit of the present invention and category, modify or change above-described embodiment.Therefore, such as in affiliated technical field, have and conventionally know that the knowledgeable, not departing from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (10)
1. a modularization robot, is characterized in that, described modularization robot comprises:
Erecting bed (2), erecting bed (2) is provided with a plurality of communication sockets (6) and a remote transmission unit (5);
At least one operational module, it is upper that all working module is installed in described erecting bed (2), is provided with the control module of controlling operational module work in each operational module;
Travel mechanism (4), is arranged on the below of described erecting bed (2), is provided with the mobile module (41) of controlling of controlling travel mechanism's operation in travel mechanism (4);
All control modules and described mobile control module (41) are corresponding connected one by one with described communication socket (6), each communication socket (6) is connected with described remote transmission unit (5) after being connected by communication bus (7), and described remote transmission unit (5) is connected with user terminal by network.
2. modularization robot according to claim 1, it is characterized in that: described erecting bed (2) end face is provided with a plurality of installing holes (21) of equidistant arrangement, described operational module is provided with securing member, and described securing member is plugged in described installing hole (21) described operational module is fixed on described erecting bed (2).
3. modularization robot according to claim 1, is characterized in that: described communication bus (7) adopts CAN bus communication mode or EtherCAT bus communication mode.
4. modularization robot according to claim 1, is characterized in that: described operational module is vision collecting module.
5. modularization robot according to claim 1, is characterized in that: described operational module is mechanical arm.
6. modularization robot according to claim 5, it is characterized in that: in described mechanical arm, be provided with the mechanical arm control module (11) of controlling manipulator motion, mechanical arm is controlled in module and is provided with a plurality of control modules (101), and all control modules (101) are connected with described communication socket (6) after being connected by communication bus.
7. modularization robot according to claim 1, is characterized in that: on described erecting bed (2), be also provided with the power module that electric power is provided for described each operational module and travel mechanism (4).
8. modularization robot according to claim 1, it is characterized in that: the described mobile module (41) of controlling comprises a plurality of by the connected control module of communication bus (402), the corresponding motor (405) that drives travel mechanism's operation of each control module (402), each control module is provided with microcontroller in (402), driver element (401), the input and output control unit (406) of communication module (403) and image data, described driver element (401), the input and output control unit (406) of communication module (403) and image data is all connected with microcontroller.
9. modularization robot according to claim 8, is characterized in that: described travel mechanism (4) is a plurality of independent rollers of controlling.
10. modularization robot according to claim 8, is characterized in that: described travel mechanism (4) is crawler-type mobile mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310119952.0A CN104097197A (en) | 2013-04-08 | 2013-04-08 | Modular robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310119952.0A CN104097197A (en) | 2013-04-08 | 2013-04-08 | Modular robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104097197A true CN104097197A (en) | 2014-10-15 |
Family
ID=51665940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310119952.0A Pending CN104097197A (en) | 2013-04-08 | 2013-04-08 | Modular robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104097197A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889988A (en) * | 2015-06-15 | 2015-09-09 | 上海优爱宝机器人技术有限公司 | SCARA type robot and control system thereof |
| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN105862635A (en) * | 2016-04-12 | 2016-08-17 | 山东国兴智能科技有限公司 | Retractable full-automatic sweeping robot suitable for expressway and operation method |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN106039724A (en) * | 2016-06-06 | 2016-10-26 | 合肥市融宇电子有限公司 | Intelligent children toy assembled modular robot |
| CN106073896A (en) * | 2016-06-15 | 2016-11-09 | 重庆金山科技（集团）有限公司 | A kind of motor for operating robot controls network and method |
| CN106378777A (en) * | 2016-12-02 | 2017-02-08 | 广东电网有限责任公司电力科学研究院 | Modularly configured equipotential hot-line working robot |
| CN110023046A (en) * | 2017-02-22 | 2019-07-16 | Abb瑞士股份有限公司 | Industrial robot system with monitoring sensor |
| CN111993435A (en) * | 2020-08-18 | 2020-11-27 | 嘉兴市木星机器人科技有限公司 | Modular extensible education robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2747031Y (en) * | 2004-09-10 | 2005-12-21 | 中国科学院自动化研究所 | System for controlling travelling manipulator |
| CN101058181A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Robot comprising modular and standardization components |
| KR20080107936A (en) * | 2007-06-08 | 2008-12-11 | 주식회사 그랜드포트 | Educational robot applying structural module system |
| CN201194139Y (en) * | 2007-08-20 | 2009-02-11 | 上海慧烁信息科技发展有限公司 | Intellectualized robot platform with teaching and intelligent function |
| CN101502960A (en) * | 2009-03-12 | 2009-08-12 | 上海交通大学 | Modularization robot based on CORBA connector |
| CN201711965U (en) * | 2010-06-13 | 2011-01-19 | 上海中为智能机器人有限公司 | Portable multi-degree of freedom mini-explosive disposal intelligent mobile robot system |
| CN102039589A (en) * | 2009-10-16 | 2011-05-04 | 李路 | Modularized disaster rescue robot |
| CN102179815A (en) * | 2011-04-14 | 2011-09-14 | 上海交通大学 | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system |
| CN102248536A (en) * | 2011-06-14 | 2011-11-23 | 武汉科技大学 | Mobile mechanical arm control system used for extendable modularization |
| US20120185098A1 (en) * | 2011-01-19 | 2012-07-19 | Harris Corporation | Telematic interface with directional translation |
| CN203171618U (en) * | 2013-04-08 | 2013-09-04 | 上海优爱宝机器人技术有限公司 | Modularized robot |
-
2013
- 2013-04-08 CN CN201310119952.0A patent/CN104097197A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2747031Y (en) * | 2004-09-10 | 2005-12-21 | 中国科学院自动化研究所 | System for controlling travelling manipulator |
| CN101058181A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Robot comprising modular and standardization components |
| KR20080107936A (en) * | 2007-06-08 | 2008-12-11 | 주식회사 그랜드포트 | Educational robot applying structural module system |
| CN201194139Y (en) * | 2007-08-20 | 2009-02-11 | 上海慧烁信息科技发展有限公司 | Intellectualized robot platform with teaching and intelligent function |
| CN101502960A (en) * | 2009-03-12 | 2009-08-12 | 上海交通大学 | Modularization robot based on CORBA connector |
| CN102039589A (en) * | 2009-10-16 | 2011-05-04 | 李路 | Modularized disaster rescue robot |
| CN201711965U (en) * | 2010-06-13 | 2011-01-19 | 上海中为智能机器人有限公司 | Portable multi-degree of freedom mini-explosive disposal intelligent mobile robot system |
| US20120185098A1 (en) * | 2011-01-19 | 2012-07-19 | Harris Corporation | Telematic interface with directional translation |
| CN102179815A (en) * | 2011-04-14 | 2011-09-14 | 上海交通大学 | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system |
| CN102248536A (en) * | 2011-06-14 | 2011-11-23 | 武汉科技大学 | Mobile mechanical arm control system used for extendable modularization |
| CN203171618U (en) * | 2013-04-08 | 2013-09-04 | 上海优爱宝机器人技术有限公司 | Modularized robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN104889988A (en) * | 2015-06-15 | 2015-09-09 | 上海优爱宝机器人技术有限公司 | SCARA type robot and control system thereof |
| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN105839569B (en) * | 2016-04-01 | 2017-08-11 | 山东国兴智能科技有限公司 | Intelligent robot cleaning, installation and recovery cell or the method for town road well lid |
| CN105862635A (en) * | 2016-04-12 | 2016-08-17 | 山东国兴智能科技有限公司 | Retractable full-automatic sweeping robot suitable for expressway and operation method |
| CN105862635B (en) * | 2016-04-12 | 2017-08-25 | 山东国兴智能科技有限公司 | Suitable for the retractable full-automatic sweeping robot and method of work of highway |
| CN106039724A (en) * | 2016-06-06 | 2016-10-26 | 合肥市融宇电子有限公司 | Intelligent children toy assembled modular robot |
| CN106073896A (en) * | 2016-06-15 | 2016-11-09 | 重庆金山科技（集团）有限公司 | A kind of motor for operating robot controls network and method |
| CN106378777A (en) * | 2016-12-02 | 2017-02-08 | 广东电网有限责任公司电力科学研究院 | Modularly configured equipotential hot-line working robot |
| CN110023046A (en) * | 2017-02-22 | 2019-07-16 | Abb瑞士股份有限公司 | Industrial robot system with monitoring sensor |
| US11413772B2 (en) | 2017-02-22 | 2022-08-16 | Abb Schweiz Ag | Industrial robot system with supervision sensor |
| CN111993435A (en) * | 2020-08-18 | 2020-11-27 | 嘉兴市木星机器人科技有限公司 | Modular extensible education robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104097197A (en) | Modular robot | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN102862161A (en) | Field bus-based PAC (Programmable Automation Controller) industrial robot control system | |
| CN104552311A (en) | EtherCAT-based intelligent industrial robot bus module and operating method thereof | |
| CN103199773A (en) | Servo driving system based on bus technology | |
| CN204832853U (en) | Many interfaces motion control ware | |
| CN105500381A (en) | Universal modularized two-arm service robot platform and system | |
| CN112936276B (en) | Multi-stage control device and method for joint of humanoid robot based on ROS system | |
| CN104889988A (en) | SCARA type robot and control system thereof | |
| CN203171618U (en) | Modularized robot | |
| CN202763839U (en) | Programmable automation controller (PAC) industrial robot control system based on field bus | |
| CN205353630U (en) | Servo drive control integrated device | |
| CN205375072U (en) | Independent multi -axis motion controller | |
| CN104678809A (en) | Universal sensor control equipment and system | |
| CN201909987U (en) | Constant-current supply networking system on basis of serial bus | |
| CN203825438U (en) | Servo driver and multi-shaft control system using the same | |
| CN108021042B (en) | Large-scale array control device for dynamic suspension device of display object | |
| CN203644199U (en) | General type Internet of Things data acquisition terminal | |
| CN204795068U (en) | Multimode switch cascades communications network | |
| CN112157645A (en) | Seven-degree-of-freedom cooperative robot intelligent controller | |
| CN216057079U (en) | Internet of things terminal and internet of things system | |
| CN101315553A (en) | Numerical control machine based on PC machine operation | |
| CN204423022U (en) | Can general purpose transducer opertaing device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141015 |