CN106945028A - Assembly module formula decentralised control robot - Google Patents
Assembly module formula decentralised control robot Download PDFInfo
- Publication number
- CN106945028A CN106945028A CN201710278157.4A CN201710278157A CN106945028A CN 106945028 A CN106945028 A CN 106945028A CN 201710278157 A CN201710278157 A CN 201710278157A CN 106945028 A CN106945028 A CN 106945028A
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- module
- robot
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to assembly module formula decentralised control robot, robot is formed by the module assembled of multiple difference in functionalitys, module is multiaspect 3-D solid structure, and be provided with module on each face for the mutual electrical connector detachably assembled between module, central processing unit is provided with individual module, and individual module make it that it is internally provided with different functional units according to the difference of task, functional unit is arranged in module on any one face and is provided with multiple power supplys or network signal electrode on remaining face, electrode in module is electrically connected by electrical connector between adjacent module.
Description
Technical field
The present invention relates to robot, more particularly to assembling modularized robot.
Background technology
Robot technology is usually to focus on reason system using center, during various drivers or sensor are directly connected to
Entreat on controller.Small-scale system can realize high speed control, but in for large-scale system, because system is whole
The individual ability for depending on central controller and cause ability not enough, or reduction speed danger.It is also easy to be easily caused wire mistake
Many, long danger, causes system to be interfered by noise.The control software of general robot be all with formality type Programming with Pascal Language, or
Person points to the gimmick that language also refers to programming.After being programmed in the terminals such as microcomputer, binary code after compilation and linking
It is sent in robot, realizes microcomputer control or voluntarily control.The language of programming is typically all senior or low-level language, common people
It is difficult to understand, programming requires high-quality professional.
The content of the invention
To solve the above problems there is provided assembly module formula decentralised control robot, it can be decomposed by modularization
There is provided flexible combination for each function of robot；The technical scheme provided is as follows：Assembly module formula decentralised control
Robot, it is characterised in that robot is formed by the module assembled of multiple difference in functionalitys, module is 3-D solid structure, and mould
It is provided with block on each face in the electrical connector for mutually detachably being assembled between module, each module and is provided with centre
Device is managed, and each module make it that it is internally provided with different functional units according to the difference of task, functional unit is arranged on mould
The electrode in multiple power supplys or network signal electrode, module is provided with block on any one face and on remaining face by being electrically connected
Fitting and electrically connected between adjacent module.
On the basis of above-mentioned technical proposal, electrical connector is electrode button or the electrode clasp with magnetic force.
On the basis of above-mentioned technical proposal, module be number of electrodes in cube hexahedron, and module on each face extremely
It is four less.
On the basis of above-mentioned technical proposal, functional unit includes drive component, sensor cluster, control interface storage group
Part, power supply module, interface module and the functional unit of other participation robot work.
On the basis of above-mentioned technical proposal, the communication between module is that connection and network variable combination by electrode come
Realize, network variable, which is combined, to be used for being connected output variable and input variable between disparate modules to reach the purpose of communication.
On the basis of above-mentioned technical proposal, it can also be networked between module by wireless or optic communication.
A kind of programmable assembling modular decentralised control robot, including the programmable applications in robot control terminal
Program, it is characterised in that possess different human-computer interaction interfaces between different modules, is caused in man-machine interaction circle by programming
Module is controlled and monitored on face.
On the basis of above-mentioned technical proposal, programming data by control interface storage assembly realize store, module according to
Programming data realizes predetermined operation automatically.
Beneficial effect：The visual segment formula programming of realization in the terminal such as microcomputer or mobile phone.Correspondence assembly type module all has
There is each to control window, pass through the picture command interface of window top（GUI）, modules and monitoring sensor etc. can be controlled
State.Programming namely with the segment of the states such as these GUI of correspondence instructions or sensor, is put on picture by connecting each figure
Block, realizes control or monitoring formality.These segment programs, can be immediately performed row so as to just simulation program on picture simultaneously
Perform row result.After the completion of program, it is transferred directly in robot, later can be real not without terminals such as microcomputer or mobile phones
Now self-discipline rule control.
Brief description of the drawings
Fig. 1 is modular structure schematic diagram of the invention.
Fig. 2 is electrode position structural representation in the module of the present invention.
Fig. 3 is decomposition module schematic diagram of the invention.
Fig. 4 is module assembled view of the invention.
Fig. 5 is electrode connection diagram between the module of the present invention.
The inside modules electronic line structure of Fig. 6 present invention.
Fig. 7 is connection schematic diagram between the module of the present invention.
Fig. 8 is network and communications view between the module of the present invention.
Fig. 9 realizes the communications status schematic diagram of intermodule after being combined for the network variable amount of the present invention.
Figure 10 is monitoring interface principle schematic of the invention.
Figure 11 is monitoring interface module command control principle drawing of the invention.
Figure 12 is the module communications status schematic diagram after the assembling of the present invention.
Figure 13 is module programming schematic flow sheet of the invention.
Figure 14 is programming interactive interface schematic diagram of the invention.
Embodiment
Assembly module formula decentralised control robot as shown in drawings, it is characterised in that robot is by multiple different work(
The module assembled of energy is formed, and module is to be provided with 3-D solid structure, and module on each face for mutually removable between module
Unload and central processing unit is provided with the electrical connector of assembling, each module, and each module causes it according to the difference of task
Different functional units are internally provided with, functional unit is arranged in module on any one face and is provided with remaining face many
Electrode in individual power supply or network signal electrode, module is electrically connected by electrical connector between adjacent module.
The use serial interface RS-232C of existing robot and microcomputer network, robot interior network makes when controlling
With（LONLocal Operating Network）Specification.The robot of the present invention uses CAN（Controller Area
Network）Specification, using this communication criterion more with automobile control or Industry Control, on the steadiness and speed of communication
More preferably.
Each funtion part and action part of robot are resolved into multiple modules by the present embodiment, are responsible for by different modules
Different functions and action, when in use make the module assembled of multiple difference in functionalitys as a complete robot together
With, and can according to particular condition in use free configuration module.
Module is realized each other by electrical connector between the product of the 3-D solid structure with multiple faces, module
Be detachably connected, electrical connector can be connected using any electrical connection arrangement in the prior art, such as binding post, PCB
The electrical connector that device, electric wire and contact etc. can serve as electrically connecting between module is connect, because the reason for modularization assembling, its
It is necessarily detachable, while it also there is provided the mode of electrified connection.Because the module in robot is that have independently
Function or the part of action, so being provided with central processing unit in each module, are a difference in that according to module
The function and the difference of action specifically undertaken, the functional unit of inside modules is different, and functional unit is arranged on appointing for inside modules
Anticipate on a face, the electrode being provided with remaining face of module between multiple power supplys and network signal electrode, adjacent module leads to
Cross electrical connector electrical connection.What deserves to be explained is, it is respectively provided with to realize on the independent assortment between module, all faces of module
There is electrical connector.
It is preferred that, electrical connector is electrode button or the electrode clasp with magnetic force.Provide and be electrically connected in the present embodiment
The preferred scheme of fitting, i.e., realize being detachably connected between module using the electrode button of metal material, can also pass through tool
The electrode clasp for having magnetic force is connected, and the magnetic force can be electromagnetic force.
It is preferred that, module is that the number of electrodes in cube hexahedron, and module on each face is at least four.The shape of module
Shape is preferably the cube with six faces, and at least one interior face of cube is provided with functional unit, on remaining five face
Be provided with least four electrodes, the application of electrode in power supply and network signal, if without special circumstances, power supply on each face and
Network signal respectively has two electrodes.
It is preferred that, functional unit includes drive component, sensor cluster, control interface storage assembly, power supply module, interface
Component and the functional unit of other participation robot work.The present embodiment lists the concrete form of partial function component, including
But it is not limited to the content of the present embodiment.Wherein what deserves to be explained is, although according to different functions cause inside modules have not
With functional unit, but do not exclude the presence of multiple functional units be loaded with the module of certain special circumstances, i.e., one, rather than
A kind of functional unit can only be necessarily loaded in one module.
It is preferred that, the communication between module is connection and network variable combination by electrode to realize, network variable
With reference to for the output variable and input variable that are connected between disparate modules to reach the purpose of communication.It is logical that the present embodiment is provided
Conveniently section is realized by the way of network variable combination, and concrete technical scheme refers to Japanese documentation, and patent is public
The number of opening is JP1998108985A, and patent name is single devices programing system, is described in detail in the patent document between module
Communication, combine and realize by module networking and network variable.Exemplified by as shown in Figure 9, in the present embodiment, multiple modules are defeated
Variable n and m are gone out, the two variables are input to required module under the linking that network variable is combined, according to the variable n of input
With m so that module continues to output p and q, p and q are input in multiple modules again by network integration variable, complete a data
Exchange.
It is preferred that, it can also be networked between module by wireless or optic communication.In order to increase the flexibility of module deployment,
It can be connected between module by wireless or optic communication, only need to install wireless communication components or optic communication group additional in module
Part.Due to the present invention module between structure it is more compact, radio communication can use short-range communication component, with reduce power consumption and
Cost, such as bluetooth.
A kind of programmable assembling modular decentralised control robot, including the programmable applications in robot control terminal
Program, it is characterised in that possess different human-computer interaction interfaces between different modules, is caused in man-machine interaction circle by programming
Module is controlled and monitored on face.On the basis of this technical scheme of assembling modular decentralised control robot, utilize
The technical scheme further realizes programmable function, and the programmable technical scheme is complete on the basis of Japanese documentation
Into, the patent publication No. of the document is JP1999237909A.Above-mentioned Japanese documentation provides programmable application journey
Sequence, can be with control machine people and to robotic programming by this program, can be with the action situation and list of supervisory-controlled robot
The sensor signal of module.In the present embodiment, as shown in Figure 10, each module correspond to the friendship of an application program
There is the visual command interface for controlling drive component or monitoring sensor cluster on mutual interface, interface.As shown in figure 11, module is supervised
Each function of each order respective modules on interface is controlled, includes the control function and the prison of sensor cluster of actuator assembly
Visual function.After the connection of the terminal such as interface machine people and microcomputer, networking order is performed on networking picture can just explore mould automatically
The composition of block, or slave module segment are put into the module programming order that robot is manually composed on picture, at the same realize module it
Between networking（As shown in figure 12）.Double-clicking the module segment after networking with Genius mouse can be to open monitoring circle of module monomer
Face（As shown in Figure 10）.
It is preferred that, programming data is realized by control interface storage assembly and stored, and module is realized automatically according to programming data
Predetermined operation.The order deposit interface storage assembly finished will be edited in terminal, after the connection of disconnected end and module,
Module can perform default action according to predetermined instruction.
Claims (8)
1. assembly module formula decentralised control robot, it is characterised in that robot is by the module assembled of multiple difference in functionalitys
Into module is to be provided with the electrical connection for mutually detachably being assembled between module on 3-D solid structure, and module on each face
Central processing unit is provided with part, each module, and each module make it that it is internally provided with difference according to the difference of task
Functional unit, functional unit is arranged in module on any one face and multiple power supplys or network letter is provided with remaining face
Electrode in number electrode, module is electrically connected by electrical connector between adjacent module.
2. robot as claimed in claim 1, it is characterised in that electrical connector is electrode button or the electrode with magnetic force
Clasp.
3. robot as claimed in claim 2, it is characterised in that module is in cube hexahedron, and module on each face
Number of electrodes is at least four.
4. robot as claimed in claim 3, it is characterised in that functional unit includes drive component, sensor cluster, control
Interface storage assembly, power supply module, interface module and the functional unit of other participation robot work.
5. the robot as described in claim 2 to 4, it is characterised in that the communication between module be by the connection of electrode and
Network variable combines to realize, network variable combine be used for being connected output variable and input variable between disparate modules with up to
To the purpose of communication.
6. robot as claimed in claim 5, it is characterised in that can also be joined between module by wireless or optic communication
Net,
Can be connected between the flexibility of module deployment, module by wireless or optic communication in order to it increase, only need to be in module
Install wireless communication components or optical communication module additional.
7. a kind of programmable assembling modular decentralised control robot, including the programmable applications journey in robot control terminal
Sequence, it is characterised in that possess different human-computer interaction interfaces between different modules, is caused in human-computer interaction interface by programming
On module is controlled and monitored.
8. robot as claimed in claim 7, it is characterised in that programming data is realized by control interface storage assembly and deposited
Storage, module realizes predetermined operation according to programming data automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710278157.4A CN106945028B (en) | 2017-04-25 | 2017-04-25 | Assembly module formula decentralised control robot |
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|---|---|---|---|
| CN201710278157.4A CN106945028B (en) | 2017-04-25 | 2017-04-25 | Assembly module formula decentralised control robot |
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| CN106945028A true CN106945028A (en) | 2017-07-14 |
| CN106945028B CN106945028B (en) | 2019-07-05 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398897A (en) * | 2017-09-20 | 2017-11-28 | 孟祥敦 | Arbitrary configuration arbitrary dimension can be built and realize the robot teaching application platform of automatic calculation |
| CN108312146A (en) * | 2018-01-31 | 2018-07-24 | 南京工程学院 | Modularization robot decentralized control method and system |
| CN108527350A (en) * | 2018-03-02 | 2018-09-14 | 上海交通大学 | A kind of cube shaped Modular reconfigurable robot unit and robot |
| CN108961979A (en) * | 2018-09-04 | 2018-12-07 | 付芃棵 | A kind of teaching robot's system and assemble method |
| CN109732578A (en) * | 2019-01-29 | 2019-05-10 | 西安交通大学 | A kind of modular space allosteric type robot architecture |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN111730594A (en) * | 2020-06-11 | 2020-10-02 | 长春工业大学 | Decentralized control method and system for face-to-face collision of modular robot |
| CN116372932A (en) * | 2023-04-24 | 2023-07-04 | 深圳墨影科技有限公司 | Modular design system applied to robot or robot system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398897A (en) * | 2017-09-20 | 2017-11-28 | 孟祥敦 | Arbitrary configuration arbitrary dimension can be built and realize the robot teaching application platform of automatic calculation |
| CN108312146A (en) * | 2018-01-31 | 2018-07-24 | 南京工程学院 | Modularization robot decentralized control method and system |
| CN108312146B (en) * | 2018-01-31 | 2020-11-20 | 南京工程学院 | Modularized robot decentralized control method and system |
| CN108527350A (en) * | 2018-03-02 | 2018-09-14 | 上海交通大学 | A kind of cube shaped Modular reconfigurable robot unit and robot |
| CN108961979A (en) * | 2018-09-04 | 2018-12-07 | 付芃棵 | A kind of teaching robot's system and assemble method |
| CN109732578A (en) * | 2019-01-29 | 2019-05-10 | 西安交通大学 | A kind of modular space allosteric type robot architecture |
| CN109732578B (en) * | 2019-01-29 | 2021-09-07 | 西安交通大学 | Modular space allosteric robot structure |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN111730594A (en) * | 2020-06-11 | 2020-10-02 | 长春工业大学 | Decentralized control method and system for face-to-face collision of modular robot |
| CN116372932A (en) * | 2023-04-24 | 2023-07-04 | 深圳墨影科技有限公司 | Modular design system applied to robot or robot system |
| CN116372932B (en) * | 2023-04-24 | 2023-11-17 | 深圳墨影科技有限公司 | Modular design system applied to robot or robot system |
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| CN106945028B (en) | 2019-07-05 |
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