WO2015141984A1

WO2015141984A1 - Robot assembly device

Info

Publication number: WO2015141984A1
Application number: PCT/KR2015/002398
Authority: WO
Inventors: 김병수; 정근만; 하인용
Original assignee: 주식회사 로보티즈
Priority date: 2014-03-19
Filing date: 2015-03-12
Publication date: 2015-09-24
Also published as: KR101618585B1; CN106457557A; CN106457557B; KR20150109215A

Abstract

According to one embodiment of the present invention, provided is a robot assembly device comprising: a storage unit which stores 3D image files relating to a plurality of components constituting a robot, and IDs, position data, characteristics data and required voltage data relating to a plurality of robot modules that either respectively operate the plurality of components or are associated therewith, and data about electrical connections between the robot modules, as well as data about electrical connections between the robot modules and a controller for controlling the robot modules; and a robot assembly viewer which displays 3D images relating to the plurality of components and uses the data about the electrical connections so as to display, on an assembly screen window, data relating to at least one robot module that can be connected to the controller, and data about robot modules that can be connected together.

Description

Robot assembly unit

The present invention relates to a robot assembly apparatus, and more particularly, to a robot assembly apparatus capable of assembling a robot using the electrical connection of the components constituting the robot.

Recently, with the development of the robot technology field, robots have been used in various industries, and the demand for easily producing robots has increased.

In general, the robot should be assembled in consideration of the electrical connection as well as the mechanical connection constituting the robot.

However, in the related art, in consideration of only mechanical connection when assembling the robot, the utilization method after assembling the robot is limited to physical aspects.

Therefore, while considering physical assembly of the robot, there is an urgent need to assemble the robot in consideration of the electrical connection between the robot module including the battery, the controller and the actuator module, the sensor module, the communication module, the display module, and the like. to be.

The present invention is to solve the above-mentioned problems of the prior art, and an object of the present invention is to provide a robot assembly that can assemble a robot using the electrical connection of the components constituting the robot 30-1.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood from the following description.

According to an embodiment of the present invention for achieving the above object, a robot

Is a 3D image file for a plurality of components, ID, location information, characteristic information, required voltage information, electrical connection information between the robot module for each of the plurality of robot modules operating or associated with the plurality of components; And a storage unit which stores electrical connection information between the robot module and a controller for controlling the robot module. And displaying a 3D image of the plurality of components, and displaying information on the at least one robot module connectable to the controller and information on a robot module connectable to each other using the electrical connection information on an assembly screen window. A robot assembly apparatus is provided that includes a robot assembly viewer.

The storage unit further stores information on a port formed in any one of the plurality of robot modules, information on a connector coupled to the port, and electrical connection information between the connector and the controller. Checking the coupling direction, the size and the number of pins by using the electrical connection information, and determining whether the port and the connector can be coupled, and if it is determined that the connection is possible, a 3D image in which the connector is coupled to the port May be displayed on the assembly screen window, and a connector connectable to the controller may be displayed on the assembly screen window.

The storage unit further stores the electrical connection information between the robot module and a battery for supplying electricity to the robot module, the robot assembly viewer, the voltage required by the robot module for operation and the voltage supplied by the battery In comparison, the at least one robot module connectable to the battery may be displayed on the assembly screen window.

The robot assembly viewer further displays an ID assigned to each of the plurality of robot modules on the assembly screen window together with a 3D image of each of the plurality of components displayed on the assembly screen window, and one or more robot modules are selected. If so, the interface for adjusting the angle of the selected robot module according to time may be further displayed on the assembly screen window, and the storage unit may further store angle adjustment information according to a time input through the interface.

The robot assembly viewer may further display a moving image of a component operated by the selected robot module on the assembly screen window using the angle adjustment information.

According to an embodiment of the present invention, by displaying the robot module that can be connected to the controller or the battery on the screen, it is possible to grasp not only the mechanical connection but also the relationship between the components of the robot connected to each other according to the electrical characteristics.

In addition, according to an embodiment of the present invention, by providing an interface that can adjust the angle of the robot module over time, it is possible to easily receive a simulation moving video robot.

The effects of the present invention are not limited to the above-described effects, but should be understood to include all the effects deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a block diagram showing the configuration of a robot assembly apparatus according to an embodiment of the present invention.

2 is a view showing an assembly screen window displaying a robot according to an embodiment of the present invention.

3 is a diagram illustrating an assembly screen window displaying components constituting a robot according to an exemplary embodiment of the present invention.

4 is a view showing an assembly screen window displaying a robot according to another embodiment of the present invention.

[Description of the code]

100: robot assembly device

110: storage unit

120: robot assembly viewer

201: first robot module

202: second robot module

203 controller

204: Battery

301: first port

302: first connector

Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with another member in between. . In addition, when a part is said to "include" a certain component, this means that it may further include other components, without excluding the other components unless otherwise stated.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, the robot assembly apparatus 100 according to an embodiment of the present invention may include a storage unit 110 and a robot assembly viewer 120.

The storage unit 110 may be configured as a memory of the robot assembly apparatus 100 including a program memory, a data memory, and the like.

Execution programs executed by the robot assembly viewer 120 may be stored in the program memory. For example, the storage unit 110 may store a connection between the robot modules and a first program for editing corresponding information, a second program for controlling an operation for each robot module, and the like in a program memory.

The data memory may store data generated while programs stored in the program memory are executed by the robot assembly viewer 120. For example, the storage unit 110 may include electrical connection information between the robot module and the controller generated through the first program, electrical connection information between the robot module and the battery, electrical connection information between the robot modules, and the controller and the connector. Information about the electrical connection of the robot may be stored, and a simulation video of the robot generated by the second program may be stored.

The robot assembly apparatus 100 may execute the first program and the second program in cooperation with each other, and may load information generated through the first program in the second program. That is, the robot assembly apparatus 100 loads information about a robot whose connection between components of the robot is edited through a first program in a second program, thereby providing a simulation video in which a robot controlled by the operation of the robot moves. can do.

The storage unit 110 may store 3D image files for various components of the robot. For example, the storage unit 110 includes various components of the robot, such as a plurality of components constituting the robot, a plurality of robot modules operating or associated with each of the components, a port formed on the robot module, and a connector coupled to the port. You can save 3D image files for.

The robot module may include an actuator module for operating a component, a communication module for communicating with an external device, a sensor module for obtaining information by sensing surrounding conditions, and a display module for displaying information, but is not limited thereto. In addition, it may include various modules necessary for constructing a robot.

The storage unit 110 may store IDs assigned to each of the plurality of robot modules, position information of each robot module, characteristic information of each robot module, and voltage information required to operate each robot module.

The storage unit 110 may store electrical connection information between the at least one robot module and the controller. Here, the electrical connection information indicates how the connection between the controller for controlling the robot module and the robot module controlled by the controller, indicating whether the robot module and the controller is connected or connectable, one controller And electrical connection information between the robot module and one robot module, and may include electrical connection information between one controller and the plurality of robot modules.

The storage unit 110 may store electrical connection information between the at least one robot module and the battery. Here, the electrical connection information indicates how the connection between the battery for supplying electricity to the robot module and the robot module to receive electricity from the battery, information indicating whether the robot module and the battery is connected or connectable, It may include electrical connection information between one battery and one or more robot modules.

The storage unit 110 may store electrical connection information between the plurality of robot modules. Here, the electrical connection information indicates how the plurality of robot modules are connected, indicating whether the robot modules are connected to each other or can be connected, any one of the plurality of robot modules and at least one robot module It may include electrical connection information therebetween.

The storage unit 110 may store information on a port formed in any one of the plurality of robot modules, information on a connector coupled to the corresponding port, and electrical connection information between the connector and the controller. Here, the electrical connection information indicates how the connection between the connector and the controller that transmits the control signal through the connector, indicating whether the connector and the controller is connected or connectable, one controller and one or more connectors It may include electrical connection information therebetween.

The storage unit 110 may store angle adjustment information according to a time input through an interface for adjusting the angle of the robot module displayed by the robot assembly viewer 120 according to time. In this regard, it will be described later with reference to FIG.

The robot assembly viewer 120 may display various information on the assembly screen window provided through the first program. In this case, the robot assembly viewer 120 may display information through one or more assembly screen windows, and when displaying information through a plurality of assembly screen windows, the screen windows may be divided or displayed by overlapping the screen windows. Can be.

The robot assembly viewer 120 may display 3D image files of various components of the robot stored in the storage 110 on the assembly screen window. At this time, the robot assembly viewer 120 may display the 3D image of each component separately in the assembly window, and display the 3D image of all or part of the robot combining the plurality of components on the assembly screen. It may be.

The robot assembly viewer 120 displays 3D images of various components of the robot on an assembly screen window, and when a screen change command (for example, moving, zooming in or zooming out) is input according to a user's operation, the screen is changed. The 3D image can be displayed on the assembly window.

The robot assembly viewer 120 may display one or more robot modules connected to the controller or one or more robot modules connectable to the controller on the assembly screen window by using the electrical connection information between the robot module and the controller stored in the storage 110. Can be.

That is, when the controller is selected according to the user's manipulation, the robot assembly viewer 120 may display one or more robot modules connected to the selected controller or one or more robot modules connectable to the controller. When selected, a controller connected to the selected robot module or a controller connectable to the robot module may be displayed.

The robot assembly viewer 120 may display 3D images of various components of the robot on an assembly window, and separately display one or more robot modules connected to the controller or a robot module connectable to the controller on a new assembly screen. One or more robot modules connected to the controller can be displayed by highlighting (for example, blinking or displaying the component in question).

The robot assembly viewer 120 may check the voltage of the robot module using the voltage information stored in the storage unit 110, determine whether the robot module and the battery are connectable, and display the connection or not on the assembly screen window. At this time, the robot assembly viewer 120 may determine whether the robot module and the battery can be connected by comparing the voltage required by the robot module with the voltage supplied by the battery.

In addition, the robot assembly viewer 120 separately assembles one or more robot modules connected to the battery or one or more robot modules connectable to the battery by using the electrical connection information between the robot module and the battery stored in the storage unit 110. It can be displayed on, and one or more robot modules connected to the battery can be highlighted.

The robot assembly viewer 120 uses one or more robot modules connected to a specific robot module or one or more robot modules connectable to a specific robot module by using the electrical connection information between the robot modules stored in the storage unit 110 on the assembly screen window. I can display it.

For example, when the first robot module and the second robot module are set to be connectable, when the first robot module is selected according to a user's operation, the robot assembly viewer 120 may be connected to the first robot module. The second robot module may be displayed, and if the second robot module is selected according to a user's manipulation, the first robot module connectable to the second robot module may be displayed.

When the first robot module and the second robot module are set to be connected, the robot assembly viewer 120 may display the second robot module connected to the first robot module when the first robot module is selected as described above. If the second robot module is selected, the first robot module connected to the second robot module may be displayed.

The robot assembly viewer 120 may display a port formed in the robot module and a connector coupled to the port on the assembly screen window by using the information about the port and the connector information stored in the storage 110. In this case, the robot assembly viewer 120 may display a 3D image of various components of the robot on an assembly screen window, and enlarge and display an area where a port or a connector is displayed by a user's operation command or automatically.

When displaying the port and the connector, the robot assembly viewer 120 checks the port's coupling direction, size, and the number of pins using information about the port, and determines whether the port and the connector can be combined, if it is determined that the port can be combined, the port The 3D image combined with the connector can be displayed on the assembly window. At this time, the robot assembly viewer 120 may determine whether the corresponding port and the connector can be coupled by comparing the pin number of the port and the pin number of the connector.

The robot assembly viewer 120 may display one or more connectors or one or more connectable connectors connected to the controller on the assembly screen using the electrical connection information between the controller and the connector stored in the storage 110.

The robot assembly viewer 120 may further display IDs assigned to each of the plurality of robot modules stored in the storage 110 while displaying 3D images of various components of the robot through the first program on the assembly screen window. have.

When at least one robot module of the plurality of robot modules is selected, the robot assembly viewer 120 may display an interface for adjusting the selected robot module on the assembly screen through the second program by executing the second program. The moving image of the component operated by the robot module may be further displayed on the assembly screen using the angle adjustment information stored in the storage 110. In this regard, it will be described later with reference to FIG.

First, the robot assembly viewer 120 may display 3D images of various components of the robot stored in the storage unit 110 on the assembly screen window.

Referring to FIG. 2, the robot assembly viewer 120 may display an overall 3D image of a robot including a first robot module 201, a second robot module 202, a controller 203, and a battery 204. have. The first robot module 201 and the second robot module 202 may be any one of various robot modules such as an actuator module, a communication module, a sensor module, and a display module.

The robot assembly viewer 120 may display a 3D image, which is a part of the robot, in addition to the overall 3D image of the robot, and may separately display a 3D image of one of various components of the robot.

For example, the robot assembly viewer 120 displays an overall 3D image of the robot. When a command to enlarge the leg portion of the robot is input, only the leg portion of the robot may be enlarged to display a part of the robot. When the controller 203 is selected among various components of the robot, the robot assembly viewer 120 displays 3D images of the controller 203 separately, and controls detailed information of the controller 203 (controlled by the controller 203). Information of the robot module, etc.), and when the battery 204 is selected, detailed information about the battery 204 (connected with the battery 204) is displayed while separately displaying a 3D image of the battery 204. Information of the robot module, voltage information of electricity supplied from the battery 204, etc.) may be further displayed.

The controller 203 and the battery 204 may be connected to one or more robot modules. Hereinafter, the controller 203 and the first robot module 201 and the second robot module 202 may be connected and the battery 204 may be connected. It is assumed that the first robot module 201 and the second robot module 202 can be connected.

The storage unit 110 may store location information of the first robot module 201 and the second robot module 202. For example, the storage unit 110 includes a first robot module 201 located at the left side of the controller 203, a second robot module 202 located at the right side of the controller 203, and a battery 204. ) May store location information indicating that the controller is located at the bottom of the controller 203.

As shown in FIG. 2, the robot assembly viewer 120 displays an overall 3D image of the robot stored in the storage 110. When the controller 203 is selected according to a user operation, the robot 203 is highlighted. The first robot module 201 and the second robot module 202, which may be connected to the controller 203, may also be highlighted. At this time, the robot assembly viewer 120 blinks the controller 203, the first robot module 201, and the second robot module 202, or displays the colors in a different color from other components. You can highlight it.

When a connection command between the controller 203 and the first robot module 201 is input according to a user operation, the robot assembly viewer 120 may store the controller 203 and the first robot module 201 stored in the storage 110. Using the electrical connection information therebetween, it is possible to determine whether the controller 203 and the first robot module 201 is connected, and display the determination result on the assembly screen window. In this case, a connection command between a plurality of robot modules including the first robot module 201 and the second robot module 202 and the controller 203 may be input according to a user operation, and the robot assembly viewer 120 may be input. Using the electrical connection information between the controller 203 and the plurality of robot modules stored in the storage unit 110, it is determined whether the controller 203 and the plurality of robot modules are connected, and the determination result is displayed on the assembly screen window. Can be.

When the storage unit 110 determines that the determination result of the connection between the controller 203 and the first robot module 201 is connectable, the storage unit 110 changes the electrical connection information between the controller 203 and the first robot module 201. Can be. That is, the storage unit 110 may change and store electrical connection information between the controller 203 and the first robot module 201 from "connectable" to "complete connection".

The robot assembly viewer 120 emphasizes by using a method such as displaying the controller 203 and one or more robot modules connected to the controller 203 in the same color by using the electrical connection information between the controller 203 and the robot module. I can display it. Through this, the controller 203 and one or more robot modules may be connected to inform the robot module substantially controlled by the controller 203.

For example, when the connection between the controller 203, the first robot module 201, and the second robot module 202 is completed, the storage unit 110 controls the controller 203, the first robot module 201, and the first robot module 201. The electrical connection information between the two robot modules 202 may be changed and stored as “complete connection.” When the controller 203 is selected according to a user's operation, the robot assembly viewer 120 may store the first connection with the controller 203. The robot module 201 and the second robot module 202 may be displayed in the same color as the controller 203, and when the first robot module 201 is selected, a controller for controlling the first robot module 201 ( The second robot module 202, which is the other robot module connected to the 203 and the controller 203, may be displayed in the same color as the first robot module 201.

The storage unit 110 includes voltage information of electricity supplied by the battery 204, voltage information required by the first robot module 201 to operate the component, and second robot module 202 to operate the component. Voltage information for each component, such as the voltage information required may be stored.

As shown in FIG. 2, the robot assembly viewer 120 displays an overall 3D image of the robot. When the battery 204 is selected according to a user operation, the robot assembly viewer 120 may be connected to the battery 204 while highlighting the battery 204. The first robot module 201 and the second robot module 202 which are present may also be highlighted.

When a connection command between the battery 204 and the first robot module 201 is input according to a user operation, the robot assembly viewer 120 may store the battery 204 and the first robot module 201 stored in the storage unit 110. Using the electrical connection information therebetween, the voltage of the battery 204 and the first robot module 201 is checked, and it is determined whether the battery 204 and the first robot module 201 can be connected according to the voltage, and whether or not the connection is possible. Can be displayed. In this case, a connection command between a plurality of robot modules including the first robot module 201 and the second robot module 202 and the battery 204 may be input according to a user operation, and the robot assembly viewer 120 may be input. The controller may check the voltages of the battery 204 and the plurality of robot modules, determine whether the battery 204 and each robot module are connectable, and display whether or not the connection is possible.

For example, the storage 110 may store battery information in which the voltage of the battery 204 is 5V, the voltage of the first robot module 201 is 5V, and the voltage of the second robot module 202 is 10V. At this time, when a connection command between the battery 204, the first robot module 201, and the second robot module 202 is input according to a user's operation, the robot assembly viewer 120 uses a battery (using a voltage of 5 V). It is determined that only the 204 and the first robot module 201 can be connected, so that the first robot module 201 can be displayed in the same color as the battery 204, and the voltage difference with respect to the second robot module 202 can be determined. The message "No connection possible" can be displayed.

When the battery 204 and the first robot module 201 are connected, the storage unit 110 transfers the electrical connection information between the battery 204 and the first robot module 201 from "connectable" to "complete connection." Can be changed and saved.

On the other hand, a plurality of robot modules may be connected to each other, the first robot module 201 and the second robot module 202 may be connected, and other than the first robot module 201 and the second robot module 202 It is assumed that the 3 robot module and the first robot module 201 cannot be connected.

When the first robot module 201 is selected according to a user's manipulation, the robot assembly viewer 120 may highlight the first robot module 201 and display a second robot module 201 that may be connected to the first robot module 201. 202 may also be highlighted. At this time, the robot assembly viewer 120 displays a third robot module that cannot be connected to the first robot module 201 in a color different from that of the first robot module 201 and the second robot module 202, and thus displays a third robot module. 3 may indicate that the robot module cannot be connected to the first robot module 201.

When a connection command between the first robot module 201 and the third robot module is input according to a user's manipulation, the robot assembly viewer 120 may provide a connection between the first robot module 201 and the third robot module stored in the storage 110. Using the electrical connection information of the, it is determined whether the first robot module 201 and the third robot module can be connected, and display the determination result on the assembly screen window. At this time, since the robot assembly viewer 120 is not connectable to the first robot module 201 and the third robot module, the robot assembly viewer 120 displays the second robot module 202 which is a robot module which can be connected with the determination result. A robot module that can be connected to the module 201 can be recommended.

When a connection command between the first robot module 201 and the second robot module 202 is input according to a user's manipulation, the storage unit 110 may electrically connect the first robot module 201 and the second robot module 202. You can save the connection information by changing it from "Connectable" to "Connected."

As such, according to an embodiment of the present invention, by displaying the robot module connected to the controller 203 or the battery 204 on the screen, not only the mechanical connection but also the relationship between the components connected to each other according to electrical characteristics can be determined. It can be effective.

In FIG. 2, the robot assembly viewer 120 displays an overall 3D image of the robot. When a zoom-in command is input or a specific component is selected according to a user's manipulation, the robot assembly viewer 120 displays a 3D image which is a part of the robot as shown in FIG. can do.

Referring to FIG. 3, the robot assembly viewer 120 may display a 3D image of a component that is a part of a robot including a first connector 302 coupled with a first port 301 and a second port. Here, the first port 301 and the second port may be included in the same robot module, each may be included in a different robot module. The first port 301 is not coupled to the connector, and the second port may be included in the first connector 302 in a coupled state with the first connector 302 shown in FIG. 3.

The connector may be coupled with a port for electrical signal transmission and external power supply between the robot modules, and the first connector 302 shown in FIG. 3 is coupled with a robot module including a second port, in addition to the second port. It may serve to transmit information between the robot module including the port.

The storage unit 110 may store information about the first port 301 formed in the robot module and the first connector 302 coupled to the second port, and the robot assembly viewer 120 may include the storage unit 110. The first connector 302 coupled with the first port 301 and the second port may be displayed using the electrical connection information stored in the second port 301.

In detail, the robot assembly viewer 120 displays the robot module constituting the robot, and if the robot module includes the first port 301, the robot assembly viewer 120 may further display the first port 301 included in the robot module. Can be.

As described above, if the component includes a second port, the robot assembly viewer 120 further displays the second port and determines whether the second port and the first connector 302 can be coupled using the electrical connection information. If it is determined that the coupling is possible, the 3D image in which the first connector 302 is coupled to the second port may be displayed.

At this time, the robot assembly viewer 120 may determine whether the second port and the first connector 302 can be coupled by checking the number of pins of the second port and the number of pins of the first connector 302. For example, the storage unit 110 may store electrical connection information of five pins of the second port and five pins of the first connector 302. Accordingly, the robot assembly viewer 120 checks the number of pins of the second port and the number of pins of the first connector 302 by using the electrical connection information, and determines that the number of pins is the same so that they can be combined. The 3D image in which the two ports and the first connector 302 are coupled may be displayed.

When determining that the coupling is possible, the robot assembly viewer 120 may determine whether the port and the connector can be coupled by checking the size of the port and the coupling direction of the port in addition to the number of pins of the port.

When the first connector 302 is selected, the robot assembly viewer 120 may further display another port connectable with the first connector 302. For example, if the number of pins of the first port 301 and the first connector 302 is equal to five, the robot assembly viewer 120 displays the first connector 302 and the first port 301 in the same color. By doing so, it can inform that they can be connected to each other.

Meanwhile, the controller 203 may be connected to one or more connectors. Hereinafter, it is assumed that the controller 203 and the first connector 302 and the second connector may be connected.

When the controller 203 is selected according to a user's manipulation, the robot assembly viewer 120 may display a connector list including a first connector 302 and a second connector connectable to the controller 203 on the screen.

When the first connector 302 is selected from the connector list, the controller 203 recognizes that the connection command between the first connector 302 and the first connector 302 is input, and the storage unit 110 controls the controller 203 and the first connector 302. You can save the electrical connection information by changing the electrical connection information between) from "connectable" to "connection complete".

Subsequently, when the controller 203 is selected, the robot assembly viewer 120 displays the controller 203 and the first connector 302 connected to the controller 203 in the same color by using electrical connection information. It may indicate that the controller 203 and the first connector 302 are connected.

In addition, when the controller 203 is selected, the robot assembly viewer 120 may inform that the controller 203 and the second connector may be connected by displaying the second connector in a color different from other components. Can be.

On the other hand, the storage unit 110 may store the ID assigned to each port and information on the robot module connected to the port.

For example, the robot assembly viewer 120 may display a port list including the first port 301 and the second port on the assembly screen window, and when the first port 301 is selected in the port list, ID "1" assigned to the first port 301, the robot module connected to the first port 301 can be displayed on the assembly screen window.

As described above, according to an embodiment of the present invention, by displaying a component including a port and a connector on a screen, it is possible to easily grasp the relationship between the components connected to each other according to electrical characteristics.

The storage unit 110 may further store an ID assigned to each of the robot modules among the components, while storing 3D image files for various components of the robot. Here, the ID may be assigned according to a user's operation command, or may be arbitrarily assigned by the robot assembly apparatus 100.

Referring to FIG. 4, the robot assembly viewer 120 may further display an ID assigned to each robot module while displaying a 3D image of various components of the robot stored in the storage 110 on an assembly screen window. .

According to a user's manipulation, when at least one of the IDs displayed on the assembly screen is selected, the robot assembly viewer 120 may display an interface for adjusting the angle of the selected robot module according to time, and the storage unit 110. ) May store angle adjustment information according to a time input through the corresponding interface. Here, the angle adjustment information is information indicating at what time and how much angle to adjust the robot module selected through the interface.

For example, when a user selects a robot module corresponding to ID 15 through an interface and inputs angle adjustment information for changing the angle of the robot module by 30 degrees after 2 seconds, the storage unit 110 displays the angle adjustment information. Can be stored. In this case, the user may separately set the angle adjustment for each robot module, and may set the angle adjustment for the robot module set as a group by setting a plurality of robot modules as a group.

The storage unit 110 may store characteristic information of the robot module. Here, the characteristic information of the robot module may be information on an angle range in which the robot module can be adjusted.

For example, the storage unit 110 may store information on an angle range of 0 degrees to 90 degrees as the characteristic information of the robot module corresponding to ID 11, and the robot assembly viewer 120 may store the information at 0 degrees to 90 degrees. The adjustable interface can be displayed up to. Since the angles that can be adjusted for each robot module are different (for example, the range of the movable angles of the arm and leg portions are different), the characteristics of the angle range for each robot module are set in advance, It is to limit the range of movement.

The storage unit 110 may store the angle adjustment information after confirming that the angle adjustment information according to the time input through the interface is suitable using the characteristic information of the robot module. For example, if the characteristic information of the robot module corresponding to ID 11 is information on an angle range of 0 degrees to 90 degrees, the storage unit 110 determines that the angle adjustment information of the robot module corresponding to ID 11 is 0 degrees. After checking whether the angle is within 90 degrees, the angle adjustment information may be stored.

The robot assembly viewer 120 may generate a moving image of the component operated by the robot module, that is, a simulation moving image of the robot using the angle adjustment information stored in the storage 110, and display the moving image.

For example, when the user inputs angle adjustment information for changing the angle of the robot module corresponding to IDs 3 and 4 through 90 degrees through 90 seconds, the robot assembly viewer 120 displays the IDs 3 and 4 after 2 seconds. By adjusting the angle of the corresponding robot module by 90 degrees, by moving the component to operate the robot module corresponding to the ID 3 and 4, it is possible to display a moving image of both arms of the robot on the assembly screen window.

Operation control for each robot module described with reference to FIG. 4 may be performed by a second program, and connection between each component described with reference to FIGS. 2 and 3 and storage of corresponding information may be performed by the first program. Can be performed.

That is, the storage unit 110 may store electrical connection information between components generated through the first program in a specific file (for example, an XML file), and the robot assembly viewer 120 may store the stored file. By loading from the 2 program, the robot set through the first program, the motion control through the second program can be provided to provide a simulation video of the robot.

As such, according to an embodiment of the present invention, by providing an interface that can adjust the angle of the robot module according to time, it is possible to easily receive a simulation moving video robot.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be.

Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the invention is represented by the following claims, and claims

All changes or modifications derived from the meaning and scope of the scope and the equivalent concept are to be construed as being included in the scope of the present invention.

Claims

3D image files for a plurality of components constituting the robot, and the plurality of com

ID, location information, characteristic information, required voltage information, electrical connection information between the robot module and a controller for controlling the robot module and the plurality of robot modules operating or associated with each component. A storage unit for storing the electrical connection information; And

A robot that displays a 3D image of the plurality of components, and displays information on the at least one robot module connectable to the controller and information on the robot modules connectable to each other using the electrical connection information on an assembly screen window. A robotic assembly device comprising an assembly viewer.
The method of claim 1,

The storage unit,

Information about a port formed in any one of the plurality of robot modules, the port

Further stores information about the connector and the electrical connection information between the connector and the controller,

The robot assembly viewer,

The direction, size, and number of pins of the port using the information on the port

If it is determined that the port and the connector can be combined, if it is determined that the coupling is possible, displays the 3D image of the connector coupled to the port on the assembly screen window, the connector that can be connected to the controller on the assembly screen Robot assembly device to display in window.
The method of claim 1,

The storage unit,

Further stores electrical connection information between the robot module and a battery supplying electricity to the robot module,

The robot assembly viewer,

And comparing the voltage required by the robot module with the voltage supplied by the battery to display the at least one robot module connectable with the battery on the assembly screen.
The method of claim 1,

The robot assembly viewer,

The ID assigned to each of the plurality of robot modules is further displayed on the assembly screen window together with a 3D image of each of the plurality of components displayed on the assembly screen window, and when one or more robot modules are selected, the selected robot module is selected. Further displays an interface for adjusting the angle of the display in the assembly window,

The storage unit,

And storing angle adjustment information according to time input through the interface.
The method of claim 4, wherein

The robot assembly viewer,

By using the angle adjustment information, the robot assembly apparatus further displays a moving picture of the moving component is operated by the selected robot module on the assembly screen window.