CN109227542B - Cooperative robot construction method and system, mobile terminal and storage medium - Google Patents
Cooperative robot construction method and system, mobile terminal and storage medium Download PDFInfo
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- CN109227542B CN109227542B CN201811200502.3A CN201811200502A CN109227542B CN 109227542 B CN109227542 B CN 109227542B CN 201811200502 A CN201811200502 A CN 201811200502A CN 109227542 B CN109227542 B CN 109227542B
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Abstract
The invention provides a method and a system for constructing a cooperative robot, a mobile terminal and a storage medium, wherein the control method comprises the following steps: when a robot construction instruction is received, inquiring a target construction scheme according to the construction instruction, wherein a plurality of joint modules are stored in the target construction scheme; acquiring construction requirements stored in the construction instruction, and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models; acquiring parameter requirements stored in the construction instruction, and setting parameters of the joint module according to the parameter requirements; acquiring a construction rule stored in a target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model; and generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file. The cooperative robot has the advantages of simple and convenient assembly, configuration and accessory replacement operation in the construction process of the cooperative robot, and can be adapted to different scene applications.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for constructing a cooperative robot, a mobile terminal and a storage medium.
Background
The cooperative robot is a new type of robot that has appeared in the field of robots in recent years. Compared with the traditional industrial robot, the cooperation robot is small in size, light in weight, highly flexible, convenient to move and more intelligent and safe. Due to the characteristics, the cooperative robot can complete work in a cooperative manner with workers in a close-distance interaction manner without protection and isolation. The cooperative robot can effectively improve the industrial automation level of small and medium-sized manufacturing enterprises, so that the enterprises are helped to realize efficient small-batch processing production to meet the short-term production challenge. Compared with the traditional industrial robot, the cooperative robot has the characteristics of flexibility, intelligence and safety, so that the cooperative robot not only can be suitable for the application field of the traditional industrial robot, but also can meet the requirements of more aspects such as service industry, individuals, families, medical treatment, education and the like, and the robot can more comprehensively permeate into the daily life of people.
Most of cooperative robots in the present stage usually adopt fixed structural design on software and hardware, the integrated scheme is customized on the aspect of hardware according to the actual functions of projects, and software needs to be redesigned by combining the hardware scheme. Therefore, each process from design, modeling, mold opening, assembly to final application docking needs to be started from zero every time a new application scene is met, and once the machine is damaged, the whole application needs to be sent back for replacement, and the time loss and the loss of the hidden value cannot be measured. And few cooperative robots adopting modular design can only adopt a unique module for each joint, so that truly replaceable components are limited, and certain limitations exist in customization and reusability.
Disclosure of Invention
Based on this, the embodiment of the invention aims to solve the problem that in the prior art, the construction process of the cooperative robot is limited because each joint can only adopt a unique module.
In a first aspect, the present invention provides a method for constructing a collaborative robot, the method including:
when a robot construction instruction is received, inquiring a target construction scheme according to the robot construction instruction, wherein a plurality of joint modules are stored in the target construction scheme;
acquiring construction requirements stored in the robot construction instruction, and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
acquiring parameter requirements stored in the robot construction instruction, and setting parameters of the joint module according to the parameter requirements;
acquiring a construction rule stored in the target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model;
and generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file.
Further, in a preferred embodiment of the present invention, the step of respectively performing model matching on each joint module according to the building requirement includes:
acquiring a power range stored in the construction requirement, and matching the power range with a locally pre-stored model library to obtain a plurality of model lists, wherein the model lists store corresponding relations between the joint modules and corresponding module models;
and acquiring a motor power range and a reduction ratio range stored in the construction requirement, and matching the motor power range and the reduction ratio range with the model list to obtain the model of the target module.
Further, in a preferred embodiment of the present invention, after the step of matching the motor power range and the reduction ratio range with the model list, the method further includes:
and when judging that the same joint module is matched with a plurality of target module models in the model library, sending a prompt, and when receiving a feedback instruction aiming at the prompt, selecting the matched target module models according to the feedback instruction so as to enable each target module model to be matched with one corresponding target module model.
Further, in a preferred embodiment of the present invention, the step of setting parameters of the joint module according to the parameter requirements includes;
acquiring a motor positive rotation angle upper limit parameter, a motor negative rotation angle upper limit parameter, a motor maximum rotating speed parameter, a motor maximum acceleration parameter, a positive rotation direction parameter, a calibration factor parameter, a calibration offset parameter, a no-load current maximum amplitude parameter and a full-load current maximum amplitude parameter which are stored in the parameter requirement;
and setting the joint modules according to the acquired motor positive rotation angle upper limit parameter, motor negative rotation angle upper limit parameter, motor maximum rotating speed parameter, motor maximum acceleration parameter, positive rotation direction parameter, calibration factor parameter, calibration offset parameter, no-load current maximum amplitude parameter and full-load current maximum amplitude parameter in sequence.
Further, in a preferred embodiment of the present invention, before the step of querying the target building scheme according to the robot building instruction, the method further includes:
judging whether the robot construction instruction carries an automatic construction identifier or not;
and if so, matching the automatic construction identifier with a local pre-stored configuration library to obtain a corresponding configuration file, and directly assembling the cooperative robot according to the configuration file.
Further, in a preferred embodiment of the present invention, the construction rule stores therein an arm length parameter, a quality parameter, and a centroid position parameter.
According to the cooperative robot construction method, the target construction scheme is automatically inquired by receiving the robot construction instruction, the whole mechanical structure model modeling and the configuration file generation can be automatically completed by automatically matching the model number of the module and setting the physical parameters through the construction requirement and the parameter requirement, so that the assembling, configuring and accessory replacing operations in the cooperative robot construction process are simpler and more convenient, meanwhile, the cooperative robot construction method can be rapidly adapted to different scene applications according to the requirements of users, and the phenomenon that the cooperative robot construction process is limited due to the fact that each joint can only adopt a unique module is avoided.
In a second aspect, the present invention provides a collaborative robot construction system, including:
the system comprises a query module, a processing module and a display module, wherein the query module is used for querying a target construction scheme according to a robot construction instruction when the robot construction instruction is received, and a plurality of joint modules are stored in the target construction scheme;
the matching module is used for acquiring the construction requirements stored in the robot construction instruction and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
the first setting module is used for acquiring parameter requirements stored in the robot construction instruction and setting parameters of the joint module according to the parameter requirements;
the second setting module is used for acquiring the construction rules stored in the target construction scheme and respectively setting the distance of each joint module according to the construction rules so as to establish a mechanical structure model;
and the assembling module is used for generating a configuration file according to the mechanical structure model and assembling the cooperative robot according to the configuration file.
Further, in a preferred embodiment of the present invention, the matching module includes:
the first matching unit is used for acquiring a power range stored in the construction requirement and matching the power range with a locally pre-stored model library to obtain a plurality of model lists, and the model lists store corresponding relations between the joint modules and corresponding module models;
and the second matching unit is used for acquiring the motor power range and the reduction ratio range stored in the construction requirement, and matching the motor power range and the reduction ratio range with the model list to obtain the model of the target module.
According to the cooperative robot construction system, the design of the robot construction instruction is received through the query module so as to automatically query the target construction scheme, the construction requirement and the parameter requirement are acquired through the matching module and the first setting module so as to automatically perform module model matching and physical parameter setting, and then the whole mechanical structure model modeling and the configuration file generation can be automatically completed, so that the assembling, configuring and accessory replacing operations in the cooperative robot construction process are simpler and more convenient, meanwhile, the cooperative robot construction system can be rapidly adapted to different scenes according to the requirements of users, and the phenomenon that the cooperative robot construction process is limited because each joint can only adopt a unique module is prevented.
In a third aspect, the present invention provides a mobile terminal, including a storage device and a processor, where the storage device is used to store a computer program, and the processor runs the computer program to make the mobile terminal execute the above-mentioned cooperative robot construction method.
In a fourth aspect, the present invention provides a storage medium having stored thereon a computer program for use in the above-described mobile terminal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for constructing a collaboration robot according to a first embodiment of the present invention;
fig. 2 is a flowchart of a method for constructing a collaboration robot according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cooperative robot building system according to a third embodiment of the present invention;
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Detailed Description
In order to facilitate a better understanding of the invention, the invention will be further explained below with reference to the accompanying drawings of embodiments. Embodiments of the present invention are shown in the drawings, but the present invention is not limited to the preferred embodiments described above. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, a flowchart of a method for constructing a collaboration robot according to a first embodiment of the present invention includes steps S10 to S50.
Step S10, when a robot construction instruction is received, a target construction scheme is inquired according to the robot construction instruction;
the robot construction method comprises the following steps that a plurality of joint modules are stored in a target construction scheme, a robot construction instruction can be transmitted in a touch signal, infrared signal, voice signal or wireless signal mode, the robot construction instruction is used for expressing that a corresponding client or client has a robot assembly requirement, and preferably, the target construction scheme can be a space 6-degree-of-freedom structure, a space 5-degree-of-freedom structure, a 1-axis orbital plane 4-degree-of-freedom structure, a 3-axis orbital plane 4-degree-of-freedom structure or a plane 3-degree-of-freedom structure and the like;
step S20, obtaining construction requirements stored in the robot construction instruction, and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
the construction requirement stores a function effect or a working state range preset by a user, the working state range can be a voltage range, a current range or a power range, and the parameter range is used for controlling the corresponding joint module to be suitable for a corresponding scene;
step S30, acquiring parameter requirements stored in the robot construction instruction, and setting parameters of the joint module according to the parameter requirements;
the parameter requirement comprises a plurality of parameter value ranges preset by a user, wherein the parameter value ranges are used for carrying out specific parameter setting on each joint module so that the joint modules meet the working requirement of a corresponding scene;
step S40, obtaining a construction rule stored in the target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model;
the construction rule is used for parameter setting when each joint module is assembled and connected, the construction rule comprises an arm length parameter, a quality parameter and a mass center position parameter, the arm length parameter defines the actual distance between each pair of adjacent joint modules, the quality parameter defines the mass size of the current joint module and the joint arm, and the mass center position parameter defines the offset coordinates of the mass center of the current joint module and the joint arm relative to the module;
step S50, generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file;
the configuration file is used for correspondingly calling the selected joint modules and controlling assembly and assembly among the joint modules;
in this embodiment, the robot building instruction is received to automatically query the target building scheme, and the building requirement and the parameter requirement are acquired to automatically perform matching of module types and setting of physical parameters, so that the whole mechanical structure model modeling and the generation of the configuration file can be automatically completed, further, the operations of assembling, configuring and part replacement in the building process of the cooperative robot are simpler and more convenient, and meanwhile, the cooperative robot can be rapidly adapted to different scenes according to the requirements of a user, so that the phenomenon that the building process of the cooperative robot is limited because each joint can only adopt a unique module is prevented.
Referring to fig. 2, a flowchart of a method for constructing a collaborative robot according to a second embodiment of the present invention is shown, where the method includes steps S11 to S71.
Step S11, when a robot construction instruction is received, a target construction scheme is inquired according to the robot construction instruction;
the robot construction method comprises the following steps that a plurality of joint modules are stored in a target construction scheme, a robot construction instruction can be transmitted in a touch signal, infrared signal, voice signal or wireless signal mode, the robot construction instruction is used for expressing that a corresponding client or client has a robot assembly requirement, and preferably, the target construction scheme can be a space 6-degree-of-freedom structure, a space 5-degree-of-freedom structure, a 1-axis orbital plane 4-degree-of-freedom structure, a 3-axis orbital plane 4-degree-of-freedom structure or a plane 3-degree-of-freedom structure and the like;
preferably, before the step of querying the target building scheme according to the robot building instruction in this step, the method further comprises:
judging whether the robot construction instruction carries an automatic construction identifier or not;
if so, matching the automatic construction identifier with a local pre-stored configuration library to obtain a corresponding configuration file, and directly assembling the cooperative robot according to the configuration file;
step S21, acquiring the power range stored in the construction requirement, and matching the power range with a locally pre-stored model library to obtain a plurality of model lists;
in addition, in other embodiments of the present invention, the power range may be a voltage range, a current range, or the like, and the range is used to control the corresponding joint module to be suitable for a corresponding scenario;
step S31, obtaining a motor power range and a reduction ratio range stored in the construction requirement, and matching the motor power range and the reduction ratio range with the model list to obtain the model of the target module;
preferably, the method in this step further comprises:
when judging that the same joint module is matched with a plurality of target module models in the model library, sending a prompt, and when receiving a feedback instruction aiming at the prompt, selecting the matched target module models according to the feedback instruction so as to enable each target module model to be matched with one corresponding target module model;
step S41, acquiring parameter requirements stored in the robot construction instruction, and acquiring a motor positive rotation angle upper limit parameter, a motor negative rotation angle upper limit parameter, a motor maximum rotation speed parameter, a motor maximum acceleration parameter, a positive rotation direction parameter, a calibration factor parameter, a calibration offset parameter, a no-load current maximum amplitude parameter and a full-load current maximum amplitude parameter stored in the parameter requirements;
wherein, the upper limit parameter of the positive rotation angle of the motor is used for setting the maximum rotation angle which can be reached by the positive rotation of the motor in the rotation process, the upper limit parameter of the negative rotation angle of the motor is used for setting the maximum rotation angle which can be reached by the negative rotation of the motor in the rotation process, the maximum rotation speed parameter of the motor is used for setting the maximum speed which can be reached by the motor in the rotation process, the maximum acceleration parameter of the motor is used for setting the maximum acceleration which can be reached by the motor in the rotation process, the positive rotation direction parameter is used for setting the positive direction and the rated direction of the rotation of the motor, the calibration factor is used for setting the coefficient of the maximum induced current of the joint relative to the rated maximum current when calibrating the mechanical arm, the calibration offset parameter is used for setting the correction offset of the calibration error when calibrating the mechanical arm, and the maximum amplitude parameter of the unloaded current is used for setting, the maximum amplitude parameter of the full-load current is used for setting the maximum reasonable offset range of the coefficient of the actual current relative to the rated current of the cooperative robot under the full-load condition;
step S51, setting the corresponding joint modules in sequence according to the acquired motor positive rotation angle upper limit parameter, the motor negative rotation angle upper limit parameter, the motor maximum rotating speed parameter, the motor maximum acceleration parameter, the positive rotation direction parameter, the calibration factor parameter, the calibration offset parameter, the no-load current maximum amplitude parameter and the full-load current maximum amplitude parameter;
step S61, obtaining a construction rule stored in the target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model;
the construction rule is used for parameter setting when each joint module is assembled and connected, the construction rule comprises an arm length parameter, a quality parameter and a mass center position parameter, the arm length parameter defines the actual distance between each pair of adjacent joint modules, the quality parameter defines the mass size of the current joint module and the joint arm, and the mass center position parameter defines the offset coordinates of the mass center of the current joint module and the joint arm relative to the module;
step S71, generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file;
the configuration file is used for correspondingly calling the selected joint modules and controlling assembly and assembly among the joint modules;
in this embodiment, the robot building instruction is received to automatically query the target building scheme, and the building requirement and the parameter requirement are acquired to automatically perform matching of module types and setting of physical parameters, so that the whole mechanical structure model modeling and the generation of the configuration file can be automatically completed, further, the operations of assembling, configuring and part replacement in the building process of the cooperative robot are simpler and more convenient, and meanwhile, the cooperative robot can be rapidly adapted to different scenes according to the requirements of a user, so that the phenomenon that the building process of the cooperative robot is limited because each joint can only adopt a unique module is prevented.
Referring to fig. 3, a schematic structural diagram of a cooperative robot building system 100 according to a third embodiment of the present invention includes:
the system comprises a query module 10, configured to query a target construction scheme according to a robot construction instruction when the robot construction instruction is received, where the target construction scheme stores a plurality of joint modules, the robot construction instruction may be transmitted in a manner of a touch signal, an infrared signal, a voice signal, or a wireless signal, and the robot construction instruction is used to express that a corresponding client or client has a robot assembly requirement, and preferably, the target construction scheme may be a space 6-degree-of-freedom structure, a space 5-degree-of-freedom structure, a 1-axis orbital plane 4-degree-of-freedom structure, a 3-axis orbital plane 4-degree-of-freedom structure, or a plane 3-degree-of-freedom structure.
The matching module 20 is configured to obtain a construction requirement stored in the robot construction instruction, and perform model matching on each joint module according to the construction requirement to obtain multiple target module models, where the construction requirement stores a function effect or a working state range preset by a user, the working state range may be a voltage range, a current range, or a power range, and the parameter range is used to control a corresponding joint module to be suitable for a corresponding scene.
The first setting module 30 is configured to obtain a parameter requirement stored in the robot building instruction, and perform parameter setting on the joint modules according to the parameter requirement, where the parameter requirement stores a plurality of parameter value ranges preset by a user, and the parameter value ranges are used for performing specific parameter setting on each joint module, so that the joint modules meet working requirements of corresponding scenes.
A second setting module 40, configured to obtain a construction rule stored in the target construction scheme, and set a distance between each joint module according to the construction rule, so as to establish a mechanical structure model, where the construction rule is used for setting parameters when each joint module is assembled and connected, the construction rule includes an arm length parameter, a quality parameter, and a centroid position parameter, the arm length parameter defines an actual distance between each pair of adjacent joint modules, the quality parameter defines a mass size of a current joint module and a joint arm, and the centroid position parameter defines an offset coordinate of a centroid of the current joint module and the joint arm relative to the module.
And the assembling module 50 is configured to generate a configuration file according to the mechanical structure model, and assemble the cooperative robot according to the configuration file, where the configuration file is used to correspondingly fetch the selected joint modules and control assembling between the joint modules.
Further, in the preferred embodiment of the present invention, the matching module 20 includes:
a first matching unit 21, configured to obtain a power range stored in the construction requirement, and match the power range with a locally pre-stored model library to obtain multiple model lists, where a correspondence relationship between the joint module and a corresponding module model is stored in the model lists;
the second matching unit 22 is configured to obtain a motor power range and a reduction ratio range stored in the construction requirement, and match the motor power range and the reduction ratio range with the model list to obtain the model of the target module;
and the prompting unit 23 is configured to send a prompt when it is determined that the same joint module matches multiple target module models in the model library, and select multiple matched target module models according to a feedback instruction when the feedback instruction for the prompt is received, so that each target module model matches a corresponding target module model.
Preferably, the first setting module 30 includes:
an obtaining unit 31, configured to obtain a motor positive rotation angle upper limit parameter, a motor negative rotation angle upper limit parameter, a motor maximum rotation speed parameter, a motor maximum acceleration parameter, a positive rotation direction parameter, a calibration factor parameter, a calibration offset parameter, a no-load current maximum amplitude parameter, and a full-load current maximum amplitude parameter, which are stored in the parameter requirement;
the setting unit 32 is configured to sequentially set the corresponding joint modules according to the acquired motor positive rotation angle upper limit parameter, the acquired motor negative rotation angle upper limit parameter, the acquired motor maximum rotation speed parameter, the acquired motor maximum acceleration parameter, the acquired positive rotation direction parameter, the acquired calibration factor parameter, the acquired calibration offset parameter, the acquired no-load current maximum amplitude parameter, and the acquired full-load current maximum amplitude parameter.
In addition, in this embodiment, the cooperative robot building system 100 further includes:
a judging module 60, configured to judge whether the robot building instruction carries an automatic building identifier; and if so, matching the automatic construction identifier with a local pre-stored configuration library to obtain a corresponding configuration file, and directly assembling the cooperative robot according to the configuration file.
In the above cooperative robot building system 100, the query module 10 receives the design of the robot building instruction to automatically query the target building scheme, and the matching module 20 and the first setting module 30 acquire the building requirement and the parameter requirement to automatically perform module model matching and physical parameter setting, so as to automatically complete the modeling of the entire mechanical structure model and the generation of the configuration file, thereby making the operations of assembling, configuring and replacing accessories in the building process of the cooperative robot easier and more convenient, and meanwhile, the cooperative robot building system can be rapidly adapted to different scene applications according to the requirements of users, thereby preventing the phenomenon that the building process of the cooperative robot is limited because each joint can only adopt a unique module.
The embodiment also provides a mobile terminal, which includes a storage device and a processor, where the storage device is used to store a computer program, and the processor runs the computer program to make the mobile terminal execute the above-mentioned cooperative robot construction method.
The present embodiment also provides a storage medium on which a computer program used in the above-mentioned mobile terminal is stored, which when executed, includes the steps of:
when a robot construction instruction is received, inquiring a target construction scheme according to the robot construction instruction, wherein a plurality of joint modules are stored in the target construction scheme;
acquiring construction requirements stored in the robot construction instruction, and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
acquiring parameter requirements stored in the robot construction instruction, and setting parameters of the joint module according to the parameter requirements;
acquiring a construction rule stored in the target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model;
and generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file. The storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is used as an example, in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to needs, that is, the internal structure of the storage device is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
Those skilled in the art will appreciate that the component structure shown in fig. 3 does not constitute a limitation of the cooperative robot construction system of the present invention, and may include more or less components than those shown, or combine some components, or different arrangement of components, while the cooperative robot construction method in fig. 1-2 is also implemented using more or less components than those shown in fig. 3, or combine some components, or different arrangement of components. The unit, module, etc. referred to in the present invention is a series of computer programs that can be executed by a processor (not shown) in the cooperative robot construction system and that can function to perform a specific function, and each of them can be stored in a storage device (not shown) of the cooperative robot construction system.
The above-described embodiments describe the technical principles of the present invention, and these descriptions are only for the purpose of explaining the principles of the present invention and are not to be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (7)
1. A collaborative robot construction method, the method comprising:
when a robot construction instruction is received, inquiring a target construction scheme according to the robot construction instruction, wherein a plurality of joint modules are stored in the target construction scheme;
acquiring construction requirements stored in the robot construction instruction, and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
acquiring parameter requirements stored in the robot construction instruction, and setting parameters of the joint module according to the parameter requirements;
acquiring a construction rule stored in the target construction scheme, and respectively setting the distance of each joint module according to the construction rule to establish a mechanical structure model;
generating a configuration file according to the mechanical structure model, and assembling the cooperative robot according to the configuration file;
the step of respectively carrying out model matching on each joint module according to the construction requirement comprises the following steps:
acquiring a power range stored in the construction requirement, and matching the power range with a locally pre-stored model library to obtain a plurality of model lists, wherein the model lists store corresponding relations between the joint modules and corresponding module models;
obtaining a motor power range and a reduction ratio range stored in the construction requirement, and matching the motor power range and the reduction ratio range with the model list to obtain the model of the target module;
after the step of matching the motor power range, the reduction ratio range, and the model list, the method further includes:
and when judging that the same joint module is matched with a plurality of target module models in the model library, sending a prompt, and when receiving a feedback instruction aiming at the prompt, selecting the matched target module models according to the feedback instruction so as to enable each target module model to be matched with one corresponding target module model.
2. The collaborative robot construction method of claim 1, wherein the step of parameter setting the joint module according to the parameter requirements includes;
acquiring a motor positive rotation angle upper limit parameter, a motor negative rotation angle upper limit parameter, a motor maximum rotating speed parameter, a motor maximum acceleration parameter, a positive rotation direction parameter, a calibration factor parameter, a calibration offset parameter, a no-load current maximum amplitude parameter and a full-load current maximum amplitude parameter which are stored in the parameter requirement;
and setting the joint modules according to the acquired motor positive rotation angle upper limit parameter, motor negative rotation angle upper limit parameter, motor maximum rotating speed parameter, motor maximum acceleration parameter, positive rotation direction parameter, calibration factor parameter, calibration offset parameter, no-load current maximum amplitude parameter and full-load current maximum amplitude parameter in sequence.
3. The collaborative robot construction method of claim 1, wherein the step of querying a target construction solution according to the robot construction instructions is preceded by the method further comprising:
judging whether the robot construction instruction carries an automatic construction identifier or not;
and if so, matching the automatic construction identifier with a local pre-stored configuration library to obtain a corresponding configuration file, and directly assembling the cooperative robot according to the configuration file.
4. The collaborative robot construction method according to claim 1, wherein an arm length parameter, a quality parameter, and a centroid position parameter are stored within the construction rule.
5. A collaborative robotic construction system, comprising:
the system comprises a query module, a processing module and a display module, wherein the query module is used for querying a target construction scheme according to a robot construction instruction when the robot construction instruction is received, and a plurality of joint modules are stored in the target construction scheme;
the matching module is used for acquiring the construction requirements stored in the robot construction instruction and respectively performing model matching on each joint module according to the construction requirements to obtain a plurality of target module models;
the first setting module is used for acquiring parameter requirements stored in the robot construction instruction and setting parameters of the joint module according to the parameter requirements;
the second setting module is used for acquiring the construction rules stored in the target construction scheme and respectively setting the distance of each joint module according to the construction rules so as to establish a mechanical structure model;
the assembling module is used for generating a configuration file according to the mechanical structure model and assembling the cooperative robot according to the configuration file;
wherein the matching module comprises:
the first matching unit is used for acquiring a power range stored in the construction requirement and matching the power range with a locally pre-stored model library to obtain a plurality of model lists, and the model lists store corresponding relations between the joint modules and corresponding module models;
and the second matching unit is used for acquiring the motor power range and the reduction ratio range stored in the construction requirement, and matching the motor power range and the reduction ratio range with the model list to obtain the model of the target module.
6. A mobile terminal, characterized by comprising a storage device for storing a computer program and a processor for executing the computer program to cause the mobile terminal to execute the cooperative robot construction method according to any one of claims 1 to 4.
7. A storage medium characterized in that it stores a computer program for use in a mobile terminal according to claim 6.
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CN201811200502.3A CN109227542B (en) | 2018-10-16 | 2018-10-16 | Cooperative robot construction method and system, mobile terminal and storage medium |
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