CN203171618U - Modularized robot - Google Patents
Modularized robot Download PDFInfo
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- CN203171618U CN203171618U CN 201320172250 CN201320172250U CN203171618U CN 203171618 U CN203171618 U CN 203171618U CN 201320172250 CN201320172250 CN 201320172250 CN 201320172250 U CN201320172250 U CN 201320172250U CN 203171618 U CN203171618 U CN 203171618U
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- module
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- travel mechanism
- modularization robot
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Abstract
The utility model provides a modularized robot, comprising a mounting platform provided with multiple communication sockets and a remote transmission unit, at least one work module mounted on the mounting platform, and a mobile mechanism mounted below the mounting platform and internally provided with a mobility control module for controlling the mobile mechanism to operate, wherein a mechanical arm control module for controlling the work module to work is arranged in each work module; all the control modules and the mobility control module are in one-to-one correspondence with the communication sockets; and each communication socket is connected with the remote transmission unit after being connected together by a communication bus, and the remote transmission unit is connected with a user terminal by a network. The modularized robot is capable of reducing the number of control signal lines in the robot body, and capable of finishing the electrical connecting among all modules by only two power lines and two communication lines, thus bringing convenience for a user.
Description
Technical field
The utility model relates to a kind of modularization robot, particularly relates to the modularization robot that a kind of wiring is few, be easy to install and use.
Background technology
Robot is the representative of high achievement in research of mechano-electronic research field; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In recent years, intelligent robot became one of up-to-date robot research direction, more and more miniaturization, intellectuality, and range of application is also permeated to social all trades and professions from industry, in service, medical treatment, education, a plurality of social fields such as amusement are used widely.Along with the development of mechanics of communication, adopt bussing technique to carry out distributed control, be the technology that current high precision machines people's control is generally adopted.That distributed system adopts is open, standardization, modularization and seriation design.Each functional subsystem all adopts modular design method, and each module is separate, is independent of each other, and works simultaneously, and each module interconnects by bus, and finally is connected to the master control terminal.When needs change or during the expanding system function, the what's new node can be connected into easily bus or unload from bus, influence the work of other functional nodes of system hardly.And the stelliform connection topology configuration of traditional type, all functional modules all will be connected to controller, and when the functional module number increased, its system architecture became huge, and line difficulty, stability, reliability all will be had a greatly reduced quality, and are unfavorable for miniaturization and the practicability of robot.
Chinese patent ZL200810040146.3 discloses a kind of modularized personal robot, it comprises: sensing module, control module, driver module and standard interface module, sensing module is linked to each other by second standard interface module with control module, and control module is linked to each other by first standard interface module with driver module.Sensing module is fixed on second standard interface module, one end of control module is fixed on second standard module, the other end is fixed on first standard interface module, and driver module is fixed on the other end of first standard interface module, and the driver module motion drives entire machine people motion.The utility model adopts modular construction to form personal robot, but it controls other each modules by total control module, need the holding wire power line more, cause difficulty to wiring like this, if functional module increases, will be for line arrangements make troubles, and need technical staff's design and installation when increasing module again, general personnel are difficult to operation.
Therefore, need the robot that a kind of modularization, circuit are few, conveniently install and use.
The utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of modularization robot, is used for solving prior art robot interior complex circuit, the problem that is difficult for installing and using.
Reach other relevant purposes for achieving the above object, the utility model provides a kind of modularization robot, and described modularization robot comprises: erecting bed, erecting bed are provided with a plurality of communication sockets and a remote transmission unit; At least one operational module, all working module are installed on the described erecting bed, are provided with the control module of control operational module work in each operational module; Travel mechanism is installed in the below of described erecting bed, is provided with the mobile control module of control travel mechanism operation in the travel mechanism; All control modules and described mobile control module are corresponding continuous one by one with described communication socket, and each communication socket links to each other with described remote transmission unit by the continuous back of communication bus, and described remote transmission unit links to each other with user terminal by network.
Preferably, described erecting bed end face is provided with a plurality of installing holes of equidistant arrangement, and described operational module is provided with securing member, and described securing member is plugged in the described installing hole described operational module is fixed on the described erecting bed.
Preferably, described communication bus adopts CAN bus communication mode or EtherCAT bus communication mode.
Preferably, described operational module is the vision collecting module.
Preferably, described operational module is mechanical arm.
Further, be provided with the mechanical arm control module of control manipulator motion in the described mechanical arm, be provided with a plurality of control modules in the mechanical arm control module, all control modules link to each other with described communication socket after linking to each other by communication bus.
Preferably, also be provided with the power module that electric power is provided for described each operational module and travel mechanism on the described erecting bed.
Preferably, described mobile control module comprises a plurality of control modules that link to each other by communication bus, the corresponding motor that drives travel mechanism's operation of each control module, be provided with the input and output control unit of microcontroller, driver element, communication module and image data in each control module, the input and output control unit of described driver element, communication module and image data all links to each other with microcontroller.
Preferably, described travel mechanism is the roller of a plurality of independent controls.
Preferably, described travel mechanism is crawler type travel mechanism.
As mentioned above, modularization robot of the present utility model has following beneficial effect:
Employing is based on the dcs structure of communication bus, realize that each operational module, travel mechanism communicate by letter with the remote transmission unit, it has reduced the control signal wire number in the robot, only need two power lines and two connections can finish being electrically connected of each intermodule, for the user brings convenience.Each module only needs the communication interface standardization with self, if when the user need set up operational module, only need with on the operational module with communication interface get final product with the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient; Also adopt modularized design on mechanical connection, erecting bed can be installed multiple operational module.
Description of drawings
Fig. 1 is shown as the frame for movement schematic diagram of modularization robot of the present utility model.
Fig. 2 is shown as the electrical control schematic diagram of modularization robot of the present utility model.
The element numbers explanation
1 mechanical arm
11 mechanical arms control module
101 control modules
2 erecting beds
3 vision collecting modules
31 visions control module
4 travel mechanisms
41 move the control module
401 driver elements
402 control modules
403 communication modules
405 motors
406 input and output control units
5 remote transmission unit
6 communication sockets
7 communication buses
81 other control modules
The specific embodiment
Below by particular specific embodiment embodiment of the present utility model is described, person skilled in the art scholar can understand other advantages of the present utility model and effect easily by the disclosed content of this specification.
See also Fig. 1 to Fig. 2.Notice, the appended graphic structure that illustrates of this specification, ratio, size etc., equal contents in order to cooperate specification to disclose only, understand and reading for person skilled in the art scholar, be not in order to limit the enforceable qualifications of the utility model, so technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not influencing under the effect that the utility model can produce and the purpose that can reach, all should still drop on the technology contents that the utility model discloses and get in the scope that can contain.Simultaneously, quote in this specification as " on ", D score, " left side ", " right side ", " centre " reach the term of " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment, under no essence change technology contents, when also being considered as the enforceable category of the utility model.
As shown in Figure 1, the utility model provides a kind of modularization robot, and it comprises: erecting bed 2, erecting bed 2 are provided with a plurality of communication sockets 6 and a remote transmission unit 5; At least one operational module, all working module are installed on the erecting bed 2, are provided with the control module of control operational module work in each operational module; Travel mechanism 4 is installed in the below of erecting bed 2, is provided with the mobile control module 41 of control travel mechanism operation in the travel mechanism 4; All control modules and mobile control module 41 is corresponding continuous one by one with communication socket 6, and each communication socket 6 links to each other with remote transmission unit 5 by communication bus 7 continuous backs, and remote transmission unit 5 links to each other with user terminal by network.The utility model adopts communication bus to realize that each operational module, travel mechanism communicate by letter with the remote transmission unit, it has reduced the control signal wire number in the robot, only need two power lines and two connections can finish being electrically connected of each intermodule, for the user brings convenience.Each module only needs self communication interface standardization, if when the user need set up operational module, only need with on the operational module with communication interface get final product with the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient.
Modularization robot of the present utility model is below described for example, above-mentioned operational module can be vision collecting module and mechanical arm, also can be the module of other job specification, see shown in Figure 1, operational module in the present embodiment is vision collecting module 3 and mechanical arm 1, and Fig. 2 is the electrical control figure of each concrete intermodule of present embodiment, and above-mentioned communication bus adopts CAN bus communication mode, also can adopt EtherCAT bus communication mode, adopt CAN bus communication mode in the present embodiment.Be provided with the control picture pick-up device in the above-mentioned vision collecting module 3 and gather the vision control module 31 of image and memory image, this vision control module 31 is provided with communication module, link to each other with above-mentioned communication socket 6 by communication interface, obtain the information that the next order of remote transmission and transmission are obtained.This mechanical arm 1 is the four-degree-of-freedom mechanical arm, be provided with the mechanical arm control module 11 of control manipulator motion in it, each joint at mechanical arm is equipped with drive motors, each drive motors is subjected to a control module 101 controls, the mechanical arm control module 11 that all control modules 101 link to each other and constitute this mechanical arm by communication bus (present embodiment is the CAN bus), link to each other with above-mentioned communication socket 6 by communication interface at last, obtain remote transmission module 5 by communication bus 7 and receive to such an extent that order, make corresponding actions.For ease of user's subsequent expansion operational module, above-mentioned communication socket 6 is a plurality of, only link to each other with one of them communication socket 6 gets final product the control module of N operational module need expanding (being other control module 81 among Fig. 2), realized the simplification of each intermodule electrical connecting wires like this, wiring quantity in each intermodule and each module reduces a lot, has only the positive and negative and CAN bus high-low signal line of root line power supply.
Also be provided with the power module that electric power is provided for above-mentioned each operational module and travel mechanism 4 on the above-mentioned erecting bed 2, charged source module can be each module for power supply in it, saves and inserts outside power line.
As shown in Figure 2, above-mentioned mobile control module 41 comprises a plurality of by the continuous control module 402 of communication bus (present embodiment is the CAN bus), each control module 402 corresponding motor 405 that drive travel mechanism's operation, be provided with the input and output control unit 406 of microcontroller (present embodiment employing dsp processor), driver element 401, communication module 403 and image data in each control module 402, the input and output control unit 406 of driver element 401, communication module 403 and image data all links to each other with microcontroller.Each control module is connected on the CAN bus by communication module 403, link to each other with above-mentioned communication socket 6 by communication interface at last, microcontroller is connected with driver element 401 and sends control information and then the SERVO CONTROL motor movement motion state information of feedback controlled motor 405 simultaneously, communication module 403 is connected with the CAN bus and receives microcontroller to such an extent that feedback information is sent on the CAN bus, and communication module 403 sends to microcontroller from the control information that the CAN bus issues.This control module also can have other corresponding expanding elements, and this control module also can be used as the control module in the above-mentioned mechanical arm.
Input and output control unit 406 in the present embodiment can connect LED lamp, various sensors etc., can throw light on by the driving LED lamp, and by various sensors (it can be photoelectric sensor, pressure sensor etc.) collection desired data, as the speed of service and direction etc.
Above-mentioned travel mechanism 4 can be the roller of a plurality of independent controls, and each roller is driven by a motor 405 all, above-mentioned control module 402 of the corresponding connection of each motor.Above-mentioned travel mechanism 4 also can be crawler type travel mechanism, and this crawler type travel mechanism is subjected to above-mentioned mobile control module 41 controls.
Above-mentioned is the modularization of this modularization robot in electrical control, adopt distributed control, and the CAN bus carries out communication, also can adopt other bus protocol communications, and this bus communication has been saved each intermodule circuit and connected, also saved module inner control holding wire quantity, this modularization robot volume is reduced, and be convenient to expansion when extended function module, wiring is simple, only need the interface butt joint is got final product, need not professional and technical personnel's rewiring design.
This modularization robot also satisfies the easy-to-install target of modularization on the frame for movement when the modularization that satisfies on electric.Be provided with a plurality of installing holes 21 of equidistant arrangement at the end face of above-mentioned erecting bed 2, above-mentioned each operational module is provided with securing member, by securing member being plugged in the installing hole 21, operational module can be fixed on the erecting bed 2, the convenience simple in structure of this plug and play, and the distance between each installing hole equates, only needing when making operational module the distance between the securing member on the operational module to be made integral multiple installing hole spacing gets final product, this mode of installing and fixing satisfies modularization and produces needs, has realized simplification, the standardization of mechanical connection.
Modularization robot of the present utility model, in use, the user buys corresponding operational module according to self needs, each operational module is fixed on the erecting bed 2, as shown in Figure 1,2 fixedly have vision collecting module 3 and mechanical arm 1 on the erecting bed, after each module frame for movement connects, the communication interface that each module is carried is connected on the corresponding communication socket 6, be that each module all is connected to communication bus 7(CAN bus or EtherCAT bus) on, set all ID of wire module can be on hardware directly by the toggle switch setting acquiescence ID that power on, also can in software, change, the baud rate that the CAN bus is set reaches as high as 1Mbps, the signaling rate of EtherCAT bus perhaps is set up to 10M/100Mbps.After setting, start bus system, at this moment, the user can control this robot by user terminal, makes and finishes corresponding job requirement.For the module of difference in functionality, all unified interface to realize quick replacing, increases the function of expanding system.
In sum, modularization robot of the present utility model, adopt communication bus to realize that each operational module, travel mechanism communicate by letter with the remote transmission unit, it has reduced the control signal wire number in the robot, only need two power lines and two connections can finish being electrically connected of each intermodule, for the user brings convenience.Each module only needs the communication interface standardization, if when the user need set up operational module, only need with on the operational module with communication interface get final product with the grafting of above-mentioned communication socket, do not need special technical staff to operate, install and use very convenient.So the utility model has effectively overcome various shortcoming of the prior art and the tool high industrial utilization.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not is used for restriction the utility model.Any person skilled in the art scholar all can be under spirit of the present utility model and category, and above-described embodiment is modified or changed.Therefore, have in the technical field under such as and know that usually the knowledgeable modifies or changes not breaking away from all equivalences of finishing under spirit that the utility model discloses and the technological thought, must be contained by claim of the present utility model.
Claims (10)
1. a modularization robot is characterized in that, described modularization robot comprises:
Erecting bed (2), erecting bed (2) are provided with a plurality of communication sockets (6) and a remote transmission unit (5);
At least one operational module, all working module are installed on the described erecting bed (2), are provided with the control module of control operational module work in each operational module;
Travel mechanism (4) is installed in the below of described erecting bed (2), is provided with the mobile control module (41) of control travel mechanism operation in the travel mechanism (4);
All control modules and described mobile control module (41) are corresponding continuous one by one with described communication socket (6), each communication socket (6) links to each other with described remote transmission unit (5) after linking to each other by communication bus (7), and described remote transmission unit (5) links to each other with user terminal by network.
2. modularization robot according to claim 1, it is characterized in that: described erecting bed (2) end face is provided with a plurality of installing holes (21) of equidistant arrangement, described operational module is provided with securing member, and described securing member is plugged in the described installing hole (21) described operational module is fixed on the described erecting bed (2).
3. modularization robot according to claim 1 is characterized in that: described communication bus (7) employing CAN bus communication mode or EtherCAT bus communication mode.
4. modularization robot according to claim 1, it is characterized in that: described operational module is the vision collecting module.
5. modularization robot according to claim 1, it is characterized in that: described operational module is mechanical arm.
6. modularization robot according to claim 5, it is characterized in that: the mechanical arm control module (11) that is provided with the control manipulator motion in the described mechanical arm, be provided with a plurality of control modules (101) in the mechanical arm control module, all control modules (101) link to each other with described communication socket (6) after linking to each other by communication bus.
7. modularization robot according to claim 1 is characterized in that: also be provided with the power module that electric power is provided for described each operational module and travel mechanism (4) on the described erecting bed (2).
8. modularization robot according to claim 1, it is characterized in that: described mobile control module (41) comprises a plurality of control modules (402) that link to each other by communication bus, the corresponding motor (405) that drives travel mechanism's operation of each control module (402), each control module is provided with microcontroller in (402), driver element (401), the input and output control unit (406) of communication module (403) and image data, described driver element (401), the input and output control unit (406) of communication module (403) and image data all links to each other with microcontroller.
9. modularization robot according to claim 8 is characterized in that: the rollers that described travel mechanism (4) controls for a plurality of independences.
10. modularization robot according to claim 8, it is characterized in that: described travel mechanism (4) is crawler type travel mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320172250 CN203171618U (en) | 2013-04-08 | 2013-04-08 | Modularized robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320172250 CN203171618U (en) | 2013-04-08 | 2013-04-08 | Modularized robot |
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| Publication Number | Publication Date |
|---|---|
| CN203171618U true CN203171618U (en) | 2013-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320172250 Expired - Lifetime CN203171618U (en) | 2013-04-08 | 2013-04-08 | Modularized robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN105896209A (en) * | 2014-12-16 | 2016-08-24 | 北京雷动云合智能技术有限公司 | Robot general expansion interface |
| CN106660203A (en) * | 2014-05-09 | 2017-05-10 | 卡内基梅隆大学 | Systems and methods for modular units in electro-mechanical systems |
-
2013
- 2013-04-08 CN CN 201320172250 patent/CN203171618U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN106660203A (en) * | 2014-05-09 | 2017-05-10 | 卡内基梅隆大学 | Systems and methods for modular units in electro-mechanical systems |
| CN106660203B (en) * | 2014-05-09 | 2019-10-22 | 卡内基梅隆大学 | System and method for the modular unit in Mechatronic Systems |
| CN105896209A (en) * | 2014-12-16 | 2016-08-24 | 北京雷动云合智能技术有限公司 | Robot general expansion interface |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: Room 202, room Y2, block, bright light road, Shanghai, Pudong New Area 201203, China Patentee after: SHANGHAI UNITED INTELLIGENCE ROBOTICS Inc. Address before: 201315, room 3, building 2388, 1001 Pu Pu Road, Shanghai, Pudong New Area Patentee before: SHANGHAI UI ROBOT TECHNOLOGY CO.,LTD. |
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| CX01 | Expiry of patent term |
Granted publication date: 20130904 |
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| CX01 | Expiry of patent term |