WO2017198217A1 - Dispositif de bras mécanique de niveau bureau - Google Patents

Dispositif de bras mécanique de niveau bureau Download PDF

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Publication number
WO2017198217A1
WO2017198217A1 PCT/CN2017/085094 CN2017085094W WO2017198217A1 WO 2017198217 A1 WO2017198217 A1 WO 2017198217A1 CN 2017085094 W CN2017085094 W CN 2017085094W WO 2017198217 A1 WO2017198217 A1 WO 2017198217A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot arm
arm device
interface
docking station
mechanical arm
Prior art date
Application number
PCT/CN2017/085094
Other languages
English (en)
Chinese (zh)
Inventor
刘培超
Original Assignee
深圳市越疆科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市越疆科技有限公司 filed Critical 深圳市越疆科技有限公司
Publication of WO2017198217A1 publication Critical patent/WO2017198217A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Definitions

  • the present invention relates to a robotic device, and more particularly to a desktop-level robotic arm device.
  • a software operation or a dedicated teaching box is generally used for the teaching operation.
  • These teaching methods are applied to the desktop-level robotic arm.
  • the software operation is not flexible enough.
  • the hardware is equipped with a dedicated teaching box to increase the cost of the desktop robot arm.
  • the teaching box needs to be operated. Certain technical knowledge, for ordinary household users involved in the desktop robot arm, the operation is difficult, and the same is cumbersome.
  • the object of the present invention is to provide a desktop-level mechanical arm device, which aims to solve the problem that the conventional mechanical device wiring method is applied to the desktop-level robot arm, and the system has a problem of inconvenient system expansion, a large number of connection lines, and a high cost. .
  • the present invention provides a desktop-level mechanical arm device including a base, a main controller disposed on the base, two or more robot arms, a drive motor coupled to the main controller, and mounted on the An actuator on the robot arm, further comprising a docking station disposed on one of the robot arms, the docking station setting There are a plurality of universal interfaces for communicating with the actuator, and a connection harness for communicating with the main controller of the universal interface is hidden in the robot arm.
  • the docking station is further provided with at least one unlocking button, the unlocking button is used for cutting off the control of the driving motor, and triggering the mechanical arm device to enter a manual teaching operation.
  • the number of the unlocking buttons is the same as the number of driving motors on the robot arm device.
  • a plurality of sensors for collecting motion data of the joints of the respective arm devices are further included.
  • the senor includes an acceleration sensor and an angular velocity sensor.
  • the manual teaching operation performed by the mechanical arm device under the external force push specifically includes:
  • the sensor collects motion data of each of the sports joints
  • the main controller fits the motion track of the teaching operation according to the collected motion data, and stores it for playback.
  • the universal interface includes one or more of a standardized digital signal interface, an analog signal interface, and a power interface.
  • the universal interface includes one or more of a digital ground port, a digital power port, a PWM signal port, an A DC port, an analog ground port, an analog power port, a power ground port, and a power power port.
  • the docking station is disposed on the robot arm away from the base.
  • the docking station is further provided with one or more of a wireless communication module, an interface conversion circuit of the universal interface, a driving circuit of the driving motor, and a teaching playback button.
  • the above-mentioned desktop-level robot arm device is provided with a universal interface on the extension arm by providing a docking station on the robot arm, so that the actuator can be directly connected to the universal interface after the system is expanded or replaced.
  • the process is simple and cost-effective; in addition, the connection harness for communicating the universal interface with the main controller is hidden in the robot arm, so that the connection line is avoided and the wiring is easy. Damaged problem.
  • FIG. 1 is a schematic structural view of a desktop-level mechanical arm device according to a preferred embodiment of the present invention
  • FIG. 2 is a schematic structural view of a docking station on the desktop-level mechanical arm device shown in FIG. 1;
  • FIG. 3 is a schematic diagram of circuit modules of a desktop-level mechanical arm device in accordance with a preferred embodiment of the present invention.
  • a desktop-level robot arm device 100 includes a base 101, a main controller 102 disposed on the base 101, two or more robot arms 103, and the main control.
  • the driving motor 104 connected to the device 102 and the actuator 105 mounted on the robot arm 103 further include a docking station 106 disposed on one of the robot arms 103.
  • the docking station 106 is provided with a plurality of universal interfaces 1061.
  • the universal interface 1061 is configured to be in communication with the actuator 105, and a connection harness communicated with the main controller 106 by the universal interface 1061 is hidden in the robot arm 103.
  • the docking station 106 is further provided with at least one unlocking button 1062 for cutting off the control of the driving motor 104 and triggering the robot arm device 100 to enter the manual display.
  • Teaching operation Specifically, when the main controller 102 detects that the unlock button 1062 is pressed, the drive signal output of the drive motor 104 is cut off, and the drive motor 104 is in an unlocked state (the motor shaft can be freely rotated), so that the robot can be under the external force of the human hand. Freely active, the main controller 102 can enter the manual teaching operation program.
  • the unlock button 1062 is one, which can control the cutting control of all the driving motors 104, and trigger the robot arm device 100 to enter the manual teaching operation.
  • the unlock button 1062 can be multiple, and one unlock button 1062 can control the cutoff control of more than one drive motor 104.
  • the number of unlocking buttons 1062 is the same as the number of driving motors 104 on the robot arm device 100, and each of the unlocking buttons 106 2 can independently control the cutting control of each of the driving motors 104, respectively, so as to be controlled with the cut-off control.
  • Drive The actuators associated with the motor and motor 104 are free to move, and can independently enter the manual teaching operation program.
  • the robotic arm device 100 further includes a plurality of motions for acquiring the articulation joints of the respective robot arm devices 100 (including the turntable 1011 of the base 101, the robot arms 103, or the actuators 105).
  • a sensor of data a plurality of the sensors are respectively disposed on each of the robot arms 103.
  • the sensor includes an acceleration sensor 1071 and an angular velocity sensor 1072.
  • the teaching operation of the robot arm device 100 is relatively simple to use a dedicated teaching box or a software operating system for teaching operations.
  • This solution uses a manual teaching operation performed by an external force, which is simple and convenient, and also saves costs.
  • the manual teaching operation specifically includes:
  • the main controller 102 After detecting that the unlock button 1062 is pressed, the main controller 102 cuts off the driving signal output of the driving motor 104, so that the driving motor 104 is in an unlocked state; thereafter, the various joints of the arm device 100 are externally applied. Under the action of the motion, each of the sensors collects motion data of each of the motion joints; then, the main controller 102 fits the motion trajectory of the teaching operation according to the collected motion data, and stores it in the memory 108. To be played back.
  • the main controller 102 detects the loose unlock button 1062 ⁇ , resumes the driving signal output of the driving motor 104, and the driving motor 104 is in a locked state (operating under the control logic preset by the controller), each Sports joints are not free to move.
  • the main controller 102 can control each of the exercise joints to repeat the movement track of each of the joints during the process of pressing the unlock button 1062 to the loose joint under the trigger of the teaching playback command, thereby realizing the manual arm manual. Teaching and playback functions.
  • the docking station 106 further includes a base plate 1063 and a wiring port 1064.
  • the universal interface 1061, the unlocking button 1062 and the wiring port 1064 are disposed on the base plate 1063, and the wiring port 1064 is used for communication connection with the main controller 102 through a connecting line.
  • the docking station 106 is further provided with a wireless communication module 109, an interface conversion circuit of the universal interface 1061, a driving circuit of the driving motor 104, and a teaching playback button for outputting a teaching playback command.
  • the wireless communication module 109 can be used to receive commands from external devices (such as smart terminals and remote controls, etc.) for transmission to the primary controller.
  • the interface conversion circuit for the complex actuator 105, cannot be standardized as the universal interface 106, and the interface of the actuator 105 can be utilized.
  • the conversion circuit is converted to a general purpose interface 106 and then to the actuator 105.
  • the interface conversion circuitry can be configured as separate peripheral components for connecting communications between the universal interface 106 on the docking station 106 and the complex actuators 105.
  • the universal interface 1061 may include one or more of a standardized digital signal interface, an analog signal interface, and a power supply interface for the actuator 105 or the drive motor 104;
  • the universal interface 1061 may include a digital ground port, a digital power port, a PWM (Pulse Width Modulation) signal port, an ADC (analog to digital conversion) port, an analog ground port, an analog power port, a power ground port, and a power source.
  • PWM Pulse Width Modulation
  • ADC analog to digital conversion
  • the general interface 1061 does not conflict according to the classification of functions and categories, and can belong to each other.
  • Different types of end effectors 105 are connected to the general purpose interface 1061 of the corresponding category of the docking station 106, depending on the type.
  • a plurality of general-purpose interfaces 1061 can be used to connect, and a plurality of general-purpose interfaces 1061 are set in software as a group for controlling the end effector 105. .
  • the docking station 106 is disposed on the robot arm 103 (ie, the forearm 103A) away from the base 101 to be closer to the end of the actuator, facilitating the actuator 105 to use a shorter connecting line. Connected, making the wiring neat, concise and reliable.
  • the main controller 102 can be a single chip or a DSP chip.
  • Actuator 105 can include a variety of sensors, clamps, drill bits, and the like, depending on the application.
  • the docking station reserves a certain number of universal interfaces, and the connection of the docking station to the main controller of the base is determined, and can be hidden in the robot arm, and the mechanical arm traces are more tidy and reliable, and are not easily damaged.
  • the standardized docking station enables the addition or replacement of the end effector, the main control panel of the robot arm does not need to be changed, the system is more expandable, and the need to re-route to the base is avoided, the process is simple and cost-saving [0040] 5, the desktop-level mechanical arm is small in size, using manual teaching mode, the operation is simpler.
  • the unlock button is placed near the end effector of the forearm, which can realize one-hand manual teaching, that is, one-hand operation of the unlock button and moving the robot arm, and manual teaching is more convenient.
  • the method for calculating the attitude detection of the robot arm by the acceleration sensor and the angular velocity sensor has the advantages of convenient installation and low cost compared to the method of the joint shaft motor encoder.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un dispositif de bras mécanique de niveau bureau (100), comprenant une base (101), un dispositif de commande principal (102) disposé sur la base (101), au moins deux bras mécaniques (103), un moteur d'entraînement (104) raccordé au dispositif de commande principal (102), et des actionneurs (105) montés sur les bras mécaniques (103). Le dispositif de bras mécanique de niveau bureau (100) comprend en outre une station d'accueil (106) disposée sur un bras mécanique (103). La station d'accueil (106) est pourvue d'une pluralité d'interfaces universelles (1061). Les interfaces universelles (1061) sont utilisées pour être en liaison de communication avec les actionneurs (105). Des harnais de connexion utilisés pour une communication entre les interfaces universelles (1061) et le dispositif de commande principal (102) sont cachés dans les bras mécaniques (103). Lorsque les actionneurs sont déployés ou remplacés, on peut éviter un nouveau câblage sur la base, le procédé est simple et les coûts sont réduits ; de plus, les problèmes selon lesquels le nombre de fils de connexion est important et les fils de connexion sont désordonnés et susceptibles d'être endommagés sont résolus.
PCT/CN2017/085094 2016-05-19 2017-05-19 Dispositif de bras mécanique de niveau bureau WO2017198217A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610340191.5A CN105835053B (zh) 2016-05-19 2016-05-19 一种桌面级的机械臂装置
CN201610340191.5 2016-05-19

Publications (1)

Publication Number Publication Date
WO2017198217A1 true WO2017198217A1 (fr) 2017-11-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/085094 WO2017198217A1 (fr) 2016-05-19 2017-05-19 Dispositif de bras mécanique de niveau bureau

Country Status (2)

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CN (1) CN105835053B (fr)
WO (1) WO2017198217A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105835053B (zh) * 2016-05-19 2018-03-27 深圳市越疆科技有限公司 一种桌面级的机械臂装置
CN108789398A (zh) * 2018-09-10 2018-11-13 苏州小工匠机器人有限公司 具有执行端口的机械手
CN110293564A (zh) * 2019-06-28 2019-10-01 北京猎户星空科技有限公司 一种机械臂控制方法、设备及系统
CN114055458A (zh) * 2020-08-10 2022-02-18 东莞市李群自动化技术有限公司 一种机器人
CN117681245A (zh) * 2023-12-26 2024-03-12 广州里工实业有限公司 一种关节模组及机器人

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JPH07214435A (ja) * 1994-02-03 1995-08-15 Sanyo Electric Co Ltd 自動ネジ締め装置
US20080092712A1 (en) * 2005-02-15 2008-04-24 Joachim Aronsson Flexible Electromechanical Punching Device
CN101947126A (zh) * 2010-10-02 2011-01-19 上海交通大学 骨科手术辅助机器人系统
CN204230592U (zh) * 2014-12-16 2015-03-25 北京雷动云合智能技术有限公司 一种机器人通用扩展接口
CN204525516U (zh) * 2015-02-01 2015-08-05 深圳市顺尚自动化科技有限公司 一种可切换工作头模式的工业机器人
CN204868855U (zh) * 2015-08-16 2015-12-16 刘培超 一种多自由度的桌面型机器人系统
CN105835053A (zh) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 一种桌面级的机械臂装置
CN205734931U (zh) * 2016-05-19 2016-11-30 深圳市越疆科技有限公司 一种桌面级的机械臂装置

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KR100798693B1 (ko) * 2007-06-28 2008-01-28 (주)다사로봇 데스크탑 로봇
CN102371584B (zh) * 2010-08-11 2014-02-19 上海高威科电气技术有限公司 可扩展的工业机器人控制系统
CN204288674U (zh) * 2014-09-19 2015-04-22 苏州博实机器人技术有限公司 一种六自由度桌面型串联机器人
CN204800648U (zh) * 2015-06-11 2015-11-25 深圳市多司自动化有限公司 桌面型机械手
CN105538295A (zh) * 2016-02-22 2016-05-04 武汉需要智能技术有限公司 一种桌面型并联机械臂

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07214435A (ja) * 1994-02-03 1995-08-15 Sanyo Electric Co Ltd 自動ネジ締め装置
US20080092712A1 (en) * 2005-02-15 2008-04-24 Joachim Aronsson Flexible Electromechanical Punching Device
CN101947126A (zh) * 2010-10-02 2011-01-19 上海交通大学 骨科手术辅助机器人系统
CN204230592U (zh) * 2014-12-16 2015-03-25 北京雷动云合智能技术有限公司 一种机器人通用扩展接口
CN204525516U (zh) * 2015-02-01 2015-08-05 深圳市顺尚自动化科技有限公司 一种可切换工作头模式的工业机器人
CN204868855U (zh) * 2015-08-16 2015-12-16 刘培超 一种多自由度的桌面型机器人系统
CN105835053A (zh) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 一种桌面级的机械臂装置
CN205734931U (zh) * 2016-05-19 2016-11-30 深圳市越疆科技有限公司 一种桌面级的机械臂装置

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CN105835053B (zh) 2018-03-27
CN105835053A (zh) 2016-08-10

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