CN107199557B - Robot structural unit, robot and robot construction method - Google Patents
Robot structural unit, robot and robot construction method Download PDFInfo
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- CN107199557B CN107199557B CN201610786982.0A CN201610786982A CN107199557B CN 107199557 B CN107199557 B CN 107199557B CN 201610786982 A CN201610786982 A CN 201610786982A CN 107199557 B CN107199557 B CN 107199557B
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- 238000010276 construction Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 13
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- 238000012360 testing method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention aims to provide a robot structural unit, a robot and a robot construction method. The body structure of robot is formed from joint motor, the joint motor that selects from a plurality of structure arm main bodies, a plurality of first joints, a plurality of second joints including multiple length, structure arm main body, the joint that includes perpendicular motor connection face and main part connection face each other and the joint that includes parallel motor connection face and main part connection face each other splice, wherein: the structural arm body has a first end and a second end; the first end and the second end of the structural arm body are respectively used for being detachably connected with the main body connecting surface of the connector comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other and the connector comprising the motor connecting surface and the main body connecting surface which are parallel to each other. The robot construction method is used for constructing the body structure of the robot, and in the construction process, the length of the main body of the structural arm and the forms of the first joint and the second joint can be changed at any time according to working condition requirements, so that the flexibility of the robot is embodied.
Description
Technical Field
The invention relates to the field of cooperative robots, in particular to a robot structural unit, a robot and a robot construction method.
Background
The body structure of the traditional cooperative robot, such as a mechanical arm, is relatively fixed and cannot be adjusted. For example, a structural arm for connection is provided between the joints of the mechanical arm, and the structural arm is generally manufactured by integral molding, that is, the two ends of the structural arm for connection with the motor are integral with the structural arm and cannot be detached. This results in a lack of flexibility in the robot, i.e. it is not possible to adapt itself to a variety of working environments in a simple and easy way.
For example, in the field of factory automation lines, products increasingly exhibit a trend of "multiple varieties in small batches", even requiring product customization according to customer needs. This requires a production line, in particular a robot device, which can be adapted and modified appropriately depending on the production conditions, such as adjusting the length of the robot structural arm, adjusting the configuration of the robot or increasing or decreasing the degrees of freedom of the robot. The robot system with the flexibility can flexibly meet the requirements, greatly reduce the modification cost of the production line and improve the economic benefit of production users.
Thus, there is a need in the art for a robot that is capable of timely and simple adjustment of the length of the structural arm and has greater flexibility.
Disclosure of Invention
The invention aims to provide a robot structural unit which has simple structure, better system flexibility, function expandability and adaptability of work tasks.
The invention aims to provide a robot which comprises a robot structural unit and is easy to adjust and assemble.
The invention also aims to provide a robot construction method which is used for simply and conveniently realizing the configuration process of the robot.
The robot structural unit for achieving the purpose comprises a first joint motor, a second joint motor and a structural arm; the structural arm comprises a structural arm body, a first joint and a second joint, wherein the structural arm body comprises a first end and a second end;
The first joint comprises a first motor connecting surface and a first main body connecting surface, the first main body connecting surface is detachably connected with the first end of the structural arm main body, and the first motor connecting surface is detachably connected with the first joint motor;
the second joint comprises a second motor connecting surface and a second main body connecting surface, the second main body connecting surface is detachably connected with the second end of the structural arm main body, and the second motor connecting surface is detachably connected with the second joint motor.
The robot structural unit is further characterized in that the central axis of the first joint motor is parallel to the central axis of the second joint motor.
The robot structural unit is further characterized in that the first motor connecting surface is perpendicular to the first main body connecting surface, the second motor connecting surface is perpendicular to the second main body connecting surface, and the first main body connecting surface is parallel to the second main body connecting surface.
The robot structural unit is further characterized in that the central axis of the first joint motor is perpendicular to the central axis of the second joint motor.
The robot structural unit is further characterized in that the first motor connecting surface is parallel to the first main body connecting surface, the second motor connecting surface is perpendicular to the second main body connecting surface, and the first main body connecting surface is parallel to the second main body connecting surface.
The robot structural unit is further characterized in that a first connecting piece is arranged between the first connector and the structural arm main body, one side of the first connecting piece is detachably connected with the first connector, and the other side of the first connecting piece is detachably connected with the structural arm main body;
The second connector is arranged between the second connector and the structural arm main body, one side of the second connector is detachably connected with the second connector, and the other side of the second connector is detachably connected with the structural arm main body.
The robot structural unit is further characterized in that the structural arm body is a profile piece with a groove, one side of the first connecting piece and one side of the second connecting piece are clamped in the groove, threaded holes are formed in the other sides of the first connecting piece and the second connecting piece, and the threaded holes are used for being connected with the first connector and the second connector.
A robot for achieving the object comprises one or more robot structural units as described above.
The robot is further characterized by further comprising a base or wheels.
The robot construction method for achieving the purpose comprises the following steps:
a. Determining the number and the form of the structural units of the robot required by the robot according to the working condition requirements;
b. Combining the robot structural units and forming a body structure of the robot; determining characteristic parameters of the robot according to the body structure of the robot;
c. Connecting the body structure of the robot with robot configuration equipment, running configuration software, selecting the type of the robot on a robot type selection interface according to the body structure of the robot, and inputting the characteristic parameters into a corresponding characteristic parameter input interface;
d. Adjusting and testing the performance of the body structure of the robot according to the characteristic parameters;
e. Judging whether the body structure of the robot meets the use requirement or not; if the body structure of the robot meets the use requirement, ending the configuration process; if the body structure of the robot does not meet the use requirement, changing the robot structural unit, obtaining new characteristic parameters, inputting the new characteristic parameters into the configuration software of the configuration equipment, and carrying out the configuration process again until the body structure of the robot meets the use requirement.
The robot construction method is further characterized in that the step of changing the robot structural unit comprises removing the structural arm body from the robot structural unit and replacing the structural arm body with a suitable size.
The invention has the positive progress effects that: the robot disclosed by the invention comprises the first joint motor, the second joint motor and the structural arm, wherein the structural arm comprises the structural arm main body, the first joint and the second joint, the structural arm main body can be conveniently detached from the space between the first joint and the second joint, and the first joint motor and the second joint motor can also be conveniently detached from the first joint and the second joint respectively, so that the structural arm main body, the first joint and the second joint can be arbitrarily replaced to meet different requirements of different working conditions on the performance of the robot, and the flexibility of the robot is improved. The robot construction method disclosed by the invention is used for constructing the body structure of the robot, and the length of the main body of the structural arm and the forms of the first joint and the second joint can be changed at any time according to the working condition requirements in the construction process, so that the flexibility of the robot is embodied.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description in conjunction with the accompanying drawings and embodiments, in which:
FIG. 1 is an exploded view of a structural arm in one embodiment of the present invention;
FIG. 2 is an exploded view of a structural arm in another embodiment of the present invention;
FIG. 3 is a schematic view of a vertical six-joint robot in one embodiment of the present invention;
FIG. 4 is an exploded view of a vertical six-joint robot in one embodiment of the present invention;
FIG. 5 is a schematic view of a SCARA robot in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of an AGV robot in accordance with one embodiment of the present invention;
FIG. 7 is a flow chart of a robot build method of the present invention;
FIG. 8 is a schematic diagram of a robotic-type selection interface;
FIG. 9 is a schematic diagram of a vertical six-joint robot feature parameter input interface in configuration software;
FIG. 10 is a schematic view of a SCARA robot feature input interface in configuration software;
FIG. 11 is a schematic diagram of a Delta robot feature parameter input interface in configuration software;
FIG. 12 is a schematic diagram of a three-wheeled AGV robot feature parameter input interface in configuration software;
FIG. 13 is a schematic diagram of a four-wheel AGV robot feature parameter input interface in configuration software;
FIG. 14 is a schematic diagram of a microphone AGV robot feature parameter input interface in configuration software.
Detailed Description
The present invention will be further described with reference to specific embodiments and drawings, in which more details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent that the present invention can be embodied in many other forms than described herein, and that those skilled in the art may make similar generalizations and deductions depending on the actual application without departing from the spirit of the present invention, and therefore should not be construed to limit the scope of the present invention in terms of the content of this specific embodiment.
It should be noted that fig. 1-14 are only examples, which are not drawn to scale and should not be taken as limiting the scope of protection actually required by the present invention.
As shown in fig. 1 to 4, the robot structural unit includes first joint motors 101a, 201a, second joint motors 101b, 201b, and a structural arm; the structural arm includes a structural arm body 102, 202, a first joint 103, 203, and a second joint 104, 204, the structural arm body 102, 202 including a first end 102a, 202a and a second end 102b, 202b;
the first joint 103, 203 includes a first motor connection face 1031, 2031 and a first body connection face 1032, 2032, the first body connection face 1032, 2032 being detachably connected to the first end 102a, 202a of the structural arm body 102, 202, the first motor connection face 1031, 2031 being detachably connected to the first joint motor 103, 203;
The second joint 104, 204 includes a second motor connection face 1041, 2041 and a second body connection face 1042, 2042, the second body connection face 1042, 2042 being detachably connected to the second end 102b, 202b of the structural arm body 102, 202, the second motor connection face 1041, 2041 being detachably connected to the second joint motor 101b, 201 b.
The structural arms may be made of a metallic material, wherein the structural arm bodies 102, 202 are preferably profile pieces made of an aluminum alloy material, facilitating the obtaining of structural arm bodies 102, 202 of different lengths. If it is desired to obtain a more lightweight structural arm, carbon fiber materials may be used instead of aluminum alloy materials. The arm body 102, 202 is preferably a straight arm, and the arm body 102, 202 may be a curved arm under different operating conditions.
The detachable connection mode (comprising the connection mode between the joint motor and the joint and the connection mode between the joint and the structural arm main body) comprises screw connection. A first connecting piece 106, 206 is arranged between the first joint 103, 203 and the structural arm body 102, 202, one side of the first connecting piece 106, 206 is detachably connected with the first joint 103, 203, and the other side of the first connecting piece 106, 206 is detachably connected with the structural arm body 102, 202;
A second connector 109, 209 is provided between the second joint 104, 204 and the structural arm body 102, 202, one side of the second connector 109, 209 is detachably connected to the second joint 104, 204, and the other side of the second connector 109, 209 is detachably connected to the structural arm body 102, 202.
The structural arm body 102, 202 is a profile piece with a groove 105, 205, one side of the first connecting piece 106, 206 and one side of the second connecting piece 109, 209 are clamped in the groove 105, 205, and the other side of the first connecting piece 106, 206 and the second connecting piece 109, 209 are provided with threaded holes which are used for being connected with the first joint 103, 203 and the second joint 104, 204. Of course, the detachable connection mode of the invention also comprises threaded connection, snap connection and other connection modes which are easy to detach.
The structural arm bodies 102 and 202 can be conveniently detached from the first joints 103 and 203 and the second joints 104 and 204, and meanwhile, the first joint motors 103 and 203 and the second joint motors 101b and 201b can also be conveniently detached from the first joints 103 and 203 and the second joints 103 and 203 respectively, so that the structural arm bodies 102 and 202, the first joints 103 and 203 and the second joints 103 and 203 can be arbitrarily replaced to meet different requirements of different working conditions on the performance of the robot, and the flexibility of the robot is improved.
Referring to fig. 1, 3 and fig. 2, 4, respectively, fig. 1, 3 and fig. 2, 4 disclose two forms of structural arms in an embodiment of the invention, namely a parallel axis structural arm and a vertical axis structural arm, respectively. As shown in fig. 1 and 3, the central axes of the first joint motor 101a and the second joint motor 101b connected to the two ends of the parallel shaft structure arm are parallel to each other, and the function of the parallel shaft structure arm is to ensure the requirements of the spatial distance and the spatial parallelism of the two transmission motors connected to the parallel shaft structure arm. As shown in fig. 2 and 4, the central axes of the first joint motor 101a and the second joint motor 101b connected to the two ends of the vertical shaft arm are perpendicular to each other, and the function of the vertical shaft arm is to ensure the requirements of the spatial distance and the spatial perpendicularity of the two transmission motors connected to the vertical shaft arm. The central axis of the motor refers to the straight line where the motor rotating shaft is located.
Preferably, the parallel axis structural arm and the vertical axis structural arm can be constituted by changing the form of the first joint 3 and the second joint 4, that is, the positional relationship between the motor connection face and the main body connection face.
With continued reference to fig. 1, the first motor connection face 1031 is perpendicular to the first body connection face 1032, and the second motor connection face 1041 is perpendicular to the second body connection face 1042, the first body connection face 1032 being parallel to the second body connection face 1042. The first body connecting surface 1032 is not easily identified due to the influence of the angle of the drawing, and is drawn in the form of a broken line. The first motor connection surface 1031 and the second motor connection surface 1041 are provided with circular holes 108 for respectively inserting and fixing the first joint motor 101a and the second joint motor 101b, and the first body connection surface 1032 and the second body connection surface 1042 are provided with square holes 107 for respectively inserting and fixing the first end 102a and the second end 102 b. After the first end 102a and the second end 102b are inserted into the square hole 107, the fitting may be secured to the connector with screws.
With continued reference to fig. 2, the first motor connection face 2031 is parallel to the first body connection face 2032, and the second motor connection face 2041 is perpendicular to the second body connection face 2042, the first body connection face 2032 being parallel to the second body connection face 2042. The second body connecting surface 2032 is not easily identified due to the influence of the angle of the drawing, and is drawn out in the form of a broken line. The first motor connection surface 2031 is provided with a connection flange, and the connection flange is connected to the first joint motor 201 a. The second motor connecting surface 2041 is provided with a circular hole 208 for inserting and fixing the second joint motor 201b, and the first body connecting surface 2032 and the second body connecting surface 2042 are provided with square holes 207 for inserting and fixing the first end 202a and the second end 202b, respectively.
The joints 103, 104, 204 are formed as joints having a main body connection surface and a motor connection surface perpendicular to each other, and the joint 203 is formed as a joint having a main body connection surface and a motor connection surface parallel to each other. As can be seen from fig. 3 and 4, the robot of the present invention may include both a robot structural unit having parallel axis structural arms and a robot structural unit having vertical axis structural arms, and the number and length of the structural arms may be adjusted according to the working conditions of the robot.
Fig. 5 and 6 show two different embodiments of the robot of the present invention, and fig. 5 shows a horizontal four-degree-of-freedom articulated robot SCARA employing parallel axis structural arms as shown in fig. 1 and 3. FIG. 6 is an automated guided transport robot AGV that also employs parallel axis structural arms as shown in FIGS. 1 and 3 and employs two.
The robot disclosed by the invention comprises one or more robot structural units, and the robot structural units can be matched with the base 301 or the wheels 601 or other functional modules to form robots with different forms and different functions, such as SCARA robots, AGV robots, delta robots and the like.
Fig. 7 is a flowchart of a robot construction method of the present invention, the robot construction method comprising:
a. Determining the number and the form of the structural units of the robot required by the robot according to the working condition requirements, wherein the form of the structural units of the robot comprises the length of the structural arm main bodies 102 and 202;
b. Splicing the structural units of the robot and forming a body structure of the robot; determining characteristic parameters of the robot according to the body structure of the robot;
c. connecting a body structure of the robot with robot configuration equipment, running configuration software, selecting the type of the robot on a robot type selection interface according to the body structure of the robot, and inputting characteristic parameters into a corresponding characteristic parameter input interface;
d. Adjusting and testing the performance of the body structure of the robot according to the characteristic parameters;
e. Judging whether the body structure of the robot meets the use requirement or not; if the body structure of the robot meets the use requirement, ending the configuration process; if the body structure of the robot does not meet the use requirement, changing the structural unit of the robot, obtaining new characteristic parameters, inputting the new characteristic parameters into configuration software of configuration equipment, and carrying out the configuration process again until the body structure of the robot meets the use requirement.
Wherein the step of changing the robot cell includes removing the structural arm body 102, 202 from the robot cell and replacing the appropriately sized structural arm body 102, 202.
Step a includes three substeps a01, a02 and a03.
A01 is a "configuration start" step that includes preparation of the configuration device and configuration software, such as ensuring that the configuration software is able to run stably on the configuration device.
A02 is a "condition requiring" step that includes demarcating and measuring the robot workspace. Data such as ambient temperature, humidity, cleanliness, etc., as well as the extent of the robot work area and the implementation of the work objective, such as grasping, stacking, transporting, etc., are obtained.
A03 is a "robot body structure design" step that includes determining the number and form of the robot structural units, such as the number of joint motors, the form of the structural arms (length of the parallel axis structural arms, the vertical axis structural arms, the structural arm bodies 102, 202), and ensuring that the body structure of the robot is within the range of the working area.
Step b comprises two substeps b01, b02.
B01 is a "robot body structure construction" step, which includes connecting the first joint motors 101a, 201a and the second joint motors 101b, 201b with the first joint 3 and the second joint 4, respectively, and connecting the first joint 3 and the second joint 4 with the first end 2a and the second end 2b of the structural arm main body 2, respectively, to constitute a robot structural unit, and then splicing the robot structural units to constitute the robot body structure.
B02 is a step of determining "feature parameters" including feature size and quality characteristics. The feature size includes the distance between the first joint motor 101a, 201a and the second joint motor 101b, 201b coordinate system in space; the mass characteristics include the mass characteristics of the joint motor and the structural arm, such as data for density, mass, moment of inertia, and the like.
Step c comprises two substeps c01, c02.
C01 is a "robot type selection" step comprising selecting a corresponding robot type in a robot type selection interface 1001 as shown in fig. 8, the robot type mainly comprising: serial robots, parallel robots, custom robots, automated guided vehicle robots AGVs, and the like, in the robot type selection interface, clicking corresponding buttons respectively can enter corresponding subordinate interfaces to perform next configuration. The tandem robot includes: the universal vertical joint N degree of freedom robot N may be any natural number, a special configuration robot, such as: SCARA robots, etc. The parallel robot includes: delta type robots, and the like. In the self-defined robot, a user can freely set the configuration of the robot according to the actual working condition, and the robot can be in series connection or in parallel connection. The automatic guided vehicle AGV robot includes: two-wheel drive AGVs and four-wheel drive AGVs.
C02 is a "feature parameter input" step that includes inputting feature parameters in a feature parameter input interface as shown in fig. 9 to 14.
Fig. 9 is a schematic diagram of a vertical six-joint robot characteristic parameter input interface, as shown in fig. 9, in which a default robot base coordinate system coincides with a joint 1 st axis coordinate system, in the illustrated posture, the 1 st axis coordinate system is a Z-direction distance 1101, the X-direction distance 1102, the X-direction distance 1103, the Y-direction distance 1104, the X-direction distance 1105, the Z-direction distance 1106, the Z-direction distance 1107, and the tool coordinate system distance 1108 between the 1 st axis coordinate system and the 2 nd axis coordinate system, the X-direction distance between the 2 nd axis and the 3 rd axis coordinate system, the X-direction distance 1105, the Z-direction distance between the 4 th axis and the 5 th axis coordinate system, the Z-direction distance 1107, and the distance between the 6 th axis and the tool coordinate system are respectively written in an input frame shown on the right side of fig. 11.
Fig. 10 is a schematic view of a characteristic parameter input interface of the SCARA robot, as shown in fig. 10, the default robot base coordinate system coincides with the joint 1 st axis coordinate system, in the illustrated posture, the X-directional distance between the 1 st axis rotation coordinate system and the 2 nd axis rotation coordinate system is 1201, the X-directional distance between the 2 nd axis rotation coordinate system and the 4 th axis rotation coordinate system is 1202, the X-directional distance between the 4 th axis rotation coordinate system and the workpiece coordinate system is 1203, and the Z-directional distance between the workpiece coordinate system and the 1 st axis rotation coordinate system is 1204. The parameters are filled into the input box shown on the right side of fig. 11.
Fig. 11 is a schematic diagram of a Delta robot characteristic parameter input interface, as shown in fig. 11, with an upper large circle radius 1301, a master arm length 1303, a slave arm length 1304, and a lower small circle radius 1302. The parameters are filled into the input boxes shown on the right side of fig. 13.
Fig. 12 is a schematic view of a characteristic parameter input interface of a three-wheeled AGV robot, as shown in fig. 12, the distance between the centers of the two driving wheels in the Y direction is 1401, the width of the driving wheels is 1402, the distance between the driving wheels and the driven wheels in the X direction is 1403, the diameter of the wheels is 1404, and the parameters are filled in an input box shown on the right side of fig. 12.
Fig. 13 is a schematic diagram of a characteristic parameter input interface of a four-wheeled AGV robot, as shown in fig. 13, the distance between the centers of the two driving wheels in the Y direction is 1501, the width of the driving wheels is 1502, the distance between the two driving wheels and the two driven wheels in the X direction is 1503, the diameter of the wheels is 1504, and the parameters are filled into an input frame designated by 1-4 shown in fig. 13.
Fig. 14 is a schematic view of a microphone type AGV robot characteristic parameter input interface, as shown in fig. 14, the driving wheel center Y-direction distance is 1601, the driving wheel width is 1602, the driving wheel center X-direction distance is 1603, the wheel diameter is 1604, and the above parameters are filled into the input box shown on the right side of fig. 14.
Step d comprises four substeps d01, d02, d03, d04.
D01 is a step of 'robot motion control parameter setting', wherein the step comprises the step of finishing feedback PID parameters, feedforward parameters, sensor measurement filter parameters and the like of each motion axis of the robot, and the stability, accuracy and rapidity of the control of each motion axis of the robot are ensured.
D02 is a step of 'robot path planning trial run', which comprises the steps of running the robot to complete corresponding motion actions, checking whether the motion actions are correct or not, and setting a reference datum position and a travel range protection of the robot.
D03 is a step of calibrating characteristic parameters of the robot, wherein the step comprises the step of calibrating and compensating the characteristic parameters of the robot by using measuring equipment such as a laser tracker or a three-coordinate measuring machine, so that the robot obtains higher motion precision.
D04 is a step of testing and measuring the functional performance of the robot, wherein the step comprises the step of comprehensively detecting the robot according to the working condition requirement so as to verify whether the robot can meet the use requirement.
Step e comprises two substeps e01, e02.
And e01 is a step of judging a test result, wherein the step comprises judging whether the robot meets the requirement, if so, sending a configuration ending instruction, and if not, returning to the step c02, checking and confirming the characteristic parameters, and restarting the configuration process.
E02 is a "configuration end" step, which includes receiving a configuration end command, ending the robot configuration process.
The invention has the positive progress effects that: the robot disclosed by the invention comprises the first joint motor, the second joint motor and the structural arm, wherein the structural arm comprises the structural arm main body, the first joint and the second joint, the structural arm main body can be conveniently detached from the space between the first joint and the second joint, and the first joint motor and the second joint motor can also be conveniently detached from the first joint and the second joint respectively, so that the structural arm main body, the first joint and the second joint can be arbitrarily replaced to meet different requirements of different working conditions on the performance of the robot, and the flexibility of the robot is improved. The robot construction method disclosed by the invention is used for constructing the body structure of the robot, and the length of the main body of the structural arm and the forms of the first joint and the second joint can be changed at any time according to the working condition requirements in the construction process, so that the robot can adapt to different working conditions and the flexibility of the robot is reflected.
While the invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and that any changes, equivalents, and modifications to the above embodiments in accordance with the technical principles of the invention fall within the scope of the invention as defined in the appended claims.
Claims (13)
1. The utility model provides a robot, its characterized in that includes the body structure of robot, the body structure of robot is from a plurality of joint motors, including a plurality of structure arm main part, a plurality of first joints, a plurality of second joint of selecting joint motor, structure arm main part, including the joint concatenation of each other vertically motor junction surface and main part junction surface form, wherein:
the structural arm body has a first end and a second end;
The first end and the second end of the structure arm main body are respectively used for being detachably connected with the main body connecting surface of the connector comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other, and the motor connecting surface of the connector comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other is used for being detachably connected with only one joint motor, so that the length of the structure arm main body and the form of the connector at two ends of the structure arm main body can be changed at any time according to working condition requirements.
2. The utility model provides a robot, its characterized in that includes the body structure of robot, the body structure of robot is from a plurality of joint motors, including a plurality of structure arm main part, a plurality of first joints, a plurality of second joint of selecting joint motor, structure arm main part, including the joint of motor junction surface and main part junction surface perpendicular to each other and including the joint concatenation of motor junction surface and main part junction surface parallel to each other of multiple length, wherein:
the structural arm body has a first end and a second end;
the first end and the second end of the structural arm main body are respectively used for being detachably connected with the main body connecting surface of the connector comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other and the connector comprising the motor connecting surface and the main body connecting surface which are parallel to each other, the connector comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other and the motor connecting surface of the connector comprising the motor connecting surface and the main body connecting surface which are parallel to each other are respectively used for being detachably connected with only one joint motor, and the length of the structural arm main body and the forms of the first connector and the second connector can be changed at any time according to working condition requirements.
3. The robot of claim 1 or 2, wherein the body structure of the robot comprises a robot structural unit including a structural arm body, joints including motor connection faces and main body connection faces perpendicular to each other detachably connected at first and second ends of the structural arm body, respectively, and joint motors connected to the motor connection faces of the joints including the motor connection faces and the main body connection faces perpendicular to each other, respectively;
In the robot structural unit, a central axis of the joint motor at the first end of the structural arm body is parallel to a central axis of the joint motor at the second end.
4. A robot as claimed in claim 3, characterized in that in the robot structural unit the body connection face of the joint comprising the motor connection face and the body connection face perpendicular to each other at the first end of the structural arm body is parallel to the body connection face of the joint comprising the motor connection face and the body connection face perpendicular to each other at the second end of the structural arm body.
5. The robot of claim 2, wherein the body structure of the robot comprises a robot structural unit including a structural arm body, a joint detachably connected at a first end of the structural arm body including a motor connection face and a main body connection face parallel to each other, a joint detachably connected at a second end of the structural arm body including a motor connection face and a main body connection face perpendicular to each other, a joint motor respectively connected with the motor connection face including the motor connection face and the main body connection face parallel to each other, the joint including the motor connection face and the main body connection face joint perpendicular to each other;
In the robot structural unit, a central axis of the joint motor at the first end of the structural arm body is perpendicular to a central axis of the joint motor at the second end.
6. The robot of claim 5, wherein the robot structural unit, the body connection surface of the joint including the motor connection surface and the body connection surface perpendicular to each other, is parallel to the body connection surface of the joint including the motor connection surface and the body connection surface parallel to each other.
7. A robot as claimed in claim 1 or 2, characterized in that a connection piece is provided between the joint comprising the motor connection face and the body connection face perpendicular to each other and the first end or the second end of the construction arm body, one side of the connection piece being detachably connected to the joint, and the other side of the connection piece being detachably connected to the construction arm body.
8. A robot as claimed in claim 2, characterized in that a connection piece is provided between the joint comprising a motor connection face and a body connection face parallel to each other and the first end or the second end of the construction arm body, one side of the connection piece being detachably connected to the joint, the other side of the connection piece being detachably connected to the construction arm body.
9. The robot of claim 7, wherein the structural arm body is a profile member having a groove, wherein the one sides of the connecting members are each engaged in the groove, and wherein the other sides of the connecting members are each provided with a screw hole for connection with the joint including the motor connecting face and the body connecting face perpendicular to each other or the joint including the motor connecting face and the body connecting face parallel to each other.
10. The robot of claim 8, wherein the structural arm body is a profile member having a groove, wherein the one sides of the connecting members are each engaged in the groove, and wherein the other sides of the connecting members are each provided with a screw hole for connection with the joint including the motor connecting face and the body connecting face perpendicular to each other or the joint including the motor connecting face and the body connecting face parallel to each other.
11. The robot of claim 2, wherein the robot is selectively assemblable into a vertical six-joint robot or a SCARA robot or an AGV robot or a Delta robot.
12. The robot of claim 1, wherein the robot is selectively assemblable into a SCARA robot or an AGV robot or a Delta robot.
13. A robot construction method, the robot construction method comprising:
a. determining the number and the form of joint motors, a structural arm main body, joints comprising motor connecting surfaces and main body connecting surfaces which are perpendicular to each other and joints comprising motor connecting surfaces and main body connecting surfaces which are parallel to each other required by the robot according to working condition requirements;
b. Forming a body structure of the robot through splicing; determining characteristic parameters of the robot according to the body structure of the robot;
c. Connecting the body structure of the robot with robot configuration equipment, running configuration software, selecting the type of the robot on a robot type selection interface according to the body structure of the robot, and inputting the characteristic parameters into a corresponding characteristic parameter input interface;
d. Adjusting and testing the performance of the body structure of the robot according to the characteristic parameters;
e. Judging whether the body structure of the robot meets the use requirement or not; if the body structure of the robot meets the use requirement, ending the configuration process; if the body structure of the robot does not meet the use requirement, the power saving machine, the structure arm main body, the joint comprising the motor connecting surface and the main body connecting surface which are perpendicular to each other and/or the joint comprising the motor connecting surface and the main body connecting surface which are parallel to each other are changed, new characteristic parameters are obtained, the new characteristic parameters are input into the configuration software of the configuration equipment, and the configuration process is carried out again until the body structure of the robot meets the use requirement.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610786982.0A CN107199557B (en) | 2016-08-31 | 2016-08-31 | Robot structural unit, robot and robot construction method |
| PCT/CN2017/077058 WO2018040541A1 (en) | 2016-08-31 | 2017-03-17 | Robot structural unit, robot and method for constructing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610786982.0A CN107199557B (en) | 2016-08-31 | 2016-08-31 | Robot structural unit, robot and robot construction method |
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| JP6374471B2 (en) | 2016-11-28 | 2018-08-15 | ファナック株式会社 | Bond structure |
| JP6974627B2 (en) | 2018-03-14 | 2021-12-01 | フェデックス コーポレイト サービシズ，インコーポレイティド | Modular autonomous bot device assembly for transporting goods to be shipped |
| DE202018101463U1 (en) * | 2018-03-15 | 2018-04-25 | Igus Gmbh | Manipulator with joints and multifunction profile for this |
| US11548171B2 (en) | 2019-10-30 | 2023-01-10 | Industrial Technology Research Institute | Robot arm, mechanical assembly and assembly method thereof |
| US11926048B2 (en) * | 2021-05-26 | 2024-03-12 | Amazon Technologies, Inc. | Modular robotic linkages |
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