Robot of modular structure and control method of robot

Abstract

The invention discloses a robot of a modular structure and a control method of the robot. The robot comprises a controller and a robot body. The robot body comprises a base, a terminal execution module, a hollow joint module and a connecting module, and the hollow joint module and the connecting module are connected alternately. The degree of freedom and output torque of the robot are changed by adjusting the hollow joint module and the connecting module. The controller is connected with the hollow joint module and the terminal execution module in series sequentially through a connecting line,and the connecting line penetrates through the hollow joint module and the connecting module. The hollow joint module is used for controlling the connecting module or the terminal execution module torotate according to control information. The controller is used for transmitting the control information to the hollow joint module and the terminal execution module so as to control the working states of the hollow joint module and the terminal execution module. The robot has higher flexibility, the control method of the robot is flexible and simple, and the robot of the modular structure and the control method of the robot can be widely applied to the field of robots.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot with a modular structure and a control method thereof. Background technique [0002] With the development of industrial automation, the use of robots is becoming more and more widespread. Faced with more and more application requirements, the development of robots is also diversified. For example, there are already assembly robots for factories, metal welding robots, and collaborative robots for human-machine cooperation with workers. The trend of this development is that robots are specialized, and different robots are designed and manufactured according to different needs to maximize the effect of automation. The modular robots corresponding to special robots are characterized in that they do not have a unique degree of freedom, and modules can be added, replaced or deleted according to user needs to expand the flexibility of the robot. [0003] The modular reconstruction robot...

AI Technical Summary

Problems solved by technology

[0003] The modular reconstruction robot provided in the patent CN102101290A is a relatively simple modular robot, which can be applied to the structure of the robot itself, but its structure is relatively simple, and the connection method has defects, which cannot maximize the movement of the robot joints angle, and the joints of the robot cannot move 360°, which limits the flexibility of the robot

In addition, the modular robot uses the Can protocol, and the end effector can only fix a two-armed claw, which limits the function of the robot and cannot meet the multi-functional requirements of the robot.

Moreover, the existing robot control methods are all that a robot needs to write a corresponding control algorithm program. This control method is cumbersome, which is not conducive to flexible control of the robot, and also increases the difficulty for users to use.

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