Multi-arm variable-structure robot communication switching structure

Abstract

The invention discloses a multi-arm variable-structure robot communication switching framework, and belongs to the technical field of robot communication. The problem that when the working mode of an existing multi-arm variable-structure robot is changed, an internal communication network of the multi-arm variable-structure robot cannot be adjusted in a self-adaptive and dynamic mode is solved. A plurality of mechanical arms are independently connected to a robot trunk at the same time in a parallel connection mode, and the mechanical arms are connected with a bus interface unit through an interface at one end and a quick-change interface to be configured to be in a remote terminal mode; at least two mechanical arms are connected in series and then connected with the robot trunk in a series connection mode, and a bus interface unit, connected with the robot trunk, of the first-stage mechanical arm is configured to be in a remote terminal mode. The interface at the other end is connected with a mechanical arm serving as a secondary mechanical arm through the adapter, the bus interface unit corresponding to the interface at the other end is configured to be in a bus controller mode, and the bus interface unit corresponding to the secondary mechanical arm is configured to be in a remote terminal mode. The method is used for mechanical arm self-adaptive communication.

Description

Technical Field

[0001] This invention belongs to the field of robot communication technology. Background Technology

[0002] Currently, the structure and degree of freedom configuration of multi-arm variable structure robots are determined during the ground production stage. Therefore, the working range and accuracy are fixed. The working space of the robotic arm is determined by the arm length. The larger the working space, the longer the robotic arm needs to be. However, the longer the length, the lower the accuracy of the end control.

[0003] Therefore, it is necessary to increase the workspace. There are two ways to increase the workspace: one is to expand the workspace by changing the position of the base through crawling movement; the other is to connect two or more robotic arms in series to increase the overall length of the robot system. If the robot system can both crawl and move in series, the workspace can be further expanded, thus achieving an increase in workspace without changing the operational accuracy. Therefore, reconfigurable multi-arm variable structure robots have received widespread attention.

[0004] In practical applications, robot systems need to be able to switch freely between independent and serial working modes. However, when the working mode of a multi-arm variable structure robot changes, its internal communication network cannot adapt and dynamically adjust. Summary of the Invention

[0005] This invention aims to address the problem that the internal communication network of existing multi-arm variable structure robots cannot adaptively and dynamically adjust when the working mode changes. A communication switching architecture for multi-arm variable structure robots is provided.

[0006] The present invention discloses a communication adapter architecture for a multi-arm variable-structure robot, comprising a working platform, a robot torso, at least three robotic arms, and an adapter; wherein:

[0007] The working platform integrates an upper-level bus controller and an upper-level bus network;

[0008] The robot's torso integrates a main controller, at least three quick-switch interfaces, and an internal backbone bus network.

[0009] The main controller includes a main control module, at least one first bus control unit configured in bus controller mode, and at least three second bus control units configured in remote terminal mode.

[0010] The internal backbone bus network includes multiple bus couplers connected in series. The primary end of the internal backbone bus network is connected to the first bus control unit, and at least three secondary ends of the internal backbone bus network are directly electrically connected to one of the quick-switch interfaces. Each of the quick-switch interfaces is also connected to a second bus control unit configured in remote terminal mode.

[0011] Each robotic arm has symmetrical mechanical and electrical interfaces at both ends, an internal communication bus running through the arm body, and two bus interfaces integrated in the arm controller of each robotic arm.

[0012] The adapter has two electrically connected couplers inside.

[0013] The upper-level bus controller of the work platform communicates with any quick-switch interface of the robot torso via the upper-level bus network through a communication bus that runs through the arm body of a robotic arm connected to it.

[0014] Multiple robotic arms are connected to the robot body individually at the same time in parallel mode. In parallel mode, when a robotic arm is connected to the robot body individually, the robotic arm is connected to a quick-switch interface through an interface at one end, and its corresponding bus interface unit is configured as a remote terminal mode to access the internal backbone bus network.

[0015] At least two robotic arms are connected in series to the robot torso in a series mode. In the series mode, one robotic arm, acting as a primary robotic arm, is connected to a quick-switch interface through one end of its interface. The bus interface unit corresponding to this interface is configured as a remote terminal. The other end of the primary robotic arm is connected to a robotic arm, acting as a secondary robotic arm, through the adapter. The other bus interface unit corresponding to the primary robotic arm is configured as a bus controller, and the bus interface unit corresponding to the secondary robotic arm is configured as a remote terminal. This establishes a communication link between the two robotic arms through the adapter.

[0016] Furthermore, in this invention, both the internal backbone bus network and the communication bus inside the robotic arm are dual redundant buses conforming to the MIL-STD-1553B standard.

[0017] Furthermore, in this invention, each robotic arm's arm controller also integrates an arm control module for controlling the movement and drive of the robotic arm body; the two bus interface units are communicatively connected to the arm control module.

[0018] Furthermore, in this invention, the outer end of the coupler connected inside the adapter is connected in parallel with a coupling resistor.

[0019] Furthermore, in the present invention, in the serial mode, one primary robotic arm can be connected in series with multiple secondary robotic arms through the adapter to form a multi-level serial chain; in the multi-level serial chain, except for the final robotic arm, the bus interface unit of each robotic arm connected to the next robotic arm is configured in bus controller mode.

[0020] Furthermore, in this invention, the main control module of the main controller is configured to: send mode configuration instructions to the first bus control unit, the second bus control unit, and the bus interface unit of the robotic arm corresponding to the robot torso, based on the connection mode sent by the receiving work platform.

[0021] Furthermore, in this invention, the robotic arm connected to the work platform has its bus interface unit at one end of the work platform configured as a remote terminal mode to access the upper-level bus network.

[0022] Furthermore, in this invention, the bus coupler of the internal backbone bus network is a transformer coupler, and bus terminating resistors are connected to both ends of the network.

[0023] Furthermore, in this invention, the upper-level bus network includes at least two electrically connected couplers, and the outer ends of the two electrically connected couplers are respectively connected in parallel with a coupling resistor. The upper-level bus controller of the working platform is connected to the bus on the working platform through one of the couplers in the upper-level bus network.

[0024] Furthermore, in this invention, the first wire control unit, the second wire control unit, and the bus interface unit are all implemented using a 1553B controller.

[0025] This invention achieves true dynamic reconfiguration. Through a unique "dual 1553B controller" robotic arm design and a complex bus coupling network within the torso, the robot's communication topology can dynamically and seamlessly switch between parallel star and serial chain topologies according to task requirements. Based on the mature 1553B bus standard, it possesses strong error detection and fault tolerance capabilities. The use of bus couplers provides electrical isolation, reducing the impact of single-point failures on the entire system. The robotic arm interface is standardized and symmetrical, supporting the serial connection of any two robotic arms, and offering flexible reconfiguration strategies. This architecture is easily expandable, supporting more robotic arms. Simultaneously, the robot communication system serves as a remote terminal (RT) for the 1553B bus on the work platform, facilitating unified command scheduling and centralized data management. Attached Figure Description

[0026] Figure 1 A block diagram showing three robotic arms attached in parallel to the robot's torso;

[0027] Figure 2 This is a block diagram showing the connection between the robotic arm and the robot's torso after being connected in series. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0029] Specific implementation method one: Refer to Figure 1 and Figure 2 This embodiment describes a communication adapter architecture for a multi-arm variable-structure robot, comprising a work platform 100, a robot torso 300, at least three robotic arms 200, and an adapter 400; wherein:

[0030] The working platform 100 integrates an upper-level bus controller 101 and an upper-level bus network 102;

[0031] The robot torso 300 integrates a main controller 301, at least three quick-switch interfaces 302, and an internal backbone bus network 303.

[0032] The main controller 301 includes a main control module 3013, at least one first bus control unit 3011 configured in bus controller mode, and at least three second bus control units 3012 configured in remote terminal mode.

[0033] The internal backbone bus network 303 includes multiple bus couplers connected in series. The primary end of the internal backbone bus network 303 is connected to the first bus control unit 3011, and at least three secondary ends of the internal backbone bus network 303 are directly electrically connected to one of the quick-switch interfaces 302. Each of the quick-switch interfaces 302 is also connected to a second bus control unit 3012 configured in remote terminal mode.

[0034] Each robotic arm 200 has symmetrical mechanical and electrical interfaces at both ends, and a communication bus running through the arm body is provided inside. Each robotic arm's arm controller 201 integrates two bus interface units 2011.

[0035] The adapter 400 has two electrically connected couplers inside.

[0036] The upper-level bus controller 101 of the work platform 100 communicates with any quick-switch interface 302 of the robot torso 300 via the upper-level bus network 102 through a communication bus that runs through the arm body of a robotic arm 200 connected to it.

[0037] Multiple robotic arms can be connected to the robot body 300 simultaneously in parallel mode. In parallel mode, when a robotic arm 200 is connected to the robot body 300, the robotic arm is connected to a quick-switch interface 302 through an interface at one end of its arm. The corresponding bus interface unit 2011 is configured in remote terminal mode and accesses the internal backbone bus network 303.

[0038] At least two robotic arms 200 are connected in series to the robot torso 300 in a series mode. In the series mode, one robotic arm 200, which is a first-level robotic arm, is connected to a quick-switch interface 302 through an interface at one end. The bus interface unit 2011 corresponding to this interface is configured as a remote terminal mode. The other interface of the first-level robotic arm is connected to a robotic arm 200, which is a second-level robotic arm, through the adapter 400. The other bus interface unit 2011 corresponding to the first-level robotic arm is configured as a bus controller mode, and the bus interface unit 2011 corresponding to the second-level robotic arm is configured as a remote terminal mode, thereby establishing a communication link between the two robotic arms through the adapter 400.

[0039] Furthermore, in this embodiment, the internal backbone bus network 303 and the communication bus inside the robotic arm 200 are both dual redundant buses conforming to the MIL-STD-1553B standard.

[0040] Furthermore, in this embodiment, each robotic arm 200 also integrates an arm control module 2012 within its arm controller 201, which is used to control the movement and drive of the robotic arm body; the two bus interface units 2011 are communicatively connected to the arm control module 2012.

[0041] Furthermore, in this embodiment, the outer end of the coupler internally connected to the adapter 400 is connected in parallel with a coupling resistor.

[0042] Furthermore, in this embodiment, in the serial mode, one primary robotic arm can be connected in series with multiple secondary robotic arms through the adapter 400 to form a multi-level serial chain; in the multi-level serial chain, except for the final robotic arm, the bus interface unit 2011 of each robotic arm connected to the next robotic arm 200 is configured in bus controller mode.

[0043] Furthermore, in this embodiment, the main control module 3013 of the main controller 301 is configured to: send mode configuration instructions to the first bus control unit 3011, the second bus control unit 3012 and the bus interface unit 2011 of the robotic arm 200 corresponding to the robot torso, according to the connection mode sent by the receiving work platform 100.

[0044] Furthermore, in this embodiment, the robotic arm 200 connected to the work platform 100 has its bus interface unit 2011 connected to one end of the work platform 100 configured as a remote terminal mode and connected to the upper-level bus network 102.

[0045] Furthermore, in this embodiment, the bus coupler of the internal backbone bus network 303 is a transformer coupler, and bus terminating resistors are connected to both ends of the network.

[0046] Furthermore, in this embodiment, the upper-level bus network 102 includes at least two electrically connected couplers, and the outer ends of the two electrically connected couplers are respectively connected in parallel with a coupling resistor. The upper-level bus controller 101 of the working platform 100 is connected to the bus on the working platform 100 through one of the couplers in the upper-level bus network 102.

[0047] Furthermore, in this embodiment, the first wire control unit 3011, the second wire control unit 3012, and the bus interface unit 2011 are all implemented using a 1553B controller.

[0048] Example 1: Parallel operation mode;

[0049] Reference Figure 1 In parallel operation mode, the root interfaces of the three robotic arms are reliably connected to the quick-change interfaces 302 on the robot torso 300. The upper-level 1553B controller 101 of the work platform 100 is configured in BC mode.

[0050] The upper-level 1553B controller of the work platform 100 issues control commands in BC mode. The commands are transmitted along the 1553B bus, passing through the arm-through cable (the bus that runs through the robotic arm) to the quick-change interface of the robot torso 300. The commands are first received by the second wire control unit 3012, configured in RT mode and directly connected to the quick-change interface 302. The second wire control unit processes the signal and sends it to the main control module 3013 for further processing. The main control module 3013 parses the commands and assigns tasks, then sends the processed information to the first wire control unit 3011, configured in BC mode. The first wire control unit publishes the commands to the primary coupler in the internal backbone bus network 303. The command signals are transmitted to the quick-change interface via secondary couplers, and then to the connected robotic arms. The corresponding interface units of the connected robotic arms are configured in RT mode, while the unconnected interface units in the robotic arms are in standby mode. The corresponding interface units of the connected robotic arms transmit the received commands to the arm control modules of each robotic arm, and each arm control module controls the motion state of the robotic arm according to the commands. The status information of each robotic arm is transmitted in reverse along the above path and finally returned to the working platform via the arm-through cable.

[0051] Example 2: Series Hybrid Mode

[0052] When serial operation is required, such as Figure 2 As shown, the two robotic arms are connected in series, and the process is as follows:

[0053] Role Pre-configuration: First, a robotic arm is pre-connected between the work platform 100 and the robot torso, communicating via a communication bus running through the arm. Then, the robot torso controls the series of robotic arms. When connecting robotic arms in series, the robotic arm connected to the robot torso is designated as the primary robotic arm, with its interface unit connected to the robot torso configured in RT mode, and its other interface unit configured in BC mode. The robotic arms connected in series via adapters are designated as secondary robotic arms, with their interface units connected to the adapters configured in RT mode. This enables information transmission via a communication route from the work platform --> pre-connected robotic arm --> robot torso --> primary robotic arm --> adapter --> secondary robotic arm.

[0054] Physical connection: The first-level robotic arm grasps the robotic arm adapter and docks with the second-level robotic arm.

[0055] Communication establishment and topology switching: After the communication link between the first-level robot arm and the second-level robot arm is established (path: first-level robot arm BC --> adapter --> second-level robot arm RT), the second-level robot arm disconnects from the quick-change interface of the robot torso.

[0056] Command transmission: Commands from the work platform 100 are transmitted via a robotic arm pre-connected between the robot torso and the work platform. Figure 2 The main control module 3013 of the robot torso 300 sends the instructions to the secondary robot arm (which is not connected in series) via a bus that runs through the arm body. The main control module 3013 packages the instructions to be executed by the secondary robot arm and sends them to the RT mode bus interface unit of the primary robot arm through the bus interface unit. After receiving the instructions, the main control module of the primary robot arm sends them down to the RT mode bus interface unit of the secondary robot arm through its BC mode bus interface unit and the established serial link, thereby realizing the downward transmission of platform instructions and the coordinated control of the serial robot arms.

[0057] This invention solves the communication reconfiguration problem of multi-armed variable structure robots through its ingenious hardware architecture and intelligent control logic, providing key technical support for multi-armed variable structure robots.

[0058] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A communication switching architecture for a multi-arm variable-structure robot, characterized in that, Includes a work platform (100), a robot torso (300), at least three robotic arms (200), and a connector (400); wherein: The working platform (100) integrates an upper-level bus controller (101) and an upper-level bus network (102). The robot torso (300) integrates a main controller (301), at least three quick-switch interfaces (302), and an internal backbone bus network (303). The main controller (301) includes a main control module (3013), at least one first bus control unit (3011) configured in bus controller mode, and at least three second bus control units (3012) configured in remote terminal mode. The internal backbone bus network (303) includes multiple bus couplers connected in series. The primary end of the internal backbone bus network (303) is connected to the first bus control unit (3011), and at least three secondary ends of the internal backbone bus network (303) are directly electrically connected to one of the quick-switch interfaces (302). Each of the quick-switch interfaces (302) is also connected to a second bus control unit (3012) configured in remote terminal mode. Each of the robotic arms (200) has symmetrical mechanical and electrical interfaces at both ends, and a communication bus running through the arm body is provided inside. Each robotic arm's arm controller (201) integrates two bus interface units (2011). The adapter (400) has two electrically connected couplers inside; The upper-level bus controller (101) of the working platform (100) communicates with any quick-switch interface (302) of the robot torso (300) via the upper-level bus network (102) through a communication bus that runs through the arm body of a robotic arm (200) connected to it. Multiple robotic arms can be connected to the robot body (300) in parallel mode. In parallel mode, when a robotic arm (200) is connected to the robot body (300) alone, the robotic arm is connected to a quick-switch interface (302) through an interface at one end, and its corresponding bus interface unit (2011) is configured in remote terminal mode and accesses the internal backbone bus network (303). At least two robotic arms (200) are connected in series to the robot torso (300) in a series mode. In the series mode, one robotic arm (200) as a first-level robotic arm is connected to a quick-switch interface (302) through one end interface. The bus interface unit (2011) corresponding to the one end interface is configured as a remote terminal mode. The other end interface of the first-level robotic arm is connected to a robotic arm (200) as a second-level robotic arm through the adapter (400). The other bus interface unit (2011) corresponding to the first-level robotic arm is configured as a bus controller mode. The bus interface unit (2011) corresponding to the second-level robotic arm is configured as a remote terminal mode, thereby establishing a communication link between the two robotic arms through the adapter (400).

2. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, The internal backbone bus network (303) and the communication bus inside the robotic arm (200) are both dual redundant buses conforming to the MIL-STD-1553B standard.

3. A communication switching architecture for a multi-arm variable-structure robot according to claim 1 or 2, characterized in that, Each of the robotic arms (200) also integrates an arm control module (2012) in its arm controller (201) for controlling the movement and drive of the robotic arm body; the two bus interface units (2011) are communicatively connected to the arm control module (2012).

4. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, The adapter (400) has a coupling resistor connected in parallel to the outer end of the coupler connected inside.

5. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, In the serial mode, a first-level robotic arm can be connected in series with multiple second-level robotic arms through the adapter (400) to form a multi-level serial chain; in the multi-level serial chain, except for the last-level robotic arm, the bus interface unit (2011) of each robotic arm connected to the next robotic arm (200) is configured in bus controller mode.

6. A communication switching architecture for a multi-arm variable-structure robot according to claim 1 or 5, characterized in that, The main control module (3013) of the main controller (301) is configured to: send mode configuration instructions to the first bus control unit (3011), the second bus control unit (3012) corresponding to the robot torso and the bus interface unit (2011) of the robotic arm (200) according to the connection mode sent by the receiving work platform (100).

7. The communication switching architecture for a multi-arm variable-structure robot according to claim 6, characterized in that, The robotic arm (200) connected to the work platform (100) has its bus interface unit (2011) connected to one end of the work platform (100) configured in remote terminal mode and connected to the upper-level bus network (102).

8. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, The bus coupler of the internal backbone bus network (303) is a transformer coupler, and the two ends of the network are connected to bus terminating resistors.

9. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, The upper bus network (102) includes at least two electrically connected couplers, each of which has a coupling resistor connected in parallel at its outer end. The upper bus controller (101) of the work platform (100) is connected to the bus on the work platform (100) through one of the couplers in the upper bus network (102).

10. The communication switching architecture for a multi-arm variable-structure robot according to claim 1, characterized in that, The first wire control unit (3011), the second wire control unit (3012), and the bus interface unit (2011) are all implemented using a 1553B controller.

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