CN110722570A - Robot reconstruction control method and system and robot - Google Patents
Robot reconstruction control method and system and robot Download PDFInfo
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- CN110722570A CN110722570A CN201911090257.XA CN201911090257A CN110722570A CN 110722570 A CN110722570 A CN 110722570A CN 201911090257 A CN201911090257 A CN 201911090257A CN 110722570 A CN110722570 A CN 110722570A
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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Abstract
The invention provides a robot reconstruction control method, a system and a robot, wherein the method comprises the following steps: receiving an instruction for reconstructing an end tool, wherein the instruction comprises the name and/or the number of the end tool to be connected; acquiring electrical information of the to-be-connected end tool through the name and/or the number of the end tool, wherein the electrical information comprises voltage and current; controlling the robot body to generate magnetic repulsion force to disassemble an original tail end tool connected with the robot through attraction; the robot body and the tail end tool to be connected are connected together in an attracting mode. The original end tool is automatically disassembled and replaced by a new end tool through receiving an instruction, so that the end tool of the robot is automatically replaced, and the replacement is more convenient and quicker and the time is shorter; the cost is reduced.
Description
Technical Field
The invention relates to the technical field of industrial production automation, in particular to a robot reconfiguration control method, a robot reconfiguration control system and a robot.
Background
With the explosion of industrial automation, industrial robots present a wide variety of product types. The traditional industrial robot has a single control mode and is generally only used for a specific task scene and operation on a specific target object. If operation tasks for different targets need to be realized, robots with specific functions or robot operation end equipment needs to be disassembled and replaced manually. Then, if the robot operation end equipment can be replaced quickly, the operation of the same robot on different task scenes or different target tasks can be realized, so that the utilization rate of the robot is greatly improved, and the use efficiency of the robot is improved.
At present, a system capable of realizing the operation of the same robot on different task scenes or different target tasks is lacked in the prior art.
Disclosure of Invention
The invention provides a robot reconfiguration control method, a robot reconfiguration control system and a robot, aiming at solving the existing problems.
In order to solve the above problems, the technical solution adopted by the present invention is as follows:
a robot reconfiguration control method comprises the following steps: s1: receiving an instruction for reconstructing an end tool, wherein the instruction comprises the name and/or the number of the end tool to be connected; s2: acquiring electrical information of the to-be-connected end tool through the name and/or the number of the end tool, wherein the electrical information comprises voltage and current; s3: controlling the robot body to generate magnetic repulsion force to disassemble an original tail end tool connected with the robot through attraction; s4: the robot body and the tail end tool to be connected are connected together in an attracting mode.
Preferably, the method further comprises the following steps: s5: and receiving an operation instruction and controlling the end tool to execute the operation instruction.
Preferably, the instruction comprises a data instruction, a voice instruction or a remote control instruction transmitted through bluetooth or WIFI.
Preferably, the robot body and the terminal tool are connected together through a suction butt joint structure, and the suction butt joint structure is a suction concave-convex matching structure, a suction inclined plane matching structure or a suction curved surface matching structure.
Preferably, the name and/or number of the end tool and the electrical information of the end tool are stored in advance.
The invention also provides a robot reconfiguration control system, comprising: the power supply conversion unit is used for receiving bus voltage of the robot body and outputting voltage which generates magnetic repulsion force required by detaching a tail end tool by increasing or decreasing the bus voltage, and the tail end tool is connected with the robot body in an attraction manner; the instruction receiving unit comprises a Bluetooth module, a WIFI module and a wireless control end and is used for receiving instructions; a reconfiguration control unit for providing a voltage to the end tool; the CAN communication unit is used for receiving the instruction of the instruction receiving unit and transmitting the instruction to the end tool; and the main control unit is connected with the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit and controls the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit to work in a coordinated manner.
Preferably, the robot body and the terminal tool are connected together through a suction butt joint structure, and the suction butt joint structure is a suction concave-convex matching structure, a suction inclined plane matching structure or a suction curved surface matching structure.
Preferably, the power conversion unit uses a step-down chip to step down the DC-DC voltage.
Preferably, the circuit design of the bluetooth module and the circuit design of the WIFI module adopt stitch bonding pad design.
The invention further provides a robot comprising the robot reconfiguration control system.
The invention has the beneficial effects that: the robot reconfiguration control method, the system and the robot are provided, the original end tool is automatically disassembled and replaced by a new end tool through receiving an instruction, so that the end tool of the robot is automatically replaced, and the replacement is more convenient and quicker and the time is shorter; the cost is reduced.
Drawings
Fig. 1 is a schematic diagram of a robot reconfiguration control method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of another robot reconfiguration control method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a robot reconfiguration control system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a reconstruction control system for a robot according to another embodiment of the present invention.
Fig. 5 is a schematic diagram of a power conversion unit according to an embodiment of the invention.
FIG. 6 is a schematic diagram of a 48V step-down 12V circuit in an embodiment of the present invention.
Fig. 7 is a schematic diagram of a 24V buck 5V circuit design in an embodiment of the invention.
Fig. 8 is a schematic diagram of a 5V buck 3.3V circuit design in an embodiment of the invention.
Fig. 9 is a diagram of master control unit MCUPIN pin definition in an embodiment of the invention.
Fig. 10 is a schematic diagram of a circuit design of a bluetooth module in an embodiment of the present invention.
Fig. 11 is a schematic diagram of a circuit design of a WIFI module in an embodiment of the present invention.
Fig. 12 is a schematic diagram of the circuit design of the reconfiguration control unit in the embodiment of the present invention.
Fig. 13 is a schematic diagram of a design of a CAN communication unit in the embodiment of the present invention.
Fig. 14 is a schematic flow chart of reconstruction control of the robot in the embodiment of the present invention.
Fig. 15 is a schematic front view of a circuit board of a reconfiguration control system of a robot according to an embodiment of the present invention.
Fig. 16 is a schematic diagram of the back side of the circuit board of the reconfiguration control system of the robot in the embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Example 1
As shown in fig. 1, the present invention provides a robot reconfiguration control method, which includes the following steps:
s1: receiving an instruction for reconstructing an end tool, wherein the instruction comprises the name and/or the number of the end tool to be connected;
s2: acquiring electrical information of the to-be-connected end tool through the name and/or the number of the end tool, wherein the electrical information comprises voltage and current;
s3: controlling the robot body to generate magnetic repulsion force to disassemble an original tail end tool connected with the robot through attraction;
s4: the robot body and the tail end tool to be connected are connected together in an attracting mode.
The method of the invention can realize the rapid and autonomous replacement of the end tool of the robot under the intervention of non-external force.
As shown in fig. 2, the robot reconfiguration control method of the present invention further includes the steps of:
s5: and receiving an operation instruction and controlling the end tool to operate.
Furthermore, the method CAN realize the transceiving transmission of the CAN data in a wireless local area mode, and the robot CAN wirelessly and independently control the operation end to work outside the control of the own communication protocol.
In an embodiment of the invention, the robot reconfiguration control method of the invention includes data commands, voice commands or remote control commands transmitted through bluetooth or WIFI.
The robot comprises a robot body and a tail end tool, wherein the robot body and the tail end tool are connected together through a suction butt joint structure, the suction butt joint structure is a suction concave-convex matching structure, a suction inclined plane matching structure or a suction curved surface matching structure, and the suction butt joint structure cannot be considered as limiting the invention.
It is understood that the name and/or number of the end tool and the electrical information of the end tool need to be stored in advance so that the electrical information of the corresponding end tool can be obtained by the name and/or number of the end tool. The robot can be stored in a memory inside the robot, and can also be stored in the cloud and acquired through a network.
Example 2
As shown in fig. 3, a robot reconfiguration control system includes:
the power supply conversion unit is used for receiving bus voltage of the robot body and outputting voltage which generates magnetic repulsion force required by detaching a tail end tool by increasing or decreasing the bus voltage, and the tail end tool is connected with the robot body in an attraction manner;
the instruction receiving unit comprises a Bluetooth module, a WIFI module and a wireless control end and is used for receiving instructions;
a reconfiguration control unit for providing a voltage to the end tool;
the CAN communication unit is used for receiving the instruction of the instruction receiving unit and transmitting the instruction to the end tool;
and the main control unit is connected with the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit and controls the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit to work in a coordinated manner.
In an embodiment of the present invention, the robot body and the end tool are connected together by a suction-able docking structure, which is a suction-able concave-convex matching structure, a suction-able inclined matching structure or a suction-able curved matching structure.
Fig. 4 is a schematic diagram of another robot reconfiguration control system according to the present invention. The system of the invention adopts ARM as a main control unit to execute the control instruction sent by Bluetooth transmission or WIFI transmission, thereby executing the corresponding control command. In addition, besides the communication command of the robot, the system CAN also issue a control command through the CAN communication module, so that the next-level operation equipment, namely the end tool, CAN realize the corresponding control function.
As shown in fig. 5, in a specific embodiment, the power conversion unit of the present invention uses a 48V bus power supply to supply power, integrates information of used components, and further includes 24V, 12V, 5V, 3.3V, and the like. The voltage reduction mode is that DC-DC voltage reduction of a first stage of different voltage reduction chips is carried out. The power supply module reduces the voltage to obtain different voltage values, and provides corresponding voltage requirements for other modules.
As shown in FIG. 6, for a design schematic diagram of a 48V step-down 12V circuit, the design is realized by adopting a TI TPS5460DC-DC main control chip, and when the values of R26 and R27 are respectively selected from 147K and 10.5K resistors with the precision of 1%, the formula is adopted
Wherein, VFBA voltage output of 12V can be obtained at 0.8V. In addition, the power conversion unit is a controlled output, the controlled PIN is PIN3, and the PCEN can normally output 12V voltage only when receiving an enabling command (low level) of the main control unit, so that the power supply of the reconstruction control unit is enabled.
Similar to the design principle of a 48V step-down 12V circuit, the 48V step-down 24V circuit adopts the same design principle and only needs to change a voltage output formula VOUTThe voltage output of 24V can be obtained by the resistance value of (1). Since the unit is the main power module of the system, unlike the design of the 48V buck 12V circuit, the unit does not need a controlled output and will have a 24V output as long as the system is powered up.
As shown in fig. 7, which is a schematic diagram of a 24V step-down 5V circuit design, the MP2359DC-DC master control chip using MPS is designed, and when the values of R23 and R20 are respectively resistors with the accuracies of 49.9K and 9.53K of 1%, the values are calculated according to the formula
Wherein, VFBA voltage output of 5V can be obtained at 0.81V.
As shown in fig. 8, the schematic diagram of the design of the 5V buck 3.3V circuit is implemented by using an LDO conversion chip of model AMS1117-3.3, which has low noise and ripple characteristics.
It will be appreciated that the above are the usual voltages for 24V, 12V, 5V, 3.3V being the magnetic repulsion force required to disassemble the end tool, and that other voltages can be developed by the method of the present invention to suit the requirements of the end tool.
In consideration of factors such as the internal size structure of the ARM rod of the robot and the like, the main control unit of the robot adopts an STM32F103C8t6 type main control chip with an ARM Cotex-M3 inner core, the main frequency of the main control chip can reach 72MHz, the main control chip has the minimum package size of LQFP48, the robot can normally work in the temperature range of-40 ℃ to +85 ℃, and the design and use requirements can be met.
Fig. 9 is a schematic design diagram defined by a PIN foot of main functions of a master control module MCU.
The main PIN foot used by the reconfigurable wireless local area control system of the robot is defined as follows:
1. the reconfigurable fast change module control enable signal is defined on the PA3 general IO.
2. Signals for bluetooth module connections are defined on UARS3TX and UARS3RX, and PA1 and PB12 general IO.
3. Signals for WIFI module connectivity are defined on UARS3TX and UARS3RX, and PA4, PA5, PA6, and PA7 general IOs.
4. The CAN communication signals CANRX and CANTX are defined on the internal CAN1 channel.
5. The main control module burning port adopts a STInk mode, and occupies SWDIO pins and SWCLKPIN pins.
6. The master control module adopts an external crystal oscillator source which is defined on OSCIN32 and OSCOUT, and an RTC crystal oscillator source is defined on OSCIN32 and OSCOUT 32.
7. The reset signal and the enable mode selection are defined above NRST and BOOT0 and BOOT1, respectively.
As above, the signals of the bluetooth module and the WIFI module are simultaneously defined on the same signal, so that the bluetooth and WIFI dual-wireless control function can be realized.
The system of the invention can receive the wireless control instruction of the Bluetooth protocol through the Bluetooth module, so that a corresponding Bluetooth module circuit needs to be designed to complete the receiving and sending processing of the Bluetooth data. Similarly, the system can receive the wireless control instruction of the WIFI protocol through the WIFI module, and therefore a corresponding WIFI module circuit also needs to be designed.
The invention can be used in one of the Bluetooth wireless local area mode and the WIFI wireless local area mode. Thus, data transmission for both bluetooth and WIFI protocols uses the same data channel UARS3, UARS3TX and UARS3RX, of the master unit. In addition, the two ways of circuit design are different, i.e. on top of part of the functionality.
Fig. 10 shows a schematic diagram of the circuit design of the bluetooth module. Wherein R12 and R13 are CO-LAY design, stitch bonding pad design promptly, and when using the wireless local area mode of bluetooth, these two resistances need paste, when using the wireless local area mode of WIFI, just need not paste. In addition, the STATE is a bluetooth module STATE port, and after the bluetooth module is connected to the main control module, STATE information can be fed back to the main control module, so that corresponding STATE information can be obtained. The EN _ M is a Bluetooth module enabling port, and the Bluetooth module can be enabled and closed through the main control unit. In general, the EN _ M port is enabled, and only in abnormal state, the bluetooth module is turned off and restarted, i.e. a low pulse signal of 500ms is output.
As shown in fig. 11, a circuit diagram of the WIFI module is shown. Wherein R11 and R15 are the design of CO-LAY, and when using WIFI wireless local area mode, these two resistances need paste, when using the bluetooth wireless local area mode, just need not paste. In addition, the three ports, namely the GPIO0, the GPIO2 and the CH _ PD, are mainly used for configuring the WIFI module to work, and the RST port is used for restarting the WIFI module in an abnormal situation.
The robot main body and the tail end tool are attracted together and connected together through an attractive butt joint structure, in one embodiment, a powerful attractive electromagnetic device can be adopted, and the attractive butt joint structure is an attractive concave-convex matching structure, an attractive inclined plane matching structure or an attractive curved surface matching structure. Under the default state, the robot main body and the tail end tool are in a natural suction state, and the suction torque can reach 60 N.M. When the reconstruction control unit of the robot main body outputs a certain voltage to the tail end tool, magnetic repulsion force is generated, and the attraction butt joint structure is opened, so that the robot main body can be quickly disassembled.
Therefore, the system can realize the control of the unloading of the end tool by controlling the on-off voltage of the butt joint structure which can be attracted.
Fig. 12 shows a schematic diagram of the design of the rebuilt quick-change control circuit. The LED2 is a light emitting diode and is used for displaying that the reconfigurable fast replacement module is in a working state; d1 is a freewheeling diode to prevent sudden change of current at the moment of switch off to break the normal working circuit; the P2 terminal is a reconfigurable quick change device interface.
The system of the invention realizes the control command issue of the system to the end tool through the CAN communication unit, so that the corresponding CAN communication circuit module is required to be designed to complete the receiving and sending processing of CAN data. A CAN transceiver controller chip with the NXP model number TJA1050 is designed to realize differential transmission between a CAN protocol and a physical bus.
As shown in fig. 13, which is a schematic diagram of a design of a CAN communication module circuit, the transmission distance of CAN communication CAN reach 25 meters when the baud rate is 1Mbit/s through the R7 terminal matching resistor.
As shown in fig. 14, a robot includes a robot reconfiguration control system as described in any one of the above. The robot reconfiguration control system completes initialization operation after being powered on, is completely controlled by a Bluetooth or WIFI wireless local area mode under normal conditions, and can execute an operation command only after receiving a Bluetooth or WIFI control instruction. When the robot reconfiguration control system operates, after a Bluetooth or WIFI instruction is received, the reconfiguration control unit can be controlled to be opened, so that an original terminal tool is detached, and a new terminal tool is replaced. In addition, the robot reconfiguration control system CAN also issue a control command in a Bluetooth or WIFI wireless local area mode, and then transmit a control command through the CAN communication unit to independently control the operation terminal equipment to operate.
Considering that the robot reconfiguration control system needs to be embedded into the arm of the robot, the size of the circuit board of the robot reconfiguration control system has particularly strict requirements, so that the circuit board needs to be designed into a circular structure, and the radius of the circuit board is not more than 30 mm.
Fig. 15 is a front view of a circuit board of a reconfiguration control system of a robot, which is opposite to a robot body device, so that system power input, a communication signal transmission port of the robot, and bluetooth and WIFI module interfaces are distributed on the front side.
Fig. 16 is a back view of the robot reconfiguration control system circuit board, opposite the end tool. Therefore, the interface end of the reconfiguration control unit and the CAN communication signal end are distributed at the side.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A robot reconfiguration control method is characterized by comprising the following steps:
s1: receiving an instruction for reconstructing an end tool, wherein the instruction comprises the name and/or the number of the end tool to be connected;
s2: acquiring electrical information of the to-be-connected end tool through the name and/or the number of the end tool, wherein the electrical information comprises voltage and current;
s3: controlling the robot body to generate magnetic repulsion force to disassemble an original tail end tool connected with the robot through attraction;
s4: the robot body and the tail end tool to be connected are connected together in an attracting mode.
2. The robot reconfiguration control method according to claim 1, further comprising the steps of:
s5: and receiving an operation instruction and controlling the end tool to execute the operation instruction.
3. Robot reconfiguration control method according to claim 1 or 2, characterized in that said commands comprise data commands, voice commands or remote control commands transmitted by bluetooth or WIFI.
4. The robot reconfiguration control method according to claim 1 or 2, wherein said robot body and said end tool are connected together by a suction butt joint structure, said suction butt joint structure being a suction concave-convex fit structure, a suction inclined fit structure or a suction curved fit structure.
5. The robot reconfiguration control method according to claim 1 or 2, wherein a name and/or a number of the end tool and electrical information of the end tool are stored in advance.
6. A robot reconfiguration control system, comprising:
the power supply conversion unit is used for receiving bus voltage of the robot body and outputting voltage which generates magnetic repulsion force required by detaching a tail end tool by increasing or decreasing the bus voltage, and the tail end tool is connected with the robot body in an attraction manner;
the instruction receiving unit comprises a Bluetooth module, a WIFI module and a wireless control end and is used for receiving instructions;
a reconfiguration control unit for providing a voltage to the end tool;
the CAN communication unit is used for receiving the instruction of the instruction receiving unit and transmitting the instruction to the end tool;
and the main control unit is connected with the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit and controls the power supply conversion unit, the instruction receiving unit, the reconstruction control unit and the CAN communication unit to work in a coordinated manner.
7. The robot reconfiguration control system according to claim 6, wherein said robot body and said end tool are coupled together by an attachable interface structure, said attachable interface structure being an attachable concave-convex mating structure, an attachable inclined mating structure, or an attachable curved mating structure.
8. The robot reconfiguration control system according to claim 6, wherein said power conversion unit uses a buck chip to step down the DC-DC voltage.
9. The robotic reconfiguration control system according to claim 6, wherein a circuit design of said bluetooth module and a circuit design of said WIFI module employ stitch pad design.
10. A robot comprising a robot reconfiguration control system according to any one of claims 6 to 9.
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