TWI396580B - Operating device and robot system - Google Patents

Description

Robot control device and robot system

The present invention relates to a robot control device and a robot system therewith, and more particularly to a robot control device using an array of magnetic force generating elements and a robot system therewith.

With the development of electronic technology, various entertainment robots have become more and more popular. For example, Sony's AIBO robot dog, Silverlit Electronics' i-Cybie robot dog and Honda's ASIMO robot are all entertaining robots.

In general, in order to enable the robot to perform various limb movements, a motor is usually provided at the joint to control the motion of the robot by the motor. The more complicated the design of the robot and the more joints, the more the number of motors placed on it, and the more the number of motors, the greater the noise generated during operation. In addition, since the motors have a certain volume and weight, the overall weight and volume of the robot are greatly increased to reduce the flexibility of the robot when operating, and the load of each motor is also increased to make the robot consume more power.

It is an object of the present invention to provide a robotic system in which the robot can be flexibly actuated.

Another object of the present invention is to provide a robot control device that can flexibly manipulate a robot.

The invention proposes a robot control device adapted to operate a robot. The robot control device comprises a substrate, a plurality of magnetic generating elements and a plurality of control modules. The magnetic generating elements are arranged in an array on the substrate. Each control module includes a magnetic structure, a motor module, and a connecting line. The magnetic structure is adsorbed on the lower surface of the substrate and is translated on the lower surface by magnetic changes of the magnetic force generating element. The motor module is fixed to the magnetic structure. The connecting line is connected between the motor module and the robot, and is retracted by the motor module to be housed in the motor module.

The invention provides a robot system comprising a robot and a robot control device. The robot control device comprises a substrate, a plurality of magnetic generating elements and a plurality of control modules. The magnetic generating elements are arranged in an array on the substrate. Each control module includes a magnetic structure, a motor module, and a connecting line. The magnetic structure is adsorbed on the lower surface of the substrate and is translated on the lower surface by magnetic changes of the magnetic force generating element. The motor module is fixed to the magnetic structure. The connecting line is connected between the motor module and the robot, and is retracted by the motor module to be housed in the motor module.

In an embodiment of the invention, the magnetic structure comprises a magnet and a plurality of metal rolling members. The metal rolling element is rollably disposed between the substrate and the magnet by the magnetic attraction force of the magnetic force generating element and the magnet.

In an embodiment of the invention, each of the metal rolling elements is a steel ball. In an embodiment of the invention, each of the motor modules has a rotating shaft, and the corresponding connecting wire is adapted to be wound around the rotating shaft.

In an embodiment of the invention, the motor module has a motor controller for controlling the rotation of the motor module.

In an embodiment of the invention, the robot includes a main body and a plurality of limb portions coupled to the main body, and the connecting wires are respectively connected to the limb portion.

In an embodiment of the invention, the magnetic generating element is an electromagnet.

In an embodiment of the invention, each of the magnetic structures described above is moved two-dimensionally along the lower surface by a magnetic change of the magnetic force generating element.

Based on the above, the robot system of the present invention is divided into two parts: a robot control device and a robot. The components for driving the robot are all located in the robot control device, so it is not necessary to configure the motor in the robot to reduce the weight of the robot, so that it can be operated more flexibly.

The above described features and advantages of the present invention will be more apparent from the following description.

1 is a perspective view of a robot system according to an embodiment of the present invention. Figure 2 is a bottom plan view of the robot control device of Figure 1. Referring to FIG. 1 and FIG. 2 , the robot system 100 of the present embodiment includes a robot 110 and a robot control device 120 . The robot control device 120 includes a substrate 122, a plurality of magnetic force generating elements 124, and a plurality of steering modules 126. The magnetic force generating elements 124 are arranged in an array on the substrate 122. Each of the control modules 126 includes a magnetic structure 126a, a motor module 126b, and a connecting line 126c. The magnetic structure 126a is attracted to the lower surface 122a of the substrate 122 and is translated at the lower surface 122a by the magnetic change of the magnetic force generating element 124. The motor module 126b is fixed to the magnetic structure 126a. The connecting wire 126c is connected between the motor module 126b and the robot 110, and is housed in the motor module 126b by the motor module 126b.

In detail, the robot controller 120 can turn its magnetism on or off by controlling the current through the respective magnetic force generating elements 124. The magnetic structure 126a adsorbed to the lower surface 122a is moved by the magnetic attraction force to the position where the magnetically-driven magnetic generating element 124 is moved to perform two-dimensional movement in the XY plane as shown in FIG. The motor module 126b fixed to the magnetic structure 126a can drive the connecting wire 126c to extend or shorten by the rotation of the magnetic structure 126a while moving along the lower surface 122a. Therefore, the robot 110 connected to the plurality of connecting wires 126c and suspended under the substrate 122 can perform various operations of shifting and moving in accordance with the movement of the magnetic structure 126a and the expansion and contraction of the connecting wire 126c. In the present embodiment, the magnetic force generating element 124 is, for example, an electromagnet or other suitable element that can change magnetism by electrical changes.

It should be noted that since the motor module 126b and the magnetic force generating element 124 for driving the robot 110 are all located in the robot control device 120, it is not necessary to configure the motor in the robot 110 to reduce the weight of the robot, thereby making it flexible. Actuate. In addition, the control module 126 is disposed on the substrate 122 by magnetic attraction, so that the user can easily dispose the control module 126 on the substrate 122 or remove it from the substrate 122.

Referring to FIG. 1, in the embodiment, the magnetic structure 126a includes a magnet M and a plurality of metal rolling members S. Since the metal rolling member S and the magnetic force generating element 124 can be mutually attracted to the magnet M, the metal rolling member S can be disposed between the substrate 122 and the magnet M to cause the magnetic structure 126a to be on the lower surface by rolling of the metal rolling member S. The movement of 122a is smoother. In the present embodiment, the metal rolling member S is, for example, a steel ball. It should be noted that each motor module 126b has a rotating shaft P, and the corresponding connecting line 126c is adapted to be wound around the rotating shaft P. In other words, the motor module 126b can drive the rotating shaft P to rotate and the connecting line 126c to be placed on the rotating shaft P to control the robot 110. In addition, the motor module 126b has a motor controller C for controlling the rotation of the motor module 126b.

In the present embodiment, the robot 110 includes a main body 112 and a plurality of limb portions 114 coupled to the main body 112, and the connecting wires 126c are respectively coupled to the limb portion 114. In other words, each of the control modules 126 of the present embodiment is connected to a limb portion 114 by its connecting line 126c, and the limb portions 114 of the robot 110 are simultaneously driven by the corresponding control modules 126, respectively, and the robot is 110 produces a variety of different actions.

It should be noted that in the embodiment, the number of the limb portions 114 of the manipulation module 126 and the robot 110 is three, and no connection line is connected to the main body 112. However, the present invention is not limited thereto. In other embodiments not shown, the control module and the limb portion may be other suitable numbers, and the control module and the connecting line corresponding to the main body may be additionally configured. In addition, the present invention does not limit the shape of the robot 110, and it may be a robot, a animal shape or other modeling robot. In addition, since the robot itself does not have to carry a member having a large weight (such as a motor), its material is freely selected. For example, a less dense material such as plastic or styrofoam can be used as the material of the robot to reduce its weight and increase its flexibility.

In summary, the robot system of the present invention is divided into two parts: a robot control device and a robot. The components for driving the robot are all located in the robot control device, so it is not necessary to configure the motor in the robot to reduce the weight of the robot, so that it can be operated more flexibly. In addition, the control module can be easily disposed on or removed from the substrate, so that the user can increase or decrease the number of the control modules, so that the robot control device can be applied to various robots having different numbers of limbs to enhance Its generality.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art can make some modifications and refinements without departing from the spirit and scope of the invention. The scope of the invention is defined by the scope of the appended claims.

100. . . Robot system

110. . . robot

112. . . main body

114. . . Limb

120. . . Robot control device

122. . . Substrate

122a. . . lower surface

124. . . Magnetic generating element

126. . . Control module

126a. . . Magnetic structure

126b. . . motor

126c. . . Cable

C. . . Motor controller

M. . . magnet

P. . . Rotating shaft

S. . . Metal rolling parts

1 is a perspective view of a robot system according to an embodiment of the present invention.

Figure 2 is a bottom plan view of the robot control device of Figure 1.

100. . . Robot system

110. . . robot

112. . . main body

114. . . Limb

120. . . Robot control device

122. . . Substrate

122a. . . lower surface

124. . . Magnetic generating element

126. . . Control module

126a. . . Magnetic structure

126b. . . Motor module

126c. . . Cable

C. . . Motor controller

M. . . magnet

P. . . Rotating shaft

S. . . Metal rolling parts

Claims (14)

A robot control device is adapted to operate a robot, the robot comprising a body and a plurality of limbs coupled to the body, the robot control device comprising: a substrate; a plurality of magnetic generating elements arranged in an array on the substrate; a plurality of control modules, wherein each of the control modules comprises: a magnetic structure, adsorbed on a lower surface of the substrate, and translated on the lower surface by magnetic changes of the magnetic generating elements; a motor module, solid Provided in the magnetic structure; and a connecting line connected between the motor module and the robot, and being retracted by the motor module, wherein the connecting wires are respectively connected to the respective Between the motor module and each of the limb portions of the robot, each of the motor modules respectively drives the connecting wires to be elongated or shortened by rotation. The robot control device of claim 1, wherein the magnetic structure comprises: a magnet; and a plurality of metal rolling members, the magnetic force generating element and the magnetic force of the magnet are rotatably disposed on the magnetic control device Between the substrate and the magnet. The robot control device according to claim 2, wherein each of the metal rolling members is a steel ball. The robot control device of claim 1, wherein each of the motor modules has a rotating shaft, and the corresponding connecting line is suitable for winding On the shaft. The robot control device of claim 1, wherein the motor module has a motor controller for controlling rotation of the motor module. The robot control device according to claim 1, wherein the magnetic force generating element is an electromagnet. The robot control device according to claim 1, wherein each of the magnetic structures is moved two-dimensionally along the lower surface by magnetic changes of the magnetic force generating elements. A robot system comprising: a robot comprising a body and a plurality of limbs coupled to the body; a robot control device comprising: a substrate; a plurality of magnetic generating elements arranged in an array on the substrate; and a plurality of manipulations The module, wherein each of the control modules comprises: a magnetic structure, is adsorbed on a lower surface of the substrate, and is translated on the lower surface by magnetic changes of the magnetic generating elements; a motor module is fixed on the a magnetic structure; and a connecting wire connected between the motor module and the robot, and being retracted by the motor module, wherein each of the connecting wires is connected to each of the motor modules And each of the robots Between the limb portions, each of the motor modules drives the connecting wires to be elongated or shortened by rotation. The robot system of claim 8, wherein the magnetic structure comprises: a magnet; and a plurality of metal rolling members rotatably disposed on the substrate by the magnetic generating elements and magnetic attraction of the magnet And between the magnets. The robot control device according to claim 9, wherein each of the metal rolling members is a steel ball. The robot system of claim 8, wherein each of the motor modules has a rotating shaft, and the corresponding connecting wire is adapted to be wound around the rotating shaft. The robot system of claim 8, wherein the motor module has a motor controller for controlling rotation of the motor module. The robot system of claim 8, wherein the magnetic force generating element is an electromagnet. The robot system of claim 8, wherein each of the magnetic structures is moved two-dimensionally along the lower surface by magnetic changes of the magnetic force generating elements.