CN108673486A - modular articulated robot, control method and storage medium - Google Patents
modular articulated robot, control method and storage medium Download PDFInfo
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- CN108673486A CN108673486A CN201810423044.3A CN201810423044A CN108673486A CN 108673486 A CN108673486 A CN 108673486A CN 201810423044 A CN201810423044 A CN 201810423044A CN 108673486 A CN108673486 A CN 108673486A
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- Prior art keywords
- control
- robot
- joint
- module
- articulated robot
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
Abstract
The present invention relates to the technical fields of robot, disclose modular articulated robot, control method and storage medium, wherein modular articulated robot, including multiple joint arms, multiple joint modules and control system；The joint module is detachable to be installed between the adjacent joint arm, for driving the adjacent joint arm relative swing；The control system includes control panel and the multiaxis driving plate for directly driving each joint module；The control panel includes the processing chip for runs software platform；The multiaxis driving plate is electrically connected to each other with the control panel.The design of robot is changed into building block system by the modular articulated robot in the present invention, alternative pack assembles, since joint module and control system are finished product, user is without debugging the structure and associated drives of robot, directly control can be completed in operation by its hardware capability and on interactive program, therefore has and learn the advantages such as threshold is low, design cost is low.
Description
Technical field
The present invention relates to the technical fields of robot, more particularly to can control the technology neck of integration and modularized robot
Domain.
Background technology
Robot includes mainly with lower part：Structure division and control section.Wherein, structure division includes motor and correlation
Large arm, forearm, pedestal, execute structure etc., motor is typically mounted at joint, driven after rotation corresponding structure swing or
Rotation, such as small arm swing, big arm swing, fingers opening-closing etc..Control section includes controller, driver and teaching machine, control
Device processed is responsible for trajectory planning and the control section on upper layer, and output control signal after driver connects suspension control signal, is converted to corresponding
Pulse signal, input motor in, motor finally makes robot run according to output of pulse signal.In the process of running, electric
Machine feed back motion information to driver, driver knows the degree of movement according to feedback information.Teaching machine is then equivalent to input and sets
Standby, user, to controller input information, is carried out the operations such as action programming, data setting, generally had on teaching machine by teaching machine
There are display screen and button, user can be helped to input program, obtain operation feedback data.
Exploitation for robot, in general structure division are relatively easy to, and are chosen motor and are designed dependency structure,
And control section then has comparable technical threshold, user generally requires purchasing control device, driver and teaching machine, and needs
Debugging is combined with structure division, user needs the knowledge such as known relevant driving, control, has higher learning cost so that
The exploitation of robot has higher study threshold, it is difficult to from being entered on laboratory, production line in common life.Therefore, how
Robot development's threshold is reduced, opening up the blue sea market field of robot becomes this field hot topic R＆D direction.
Invention content
The purpose of the present invention is to provide control integrated module, it is intended to solve Robot Design study door in the prior art
The problems such as sill are high, programming learning difficulty is big, and simplify the design of blocking criteria articulated robot.
The invention is realized in this way provide modular articulated robot, including multiple joint arms, multiple joint modules with
And control system；The joint module is detachable to be installed between the adjacent joint arm, for driving the adjacent joint
Arm relative swing；The control system includes control panel, and the control panel includes the processing chip for runs software platform；Institute
It includes driver for controlling the joint module and the interactive program debugged for user to state software platform.
The design of robot is changed into building block system by the modular articulated robot in the present invention, and alternative pack assembles, so
After be uniformly controlled, greatly reduce design, the manufacture difficulty of robot.Since joint module and control system are into
Product integrate driver and interactive program in software platform, in exploitation depth by two thin consolidations, user without pair
The structure and associated drives of robot are debugged, without learn its operation knowledge, directly by its hardware capability and
It is operated on interactive program, control can be completed in given related data, therefore has the advantages such as study threshold is low, design cost is low.
The present invention also provides control method, for controlling above-mentioned modular articulated robot, including：
Preset function module is provided；Each function module includes the driver for driving the joint module；
Show tree-shaped logic configuration interface；Tree-shaped logic configuration interface have it is multiple for the function module merging nodes with
And parameter setting option corresponding with each node；
Receive setting data of the user for tree-shaped logic configuration interface and configuration parameter setting option；
The setting data are converted into robot control instruction；
The control instruction is transmitted to the modular articulated robot..
Control method in the present invention equally adopts modularization idea, programming process and the establishment modular joint machine of user
The process of people's structure division is similar, without learning the Programming Principle of deep layer, quickly can readily realize the volume of robot control
Journey reduces programming learning difficulty.
Modular articulated robot and control method can effectively reduce robot development's threshold, and robot is made to be answered from profession
Among capable of entering common life with field, the blue sea market field of robot is then opened up.
Description of the drawings
Fig. 1 is the structural schematic diagram of joint module and joint arm provided in an embodiment of the present invention；
Fig. 2 is modular articulated robot structural schematic diagram provided in an embodiment of the present invention；
Fig. 3 is control system schematic diagram provided in an embodiment of the present invention；
Fig. 4 is software platform schematic diagram provided in an embodiment of the present invention；
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As shown in Figures 1 to 4, modular articulated robot, including multiple joint arms 2, Duo Geguan are provided in the present embodiment
Save module 1 and control system 3；Wherein, joint module 1 is mounted on the end of joint arm 2, for driving two adjacent joint arms
2 relative swings.
Joint module 1 specifically includes fixed seat 12, the motor being installed in fixed seat 12 and output shaft 11.Joint module
1 mounting means can be a variety of, such as fixed seat 12 is installed on the end of a joint arm 2, and output shaft 11 is connected to another pass
The end of joint arm 2；Or fixed seat 12 is installed on the end of a joint arm 2, output shaft 11 is connected to consolidating for another joint module 1
In reservation 12.Under the drive of motor, output shaft 11 rotates, output torque, and fixed seat 12 is equivalent to stator, output torque
2 relative swing of joint arm that rear-guard movable joint module 1 is connected, the angle that angle, that is, joint arm 2 that output shaft 11 rotates is swung
Degree.In other words, each joint module 1 is capable of providing the degree of freedom of an axial direction.
Control system 3 includes control panel 31, and control panel 31 includes the processing chip 313 for runs software platform.Soft
The relevant instruction of operation in part platform carries out the top level controls setting driving joint module 1 such as planning action, setting track, makes it
Motor rotates corresponding angle or torque is specified in output, completes the action of planning, namely realize the control of modular articulated robot
System.In order to reduce the realization difficulty of control section, the software platform in the present embodiment includes mainly two parts：Driver and
Interactive program, wherein driver provide interaction for controlling joint module, interactive program, and the two is whole in development phase depth
Close, the interactive system of semi open model be provided, user in debugging without being related to the driver part of bottom, only in interactive program
End is operated, and relevant action data is arranged according to idea, and data exchange is carried out inside software platform eventually by driving
Program is converted into the action of the rotation data namely associated joint arm 2 of joint module 1.
User can select the amount of articulation needed when using modular articulated robot, then by joint arm 2 and pass
Section module 1 is completed modular articulated robot, as depicted in figs. 1 and 2, the modular articulated robot packet in the present embodiment
Pedestal 5 is included, first joint module 1a is installed in pedestal 5, output shaft 11 is connected to pedestal 5；Second joint module 1b
Fixed seat 12 on first joint arm 2a is installed, output shaft 11 is connected to the fixed seat 12 of first joint module 1a；
Third joint module 1c is installed between second joint arm 2b and first joint arm 2a；Second ends joint arm 2b peace
Equipped with the 4th joint module 1d；Connection is equipped with the 5th joint module 1e, the 6th joint mould on 4th joint module 1d
Group 1f, wherein the 6th joint module 1f as final output end, can be installed and be executed structure or expansion structure 23, it is it
Torque is provided.After being completed, by 3 planning action of control system and track, multiaxis driving plate 32 drives each joint module 1
It moves corresponding corner and control for modular articulated robot can be realized.
The modular articulated robot in the present embodiment is can be seen that by the design of robot by above-mentioned realization process
It is changed into building block system, then alternative pack assembling is uniformly controlled, greatly reduces design, the manufacture difficulty of robot.By
In joint module 1 and control system 3 be finished product, user without being debugged to the structure and driver of its inside, also without
It need to learn the knowledge of its operation, directly by its structure and function, given related data be operated on interactive program and can be completed
Control.Therefore, the modular articulated robot in the present embodiment has the advantages such as study threshold is low, design cost is low.
Preferably, power supply module and multiaxis driving plate 32 are installed in pedestal 5.Design structure part anyway, all
Pedestal 5 is needed, therefore power supply module and multiaxis driving plate 32 are installed on inside pedestal 5 in the present embodiment, user selects other
Joint arm 2 and motor are installed on pedestal 5, and motor is electrically connected with power supply module, multiaxis driving plate 32.
Preferably, as shown in Figure 3 and Figure 4, the control system 3 in the present embodiment uses and controls integrated technology, wherein
Driver in the software platform run in processing chip 313 on control panel 31 includes SERVO CONTROL, axis control, Cia402
Standard, robot control algorithm, PLC etc..That is, completing activation point ring, axis control etc. in processing chip 313.Based on driving
One body technique is capable of the customization software platform of more depth, finishes the debugging completely of control system 3 before manufacture, simplifies user
Debugging for control system 3 and design process.
Preferably, also included multiaxis driving plate 32 in this implementation, multiaxis driving plate 32 are monomer FPGA（Field-programmable
Gate array）Structure, multiaxis driving plate 32 is for converting the signal that control panel 31 exports to the pulse for directly driving joint module 1
Signal, therefore it is connected to control panel 31 and each joint module 1 simultaneously.FPGA is good at parallel computation, can be parallel simultaneously
It is calculated as the control that multiple motors provide speed ring and electric current loop, since activation point ring, axis control, user's interaction etc. are most
Calculation processes are completed in control panel 31, therefore correlation computations can be driven to be placed on the multiaxis of suitable parallel computation
Complete in single FPGA, substitute each motor of the prior art and be required for one driver of adaptation, namely no matter user's selection how much
A joint module 1 can be transferred through one piece of multiaxis driving plate 32 and be driven, special without being equipped with for each joint module 1
Multiaxis driving plate 32, reduces infrastructure cost and design difficulty.It is easily understood that when more than 6 axis, general chip and
FPGA can handle difficulty, in order to realize this patent, can upgrade chip and FPGA.
Preferably, display structure 312 and input structure 311 are installed on control panel 31, interactive program includes that interface is handed over
Mutual and user interface.Show that user interface, input structure 311 are used for input information, the two combination processing in display structure 312
The interface alternation run in chip 313, namely provide the repertoire of teaching machine, user is without in addition purchase teaching machine, from soft
Whole control operations is all completed by control panel 31 on part and hardware, is compiled by input structure 311 and display structure 312
Journey, you can each motor rotation namely drive module formula articulated robot is driven specifically to be acted.
It is easily understood that being based on controling integrated technique by control system 3 in this present embodiment, by processing chip
The 313 entire software platforms of operation, thus can during research and development deeper into the entire control system of customization 3 software and hardware knot
It closes so that there is more preferably autgmentability and stability, the final design for reducing robot, learning cost.
Using the modular articulated robot in this implementation, during designing installation, since user is without expending the heart
Power is in control section, therefore it only needs the wish selection joint module 1 according to oneself and package assembly part, then passes through control
System 3 processed is controlled, level of the interaction in people and control system 3, without regard to the control technology of robot deep layer,
Therefore the difficulty of robot development is greatly reduced so that more people can participate in or self-developing design robot, in other words,
Other than producing with the field of the professions such as scientific research, the blue sea market field of robot is greatly expanded.
As shown in Figures 1 to 4, control method is additionally provided in the present embodiment, for controlling above-mentioned modular joint machine
Device people, including：
S20, the tree-shaped logic configuration interface of display；Tree-shaped logic configuration interface has multiple sections for function module merging
Point and parameter setting option corresponding with each node；According to the quantity of motor and the calculation then function module merging section that puts in order
Point, and parameter setting option is configured.
S30, receive setting data of the user for tree-shaped logic configuration interface and configuration parameter setting option；Data are set
Node location, corresponding kinematic parameter etc. including being placed in function module.
S40, setting data are converted into robot control instruction；
S50, control instruction is transmitted to modular articulated robot.
Since the programming of robot also wants certain study threshold, the control method provided in this implementation to use mould
The program thread of block, directly provides the adapted function module for writing completion, and user is according to the modular joint machine of design
Module 1 quantity in joint possessed by device people, selection function module are placed in the node of tree-shaped logic configuration interface, and tree-shaped logic is matched
Setting interface itself has priority logical order, by adjusting corresponding configuration parameter setting option, function module is adjusted and is transported
Dynamic parameter realizes the action planning that user needs.When tree-shaped logic configuration interface and configuration parameter setting option are all provided with
Afterwards, record setting data transfer corresponding driver and are automatically converted to robot control instruction, input module formula joint machine
Device people controls it and brings into operation according to the action of setting.
Control method in this implementation equally adopts modularization idea, programming process and the establishment modular joint machine of user
The process of people's structure division is similar, without learning the Programming Principle of deep layer, quickly can readily realize the volume of robot control
Journey.
Preferably, control method further includes multiple action modules for being capable of providing different actions, and each action module includes
Multiple function modules of completion are configured, each action module can be placed in node.Action module can be the combination of common action, example
As joint arm 2 first swings certain angle, then swing certain angle；Can also be the allocation plan of specific usage scenario, such as by
Take article：Joint arm 2 is moved to above article, is declined distance to a declared goal and is shut down, appointed place is moved to after taking.Action module
Can be the respective action scheme of structure that executes, such as it is clamping jaw or suction nozzle to execute structure, controls it and takes or put down article；It holds
Row structure is that milling head, 3D printing head, drill bit or light carve laser head, is operated according to track；Execution structure is pen clipping device, according to interior
Set character library writing words etc..Control panel 31 can operate execute structure realize its corresponding action, such as take, milling, brill, light carving
The functions such as quarter, 3D printing, writing.Action module can also be other expansion structures 23, such as camera, sensor, microphone,
Mobile chassis etc. selects corresponding action module to be placed in the node of tree-shaped logic configuration interface after user selects expansion structure 23
Corresponding programing work inside can be completed.
Preferably, control method further includes：Identify that number of motors and 23 type of expansion structure, automatic adaptation complete tree-shaped patrol
Collect configuration interface.After modular articulated robot as shown in Figure 2 is completed in user's design and assembly, there are five joints for automatic identification tool
Module 1 is directly generating in the tree-shaped logic configuration interface that action module is placed on five nodes.
Preferably, control method further includes：The robot control instruction that rigging is provided and is adapted to rigging, group
Decking shows quantity, mounting means and the method for parameter configuration of motor and joint arm 2.User can be direct group according to rigging
Then the modular articulated robot for filling preset several schemes is loaded directly into corresponding robot control instruction.Namely
First learn assemble method, is voluntarily arranged again after skilled.Rigging can be by animation or can be in the form of interactive interface, and display needs
Joint module 1, joint arm 2 and the corresponding assemble method to be selected, as study course assisted learning.
Preferably, control method further includes emulation, and user setting completes tree-shaped logic configuration interface and configuration parameter setting
After option, corresponding modular articulated robot mathematical model is automatically generated, according to the robot control instruction of generation, modular
The corresponding action animation of articulated robot mathematical model demonstration, user can intuitively see whether programing effect meets the requirements,
Further promote user experience.
A kind of computer readable storage medium is additionally provided in this implementation, is stored with computer program, computer program
Above-mentioned control method is realized when being executed by processor.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made by within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. modular articulated robot, which is characterized in that including multiple joint arms, multiple joint modules and control system；
The joint module is detachable to be installed between the adjacent joint arm, for driving the adjacent joint arm is opposite to put
It is dynamic；
The control system includes control panel, and the control panel includes the processing chip for runs software platform；The software
Platform includes driver for controlling the joint module and the interactive program debugged for user.
2. modular articulated robot as described in claim 1, which is characterized in that the driver include SERVO CONTROL,
Axis control, Cia402 standards, robot control algorithm.
3. modular articulated robot as claimed in claim 2, which is characterized in that further include the more of monomer FPGA structure composition
Axis driving plate, the multiaxis driving plate are connected to the control panel and multiple joint modules simultaneously.
4. modular articulated robot as described in claim 1, which is characterized in that further include pedestal, installation in the pedestal
There are power supply module and the multiaxis driving plate.
5. modular articulated robot as described in claim 1, which is characterized in that the interactive program includes interface alternation,
Input structure and display structure for providing tutorial function is installed on the control panel.
6. control method, for controlling 5 any one of them modular articulated robot described in any one of claim 1 to 5, which is characterized in that packet
It includes：
Preset function module is provided；Each function module includes the driver for driving the joint module；
Show tree-shaped logic configuration interface；The tree-shaped logic configuration interface has multiple sections for function module merging
Point and parameter setting option corresponding with each node；
Receive setting data of the user for the tree-shaped logic configuration interface and the parameter setting option；
The setting data are converted into robot control instruction；
The control instruction is transmitted to the driving motor of the modular articulated robot.
7. control method as claimed in claim 6, which is characterized in that including multiple action moulds for being capable of providing different actions
Block, each action module include having configured multiple function modules of completion, and each action module can be placed in the node.
8. control method as claimed in claim 6, which is characterized in that further include：Identify the number of motors and expansion structure
Type, automatic adaptation complete the tree-shaped logic configuration interface.
9. control method as claimed in claim 6, which is characterized in that further include：There is provided rigging and with described group it is die-filling
The robot control instruction of plate adaptation, the rigging show quantity, mounting means and the parameter of motor and joint arm
Configuration method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In realization such as claim 6 to 9 any one of them control method when the computer program is executed by processor.
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| CN114762973A (en) * | 2021-01-13 | 2022-07-19 | 通用汽车环球科技运作有限责任公司 | Modular robotic device and method for operating a modular robotic device |
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