CN104149089A - Modular series master robot - Google Patents
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- CN104149089A CN104149089A CN201410364629.4A CN201410364629A CN104149089A CN 104149089 A CN104149089 A CN 104149089A CN 201410364629 A CN201410364629 A CN 201410364629A CN 104149089 A CN104149089 A CN 104149089A
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Abstract
The invention relates to a modular series master robot comprising a flange serving as a base, three rocking joint modules, two rotating joint modules and a handle module. The modules are sequentially connected in series according to a connection sequence from the base to the tail end: the flange, the first rotating joint module, the first rocking joint module, the second rocking joint module, the second rotating joint module, the third rocking joint module and the handle module; each two of the modules are fixedly connected through a span ring; a base segment is fixed on an operating table through the flange; joint mandrels of the first and second rocking joint module are parallel to each other and are naturally perpendicular to those of the rotating joint modules arranged at two ends. The modular series master robot has the advantages such as ease in construction, configuration variability, simple structure, good extensiveness, high universality, capability of indifferent equilibrium, convenience in operation and ease in isomorphic mapping with slave robots; the modular series master robot is widely applicable to remote control of slave robots in the fields such as industry, medical treatment, building industry, nuclear industry and chemical industry.
Description
Technical field
The present invention is a kind of modular series connection formula main robot, belongs to the renovation technique of modular series connection formula main robot.
Background technology
The mankind more and more need the robot that can work in danger or circumstances not known.But, be subject to the restriction of the aspects such as artificial intelligence technology, mechanism, control and sensing technology, develop and can in circumstances not known, also need a very long time by the intelligent robot of utonomous working.Therefore rely at present people's intelligence, the principal and subordinate's control being operated under man-machine interaction is the feasible selection of a kind of reality.This principal and subordinate controls the execution of people's intelligence and robot is combined, and has realized people's perception and the extension of capacity.Operator operates main robot, processor is converted into the understandable order from robot according to the posture information of main robot operator's control intention, and control from robot motion to realize corresponding task with this, feel by its status information feedback that by vision or power, to operator, operator revises the control behavior of oneself accordingly simultaneously.As window and the instrument of man-machine interaction, people's intelligence can be acted on to robot, the main robot of realizing people's perception and the extension of capacity just arises at the historic moment.
Chinese scholars has been developed a lot of main robots, and has a lot of business-like systems, for example data glove of the Phantom with force feedback, exoskeleton-type.But the configuration of current main robot is all fixed, can not correspondingly change configuration according to mission requirements or from the variation of robot; And the free degree also immobilizes, can not increase and decrease as required.This has just caused main robot to be difficult to adapt to various from robot.For example, when actual needs lower-mobility causes main robot DOF (degree of freedom) redundance during from robot, make the mapping complex between principal and subordinate, amount of calculation is large, affects real-time and stability that principal and subordinate controls.Therefore, the versatility of main robot and flexibility are to study at present the subject matter that main robot faces.Modular method for designing can solve the poor and problem such as structure and control complexity of the versatility of main robot.Modularization main robot can obtain multiple not isomorphism type by the order of connection or the mode that change self only several module, different from robot modeling or mission requirements to meet, and easily realizes the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularization main robot has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, between each module, can mutually replace, and realizes rapid-assembling.
Develop a lot of main robots both at home and abroad, and had a lot of business-like systems, for example data glove of the Phantom with force feedback, exoskeleton-type.But there are some problem and shortage in them, is mainly manifested in: (1) versatility and very flexible.The configuration of current main robot is all fixed, and can not correspondingly change configuration according to mission requirements or from the variation of robot; And the free degree also immobilizes, can not increase and decrease as required.This has just caused main robot to be difficult to adapt to various from robot.(2) cost is high, and owing to lacking versatility, different often needs corresponding main robot from robot, and the development and application cost of main robot is high like this; (3) control complicatedly, existing main robot system is with, from being isomery mostly between robot, the mapping between principal and subordinate robot is more complicated, and amount of calculation is large, affects the stability of principal and subordinate's control; (3) operating characteristics is poor, and existing main robot system is all wearable type or the large pattern of the formula that falls, and the former generally has indifferent equilibrium problem, and operator easily produces fatigue; The main robot of the large pattern of the formula that falls requires operator upright, also can be tired after long-time operation.
General Requirements main robot can have higher versatility, can control multiple differently from robot system, so just can reduce the development needs of main robot, thereby reduce the average development cost of main robot; Require in addition main robot simple and reasonable, can carry out simple principal and subordinate's mapping from robot with multiple, control thereby simplify principal and subordinate, improve the stability of principal and subordinate's robot system.Therefore, develop a kind of can control and multiplely meet the trend of robot development and the needs of social production life from robot and simple in structure, strong operability, main robot with low cost.
Modular method for designing can solve the poor and problem such as structure and control complexity of the versatility of main robot.Modularization main robot can obtain multiple not isomorphism type by the order of connection or the mode that change self only several module, different from robot modeling or mission requirements to meet, and easily realizes the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularization main robot has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, between each module, can mutually replace, and realizes rapid-assembling.
Existing a kind of damp type main robot, its joint module intends realizing the balance of joint load with damper, two identical dampers composition two way damper that superposes in opposite directions for each joint module.This balance mode has increased the complexity of structure, and the return difference of also having brought both forward and reverse directions to rotate, has reduced accuracy of detection.In addition, because the damping of damper is constant, can not change with the difference of the configuration of main robot and the free degree, can not realize indifferent equilibrium, operability is not good enough yet.Therefore, existing damp type main robot is undesirable, and the structure that is necessary to develop other is simpler, more convenient operation, can realize the modularization main robot of indifferent equilibrium.
Summary of the invention
The object of the invention is to consider the problems referred to above and a kind of simple in structure, easy to operate, the modular series connection formula main robot that can realize indifferent equilibrium is provided.The present invention is reasonable in design, easy to use.
Technical scheme of the present invention is: modular series connection formula main robot of the present invention, comprise a ring flange as pedestal, three rotating and swinging joint modules, two revolute joint modules and a handle module, each module connects with series system successively, the order of connection from pedestal to end is: ring flange, the first revolute joint module, the first rotating and swinging joint module, the second rotating and swinging joint module, the second revolute joint module, the 3rd rotating and swinging joint module, handle module, between two two, be fastenedly connected by snap ring, pedestal end is fixed on operating desk by ring flange, the joint rotating shaft of the first rotating and swinging joint module and the second rotating and swinging joint module is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module at two ends.
Each revolute joint module of the present invention and rotating and swinging joint module only have a rotational freedom, its pivot center respectively with the dead in line of joint module itself with vertical.Joint module is driven by external force or moment of face, and its encoder detects joint rotation angle.Each module realizes the transmission of power supply and signal by inner cabling.On adjusting rotating and swinging joint module, the indifferent equilibrium of main robot is realized in the quantity of balancing weight and position.This main robot is drawn by the handle module of the hand-held end of operator, and each joint module detects joint rotation angle separately, and guiding is followed from robot, and the button control in handle module is from the action of end effector of robot.The present invention compared with prior art, has following features and advantage:
1) modularization: the present invention is made up of joint module and a handle module of two kinds of single-degree-of-freedoms, realizes connection and fastening by snap ring between module, and the structure of robot and dismounting are simple, convenient and quick.Configuration is variable, and the free degree is variable.
2) highly versatile, flexibility are good: the modular design feature of the present invention makes the configuration of main robot and the free degree according to the concrete condition from robot and variable, thereby main robot strong adaptability, has good versatility and flexibility.
3) indifferent equilibrium: the present invention, by the increase and decrease of balancing weight and the adjusting of installation site, is easy to realize main robot in the balance that there is no any pose under External Force Acting, makes operation easily convenient.
4) inner cabling, outward appearance are succinct: the electrical connection between module of the present invention realizes in inside, and cabling does not expose, and connect reliably, and outward appearance is clean and tidy.
5) simple in structure, with low cost: main robot of the present invention only has three kinds of modules composition, and each this body structure of module is very simple, and its structure is very simple like this, development, operation and maintenance are with low cost.
The present invention have build easily, configuration is variable, simple in structure, favorable expandability, highly versatile, can indifferent equilibrium, operate the advantages such as nimble and easy realization and isomorphism mapping from robot, can be widely used in the remote control of the fields such as industry, medical treatment, building industry, nuclear industry and chemical industry from robot.That a kind of design is ingenious, function admirable, convenient and practical modular series connection formula main robot.
Brief description of the drawings
Fig. 1 is tandem main robot outside drawing of the present invention;
Fig. 2 is tandem main robot structural scheme of mechanism of the present invention;
Fig. 3 is revolute joint module outside drawing of the present invention;
Fig. 4 is revolute joint module profile of the present invention;
Fig. 5 is rotating and swinging joint module outside drawing of the present invention;
Fig. 6 is rotating and swinging joint module profile of the present invention;
Fig. 7 is handle module outside drawing of the present invention;
Fig. 8 is handle module profile of the present invention.
Detailed description of the invention
In order to understand better the present invention, be further described taking five degree of freedom main robot as the present invention below in conjunction with accompanying drawing, but embodiments of the present invention are not limited to this.
Fig. 1 and Fig. 2 show respectively outside drawing and the structural scheme of mechanism of the five degree of freedom tandem main robot of the present invention's structure.As shown in the figure, this modular main robot body comprises a ring flange 001 as pedestal, three rotating and swinging joint modules 003, two revolute joint modules 002 and a handle module 005, each module connects with series system successively, the order of connection from pedestal to end is: ring flange, the first revolute joint module, the first rotating and swinging joint module, the second rotating and swinging joint module, the second revolute joint module, the 3rd rotating and swinging joint module, handle module, between two two, be fastenedly connected by snap ring 004, pedestal end is fixed on operating desk by ring flange 001, the joint rotating shaft of the first rotating and swinging joint module and the second rotating and swinging joint module is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module 002 at two ends.When operator holds handle module 005 and moves, change position and the attitude of handle module 005, rotating and swinging joint module 003 and revolute joint module 002 rotate naturally, its corner naturally-occurring changes, the position shape that is whole main robot changes, and this pose is mapped to from robot and can be controlled from the position shape of robot and the pose of end thereof.In the present embodiment, said base end is placed or is fixed by screws on operating desk by ring flange 001.Between module, connect with snap ring 004, the interior ring longitudinal section of snap ring 004 is recessed dovetail groove, and snap ring has individual opening, and opening portion is through bolt, and the screw bolt and nut of tightening on snap ring can be fastenedly connected two modules that are connected.There is the electric interfaces of quick plug to facilitate the electrical connection between each module in inside modules.When operator holds handle module 005 and moves, the corner that can change rotating and swinging joint module 003 and revolute joint module 002 can change the pose of whole main robot and position and the attitude of handle module 005, and this pose is mapped to from robot and can be controlled from the position shape of robot and the pose of end thereof.In the present embodiment, rotating and swinging joint module 003 is T-shaped joint, and revolute joint module 002 is I shape joint.
Be respectively as shown in Figure 3 and Figure 4 outside drawing and the profile of revolute joint module 002.The rotating shaft of revolute joint module 002 and the dead in line of himself.Comprise revolute joint module processor 101, encoder 102, diagonal angle screw 103, encoder installing plate 104, connect pedestal 105, ball bearing 106, the first rotating base 107, thrust bearing 108, the second rotating base 109, latch 110, housing screw 111, bearing sleeve 112, lock-screw 113, attachment screw 114, revolute joint module processor installing plate 115 and holding screw and attachment screw nut 116 etc.The connected mode of each parts is: bearing sleeve 112 is connected by four housing screws 111 and the second rotating base 109, and compresses the inner ring of ball bearing 106, realizes the axial location of ball bearing 106; When realizing axial location and radial location by ball bearing 106 and thrust bearing 108 between the first rotating base 107 and the second rotating base 109, realization relatively rotates; The boss of the first rotating base 107 is inserted in and connects in pedestal 105, and is connected by two symmetrical holding screws 117; The second rotating base 109 has centre bore, and axle head side opening communicates with the side of bearing sleeve 112, as the electric wiring passage of module; Encoder installing plate 104 is affixed on the first rotating base 107 by two diagonal angle screws 103; Encoder 102 is affixed on encoder installing plate 104 by four lock-screws 113; The axle head of the second rotating base 109 stretches in the centre bore of encoder 102 and is connected with the code-disc of encoder 102; Processor installing plate 105 is affixed to by an attachment screw 114 on the boss that connects pedestal 105; Revolute joint module processor 101 is fixed on revolute joint module processor installing plate 115 by a pair of attachment screw nut 116; The upper and lower side of revolute joint module processor 101 is designed with electric interfaces for being connected with other modules at encoder 102 and two ends, realizes supply and the CAN bus signal transmission of power supply signal; The two ends of module are designed with the SMIF with other module.
Be respectively as shown in Figure 5, Figure 6 outside drawing and the profile of rotating and swinging joint module.The rotating shaft of rotating and swinging joint module 003 and the axis of himself are orthogonal, include the second swinging base 201, holding screw 202, the first turning cylinder 203, flange bearing 204, cheese head screw 205, rotating and swinging joint module processor installing plate 206, lock-screw and nut 207, rotating and swinging joint module processor 208, the first swinging base 209, locknut 210, balancing weight 211, counterweight hold-down arm 212, encoder 213, the second turning cylinder 214, diagonal angle screw 215, flat head screw 216, the live apart both sides of module of the first turning cylinder 203 and the second turning cylinder 214, be connected with the second swinging base 201 by four holding screws 202, the journal stirrup of the first swinging base 209 is connected with the second swinging base 201 with the second turning cylinder 214 indirectly by flange bearing 204 and by the first turning cylinder 203, realizes and swinging, flange bearing 204 is enclosed within on turning cylinder, the internal diameter of the sleeve of flange bearing 204 and the first turning cylinder 203 and the second turning cylinder 214 matched in clearance, the dead eye tight fit of the external diameter of flange bearing 204 and the first swinging base 209, counterweight hold-down arm 212 is connected by two flat head screws 216 and the first swinging base 209 or the second swinging base 201, balancing weight 211 is fixed in the chute on counterweight hold-down arm 212 by locknut 219 and the double-screw bolt of end face, encoder 213 is affixed to by four diagonal angle screws 215 on the medial surface of the first swinging base 209 1 side journal stirrups, the axle head of the second turning cylinder 214 stretches in the centre bore of encoder 213 and is connected with code-disc, and encoder cabling is connected on rotating and swinging joint module processor 208 by the inner chamber of the first swinging base 209, rotating and swinging joint module processor installing plate 206 is fixed on the first swinging base 209 by cheese head screw 205, rotating and swinging joint module processor 208 is fixed on rotating and swinging joint module processor installing plate 206 by lock-screw and bolt 207, the upper and lower side of rotating and swinging joint module processor 208 is designed with electric interfaces for being connected with other modules at encoder 213 and two ends, realizes supply and the CAN bus signal transmission of power supply signal, the two ends of module are designed with the SMIF with other module.
Be respectively as shown in Figure 7 and Figure 8 outside drawing and the profile of handle module.Handle module (005) includes handle 301, press button 305, the first button mounting bar 307, the second button mounting bar 308 and handle module processor 302; The first button mounting bar 307 and the second button mounting bar 308 are fixed in the cavity of handle 301 bottoms by two screws 304 respectively, a press button 305 is installed on the first button mounting bar 307, two press buttones 305 are installed on the second button mounting bar 308, so operator can be easily by thumb and these three press buttones 305 of forefinger control, and handle module processor 302 is fixed in the apex cavity of handle 301 by studs 303.
The centre of gyration distribution in 90 ° of above-mentioned the first button mounting bar 307 and thorny handle 301 cavitys of the second button mounting bar 308; Two press buttones 305 installing on press button 305 installing on the first button mounting bar 307 and the second button mounting bar 308 are all self-lock switch, produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor 302 is fixed in the apex cavity of handle 301 by two studs 303; On handle module processor 302, be designed with electric interfaces for being connected with other modules, realize supply and the CAN bus signal transmission of power supply signal.There is the SMIF with other module on the top of handle 301.
Operation principle of the present invention is as follows: main robot is fixed on pedestal, the handle module traction engine device people of the operator grasps other end, on each joint module, encoder detects the angular displacement in joint, treated device is processed the joint signal detecting, be mapped to from robot guiding and follow from robot, and the action from end effector of robot by the button control on handle.Modular series connection formula main robot of the present invention in actual applications, module number changeable, the order of connection is variable, that is to say, can free manual change from the configuration of robot.
Claims (10)
1. a modular series connection formula main robot, it is characterized in that comprising a ring flange as pedestal (001), three rotating and swinging joint modules (003), two revolute joint modules (002) and a handle module (005), each module connects with series system successively, the order of connection from pedestal to end is: ring flange, the first revolute joint module, the first rotating and swinging joint module, the second rotating and swinging joint module, the second revolute joint module, the 3rd rotating and swinging joint module, handle module, between two two, be fastenedly connected by snap ring (004), pedestal end is fixed on operating desk by ring flange (001), the joint rotating shaft of the first rotating and swinging joint module and the second rotating and swinging joint module is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module (002) at two ends.
2. modular series connection formula main robot according to claim 1, the interior ring longitudinal section that it is characterized in that above-mentioned snap ring (004) is recessed dovetail groove, snap ring has individual opening, and opening portion is through bolt, and the screw bolt and nut of tightening on snap ring can be fastenedly connected two modules that are connected.
3. modular series connection formula main robot according to claim 1, is characterized in that the electric interfaces that above-mentioned six inside modules are provided with quick plug facilitates the electrical connection between each module.
4. modular series connection formula main robot according to claim 1, it is characterized in that the rotating shaft of above-mentioned revolute joint module (002) and the dead in line of himself, include revolute joint module processor (101), encoder (102), diagonal angle screw (103), encoder installing plate (104), connect pedestal (105), ball bearing (106), the first rotating base (107), thrust bearing (108), the second rotating base (109), latch (110), housing screw (111), bearing sleeve (112), lock-screw (113), attachment screw (114), revolute joint module processor installing plate (115) and holding screw and attachment screw nut (116), bearing sleeve (112) is connected by four housing screws (111) and the second rotating base (109), and compress the inner ring of ball bearing (106), realize the axial location of ball bearing (106), when realizing axial location and radial location by ball bearing (106) and thrust bearing (108) between the first rotating base (107) and the second rotating base (109), realization relatively rotates, the boss of the first rotating base (107) is inserted in and connects in pedestal (105), and is connected by two symmetrical holding screws (117), the second rotating base (109) has centre bore, and axle head side opening communicates with the side of bearing sleeve (112), as the electric wiring passage of module, encoder installing plate (104) is affixed on the first rotating base (107) by two diagonal angle screws (103), encoder (102) is affixed on encoder installing plate (104) by four lock-screws (113), the axle head of the second rotating base (109) stretches in the centre bore of encoder (102) and is connected with the code-disc of encoder (102), processor installing plate (105) is affixed to by an attachment screw (114) on the boss that connects pedestal (105), revolute joint module processor (101) is fixed on processor installing plate (115) by a pair of attachment screw nut (116), the upper and lower side of revolute joint module processor (101) is designed with electric interfaces for being connected with other modules at encoder (102) and two ends, realizes supply and the CAN bus signal transmission of power supply signal.
5. modular series connection formula main robot according to claim 1, the two ends that it is characterized in that above-mentioned revolute joint module (002) are designed with the SMIF with other module.
6. according to the modular series connection formula main robot described in claim 1 to 5 any one, the rotating shaft and the axis of himself that it is characterized in that above-mentioned rotating and swinging joint module (003) are orthogonal, include the second swinging base (201), holding screw (202), the first turning cylinder (203), flange bearing (204), cheese head screw (205), rotating and swinging joint module processor installing plate (206), lock-screw and nut (207), rotating and swinging joint module processor (208), the first swinging base (209), locknut (210), balancing weight (211), counterweight hold-down arm (212), encoder (213), the second turning cylinder (214), diagonal angle screw (215), flat head screw (216), the both sides of the first turning cylinder (203) and the second turning cylinder (214) separation module, be connected with the second swinging base (201) by four holding screws (202), the journal stirrup of the first swinging base (209), is realized and being swung with being indirectly connected with the second swinging base (201) with the second turning cylinder (214) by the first turning cylinder (203) by flange bearing (204), flange bearing (204) is enclosed within on turning cylinder, the internal diameter of the sleeve of flange bearing (204) and the first turning cylinder (203) and the second turning cylinder (214) matched in clearance, the dead eye tight fit of the external diameter of flange bearing (204) and the first swinging base (209), counterweight hold-down arm (212) is connected by two flat head screws (216) and the first swinging base (209) or the second swinging base (201), balancing weight (211) is fixed in the chute on counterweight hold-down arm (212) by locknut 219 and the double-screw bolt of end face, encoder (213) is affixed to by four diagonal angle screws (215) on the medial surface of the first swinging base (209) one side journal stirrups, the axle head of the second turning cylinder (214) stretches in the centre bore of encoder (213) and is connected with code-disc, and encoder cabling is connected on rotating and swinging joint module processor (208) by the inner chamber of the first swinging base (209), rotating and swinging joint module processor installing plate (206) is fixed on the first swinging base (209) by cheese head screw (205), rotating and swinging joint module processor (208) is fixed on rotating and swinging joint module processor installing plate (206) by lock-screw and bolt (207), the upper and lower side of rotating and swinging joint module processor (208) is designed with electric interfaces for being connected with other modules at encoder (213) and two ends, realizes supply and the CAN bus signal transmission of power supply signal.
7. modular series connection formula main robot according to claim 6, the two ends that it is characterized in that above-mentioned rotating and swinging joint module (003) are designed with the SMIF with other module.
8. modular series connection formula main robot according to claim 7, is characterized in that above-mentioned handle module (005) includes handle (301), press button (305), the first button mounting bar (307), the second button mounting bar (308) and handle module processor (302); The first button mounting bar (307) is fixed in the cavity of handle (301) bottom by two screws (304) respectively with the second button mounting bar (308), on the first button mounting bar (307), a press button (305) is installed, on the second button mounting bar (308), two press buttones (305) are installed, so operator can be easily by thumb and these three press buttones (305) of forefinger control, and handle module processor (302) is fixed in the apex cavity of handle (301) by studs (303).
9. modular series connection formula main robot according to claim 8, is characterized in that the centre of gyration distribution in 90 ° of above-mentioned the first button mounting bar (307) and the second thorny handle of button mounting bar (308) (301) cavity; The upper press button (305) of installing of the first button mounting bar (307) and upper two press buttones (305) installed of the second button mounting bar (308) are all self-lock switch, produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor (302) is fixed in the apex cavity of handle (301) by two studs (303); On handle module processor (302), be designed with electric interfaces for being connected with other modules, realize supply and the CAN bus signal transmission of power supply signal.
10. modular series connection formula main robot according to claim 9, the top that it is characterized in that above-mentioned handle (301) is provided with the SMIF with other module.
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| CN115990872A (en) * | 2023-01-16 | 2023-04-21 | 达闼机器人股份有限公司 | Chest executor and robot |
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| CN107878589A (en) * | 2017-09-19 | 2018-04-06 | 广东工业大学 | A kind of modularization annular rolling robot |
| CN109093643A (en) * | 2018-09-19 | 2018-12-28 | 广东工业大学 | A kind of robot connection component of opposite opened semiellipse snap ring |
| CN115990872A (en) * | 2023-01-16 | 2023-04-21 | 达闼机器人股份有限公司 | Chest executor and robot |
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