A modular industrial robot capable of identifying its main structure
By introducing a modular design that can identify the body structure in industrial robots, including multiple robot modules and control modules, the problem of insufficient modularity of traditional industrial robots is solved, and high flexibility and safety are achieved to adapt to changes in complex needs. , and reduce maintenance costs.
Patent Information
- Application Number
- CN202110308558.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-03-23
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2041-03-23
AI Technical Summary
Traditional industrial robots are not modular enough, have difficulty in post-maintenance and are not adaptable to the working environment, cannot meet changes in complex needs, and are prone to incorrect operations when multiple robots are installed.
Design a modular industrial robot that can recognize the body structure, including multiple robot modules and control modules. The modules can be detached and connected. The control module recognizes and controls the module's characteristic parameters, allowing modules with different characteristic parameters to be replaced to ensure safe operation parameters and movement. Learn parameters, identify matching and prevent incorrect connections.
It improves the modularity and flexibility of industrial robots, allows the robot composition to be adjusted according to needs, reduces maintenance costs, avoids incorrect operations, and enhances the adaptability and safety of the robot in complex environments.
Smart Images
Figure CN115107008B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of industrial robots, and in particular to a modular industrial robot capable of identifying a body structure. Background Art
[0002] Industrial robots are a type of robot widely used in industrial environments. With the rapid development of science and technology, industrial robots have been widely used in manufacturing, service and other fields. Usually, industrial robots have certain parameters and configurations when they leave the factory. For most users with single needs, they only need to assemble the target type of robot after purchasing it. However, when the user's needs are more complex or the needs change, the original robot cannot meet the new needs. At this time, different types of robots need to be purchased to perform the work, but this also means increasing the cost of using the robot for the user. In addition, when multiple different types of robots need to be arranged in the robot's installation environment, if the user fails to identify errors in time during installation and connection, it is easy to cause the robot to operate incorrectly.
[0003] Therefore, it is necessary to design an industrial robot that is easy to maintain and has a high degree of modularity. Summary of the invention
[0004] In view of this, the purpose of the present invention is to provide an industrial robot that is easy to maintain and has a high degree of modularity, so as to solve the problems that traditional industrial robots have an insufficient degree of modularity, are difficult to maintain in the later stage, and have poor adaptability to the working environment.
[0005] The present invention can adopt the following technical solution: a modular industrial robot with an identifiable main body structure, comprising a plurality of robot modules and a control module, wherein the plurality of robot modules are detachably connected together, the plurality of robot modules include at least three different types of robot modules, each of the robot modules includes a feature unit, and the feature unit stores feature parameters characterizing feature information of the robot module, and the control module is electrically connected to the robot modules for identifying the feature parameters of each robot module and controlling the operation of the robot accordingly.
[0006] Furthermore, the robot module can be replaced by a new robot module with different characteristic parameters, and the control module is used to identify the characteristic parameters of the new robot module and at least partially control the operation of the robot based on them.
[0007] Furthermore, the control module is used to identify whether the new robot module matches the industrial robot, and allows the industrial robot to operate when the identification result is a match.
[0008] Furthermore, the industrial robot is a serial robot, and the multiple robot modules are sequentially connected in series to form the body of the industrial robot.
[0009] Furthermore, the characteristic parameters include type / size information of the robot module, and the control module identifies the characteristic parameters of the multiple robot modules to determine the configuration of the robot.
[0010] Furthermore, at least some of the characteristic parameters of the robot module include safe operating parameters, the control module includes a detection element to detect the operating parameters of the industrial robot, and the control module controls the industrial robot to operate within the safe operating parameter range according to the operating parameters detected by the detection element.
[0011] Furthermore, the multiple robot modules include identical or matching connecting parts, and any two of the multiple robot modules can be connected via the connecting part.
[0012] Furthermore, at least part of the characteristic parameters of the robot module include kinematic pair types and / or DH parameters, and the control module determines the kinematic parameters of the industrial robot according to the characteristic parameters.
[0013] Furthermore, at least part of the robot module includes a fixed part and a moving part for generating rotational motion, and at least part of the characteristic parameters of the robot module include the mass, center of mass and equivalent rotational inertia of the fixed part and the moving part, respectively.
[0014] Further, at least some of the characteristic parameters of the robot modules include collision body equivalent models. Further, the plurality of robot modules include at least three of the following: joints, bases, tool flanges, connecting rods, and connecting elbows.
[0015] Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are as follows: each robot module of the industrial robot includes a characteristic unit, and the control module can identify the characteristic parameters of the characteristic unit of the robot module to determine the relevant information of the robot and then control the operation of the robot accordingly, so that the original form of the industrial robot can be easily changed, and the user can easily adjust the composition of the robot based on needs. The industrial robot has a high degree of modularity and good flexibility in use. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:
[0017] Figure 1 Schematic diagram of a modular industrial robot according to an embodiment of the present invention
[0018] Figure 2Schematic diagram of various robot modules according to an embodiment of the present invention
[0019] Figure 3 Schematic diagram of different forms of a modular industrial robot in one embodiment of the present invention DETAILED DESCRIPTION
[0020] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0021] The present invention protects a modular industrial robot capable of identifying a main body structure. Figure 1 , Figure 1 The module diagram of a modular industrial robot according to an embodiment of the present invention is shown. The modular industrial robot 100 includes a plurality of robot modules and a control module 50. The plurality of robot modules are detachably connected together. The plurality of robot modules include at least three different types of robot modules, namely, robot module 1, robot module 2, and robot module 3. Each robot module includes a characteristic unit 10. The characteristic unit 10 stores characteristic parameters representing characteristic information of the robot module. The control module is used to identify the characteristic parameters of each robot module and control the operation of the robot 100 accordingly. Specifically, the plurality of robot modules include at least three different types of robot modules. Robot modules of different types include different characteristic parameters. Robot modules of the same type include the same characteristic parameters or different characteristic parameters. Correspondingly, the plurality of robot modules include at least three characteristic parameters. The control module obtains various parameters of the industrial robot according to requirements by identifying the characteristic parameters of each robot module, and controls the operation of the robot 100 accordingly. Specifically, the plurality of robot modules are mechanical components of the robot. Figure 2A schematic diagram of multiple robot modules of an embodiment of the present invention is shown, wherein the multiple robot modules include at least three of the joints 13, the base 11, the tool flange 15, the connecting rod 12, and the connecting elbow 14, and the modular industrial robot 100 includes a control module and at least three robot modules. By configuring characteristic parameters for each robot module, for example, configuring characteristic parameters for the base 11, the joint 13, and the connecting rod 12 respectively, the control module of the industrial robot can identify the characteristic parameters of each robot module and control the operation of the robot accordingly. It should be noted that the modular industrial robot includes at least three robot modules, and the number of each robot module can be multiple, and the same type of robot modules may play different effects in the operation of the modular industrial robot due to different specific parameters. In the prior art, industrial robots usually have fixed models. Based on their fixed models, their corresponding parameters can also be determined at the time of leaving the factory. Although most of the industrial robots on the market have the function of modular assembly, that is, they can quickly disassemble and install the components of the robot, this modularization is not thorough enough. When replacing an industrial robot, it can only replace the same components as the original ones, that is, components of the same type and the same parameters, and cannot be replaced with different components, otherwise the robot cannot update its own operating parameters in time, resulting in the robot being unable to operate normally. The modular robot provided by the present invention has a significantly improved modularity compared with the existing robots. Each robot module includes a feature unit, and the feature unit stores feature parameters representing the feature information of the robot module. When each robot module is connected, the control module can identify the feature parameters stored in the feature unit, and then can determine the composition of the current industrial robot and its related operating parameters, and then control the operation of the robot based on the acquisition of the feature parameters, so that users can use the industrial robot more flexibly. The industrial robot can replace the same type of robot modules or different types of robot modules, and the modularity of the industrial robot is high.
[0022] In this embodiment, as mentioned above, the modular industrial robot 100 includes a plurality of robot modules, that is, the modular industrial robot initially has a plurality of robot modules, and the robot modules can be replaced with new robot modules with different characteristic parameters. The control module can identify the characteristic parameters of the new robot modules, thereby determining the composition and related operating parameters of the new modular industrial robot. Figure 3 , Figure 3 3a, 3b, and 3c respectively show different forms of modular industrial robots. It is understandable that the robot module can be replaced by a new robot module of the same type with different characteristic parameters. For example, Figure 3 A connecting rod 12 of the modular industrial robot 100 in a is replaced by a new connecting rod 12 to obtain Figure 3The new connecting rod of the modular industrial robot shown in FIG. 1 is different in size from the original connecting rod. The control module 50 determines the configuration and related operating parameters of the modular industrial robot replaced with the new connecting rod, and controls the operation of the robot accordingly. Alternatively, it is understandable that the robot module can be replaced with a new robot module of a different type, for example, Figure 3 The original joint 13 of the modular industrial robot in a is replaced by the connecting elbow 14 to obtain Figure 3 c shows a modular industrial robot, the control module 50 identifies the composition and related operating parameters of the replaced modular industrial robot, and controls the operation of the robot accordingly. It is understandable that the replacement of the robot module of the industrial robot can replace an original robot module with a new robot module, thereby changing the composition of the original robot, or, can replace an original robot module with two or more new robot modules, for example, by replacing the original robot module, a three-axis robot can be changed into a six-axis robot. It is understandable that the industrial robot body includes a plurality of robot modules, and the plurality of robot modules are detachably connected together. The user can partially disassemble the industrial robot, add a new robot module to form a new industrial robot, or remove part of the robot modules of the original industrial robot to form a new industrial robot. The control module can always identify the characteristic parameters of each robot module of the industrial robot, and obtain the relevant parameters of the industrial robot based on this. Users can flexibly add, reduce, and replace robot modules according to their needs. Each robot module stores its own characteristic parameters. Based on the control module's automatic recognition of the characteristic parameters, the configuration and related operating parameters of the new industrial robot with the adjusted robot modules can be quickly established. The industrial robot with the adjusted robot modules can play a new role based on the new composition, which makes it easier for users to use the industrial robot and improves the utilization rate of the industrial robot.
[0023] In this embodiment, each robot module of the industrial robot 100 can be replaced with a new robot module, and the control module 50 is used to identify whether the new robot module matches the industrial robot, and the industrial robot is allowed to run only when the recognition result is a match. When the recognition result does not match, the robot is not allowed to run to avoid possible damage to the robot, and a prompt signal is issued to remind the user to adjust the installation of the robot module. When there are multiple different types of industrial robots 100 in the working environment, these different types of industrial robots may have control modules with similar appearances. If the control module and the industrial robot body are connected incorrectly, the control module is often unable to automatically identify the type of the industrial robot body, which may cause an error in operation and even damage the robot. The industrial robot provided by the present invention stores characteristic parameters in each robot module, and the control module can identify the characteristic parameters of each robot module and then determine whether the connection relationship of the control box is correct. When an incorrect connection is found, it can stop the loss in time and notify the user to handle it.
[0024] The industrial robot 100 includes a plurality of robot modules, each of which includes a characteristic unit. Exemplarily, the characteristic unit 10 is formed as a circuit board storing information, and the characteristic unit stores characteristic parameters representing characteristic information of the robot module. The characteristic parameters include type / size information of the robot module. The control module identifies the characteristic parameters of the plurality of robot modules to determine the configuration of the robot. For example, the robot module is identified as a joint 13, and the degree of freedom is determined according to the number of joints of the industrial robot. Robots with different degrees of freedom are suitable for performing different types of work. Exemplarily, the characteristic parameters include safe operation parameters. The control module includes a detection element to detect the operating parameters of the industrial robot. The control module controls the industrial robot to operate within the safe operation parameter range according to the operating parameters detected by the detection element, so as to ensure that the industrial robot always works in a safe state. It can be understood that when the components of the modules of the industrial robot are different, the corresponding safe operation parameters of the industrial robot are also different. The control module can identify the characteristic parameters of each robot module, and then obtain the relevant operating parameters of the industrial robot, including the safe operation parameters of the industrial robot, and then control the industrial robot to perform work within the safe operation parameter range. The industrial robot includes a plurality of robot modules. Exemplarily, the characteristic parameters of at least some of the robot modules include kinematic pair types and / or DH parameters. The control module determines the kinematic parameters of the industrial robot according to the characteristic parameters. Exemplarily, the robot modules include joints. The characteristic parameters of the joints include kinematic pair types and / or DH parameters. Specifically, the joints include a kinematic pair, which is a revolute pair. Exemplarily, at least some of the robot modules include a fixed part and a moving part for generating a rotational motion. The characteristic parameters of at least some of the robot modules include the mass, center of mass and equivalent rotational inertia of the fixed part and the moving part, respectively. By separating the parameters of the fixed part and the moving part, the parameters of the fixed part can be directly incorporated into the output of the previous module when establishing the industrial robot model, so as to facilitate the calculation of dynamics. Exemplarily, the robot modules include joints, that is, the joints include a fixed part and a moving part for generating a rotational motion. The characteristic parameters of the joints include the mass, center of mass and equivalent rotational inertia of the fixed part and the moving part, respectively. Exemplarily, the characteristic parameters of at least some of the robot modules include a collision body equivalent model. According to the collision body equivalent model, collision judgment can be performed to enhance the safety of the industrial robot.The beneficial effects of the above preferred embodiments are: each robot module of the industrial robot stores characteristic parameters, the control module can identify the characteristic parameters and then determine the relevant information of the industrial robot and control the operation of the robot accordingly, which solves the problem that the modularity of traditional industrial robots is not high enough and the various components of the industrial robot cannot be adaptively adjusted according to needs. It is convenient for users to maintain and improve the utilization rate of existing industrial robots. The industrial robots have a high degree of modularity and good flexibility in use.
[0025] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A modular industrial robot with an identifiable body structure, comprising a plurality of robot modules and a control module, wherein the plurality of robot modules are detachably connected together. It is characterized in that The multiple robot modules include at least three different types of robot modules, each of which includes a feature unit, which stores feature parameters representing feature information of the robot module, and the control module is electrically connected to the robot module to identify the feature parameters of each robot module and control the operation of the robot accordingly; the robot module can be replaced with a new robot module with different feature parameters, and the control module is used to identify the feature parameters of the new robot module and at least partially control the operation of the robot accordingly; the feature parameters of at least some of the robot modules include safe operation parameters, the control module includes a detection element to detect the operation parameters of the industrial robot, and the control module controls the industrial robot to operate within the safe operation parameter range according to the operation parameters detected by the detection element; the feature parameters of at least some of the robot modules include kinematic pair type and / or DH parameters, and the control module determines the kinematic parameters of the industrial robot according to the feature parameters; at least some of the robot modules include a fixed part and a moving part for generating rotational motion, and the feature parameters of at least some of the robot modules include the mass, center of mass and equivalent rotational inertia of the fixed part and the moving part respectively.
2. The modular industrial robot according to claim 1, It is characterized in that The control module is used to identify whether the new robot module matches the industrial robot, and allows the industrial robot to operate when the identification result is a match.
3. The modular industrial robot according to claim 1, It is characterized in that The industrial robot is a serial robot, and the plurality of robot modules are sequentially connected in series to form the main body of the industrial robot.
4. The modular industrial robot according to claim 1, It is characterized in that The characteristic parameters include type and / or size information of the robot module, and the control module identifies the characteristic parameters of the plurality of robot modules to determine the configuration of the robot.
5. The modular industrial robot according to claim 1, It is characterized in that The plurality of robot modules include identical or mutually matching connecting parts, and any two of the plurality of robot modules can be connected via the connecting part.
6. The modular industrial robot according to claim 1, It is characterized in that The plurality of robot modules include at least three of a joint, a base, a tool flange, a connecting rod, and a connecting elbow.