Intelligent robot system for self-adaptive replacement of actuator

Abstract

The invention relates to an intelligent robot system, in particular to an intelligent robot capable of adaptively replacing an actuator. The system is composed of an intelligent robot body, an intelligent control system and a plurality of modular actuators, the actuators can be flexibly switched according to task requirements, and various task operations are achieved. The robot body comprises a motion joint and an execution joint, the intelligent control system integrates a kinematics algorithm, an image sensing algorithm, a calculation processor and the like, and a proper actuator can be automatically recognized and replaced according to task requirements. The actuator module comprises an intelligent support (such as a mobile phone, a Pad and a reading support), an intelligent shooting joint, an intelligent lamp, an intelligent carving machine, an intelligent drill floor, an intelligent welding tool, an intelligent monitoring station, an intelligent live broadcast joint, a video conference joint, an automatic testing joint, a 3D printing joint, an intelligent screwdriver, an electron microscope and other execution joints. Through man-machine cooperation, in combination with a user instruction and a sensing system, the robot can select a proper actuator according to a task target, and position and autonomously complete replacement and installation of the actuator. The intelligent robot system has high flexibility, expansibility and automation level and can be widely applied to the fields of industrial production, household equipment, office automation and the like, and the task execution efficiency and the intelligent degree are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of robot technology, and specifically relates to an intelligent robot system capable of autonomously replacing an actuator, which can be widely used in industrial production, home automation, office automation and other multi-task operating environments. Background Art

[0002] At present, robotics technology has been widely used in many fields, but most robots are still special equipment and lack versatility. In particular, when performing different tasks, robots usually rely on fixed actuators, resulting in manual intervention for each function switch. This operation mode is not only complicated, but also reduces the overall efficiency and flexibility of the system. In order to improve the automation and work efficiency of robots, a robot system that can autonomously switch actuators has become an urgent need.

[0003] Although robot actuators have evolved from traditional gripping devices to today's dexterous hands, their applicability has been greatly expanded, and their grasping and sensing capabilities are becoming increasingly close to those of human hands. However, existing actuators still have limitations when facing multi-task scenarios (high cost, insufficient torque, and unsatisfactory shape). For example, when completing multiple tasks such as welding, drilling, and assembly, a single actuator or dexterous hand cannot adapt to the solution. If the entire robot is replaced to meet the requirements, this will not only lead to higher hardware costs, but also increase the complexity of the production line.

[0004] The current robot control system and motion joints have the ability to perform more complex tasks. Combined with multimodal AI and intelligent agent technology, the robot's intelligence level has risen to a new level. However, due to the inability to flexibly switch actuators, its application scope is limited. One of the key bottlenecks affecting the development of robot versatility is the lack of switching flexibility and automation of the actuator joints. When robots perform multiple tasks, they are often limited by the singleness of the actuators and cannot fully exert their potential capabilities.

[0005] To solve these problems, research and development of an intelligent robot system that can automatically replace actuators according to task requirements can not only greatly improve the applicability of robots in multiple scenarios, but also reduce human intervention and achieve a high degree of task automation. Such a system will provide a more flexible and economical solution for future industrial production, office automation and other multi-task operating environments. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent robot system with high versatility and flexibility, which can automatically replace actuators according to task requirements, overcoming the limitations of existing robots in actuator switching. The core of the system lies in the high degree of coordination between the robot body, intelligent control system and modular actuators, ensuring the automatic installation and removal of actuators during task switching, and improving the versatility and operational efficiency of the robot in multiple scenarios.

[0007] The technical solution of the present invention is as follows:

[0008] 1. System composition

[0009] The intelligent robot system described in the present invention is composed of the following parts:

[0010] Robot body: It includes multiple motion joints and execution joints, has high movement flexibility, and can cooperate with the intelligent control system to achieve precise actuator alignment and installation in different tasks.

[0011] Intelligent control system: The control system integrates kinematics algorithms, image perception algorithms, task planning algorithms and processors. The system is responsible for analyzing task requirements, directing the movement of the robot body, and automatically replacing actuators and executing tasks.

[0012] Modular actuators: Support a variety of modular actuators, such as smart brackets, smart shooting joints, smart lights, smart engraving machines, etc. Each actuator can be automatically disassembled and aligned for installation through an automated device. After the task is completed, it can be automatically disassembled for the next operation.

[0013] 2. Actuator fixing and releasing device

[0014] The present invention supports two ways of fixing and releasing the actuator, which can adapt to different task requirements: Magnetic installation: suitable for lighter actuators. The magnetic installation method is simple and can ensure the rapid installation and removal of the actuator, which is suitable for frequent task switching scenarios. The N / S poles of the magnetic block are designed with asymmetric distribution, so as to achieve precise alignment and installation.

[0015] Fastening installation: Suitable for heavy actuators or those that require high-precision control (such as smart drill rigs and welding tools). This method can ensure stability during high-load operations and complete the fastening operation through an automatic locking pin mechanism. Through the two installation methods of magnetic attraction and fastening, the system can flexibly respond to the requirements of actuator stability for different tasks, improving the safety and accuracy of operations.

[0016] 3. Power supply and communication interface

[0017] The present invention designs a standard power supply and communication interface to realize power transmission and signal exchange between the actuator and the robot body, and meet the power supply and communication needs between different actuators.

[0018] 4. Actuator self-disassembly and automatic alignment installation

[0019] The present invention supports the self-disassembly and automatic alignment installation functions of the actuator. Through the built-in sensors and control system, the robot can autonomously identify the current state of the actuator, and automatically disassemble the actuator from the execution joint back to its original position after the task is completed. When the new task requirements are determined, the robot can automatically align the installation position of the actuator according to the task instructions, and accurately perform installation and tightening operations.

[0020] 5. Application scenarios of the system

[0021] The adaptive actuator replacement intelligent robot system of the present invention has extremely high automation and flexibility and can be widely used in the following scenarios:

[0022] Industrial production: Ability to automatically replace actuators on the production line to automate tasks such as welding, drilling, and assembly.

[0023] Office automation: In an office environment, multiple tasks such as document scanning, video conferencing, and office lighting can be completed by replacing actuators such as smart brackets and shooting joints.

[0024] Home devices: Actuators can be automatically switched in home scenarios to complete household tasks, home monitoring, and security maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 :Schematic diagram of the overall structure of the intelligent robot system with adaptive actuator replacement

[0026] Figure 2 : Schematic diagram of the robot's main structure

[0027] Figure 3 :Schematic diagram of modular actuator structure

[0028] Figure 4 :Schematic diagram of the working principle of the actuator fixing and releasing device

[0029] Figure 5 : Schematic diagram of power supply and communication interface structure

[0030] Figure 6 :Flowchart of self-disassembly and automatic alignment installation of actuator DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be noted that the following embodiments are only used to illustrate the present invention, rather than to limit the present invention.

[0032] Example 1: Overall system architecture

[0033] like Figure 1 As shown, the adaptive actuator replacement intelligent robot system of the present invention is mainly composed of a robot body (S100), an intelligent control system (S200) and a plurality of modular actuators (S300). The robot body (S100): includes a plurality of motion joints (S101) and execution joints (S102), wherein the motion joints (S101) are responsible for the movement and positioning of the robot, and the execution joints (S102) are used to install and operate the actuators. The robot body adopts a modular design and has a high degree of motion flexibility and scalability.

[0034] Intelligent control system (S200): It integrates kinematics algorithm, image perception algorithm, task planning algorithm and high-performance processor. The system is responsible for receiving task instructions, analyzing task requirements, controlling the movement of the robot body (S100) and the replacement of the actuator (S300).

[0035] Modular actuator (S300): Figure 3 As shown, a variety of different actuators can be replaced, such as smart brackets, smart shooting joints, smart lights, smart engraving machines, smart drilling platforms, smart welding tools, etc. Each actuator has a standardized interface to support automated installation and disassembly.

[0036] Embodiment 2: Actuator fixing and releasing device

[0037] like Figure 3 and Figure 4 As shown, the actuator fixing and releasing device supports two installation methods to meet the requirements of actuator stability for different tasks.

[0038] Magnetic installation (S401): It uses electric magnetic installation. The actuator joint can control the on and off of magnetism. The N / S poles of the magnetic blocks on the circular contact surface between the actuator joint and the actuator are asymmetrically distributed to achieve precise alignment and installation. The interface on the magnetic contact surface uses spring-loaded contacts for docking. After the interface contacts are accurately docked, the actuator completes power-on and communication with the robot control system (S200). The actuator tells the robot control system (S200) that the installation is complete and can execute tasks. Magnetic installation (S401) is suitable for actuators that are light in weight and need to be replaced frequently.

[0039] Fastening installation (S402): The fastening installation is realized by using an automatic locking pin mechanism. After the magnetic installation is completed, the robot control system (S200) and the actuator are powered on and communicated. The actuator informs the robot control system (S200) whether it supports fastening installation. If the actuator supports fastening installation, the robot control system will control the locking pin of the actuator joint to extend and dock with the locking hole of the actuator. The actuator triggers the locking device, and the actuator informs the robot control system (S200) through the communication interface that the installation is complete. When the robot is to disassemble the actuator, the robot control system controls the motion joint to place the actuator to a specific position, informs the actuator to release the locking device, and informs the robot control system after releasing it. Then the robot control system informs the actuator joint to retract the locking pin and disconnect the magnetic attraction, thereby realizing the automatic disassembly of the actuator. The fastening operation is suitable for actuators that are heavy or require high-precision operation.

[0040] Embodiment 3: Power supply and communication interface

[0041] like Figure 5 As shown, the power supply and communication interface (S500) is designed with a standardized connection method. The interfaces of different actuators and actuator joints are exactly the same, and the contact parts use spring-loaded contacts for docking to ensure the stability of installation and connection.

[0042] Power supply interface (S501): adopts DC power supply interface, such as 24V / 36V / 48V.

[0043] Communication interface: supports CAN bus (S502) and USB3.0 (S503) to realize data transmission and control command issuance between the intelligent control system (S200) and the actuator (S300). The CAN bus (S502) is used to transmit small amounts of data such as instructions, and the USB interface (S503) is used to transmit large amounts of data, such as camera video acquisition data.

[0044] Example 4: Actuator self-disassembly and automatic alignment installation

[0045] like Figure 6 As shown, the actuator replacement process includes the following steps:

[0046] 1. Task identification (S601): The intelligent control system (S200) determines the current task requirements by receiving user instructions or autonomous perception.

[0047] 2. Executor selection (S602): According to the task requirements, select a suitable executor from the executor library (S300).

[0048] 3. Actuator disassembly (S603): If other actuators have been installed on the robot body (S100), the control system instructs the execution joint (S102) and the motion joint (S101) to disassemble and return them to their original positions.

[0049] 4. Automatic alignment (S604): The robot body (S100) accurately locates the actuator position to be installed through preset positioning or recognition perception of the installation position of the actuator library.

[0050] 5. Actuator installation (S605): Control the actuator joint (S102) to complete the installation of the actuator, and the power supply interface (S401) and the communication interface (S402, S403) are automatically connected.

[0051] 6. Task execution (S606): After the actuator is installed, the robot starts to execute the specified task.

[0052] Example 5: Application in industrial production

[0053] On industrial production lines, robots need to perform multiple tasks such as welding, drilling, and assembly. Through the adaptive actuator replacement system of the present invention, the robot can automatically replace actuators such as welding tools and drilling platforms to achieve continuous operation of multiple tasks.

[0054] Welding task: The robot body (S100) installs the welding tool by fastening and mounting (S402), and uses the kinematic algorithm in the intelligent control system (S200) to accurately control the welding path and parameters.

[0055] Drilling task: After the task is completed, the robot automatically removes the welding tool, installs the drill table actuator, and continues to complete the drilling operation.

[0056] Example 6: Application in office automation

[0057] In an office environment, robots have to perform a variety of tasks such as desk lamps, conference assistants, document scanning, live broadcasting, etc. Through the adaptive actuator replacement system described in the present invention, the robot can automatically switch different actuator joints according to task requirements.

[0058] Desk lamp: Generally, the robot is equipped with a desk lamp actuator to perform intelligent lighting tasks.

[0059] Document scanning: The robot is equipped with a camera actuator to scan documents and synchronize them to the computer.

[0060] Conference Assistant: When the user schedules a remote conference task and the time arrives, the robot automatically switches to the video conference executor and enters conference mode.

[0061] Live broadcast: When the live broadcast time is up, the robot is replaced with a live broadcast actuator, the postures of the motion joints and the execution joints are adjusted, and the live broadcast mode is entered.

[0062] Advantageous Effects of the Invention

[0063] 1. Improve the versatility of the robot: The present invention uses modular actuators and automatic replacement mechanisms to enable the robot to adapt to a variety of task requirements, significantly improving the versatility and application scope of the robot.

[0064] 2. Reduce human intervention: The robot can autonomously identify task requirements and replace actuators, reducing dependence on manual operations and improving work efficiency and automation.

[0065] 3. Improve production efficiency: In multi-task scenarios such as industrial production, robots can continuously perform different tasks, reducing equipment replacement and debugging time, and improving the overall efficiency of the production line.

[0066] 4. Reduce costs: By using one robot body with multiple actuators, it is possible to avoid configuring a separate robot for each task, thus reducing equipment investment and maintenance costs.

[0067] 5. Enhanced system stability: The standardized design of power supply and communication interface, as well as the flexible choice of actuator fixing methods, ensure the reliability and safety of the system.

[0068] 6. Strong scalability: Modular design and open interface standards enable the system to easily integrate new actuators to meet diverse mission requirements in the future.

[0069] 7. Improve the level of intelligence: The intelligent control system combines multimodal AI and intelligent agent technology to enable the robot to have autonomous decision-making and learning capabilities, further improving the intelligence level of the system.

Claims

1. An intelligent robot system for adaptively replacing actuators, comprising: A robot body having a plurality of motion joints and at least one execution joint, wherein the motion joints are used for moving and positioning the robot body, and the execution joints are used for installing and operating the actuator; An intelligent control system integrating kinematic algorithms, image perception algorithms, task planning algorithms and processors for analyzing task requirements, controlling the motion of the robot body, and automatic replacement and operation of actuators; Multiple modular actuators, each with a standardized interface, capable of automatic installation and removal through the actuator joints, such as smart brackets, smart shooting joints, smart lights, smart engraving machines, smart drilling platforms, and welding tools; The actuator fixing and unlocking device comprises a magnetic mounting mechanism and a fastening mounting mechanism, wherein: Magnetic mounting mechanism, used for lightweight actuators, adopts asymmetric magnetic field design to achieve precise alignment and quick installation of actuator and actuator joint, and spring-loaded contacts are set on the contact surface for power supply and communication connection; The fastening installation mechanism is used for actuators with heavy weight or high precision. After completing the magnetic alignment, the locking pin of the actuator joint is extended and docked with the locking hole of the actuator. The actuator triggers the locking device to complete the fastening installation. Power supply and communication interface: a standardized power supply interface and communication interface are designed. The power supply interface provides a DC power supply, and the communication interface supports CAN bus and USB 3.0 for power supply and data transmission between the actuator and the intelligent control system; The automatic replacement function of the actuator is controlled by the intelligent control system. The robot can autonomously identify the task requirements, automatically disassemble the current actuator, and install the required actuator. After completing the task, it can automatically disassemble and return to its original position.

2. The intelligent robot system according to claim 1, characterized in that: The contact surface of the magnetic attraction mounting mechanism is circular, and the N pole and S pole of the magnet are arranged in an asymmetrical manner. The strongest magnetic attraction is consistent with the precise orientation, ensuring the accurate directional magnetic attraction of the actuator and the actuator joint.

3. The intelligent robot system according to claim 1, characterized in that: The locking pin of the fastening installation mechanism is an automatic locking pin, which can be automatically extended after magnetic alignment and cooperate with the locking hole of the actuator to complete the fastening. The extension and retraction of the locking pin are controlled by an intelligent control system.

4. The intelligent robot system according to claim 1, characterized in that: The actuator fixing and unlocking device includes spring-loaded contacts for providing reliable electrical contact between the actuator and the actuator joint, ensuring the stability of power supply and communication.

5. The intelligent robot system according to claim 1, characterized in that: The intelligent control system can exchange data with the actuator through the communication interface, including the installation status of the actuator, the issuance of task instructions and the feedback of execution results.

6. The intelligent robot system according to claim 1, characterized in that: The robot body can accurately locate the position of the actuator to be installed through visual recognition, preset positioning or sensor perception, thereby achieving automatic alignment and installation.

7. The intelligent robot system according to claim 1, characterized in that: The power supply interface provides 24V, 36V or 48V DC power supply to meet the power requirements of different actuators.

8. The intelligent robot system according to claim 1, characterized in that: The CAN bus in the communication interface is used to transmit control instructions and a small amount of data, and the USB 3.0 interface is used to transmit a large amount of data (such as camera video data, sensor data, etc.).

9. The intelligent robot system according to claim 1, characterized in that: The modular actuator has a self-disassembly function and can automatically release the locking device and separate from the execution joint through the instruction of the intelligent control system after the task is completed.

10. The intelligent robot system according to claim 1, characterized in that: The system is suitable for a variety of application scenarios such as industrial production, office automation and household equipment. In industry, it focuses more on durability and load capacity, while in the home environment, it focuses more on safety and ease of operation. The actuator can be flexibly replaced according to the task requirements to perform a variety of tasks such as welding, drilling, assembly, lighting, shooting, scanning, etc.

Images