CN106945028B - Assembly module formula decentralised control robot - Google Patents
Assembly module formula decentralised control robot Download PDFInfo
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- CN106945028B CN106945028B CN201710278157.4A CN201710278157A CN106945028B CN 106945028 B CN106945028 B CN 106945028B CN 201710278157 A CN201710278157 A CN 201710278157A CN 106945028 B CN106945028 B CN 106945028B
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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 robots, robot is formed by the module assembled of multiple and different functions, module is multi-panel three-dimensional structure, and it is provided on each face for the electrical connector detachably assembled mutual between module in module, central processing unit is provided in individual module, and individual module makes it be internally provided with different functional units according to the difference of task, functional unit setting is provided with multiple power supplys or network signal electrode in module on any one face and on remaining face, electrode in module between electrical connector and adjacent module by being electrically connected.
Description
Technical field
The present invention relates to robots, more particularly to assembling modularized robot.
Background technique
Center centralized processing reason system is usually used in robot technology, during various drivers or sensor are directly connected to
It entreats on controller.High speed control may be implemented in small-scale system, but in for large-scale system, because system is whole
A ability for depending on central controller and cause ability insufficient, or reduce speed danger.It is also easy to easily lead to conducting wire mistake
More, too 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 is directed toward 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 transmitted in robot, realizes microcomputer control or voluntarily controls.The language of programming is typically all advanced or low-level language, common people
It is difficult to understand, programming requires high-quality professional.
Summary of the invention
To solve the above problems, providing assembly module formula decentralised control robot, it can be decomposed by modularization
Each function of robot, provides flexible combination；Provided technical solution is as follows: assembly module formula decentralised control
Robot, which is characterized in that robot is formed by the module assembled of multiple and different functions, and module is three-dimensional structure, and mould
The electrical connector for mutually detachably assembling between module is provided on block on each face, is provided with centre in each module
Device is managed, and each module makes it be internally provided with different functional units according to the difference of task, functional unit is arranged in mould
It is provided with multiple power supplys or network signal electrode in block on any one face and on remaining face, the electrode in module is by being electrically connected
Fitting and be electrically connected between adjacent module.
Based on the above technical solution, electrical connector is electrode button or the electrode retaining ring with magnetic force.
Based on the above technical solution, module is cube hexahedron, and the number of electrodes in module on each face is extremely
It is less four.
Based on the above technical solution, functional unit includes driving assembly, sensor module, control interface storage group
Part, power supply module, interface module and the functional unit of other participation robot work.
Based on the above technical solution, the communication between module is connection and network variable by electrode in conjunction with next
It realizes, network variable combines the output variable for being used to be connected between disparate modules and input variable to achieve the purpose that communication.
Based on the above technical solution, it can also be networked by wireless or optic communication between module.
A kind of programmable assembling modular decentralised control robot, including the programmable applications in robot control terminal
Program, which is characterized in that possess different human-computer interaction interfaces between different modules, by programming so that in human-computer interaction circle
Module is controlled and monitored on face.
Based on the above technical solution, programming data by control interface storage assembly realize storage, module according to
Programming data realizes scheduled operation automatically.
The utility model has the advantages that the realization visuality segment formula in the terminals such as microcomputer or mobile phone programs.Corresponding assembly type module all has
There is each control window, by the picture command interface (GUI) of window top, can control modules and monitoring sensor etc.
State.Programming namely with the segment of the states such as corresponding these GUI instruction or sensor, is put on picture by connecting each figure
Block realizes control or monitoring formality.These segment programs simultaneously can be immediately performed row on picture so as to just simulation program
Execute row result.After the completion of program, it is transferred directly in robot, it later can be unreal without terminals such as microcomputer or mobile phones
Now self-discipline rule control.
Detailed description of the invention
Fig. 1 is modular structure schematic diagram of the invention.
Fig. 2 is electrode position structural schematic diagram in module of the invention.
Fig. 3 is module decomposition schematic diagram of the invention.
Fig. 4 is module assembled status diagram of the invention.
Fig. 5 electrode connection schematic diagram between module of the invention.
Inside modules electronic line structure Fig. 6 of the invention.
Fig. 7 connection schematic diagram between module of the invention.
Fig. 8 network and communications status diagram between module of the invention.
Fig. 9 is the communications status schematic diagram that intermodule is realized after network variable amount of the invention combines.
Figure 10 is monitoring interface schematic illustration 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 assembling of the invention.
Figure 13 is module programming flow diagram of the invention.
Figure 14 is programming interactive interface schematic diagram of the invention.
Specific embodiment
Assembly module formula decentralised control robot as shown in drawings, which is characterized in that robot is by multiple and different function
The module assembled of energy forms, and module is three-dimensional structure, and is provided on each face for mutually removable between module in module
The electrical connector of assembling is unloaded, central processing unit is provided in each module, and each module makes it according to the difference of task
It is internally provided with different functional units, functional unit setting is provided with more in module on any one face and on remaining face
A power supply or network signal electrode, the electrode in module between electrical connector and adjacent module by being electrically connected.
The use serial interface RS-232C of existing robot and microcomputer network, when robot interior network-control, makes
It is standardized with (LONLocal Operating Network).Robot of the invention uses CAN(Controller Area
Network) standardize, this communication criterion mostly use with automobile control or Industry Control in, on the stability 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
The module assembled of multiple and different functions is used as a complete robot to make by different functions and movement together when in use
With, and can according to particular condition in use free configuration module.
Module is the product with the three-dimensional structure in multiple faces, is realized between module by electrical connector mutual
Be detachably connected, electrical connector can be connected using any electrical connection arrangement in the prior art, such as connecting terminal, PCB
The electrical connector that device, electric wire and contact etc. all can serve as to be electrically connected between module is connect, because the reason of modularization assembling,
It is necessarily detachable, at the same its also there is provided the modes of electrification connection.Because the module in robot is that have independently
Function or the component part of movement are a difference in that so being provided with central processing unit in each module according to module
The functional unit of the difference of the function and movement that specifically undertake, inside modules is different, and appointing for inside modules is arranged in functional unit
It anticipates on a face, multiple power supplys and network signal electrode is provided on remaining face of module, the electrode between adjacent module is logical
Cross electrical connector electrical connection.It is worth noting that being respectively provided on all faces of module to realize the independent assortment between module
There is electrical connector.
Preferably, electrical connector is electrode button or the electrode retaining ring with magnetic force.It provides and is electrically connected in the present embodiment
The preferred embodiment of fitting realizes being detachably connected between module using the electrode button of metal material, can also pass through tool
There is the electrode retaining ring of magnetic force to connect, which can be electromagnetic force.
Preferably, module is cube hexahedron, and the number of electrodes in module on each face is at least four.The shape of module
Shape is preferably the cube having there are six face, at least one face is equipped with functional unit in cube, on remaining five face
Be provided at least four electrodes, the application of electrode in power supply and network signal, if without special circumstances, power supply on each face and
Respectively there are two electrodes for network signal.
Preferably, functional unit includes driving assembly, sensor module, 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 the content be not limited to the present embodiment.Wherein it is worth noting that, although according to different functions make inside modules have not
Same functional unit, but do not exclude the presence of certain special circumstances, i.e. multiple functional units are loaded in a module, rather than
A kind of functional unit can only be centainly loaded in one module.
Preferably, the communication between module is by the connection of electrode and network variable in conjunction with realizing, network variable
In conjunction with the output variable and input variable for being used to be connected between disparate modules to achieve the purpose that communication.It is provided in this embodiment logical
Conveniently section is realized in conjunction with by the way of using network variable, and specific technical solution can refer 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 between module in the patent document
Communication, by module networking and network variable in conjunction with realizing.For 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 combines, according to the variable n of input
Module is made to continue to output p and q with m, p and q are input in multiple modules again by network integration variable, complete a data
Exchange.
Preferably, it can also be networked by wireless or optic communication between module.In order to increase the flexibility of module deployment,
Can be connected by wireless perhaps optic communication between module need to only install wireless communication components or optic communication group additional in module
Part.Since structure is more compact between module of the invention, wireless communication short-range communication component can be used, with reduce power consumption and
Cost, such as bluetooth etc..
A kind of programmable assembling modular decentralised control robot, including the programmable applications in robot control terminal
Program, which is characterized in that possess different human-computer interaction interfaces between different modules, by programming so that in human-computer interaction circle
Module is controlled and monitored on face.On the basis of assembling this technical solution of modular decentralised control robot, utilize
The technical solution further realizes programmable function, which is complete on the basis of Japanese documentation
At, the patent publication No. of the document is JP1999237909A.Above-mentioned Japanese documentation provides programmable using journey
Sequence, can control robot by this program and to robotic programming, 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 corresponds to the friendship of an application program
Mutual interface has the command interface of visual control driving assembly or monitoring sensor component on interface.As shown in figure 11, module is supervised
Control each function of each order respective modules on interface, the prison of control function and sensor module including actuator assembly
Visual function.After interface machine people connects with terminals such as microcomputers, networking order is executed on networking picture can explore mould automatically
The composition of block, or the module programming order that robot is manually composed on picture is put into from module segment, at the same realize module it
Between networking (as shown in figure 12).Monitoring circle of module monomer can be opened by double-clicking the module segment after networking with Genius mouse
Face (as shown in Figure 10).
Preferably, programming data realizes storage by control interface storage assembly, and module is realized automatically according to programming data
Scheduled operation.The order finished will be edited at the terminal is stored in interface storage assembly, after the connection of disconnected end and module,
Module can be according to the preset movement of scheduled instruction execution.
Claims (7)
1. assembly module formula decentralised control robot, which is characterized in that robot by the module assembled of multiple and different functions and
At module is three-dimensional structure, and is provided on each face for the electrical connection detachably assembled mutual between module in module
Part is provided with central processing unit in each module, and each module makes it be internally provided with difference according to the difference of task
Functional unit, functional unit setting is provided in module on any one face and on remaining face multiple power supplys or network letter
Number electrode, the electrode in module between electrical connector and adjacent module by being electrically connected；Electrical connector be electrode button or
Person has the electrode retaining ring of magnetic force.
2. robot as described in claim 1, which is characterized in that module is cube hexahedron, and in module on each face
Number of electrodes is at least four.
3. robot as claimed in claim 2, which is characterized in that functional unit includes driving assembly, sensor module, control
Interface storage assembly, power supply module, interface module and the functional unit of other participation robot work.
4. robot as described in claims 1 to 3, which is characterized in that the communication between module be by the connection of electrode and
For network variable in conjunction with come what is realized, network variable combines the output variable for being used to be connected between disparate modules and input variable to reach
To the purpose of communication.
5. robot as claimed in claim 4, which is characterized in that can also be joined by wireless or optic communication between module
Net,
, can be by wireless or optic communication connection between module in order to increase the flexibility of module deployment, it only need to be in module
Install wireless communication components or optical communication module additional.
6. a kind of programmable assembling modular decentralised control robot, including the programmable applications journey in robot control terminal
Sequence, which is characterized in that possess different human-computer interaction interfaces between different modules, by programming so that in human-computer interaction interface
On module is controlled and is monitored.
7. robot as claimed in claim 6, which is characterized in that programming data is deposited by the realization of control interface storage assembly
Storage, module realize scheduled operation according to programming data automatically.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 CN106945028A (en) | 2017-07-14 |
| CN106945028B true CN106945028B (en) | 2019-07-05 |
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Families Citing this family (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 |
| CN108312146B (en) * | 2018-01-31 | 2020-11-20 | 南京工程学院 | Modularized robot decentralized control method and system |
| CN108527350B (en) * | 2018-03-02 | 2020-06-19 | 上海交通大学 | Cube-shaped modular reconfigurable robot unit and robot |
| CN108961979B (en) * | 2018-09-04 | 2020-10-20 | 付芃棵 | Teaching robot system and assembling method |
| 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 |
| 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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| DE10335568B4 (en) * | 2003-07-31 | 2005-07-28 | Daimlerchrysler Ag | Robot system and method of use |
| CN201253850Y (en) * | 2008-05-29 | 2009-06-10 | 深圳先进技术研究院 | Three foot robot system |
| AT507947B1 (en) * | 2009-02-20 | 2011-06-15 | Univ Graz Tech | MODULAR ROBOTIC DRIVE |
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| CN106945028A (en) | 2017-07-14 |
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