CN107199557A - Robot architecture's unit, robot and robot construction method - Google Patents
Robot architecture's unit, robot and robot construction method Download PDFInfo
- Publication number
- CN107199557A CN107199557A CN201610786982.0A CN201610786982A CN107199557A CN 107199557 A CN107199557 A CN 107199557A CN 201610786982 A CN201610786982 A CN 201610786982A CN 107199557 A CN107199557 A CN 107199557A
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- robot
- joint
- main body
- structural arm
- unit
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
It is an object of the invention to provide a kind of robot architecture's unit, robot and robot construction method.Robot architecture's unit, including the first joint motor, second joint motor and structural arm, structural arm includes structural arm main body, the first joint and the second joint, structural arm main body can be pulled down easily between the first joint and the second joint, first joint motor and second joint motor can also be pulled down easily from the first joint and the second joint respectively, therefore any change can be carried out to structural arm main body, the first joint and the second joint, the difference of robot performance is required with meeting different operating modes, the flexibility of robot is improved.Robot construction method, builds for the body construction to robot, in building process, can change the length of structural arm main body and the form of the first joint and the second joint at any time according to working condition requirement so that the flexibility of robot is emerged from.
Description
Technical field
The present invention relates to cooperation robot field, relate more specifically to a kind of robot architecture's unit, robot and machine
People's construction method.
Background technology
Traditional cooperation robot, such as mechanical arm, its body construction is more fixed, and can not be adjusted.For example, the pass of mechanical arm
The structural arm of connection function is provided between section and joint, the structural arm generally uses and is integrally formed manufacture, i.e. structural arm
Two ends are integral with structural arm for the part with motor connection, it is impossible to dismantled.Lack flexible which results in robot, i.e., without
Method is transformed itself simple and easy to apply, to adapt to various working environments.
For example, in factory automation production line field, product increasingly shows " multi items small batch " trend, even
Need to carry out product customization according to customer demand.This requires production line particularly robot device, can be according to production status
Suitably adjust and transform, such as adjust length, the configuration of adjustment robot or the increase and decrease machine of robot architecture's arm
The free degree of people.Possess the robot system of " flexibility ", can neatly meet above-mentioned needs, substantially reduce the transformation of production line
Cost, improves the economic benefit of production user.
Therefore, this area needs are a kind of can in time and simply adjust structure arm lengths and with larger flexible
Robot.
The content of the invention
It is it is an object of the invention to provide a kind of robot architecture's unit, its simple structure and soft with more preferable system
Property, the adaptability of functional expansionary and task.
It is an object of the invention to provide a kind of robot, including robot architecture's unit, it is easy to adjustment and assembly.
The present invention also aims to provide a kind of robot construction method, the group for simply and easily realizing robot
State process.
To realize robot architecture's unit of the purpose, including the first joint motor, second joint motor and structural arm；
The structural arm includes structural arm main body, the first joint and the second joint, and the structural arm main body includes first end and second
End；
First joint includes the first motor connection face and the first main body joint face, the first main body joint face and institute
The first end for stating structural arm main body is detachably connected, and the first motor connection face and first joint motor are removable
Connect with unloading；
Second joint includes the second motor connection face and the second main body joint face, the second main body joint face and institute
Second end for stating structural arm main body is detachably connected, and the second motor connection face and the second joint motor are removable
Connect with unloading.
Described robot architecture's unit, its further feature is, the axis parallel of first joint motor in
The axis of the second joint motor.
Described robot architecture's unit, its further feature is that the first motor connection face is perpendicular to described
One main body joint face, and the second motor connection face is perpendicular to the second main body joint face, the first main body connection
Face is parallel to the second main body joint face.
Described robot architecture's unit, its further feature is, the axis of first joint motor perpendicular to
The axis of the second joint motor.
Described robot architecture's unit, its further feature is that the first motor connection face is parallel to described
One main body joint face, and the second motor connection face is perpendicular to the second main body joint face, the first main body connection
Face is parallel to the second main body joint face.
Described robot architecture's unit, its further feature is set between first joint and structural arm main body
The first connector is equipped with, the side of first connector and first joint are detachably connected, first connector
Opposite side and the structural arm main body it is detachably connected；
The second connector, the side of second connector and institute are provided between second joint and structural arm main body
State that the second joint is detachably connected, the opposite side of second connector and the structural arm main body are detachably connected.
Described robot architecture's unit, its further feature is that the structural arm main body is the reeded section bar of tool
The side of part, first connector and second connector is fastened in the groove, first connector and institute
The opposite side for stating the second connector is provided with screwed hole, and the screwed hole is used for and first joint and second joint
Connection.
To realize the robot of the purpose, including one or more robot architecture's unit as described above.
Described robot, its further feature is that the robot also includes base or wheel.
To realize the robot construction method of the purpose, including：
A. the number quantity and form for robot architecture's unit that robot needs are determined according to working condition requirement；
B. combine robot architecture's unit and form the body construction of robot；According to the bulk junction of the robot
Structure determines the characteristic parameter of robot；
C. the body construction of the robot is connected with robot configuration equipment, runs configuration software, and in robot
The type of robot is selected on type selection interface according to the body construction of robot, the characteristic parameter is input to accordingly
In characteristic parameter inputting interface；
D. the performance of the body construction of the robot is adjusted and tested according to the characteristic parameter；
E. judge whether the body construction of the robot meets use demand；If the body construction of the robot is met
Use demand, then configuration process terminate；If the body construction of the robot is unsatisfactory for use demand, change the robot
Construction unit simultaneously obtains new characteristic parameter, in the configuration software that new characteristic parameter is input to the configuration equipment,
Configuration process is re-started, until the body construction of robot meets use demand.
Described robot construction method, its further feature is that the step of changing robot architecture's unit is wrapped
Include and pull down structural arm main body from robot construction unit, and change the suitable structural arm main body of size.
The positive effect of the present invention is：Robot disclosed by the invention, including the first joint motor, second joint
Motor and structural arm, structural arm include structural arm main body, the first joint and the second joint, and structural arm main body can be easily from the
Pulled down between one joint and the second joint, the first joint motor and second joint motor can also be easily respectively from the first joints
Pulled down with the second joint, therefore any replacing can be carried out to structural arm main body, the first joint and the second joint, to meet not
Same operating mode is required the difference of robot performance, improves the flexibility of robot.Robot construction method disclosed by the invention,
Built for the body construction to robot, in building process, structural arm master can be changed at any time according to working condition requirement
The form of the length of body and the first joint and the second joint so that the flexibility of robot is emerged from.
Brief description of the drawings
The above and other features of the present invention, property and advantage will pass through retouching with reference to the accompanying drawings and examples
State and become readily apparent from, wherein：
Fig. 1 is the decomposing schematic representation of structural arm in one embodiment of the invention；
Fig. 2 is the decomposing schematic representation of structural arm in another embodiment of the present invention；
Fig. 3 is the schematic diagram of vertical six articulated robot in one embodiment of the invention；
Fig. 4 is the decomposing schematic representation of vertical six articulated robot in one embodiment of the invention；
Fig. 5 is the schematic diagram of SCARA robots in one embodiment of the invention；
Fig. 6 is the schematic diagram of AGV robots in one embodiment of the invention；
Fig. 7 is the flow chart of robot construction method of the present invention；
Fig. 8 is robot type selection interface schematic diagram；
Fig. 9 is vertical six articulated robots characteristic parameter inputting interface schematic diagram in configuration software；
Figure 10 is SCARA roboting features parameter inputting interface schematic diagrames in configuration software；
Figure 11 is Delta roboting features parameter inputting interface schematic diagrames in configuration software；
Figure 12 is Three-wheel type AGV roboting features parameter inputting interface schematic diagrames in configuration software；
Figure 13 is four-wheel-type AGV roboting features parameter inputting interface schematic diagrames in configuration software；
Figure 14 is Mecanum formula AGV roboting features parameter inputting interface schematic diagrames in configuration software.
Embodiment
With reference to specific embodiments and the drawings, the invention will be further described, elaborates in the following description more
Details to facilitate a thorough understanding of the present invention, still the present invention obviously can come real with a variety of other manners different from this description
Apply, those skilled in the art can in the case of without prejudice to intension of the present invention according to practical situations make it is similar promote, drill
Unravel silk, therefore should not be limited the scope of the invention with the content of this specific embodiment.
It should be noted that Fig. 1 to Figure 14 is only as an example, it is drawn according to the condition of equal proportion, and
And should not be construed as limiting in this, as the protection domain to actual requirement of the present invention.
As shown in Figures 1 to 4, robot architecture's unit includes the first joint motor 101a, 201a, second joint motor
101b, 201b and structural arm；Structural arm include the joint 103,203 of structural arm main body 102,202, first and the second joint 104,
204, structural arm main body 102,202 includes first end 102a, 202a and second end 102b, 202b；
First joint 103,203 includes the first motor connection face 1031,2031 and the first main body joint face 1032,2032,
First main body joint face 1032,2032 and first end 102a, 202a of structural arm main body 102,202 are detachably connected, and first
Motor connection face 1031,2031 and the first joint motor 103,203 are detachably connected；
Second joint 104,204 includes the second motor connection face 1041,2041 and the second main body joint face 1042,2042,
Second main body joint face 1042,2042 and second end 102b, 202b of structural arm main body 102,202 are detachably connected, and second
Motor connection face 1041,2041 and second joint motor 101b, 201b are detachably connected.
Structural arm can be manufactured by metal material, and wherein structural arm main body 102,202 is preferably the type that aluminum alloy materials make
Material part, the convenient structural arm main body 102,202 for obtaining different length.If desired the structural arm of more light weight is obtained, can also be adopted
Aluminum alloy materials are replaced with the material of carbon fiber.Structural arm main body 102,202 is preferably straight-arm, in different working condition requirements
Under, structural arm main body 102,202 can also be cranked arm.
Dismountable connected mode in the present invention (including connected mode and joint and structure between joint motor and joint
Connected mode between arm main body) include mode connects for screw.Set between first joint 103,203 and structural arm main body 102,202
There is the first connector 106,206, the side of the first connector 106,206 and the first joint 103,203 are detachably connected, first
The opposite side and structural arm main body 102,202 of connector 106,206 are detachably connected；
The second connector 109,209 is provided between second joint 104,204 and structural arm main body 102,202, second connects
The side of fitting 109,209 and the second joint 104,204 are detachably connected, the opposite side and knot of the second connector 109,209
Structure arm main body 102,202 is detachably connected.
Structural arm main body 102,202 is the profile piece with groove 105,205, and the first connector 106,206 and second connects
The side of fitting 109,209 is fastened in groove 105,205, the first connector 106,206 and the second connector 109,209
Opposite side is provided with screwed hole, and screwed hole is used to be connected with the first joint 103,203 and the second joint 104,204.Certainly, originally
Dismountable connected mode of invention also includes threaded connection, other connected modes being readily disassembled such as snaps connection.
Structural arm main body 102,202 easily can be torn open between the first joint 103,203 and the second joint 104,204
Under, while the first joint motor 103,203 and second joint motor 101b, 201b can also be easily respectively from the first joints
103rd, 203 and second pull down on joint 103,203, therefore can be to the joint 103 of structural arm main body 102,202, first, 203 and
Second joint 103,203 carries out any replacing, the difference of robot performance is required with meeting different operating modes, so as to improve
The flexibility of robot.
Disclose two kinds of structural arm in the embodiment of the present invention respectively with reference to Fig. 1,3 and Fig. 2,4, Fig. 1,3 and Fig. 2,4 respectively
Form, i.e. parallel axes structural arm and perpendicular shaft configuration arm.As shown in Figure 1,3, the first pass that parallel axes structural arm two ends are connected
Section motor 101a and second joint motor 101b axis is parallel to each other, and the effect of parallel axes structural arm is to ensure
The space length of connected two transmission motors and the requirement of the space depth of parallelism.As shown in Figure 2,4, perpendicular shaft configuration
The the first joint motor 101a and second joint motor 101b axis that arm two ends are connected are orthogonal, vertical axis knots
The effect of structure arm is to ensure the requirement of the space length and spatial vertical degree of connected two transmission motors.Motor
Axis refer to straight line where machine shaft.
Preferably, can be by changing the form of the first joint 3 and the second joint 4, i.e. motor connection face and main body connection
Position relationship between face, to constitute parallel axes structural arm and perpendicular shaft configuration arm.
With continued reference to Fig. 1, the first motor connection face 1031 connects perpendicular to the first main body joint face 1032, and the second motor
Junction 1041 is perpendicular to the second main body joint face 1042, and the first main body joint face 1032 is parallel to the second main body joint face 1042.
First main body joint face 1032 is difficult mark due to the influence of accompanying drawing angle, therefore form by a dotted line is drawn.First motor connects
Offered on the motor connection face 1041 of junction 1031 and second for inserting respectively and fixing the first joint motor 101a and the
Being offered on two joint motor 101b circular port 108, the first main body joint face 1032 and the second main body joint face 1042 is used for
Insert and fix respectively first end 102a and the second end 102b square opening 107.First end 102a and the second end 102b insertions
After square opening 107, joint can be fixed on connector with screw.
With continued reference to Fig. 2, the first motor connection face 2031 connects parallel to the first main body joint face 2032, and the second motor
Junction 2041 is perpendicular to the second main body joint face 2042, and the first main body joint face 2032 is parallel to the second main body joint face 2042.
Second main body joint face 2032 is difficult mark due to the influence of accompanying drawing angle, therefore form by a dotted line is drawn.First motor connects
Adpting flange is provided with junction 2031, adpting flange is connected with the first joint motor 201a.On second motor connection face 2041
Offer the circular port 208 for inserting and fixing second joint motor 201b, the first main body joint face 2032 and the second master
The square opening 207 for inserting and fixing first end 202a and the second end 202b respectively is offered on body joint face 2042.
From Fig. 3 and Fig. 4 it is known that the robot of the present invention can include the robot with parallel axes structural arm simultaneously
Construction unit, and robot architecture's unit with perpendicular shaft configuration arm, the quantity and length of structural arm can be according to machines
The operating mode of people is adjusted.
Fig. 5 is horizontal four-degree-of-freedom articulated robot with two different embodiments that Fig. 6 is robot of the present invention, Fig. 5
SCARA, which employs parallel axes structural arm as shown in Figure 1,3.Fig. 6 is automatic guiding transportation robot AGV, and it is also used
Parallel axes structural arm as shown in Figure 1,3, and employ two.
Robot disclosed by the invention includes one or more robot architecture's unit, and robot architecture's unit can
To coordinate base 301 or wheel 601 or other functional modules, different shape and the robot with difference in functionality are formed,
Such as SCARA robots, AGV robots, Delta robots.
Fig. 7 is the flow chart of robot construction method of the present invention, and robot construction method includes：
A. the number quantity and form for robot architecture's unit that robot needs are determined according to working condition requirement, robot architecture is single
The form of member includes the length of structural arm main body 102,202；
B. splice robot architecture's unit and form the body construction of robot；Machine is determined according to the body construction of robot
The characteristic parameter of device people；
C. the body construction of robot is connected with robot configuration equipment, runs configuration software, and in robot type
The type of robot is selected in selection interface according to the body construction of robot, characteristic parameter is input to corresponding characteristic parameter
In inputting interface；
D. the performance of the simultaneously body construction of test machine people is adjusted according to characteristic parameter；
E. judge whether the body construction of robot meets use demand；If the body construction of robot meets and uses need
Ask, then configuration process terminates；If the body construction of robot is unsatisfactory for use demand, changes robot architecture's unit and obtain
In new characteristic parameter, the configuration software that new characteristic parameter is input to configuration equipment, configuration process, Zhi Daoji are re-started
The body construction of device people meets use demand.
Wherein, the step of changing robot architecture's unit is included structural arm main body 102,202 from robot construction unit
On pull down, and change the suitable structural arm main body 102,202 of size.
Step a includes three sub-steps a01, a02 and a03.
A01 is " configuration starts " step, and the step includes configuration equipment and the preparation of configuration software, such as ensures group
State software being capable of the stable operation in configuration equipment.
A02 is " working condition requirement " step, and the step includes robot working space delimited and measured.Obtain such as
The data such as environment temperature, humidity, cleanliness factor, and robot work region scope and the implementation of target, such as grab
Take, stack, transporting etc. mode.
A03 is " robot body structure design " step, and the step includes the quantity and shape for determining robot architecture's unit
Formula, such as joint motor quantity, structural arm form (parallel axes structural arm, perpendicular shaft configuration arm, the length of structural arm main body 102,202
Degree), and ensure that the body construction of robot is located in the range of working region.
Step b includes two sub-steps b01, b02.
B01 is " robot body structure structures " step, and the step is including by first joint motor 101a, 201a and the
Two joint motor 101b, 201b are connected with the first joint 3 and the second joint 4 respectively, and by 4 points of the first joint 3 and the second joint
It is not connected with the first end 2a and the second end 2b of structural arm main body 2, constitutes robot architecture's unit, then splice robot architecture
Unit, constitutes robot body structure.
B02 is the determination step of " characteristic parameter ", and characteristic parameter includes characteristic size and mass property.Characteristic size includes
The distance between first joint motor 101a, 201a and second joint motor 101b, 201b coordinate system in space；Mass property bag
Include the mass property of joint motor and structural arm, such as density, quality, rotary inertia data.
Step c includes two sub-steps c01, c02.
C01 is " robot type selecting " step, and the step is included in robot type selection interface as shown in Figure 8
Corresponding robot type is selected in 1001, robot type mainly includes：Series connection humanoid robot, parallel robots, make by oneself
Adopted robot, automatic guide vehicle robot AGV etc., in robot type selection interface, clicking on corresponding button can be with
Into corresponding subordinate interface, next step configuration is carried out.Series connection humanoid robot includes：General drag articulation N degree of freedom robot N
Can be random natural number, special configuration robot, for example：SCARA robots etc..Included in parallel robot：Delta type machines
Device people etc..In self-defined humanoid robot, user can freely set the configuration of robot according to actual condition, can be series connection
Or mixing in parallel.Automatic guide vehicle AGV robots include：Two-wheel drive type AGV and four-wheel drive type AGV.
C02 is " characteristic parameter input " step, and the step is included in the characteristic parameter inputting interface as shown in Fig. 9 to Figure 14
In, input characteristic parameter.
Fig. 9 is vertical six articulated robots characteristic parameter inputting interface schematic diagram, as shown in figure 9, default robot's base
Mark system overlaps with the axis coordinate system of joint the 1st, under diagram posture, and the 1st axis coordinate system and the 2nd axis coordinate system Z-direction distance are 1101,
X is to the X that distance be the 1102, the 2nd axle and the 3rd axis coordinate system to apart from being that the 1103, the 2nd axle is with the 3rd axis coordinate system Y-direction distance
The X of 1104, the 3rd axle and the 4th axis coordinate system is to the Z-direction that distance be the 1105, the 4th axle and the 5th axis coordinate system apart from being the 1106, the 5th
The Z-direction distance of axle and the 6th axis coordinate system be the 1107, the 6th axle with tool coordinates system apart from being 1108, and above-mentioned each parameter is filled up to
In input frame shown on the right side of Figure 11.
Figure 10 is SCARA roboting features parameter inputting interface schematic diagrames, as shown in Figure 10, default robot's basis coordinates system
Overlapped with the axis coordinate system of joint the 1st, under diagram posture, the 1st axle rotating coordinate system is to distance with the 2nd axle rotating coordinate system X
1201, the 2nd axle rotating coordinate system and the 4th axle rotating coordinate system X to distance be the 1202, the 4th axle rotating coordinate system and workpiece coordinate
It is that X is 1203 to distance, the Z-direction distance of workpiece coordinate system and the 1st axle rotating coordinate system is 1204.Above-mentioned each parameter is filled in
In input frame shown on the right side of to Figure 11.
Figure 11 is Delta roboting features parameter inputting interface schematic diagrames, and as shown in figure 11, the big radius of circle in top is
1301, active arm lengths are 1303, and driven arm lengths are 1304, and the small radius of circle in bottom is 1302.Above-mentioned each parameter is filled up to
In input frame shown in the right side of accompanying drawing 13.
Figure 12 is Three-wheel type AGV roboting features parameter inputting interface schematic diagrames, as shown in figure 12, two driving wheel center Y
It is 1401 to distance, driving wheel width is 1402, driving wheel is 1403 to distance with driven pulley X, and wheel diameter is 1404, will be upper
Each parameter is stated to be filled up in the input frame shown on the right side of Figure 12.
Figure 13 is four-wheel-type AGV roboting features parameter inputting interface schematic diagrames, as shown in figure 13, two driving wheel center Y
It is 1501 to distance, driving wheel width is 1502, two driving wheels and two driven pulley X are to apart from being 1503, and wheel diameter is 1504,
In the input frame that the 1-4 that above-mentioned each parameter is filled up to shown in accompanying drawing 13 is specified.
Figure 14 is Mecanum formula AGV roboting features parameter inputting interface schematic diagrames, as shown in figure 14, driving wheel center
Y-direction distance is 1601, and driving wheel width is 1602, and driving wheel center X is 1603 to distance, and wheel diameter is 1604, will be above-mentioned
Each parameter is filled up in the input frame shown in the right side of accompanying drawing 14.
Step d includes four sub-steps d01, d02, d03, d04.
D01 is " motion planning and robot control parameter tuning " step, and the step includes the feedback for completing each kinematic axis of robot
Pid parameter, feedforward parameter, sensor measures the on-line tunings such as filter parameter, it is ensured that the stabilization of each kinematic axis control of robot
Property, accuracy and rapidity.
D02 is " robot path planning's trial operation " step, and it is dynamic that the step includes the corresponding motion of completion of operation robot
Make, check whether it is correct, and reference data position and the stroke range protection of robot are set.
D03 is " roboting features parameter calibration " step, and the step is including the use of laser tracker or three-dimensional coordinates measurement
The measuring apparatus such as machine, are demarcated and are compensated to roboting features parameter, robot is obtained higher kinematic accuracy.
D04 is " robot functional performance T ＆ M " step, and the step includes entering robot according to working condition requirement
Row comprehensively detection, to verify whether it disclosure satisfy that use requirement.
Step e includes two sub-steps e01, e02.
E01 is " test result judgement " step, and the step includes judging whether robot meets requirement, sent if meeting
Configuration END instruction, if it is not satisfied, then returning to c02 steps, reviews and validate characteristic parameter, and restart configuration process.
E02 is " configuration terminates " step, and the step includes receiving configuration END instruction, terminates robot configuration process.
The positive effect of the present invention is：Robot disclosed by the invention, including the first joint motor, second joint
Motor and structural arm, structural arm include structural arm main body, the first joint and the second joint, and structural arm main body can be easily from the
Pulled down between one joint and the second joint, the first joint motor and second joint motor can also be easily respectively from the first joints
Pulled down with the second joint, therefore any replacing can be carried out to structural arm main body, the first joint and the second joint, to meet not
Same operating mode is required the difference of robot performance, improves the flexibility of robot.Robot construction method disclosed by the invention,
Built for the body construction to robot, in building process, structural arm master can be changed at any time according to working condition requirement
The form of the length of body and the first joint and the second joint so that robot can adapt to different operating modes, embody robot
Flexibility.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area skill
Art personnel without departing from the spirit and scope of the present invention, can make possible variation and modification, every without departing from this hair
The content of bright technical scheme, any modification that the technical spirit according to the present invention is made to above example, equivalent variations and is repaiied
Decorations, each fall within the protection domain that the claims in the present invention are defined.
Claims (11)
1. a kind of robot architecture's unit, it is characterised in that including the first joint motor (101a, 201a), second joint motor
(101b, 201b) and structural arm；The structural arm includes structural arm main body (102,202), the first joint (103,203) and second
Joint (104,204), the structural arm main body (102,202) include first end (102a, 202a) and the second end (102b,
202b)；
First joint (103,203) include the first motor connection face (1031,2031) and the first main body joint face (1032,
2032), the first main body joint face (1032,2032) and the first end of the structural arm main body (102,202)
(102a, 202a) is detachably connected, the first motor connection face (1031,2031) and first joint motor (103,
203) it is detachably connected；
Second joint (104,204) include the second motor connection face (1041,2041) and the second main body joint face (1042,
2042), the second main body joint face (1042,2042) and second end of the structural arm main body (102,202)
(102b, 202b) is detachably connected, the second motor connection face (1041,2041) and the second joint motor (101b,
It is 201b) detachably connected.
2. robot architecture's unit as claimed in claim 1, it is characterised in that first joint motor (101a, 201a)
Axis parallel in the axis of the second joint motor (101b, 201b).
3. robot architecture's unit as claimed in claim 2, it is characterised in that the first motor connection face (1031,
2031) perpendicular to the first main body joint face (1032,2032), and the second motor connection face (1041,2041) hang down
Directly in the second main body joint face (1042,2042), the first main body joint face (1032,2032) is parallel to described second
Main body joint face (1042,2042).
4. robot architecture's unit as claimed in claim 1, it is characterised in that first joint motor (101a, 201a)
Axis perpendicular to the axis of the second joint motor (101b, 201b).
5. robot architecture's unit as claimed in claim 4, it is characterised in that the first motor connection face (1031,
2031) parallel to the first main body joint face (1032,2032), and the second motor connection face (1041,2041) hang down
Directly in the second main body joint face (1042,2042), the first main body joint face (1032,2032) is parallel to described second
Main body joint face (1042,2042).
6. robot architecture's unit as claimed in claim 1, it is characterised in that first joint (103,203) and structure
Be provided with the first connector (106,206) between arm main body (102,202), the side of first connector (106,206) with
First joint (103,203) is detachably connected, opposite side and the structural arm of first connector (106,206)
Main body (102,202) is detachably connected；
The second connector (109,209) is provided between second joint (104,204) and structural arm main body (102,202),
The side of second connector (109,209) and second joint (104,204) are detachably connected, second connection
The opposite side of part (109,209) and the structural arm main body (102,202) are detachably connected.
7. robot architecture's unit as claimed in claim 6, it is characterised in that the structural arm main body (102,202) is tool
The one of the profile piece of fluted (105,205), first connector (106,206) and second connector (109,209)
Side is fastened in the groove (105,205), first connector (106,206) and second connector (109,
209) opposite side is provided with screwed hole, and the screwed hole is used to connect with first joint (103,203) and described second
Head (104,204) connection.
8. a kind of robot, it is characterised in that including one or more such as any one claim in claim 1 to 7
Described robot architecture's unit.
9. robot as claimed in claim 8, it is characterised in that the robot also includes base (301) or wheel
(601)。
10. a kind of robot construction method, it is characterised in that the robot construction method includes：
A. the number quantity and form for robot architecture's unit that robot needs are determined according to working condition requirement, the robot architecture is single
The form of member includes the length of structural arm main body (102,202)；
B. splice robot architecture's unit and form the body construction of robot；It is true according to the body construction of the robot
Determine the characteristic parameter of robot；
C. the body construction of the robot is connected with robot configuration equipment, runs configuration software, and in robot type
The type of robot is selected in selection interface according to the body construction of robot, the characteristic parameter is input to corresponding feature
In parameter inputting interface；
D. the performance of the body construction of the robot is adjusted and tested according to the characteristic parameter；
E. judge whether the body construction of the robot meets use demand；If the body construction of the robot meets and used
Demand, then configuration process terminate；If the body construction of the robot is unsatisfactory for use demand, change the robot architecture
Unit simultaneously obtains new characteristic parameter, in the configuration software that new characteristic parameter is input to the configuration equipment, again
Configuration process is carried out, until the body construction of robot meets use demand.
11. robot construction method as claimed in claim 10, it is characterised in that change the step of robot architecture's unit
It is rapid to include pulling down structural arm main body (102,202) from robot construction unit, and change the suitable structural arm main body of size
(102、202)。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786982.0A CN107199557A (en) | 2016-08-31 | 2016-08-31 | Robot architecture's unit, robot and robot construction method |
| PCT/CN2017/077058 WO2018040541A1 (en) | 2016-08-31 | 2017-03-17 | Robot structural unit, robot and method for constructing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786982.0A CN107199557A (en) | 2016-08-31 | 2016-08-31 | Robot architecture's unit, robot and robot construction method |
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| CN107199557A true CN107199557A (en) | 2017-09-26 |
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ID=59904768
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610786982.0A Pending CN107199557A (en) | 2016-08-31 | 2016-08-31 | Robot architecture's unit, robot and robot construction method |
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| Country | Link |
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| CN (1) | CN107199557A (en) |
| WO (1) | WO2018040541A1 (en) |
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| DE202018101463U1 (en) * | 2018-03-15 | 2018-04-25 | Igus Gmbh | Manipulator with joints and multifunction profile for this |
| US11926048B2 (en) * | 2021-05-26 | 2024-03-12 | Amazon Technologies, Inc. | Modular robotic linkages |
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| WO2018040541A1 (en) | 2018-03-08 |
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