技术领域technical field
本发明是一种模块化串联式主机器人，属于模块化串联式主机器人的改造技术。The invention is a modular serial main robot, which belongs to the modification technology of the modular serial main robot.
背景技术Background technique
人类越来越需要能在危险或未知环境中工作的机器人。然而，受人工智能技术、机构、控制和传感技术等方面的限制，研制出能在未知环境中自主工作的智能机器人还需要很长一段时间。因此目前依赖人的智能，工作在人机交互下的主从控制机器人是一种现实可行的选择。这种主从控制将人的智能和机器人的执行结合起来，实现了人的感知能力和行为能力的延伸。操作者对主机器人进行操作，处理器根据主机器人的位姿信息把操作者的控制意图转化为从机器人可以理解的命令，并以此控制从机器人运动以实现相应的任务，同时通过视觉或力觉将其状态信息反馈给操作者，操作者据此修改自己的控制行为。作为人机交互的窗口和工具，能够把人的智能作用于机器人，实现人的感知能力和行为能力的延伸的主机器人便应运而生。Humans increasingly need robots that can work in dangerous or unknown environments. However, limited by artificial intelligence technology, mechanism, control and sensing technology, it will take a long time to develop intelligent robots that can work autonomously in unknown environments. Therefore, currently relying on human intelligence, the master-slave control robot working under human-computer interaction is a realistic and feasible choice. This kind of master-slave control combines human intelligence and robot execution, and realizes the extension of human perception and behavior. The operator operates the master robot, and the processor converts the operator's control intention into commands that the slave robot can understand according to the pose information of the master robot, and controls the movement of the slave robot to achieve the corresponding task. The sense feeds back its state information to the operator, and the operator modifies his control behavior accordingly. As a window and tool of human-computer interaction, the main robot that can apply human intelligence to robots and realize the extension of human perception and behavior capabilities has emerged as the times require.
国内外学者已经研制了很多主机器人，并有很多商业化的系统，例如带力反馈的Phantom、外骨骼式的数据手套。但是目前的主机器人的构型都是固定的，不能根据任务要求或从机器人的变化相应地改换构型；而且自由度也固定不变，不能根据需要进行增减。这就导致了主机器人难以适应各种不同的从机器人。例如，当实际需要少自由度从机器人时造成主机器人自由度冗余，使得主从之间的映射复杂，计算量大，影响主从控制的实时性与稳定性。因此，主机器人的通用性和灵活性是目前研究主机器人面临的主要问题。模块化的设计方法能够解决主机器人的通用性差以及结构和控制复杂等问题。模块化主机器人能够通过改变自身仅有的几种模块的连接顺序或方式而获得多种不同构型，以满足不同的从机器人构型或者任务要求，容易实现主从机器人之间的同构映射。相比传统主机器人，模块化主机器人具有良好的适应性、灵活性、和容错性以及成本低等优点。模块化结构简单，易于加工，各模块之间可以相互替换，实现快速组装。Scholars at home and abroad have developed many main robots, and there are many commercial systems, such as Phantom with force feedback and exoskeleton-style data gloves. However, the configuration of the current master robot is fixed, and the configuration cannot be changed accordingly according to the task requirements or the change of the slave robot; and the degrees of freedom are also fixed, and cannot be increased or decreased as required. This makes it difficult for the master robot to adapt to various slave robots. For example, when the slave robot with few degrees of freedom is actually needed, the master robot has redundant degrees of freedom, which makes the mapping between the master and the slave complex, and the amount of calculation is large, which affects the real-time performance and stability of the master-slave control. Therefore, the versatility and flexibility of the main robot is the main problem facing the current study of the main robot. The modular design method can solve the problems of poor versatility and complex structure and control of the main robot. The modular master robot can obtain a variety of different configurations by changing the connection sequence or mode of only a few modules of its own to meet different slave robot configurations or task requirements, and it is easy to achieve isomorphic mapping between master and slave robots . Compared with the traditional main robot, the modular main robot has the advantages of good adaptability, flexibility, fault tolerance and low cost. The modular structure is simple and easy to process, and each module can be replaced with each other to realize rapid assembly.
国内外已经研制了很多主机器人，并有很多商业化的系统，例如带力反馈的Phantom、外骨骼式的数据手套。但它们存在若干问题和不足，主要表现在：（1）通用性和灵活性差。目前的主机器人的构型都是固定的，不能根据任务要求或从机器人的变化相应地改换构型；而且自由度也固定不变，不能根据需要进行增减。这就导致了主机器人难以适应各种不同的从机器人。（2）成本高，由于缺乏通用性，不同的从机器人往往需要相应的主机器人，这样主机器人的研制和使用成本高；（3）控制复杂，现有主机器人系统与从机器人之间大多是异构的，主从机器人之间的映射较复杂，计算量大，影响主从控制的稳定性；（3）操作性能较差，现有主机器人系统都是穿戴型或落式大型式的，前者一般具有随遇平衡问题，操作者容易产生疲劳；落式大型式的主机器人要求操作者直立，长时间操作后也会疲劳。Many main robots have been developed at home and abroad, and there are many commercial systems, such as Phantom with force feedback and exoskeleton-style data gloves. But they have some problems and deficiencies, mainly in: (1) poor versatility and flexibility. The configuration of the current main robot is fixed, and the configuration cannot be changed according to the task requirements or changes of the slave robot; and the degrees of freedom are also fixed, and cannot be increased or decreased according to the needs. This makes it difficult for the master robot to adapt to various slave robots. (2) The cost is high. Due to the lack of versatility, different slave robots often require corresponding master robots, so the development and use costs of the master robot are high; (3) The control is complex, and most of the existing master robot systems and slave robots are Heterogeneous, the mapping between the master-slave robot is more complicated, the amount of calculation is large, which affects the stability of the master-slave control; (3) The operation performance is poor, and the existing master robot systems are all wearable or drop-type large-scale, The former generally has balance problems, and the operator is prone to fatigue; the drop-type large-scale main robot requires the operator to stand upright, and it will also fatigue after long-term operation.
一般要求主机器人能够具有较高的通用性，能控制多种不同的从机器人系统，这样就可以降低主机器人的研制需要，从而降低主机器人的平均研制成本；另外要求主机器人结构简单合理，能够与多种从机器人进行简单的主从映射，从而简化主从控制，提高主从机器人系统的稳定性。因此，开发一种能控制多种从机器人并且结构简单、操作性强、成本低廉的主机器人符合机器人发展的趋势和社会生产生活的需要。It is generally required that the master robot has high versatility and can control a variety of slave robot systems, so that the development needs of the master robot can be reduced, thereby reducing the average development cost of the master robot; in addition, the master robot is required to be simple and reasonable in structure, able to Simple master-slave mapping with multiple slave robots simplifies master-slave control and improves the stability of the master-slave robot system. Therefore, the development of a master robot that can control a variety of slave robots and has a simple structure, strong operability, and low cost is in line with the development trend of robots and the needs of social production and life.
模块化的设计方法能够解决主机器人的通用性差以及结构和控制复杂等问题。模块化主机器人能够通过改变自身仅有的几种模块的连接顺序或方式而获得多种不同构型，以满足不同的从机器人构型或者任务要求，容易实现主从机器人之间的同构映射。相比传统主机器人，模块化主机器人具有良好的适应性、灵活性、和容错性以及成本低等优点。模块化结构简单，易于加工，各模块之间可以相互替换，实现快速组装。The modular design method can solve the problems of poor versatility and complex structure and control of the main robot. The modular master robot can obtain a variety of different configurations by changing the connection sequence or mode of only a few modules of its own to meet different slave robot configurations or task requirements, and it is easy to achieve isomorphic mapping between master and slave robots . Compared with the traditional main robot, the modular main robot has the advantages of good adaptability, flexibility, fault tolerance and low cost. The modular structure is simple and easy to process, and each module can be replaced with each other to realize rapid assembly.
现有一种阻尼式主机器人，其关节模块用阻尼器拟实现关节负载的平衡，每个关节模块用两个相同的阻尼器相向叠加组成双向阻尼器。这种平衡方式增加了结构的复杂性，也带来了正反方向转动的回差，降低了检测精度。另外，由于阻尼器的阻尼是恒定的，不能随主机器人的构型和自由度的不同而改变，不能实现随遇平衡，操作性也欠佳。因此，现有的阻尼式主机器人不理想，有必要开发其它的结构更简单、操作更方便、能实现随遇平衡的模块化主机器人。There is a damping main robot, the joint module uses dampers to balance the joint load, and each joint module uses two identical dampers stacked against each other to form a bidirectional damper. This balance method increases the complexity of the structure, and also brings backlash in the forward and reverse directions, which reduces the detection accuracy. In addition, since the damping of the damper is constant, it cannot be changed with the configuration and degrees of freedom of the main robot, so it is impossible to achieve a random balance and the operability is not good. Therefore, the existing damping-type main robot is not ideal, and it is necessary to develop other modular main robots with simpler structure, more convenient operation and the ability to achieve balance in any situation.
发明内容Contents of the invention
本发明的目的在于考虑上述问题而提供一种结构简单、操作方便、能实现随遇平衡的模块化串联式主机器人。本发明设计合理，方便使用。The object of the present invention is to provide a modular series main robot with simple structure, convenient operation and balance in any situation in consideration of the above problems. The invention is reasonable in design and convenient to use.
本发明的技术方案是：本发明的模块化串联式主机器人,包括一个作为基座的法兰盘、三个摆转关节模块、两个回转关节模块和一个手柄模块，各模块依次以串联方式连接，从基座到末端的连接顺序为：法兰盘、第一回转关节模块、第一摆转关节模块、第二摆转关节模块、第二回转关节模块、第三摆转关节模块、手柄模块，俩俩之间通过卡环紧固连接，基座端通过法兰盘固定在操作台上，第一摆转关节模块和第二摆转关节模块的关节转轴互相平行，并自然地与两端的回转关节模块的关节轴垂直。The technical solution of the present invention is: the modular serial main robot of the present invention includes a flange plate as a base, three swing joint modules, two rotary joint modules and a handle module, and each module is sequentially connected in series. Connection, the connection sequence from the base to the end is: flange, first swing joint module, first swing joint module, second swing joint module, second swing joint module, third swing joint module, handle The two modules are fastened and connected by snap rings, and the base end is fixed on the console through a flange. The joint shafts of the first swing joint module and the second swing joint module are parallel to each other, and are naturally aligned with the two The joint axis of the swivel joint module at the end is vertical.
本发明的每个回转关节模块和摆转关节模块都只具有一个转动自由度，其转动轴线分别与关节模块本身的轴线重合和垂直。关节模块由外力或外力矩驱动，其编码器检测关节转角。各模块通过内部走线实现电源和信号的传输。调节摆转关节模块上配重块的数量和位置实现主机器人的随遇平衡。该主机器人由操作者手持末端的手柄模块牵引，各关节模块检测各自的关节转角，引导从机器人跟随，手柄模块上的按钮控制从机器人末端执行器的动作。本发明与现有技术相比,具有如下特点和优势：Each of the swivel joint module and the swing joint module of the present invention has only one rotational degree of freedom, and the rotational axes thereof coincide with and are perpendicular to the axis of the joint module itself. The joint module is driven by external force or external torque, and its encoder detects the joint rotation angle. Each module implements power and signal transmission through internal wiring. Adjust the number and position of counterweights on the swing joint module to achieve the random balance of the main robot. The main robot is pulled by the handle module at the end of the hand held by the operator. Each joint module detects its joint rotation angle and guides the slave robot to follow. The button on the handle module controls the action of the end effector of the slave robot. Compared with the prior art, the present invention has the following characteristics and advantages:
1)模块化：本发明由两种单自由度的关节模块和一个手柄模块构成，模块之间通过卡环实现连接和紧固，机器人的构建和拆装简单、方便和快速。构型可变，自由度可变。1) Modularization: The present invention is composed of two single-degree-of-freedom joint modules and a handle module. The modules are connected and fastened by snap rings, and the construction and disassembly of the robot are simple, convenient and fast. The configuration is variable and the degrees of freedom are variable.
2)通用性强、灵活性好：本发明模块化的结构特点使得主机器人的构型和自由度根据从机器人的具体情况而可变，因而主机器人适应性强，具有良好的通用性和灵活性。2) Strong versatility and good flexibility: the modular structure of the present invention makes the configuration and degrees of freedom of the master robot variable according to the specific conditions of the slave robot, so the master robot has strong adaptability, good versatility and flexibility sex.
3)随遇平衡：本发明通过配重块的增减和安装位置的调节，很容易实现主机器人在没有外力作用下任何位姿的平衡，使操作轻松便捷。3) Random balance: the present invention can easily realize the balance of any pose of the main robot without external force through the increase or decrease of the counterweight and the adjustment of the installation position, making the operation easy and convenient.
4)内部走线、外观简洁：本发明模块之间的电气连接在内部实现，走线不外露，连接可靠，外观整洁。4) Internal wiring and simple appearance: the electrical connection between the modules of the present invention is realized inside, the wiring is not exposed, the connection is reliable, and the appearance is neat.
5)结构简单、成本低廉：本发明主机器人只有三种模块组成，而每个模块本身结构很简单，这样其结构非常简单，研制、使用和维护成本低廉。5) Simple structure and low cost: the main robot of the present invention consists of only three modules, and each module itself has a very simple structure, so its structure is very simple, and the development, use and maintenance costs are low.
本发明具有构建容易、构型可变、结构简单、扩展性好、通用性强、能够随遇平衡、操作灵便以及容易实现与从机器人的同构映射等优点，可以广泛应用于工业、医疗、建筑业、核工业和化工等领域从机器人的遥控。是一种设计巧妙，性能优良，方便实用的模块化串联式主机器人。The invention has the advantages of easy construction, variable configuration, simple structure, good expansibility, strong versatility, ability to balance with any situation, convenient operation, easy realization of isomorphic mapping with slave robots, etc., and can be widely used in industry, medical treatment, Remote control of robots in the fields of construction, nuclear industry and chemical industry. It is a modular tandem main robot with ingenious design, excellent performance, convenience and practicality.
附图说明Description of drawings
图1 是本发明的串联式主机器人外观图；Fig. 1 is the exterior view of the tandem main robot of the present invention;
图2 是本发明的串联式主机器人机构示意图；Fig. 2 is a schematic diagram of the tandem main robot mechanism of the present invention;
图3是本发明的回转关节模块外观图；Fig. 3 is the exterior view of the rotary joint module of the present invention;
图4是本发明的回转关节模块剖面图；Fig. 4 is a sectional view of the rotary joint module of the present invention;
图5是本发明的摆转关节模块外观图；Fig. 5 is an appearance diagram of the swing joint module of the present invention;
图6是本发明的摆转关节模块剖面图；Fig. 6 is a sectional view of the swing joint module of the present invention;
图7 是本发明的手柄模块外观图；Fig. 7 is the exterior view of the handle module of the present invention;
图8 是本发明的手柄模块剖面图。Fig. 8 is a sectional view of the handle module of the present invention.
具体实施方式Detailed ways
为了更好地理解本发明，下面结合附图以五自由度主机器人为本发明作进一步地描述，但本发明的实施方式不限于此。In order to better understand the present invention, a five-degree-of-freedom main robot will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.
图1和图2分别示出了本发明构建的五自由度串联式主机器人的外观图和机构示意图。如图所示，该模块化的主机器人本体包括一个作为基座的法兰盘001、三个摆转关节模块003、两个回转关节模块002和一个手柄模块005，各模块依次以串联方式连接，从基座到末端的连接顺序为：法兰盘、第一回转关节模块、第一摆转关节模块、第二摆转关节模块、第二回转关节模块、第三摆转关节模块、手柄模块，俩俩之间通过卡环004紧固连接，基座端通过法兰盘001固定在操作台上，第一摆转关节模块和第二摆转关节模块的关节转轴互相平行，并自然地与两端的回转关节模块002的关节轴垂直。操作者手握住手柄模块005运动时，改变手柄模块005的位置和姿态，摆转关节模块003和回转关节模块002自然转动，其转角自然发生变化，即整个主机器人的位形发生变化，将此位姿映射到从机器人即可控制从机器人的位形及其末端的位姿。本实施例中，上述基座端通过法兰盘001放置或通过螺钉固定在操作台上。模块之间用卡环004进行连接，卡环004的内环纵截面为凹的梯形槽，卡环有个开口，开口部分穿过螺栓，拧紧卡环上的螺栓和螺母即可将相连的两个模块紧固连接。在模块内部有快捷插拔的电气接口方便各模块之间的电气连接。操作者手握住手柄模块005运动时，可以改变摆转关节模块003和回转关节模块002的转角即可改变整个主机器人的位姿暨手柄模块005的位置和姿态，将此位姿映射到从机器人即可控制从机器人的位形及其末端的位姿。本实施例中，摆转关节模块003为T型关节，回转关节模块002为I形关节。Figure 1 and Figure 2 respectively show the appearance and schematic diagram of the five-degree-of-freedom series main robot constructed in the present invention. As shown in the figure, the modular main robot body includes a flange 001 as a base, three swing joint modules 003, two swing joint modules 002 and a handle module 005, and each module is connected in series in turn , the connection sequence from the base to the end is: flange, first swing joint module, first swing joint module, second swing joint module, second swing joint module, third swing joint module, handle module , the two are fastened through the snap ring 004, the base end is fixed on the console through the flange 001, the joint shafts of the first swing joint module and the second swing joint module are parallel to each other, and naturally The joint axes of the rotary joint modules 002 at both ends are vertical. When the operator holds the handle module 005 and moves, changing the position and posture of the handle module 005, the swing joint module 003 and the swivel joint module 002 will naturally rotate, and their corners will naturally change, that is, the configuration of the entire main robot will change. This pose is mapped to the configuration of the slave robot that can control the slave robot and the pose of its end. In this embodiment, the above-mentioned base end is placed through the flange plate 001 or fixed on the operating table through screws. The modules are connected by a snap ring 004. The longitudinal section of the inner ring of the snap ring 004 is a concave trapezoidal groove. The snap ring has an opening. The modules are firmly connected. There are quick-plug electrical interfaces inside the module to facilitate the electrical connection between modules. When the operator holds the handle module 005 to move, he can change the rotation angle of the swing joint module 003 and the swivel joint module 002 to change the pose of the entire main robot and the position and posture of the handle module 005, and map this pose to the slave The robot can be controlled from the configuration of the robot and the pose of its end. In this embodiment, the swing joint module 003 is a T-shaped joint, and the rotary joint module 002 is an I-shaped joint.
如图3和图4所示分别为回转关节模块002的外观图和剖面图。回转关节模块002的转轴与其自身的轴线重合。包括回转关节模块处理器101、编码器102、对角螺钉103、编码器安装板104、连接基座105、球轴承106、第一转动基座107、推力轴承108、第二转动基座109、插销110、压紧螺钉111、轴承套筒112、锁紧螺钉113、配合螺钉114、回转关节模块处理器安装板115和紧定螺钉及连接螺钉螺母116等。各零部件的连接方式为：轴承套筒112通过四个压紧螺钉111与第二转动基座109固连，并压紧球轴承106的内圈，实现球轴承106的轴向定位；第一转动基座107与第二转动基座109之间通过球轴承106和推力轴承108实现轴向定位和径向定位的同时，实现相对转动；第一转动基座107的凸台套入连接基座105中，并由两个对称的紧定螺钉117固连；第二转动基座109有中心孔，轴端侧孔与轴承套筒112的侧面相通，用作模块的电气线路通道；编码器安装板104通过两个对角螺钉103固连到第一转动基座107上；编码器102由四个锁紧螺钉113固连到编码器安装板104上；第二转动基座109的轴端伸入编码器102的中心孔中与编码器102的码盘固连；处理器安装板105通过一个配合螺钉114固连到连接基座105的凸台上；回转关节模块处理器101通过一对连接螺钉螺母116固定在回转关节模块处理器安装板115上；回转关节模块处理器101的上下端设计有电气接口用于与编码器102和两端的其他模块连接，实现电源信号的供应和CAN总线信号传输；模块的两端设计有与其它模块的标准机械接口。Fig. 3 and Fig. 4 are the appearance diagram and section diagram of the rotary joint module 002 respectively. The rotation axis of the rotary joint module 002 coincides with its own axis. Including rotary joint module processor 101, encoder 102, diagonal screw 103, encoder mounting plate 104, connecting base 105, ball bearing 106, first rotating base 107, thrust bearing 108, second rotating base 109, Pin 110, compression screw 111, bearing sleeve 112, locking screw 113, matching screw 114, rotary joint module processor mounting plate 115, set screw and connecting screw nut 116, etc. The connection method of each component is: the bearing sleeve 112 is fixedly connected with the second rotating base 109 through four compression screws 111, and compresses the inner ring of the ball bearing 106 to realize the axial positioning of the ball bearing 106; the first The ball bearing 106 and the thrust bearing 108 realize the axial positioning and radial positioning between the rotating base 107 and the second rotating base 109, while realizing relative rotation; the boss of the first rotating base 107 is inserted into the connecting base 105, and is fixedly connected by two symmetrical set screws 117; the second rotating base 109 has a central hole, and the side hole of the shaft end communicates with the side of the bearing sleeve 112, which is used as the electrical circuit channel of the module; the encoder is installed The plate 104 is fixedly connected to the first rotating base 107 by two diagonal screws 103; the encoder 102 is fixedly connected to the encoder mounting plate 104 by four locking screws 113; the shaft end of the second rotating base 109 extends into the central hole of the encoder 102 and fixedly connected with the code disc of the encoder 102; the processor mounting plate 105 is fixedly connected to the boss of the connecting base 105 through a matching screw 114; the rotary joint module processor 101 is connected through a pair of Screws and nuts 116 are fixed on the rotary joint module processor mounting plate 115; the upper and lower ends of the rotary joint module processor 101 are designed with electrical interfaces for connecting with the encoder 102 and other modules at both ends to realize the supply of power signals and CAN bus signals Transmission; both ends of the module are designed with standard mechanical interfaces with other modules.
如图5、图6所示分别为摆转关节模块的外观图和剖面图。摆转关节模块003的转轴与其自身的轴线互相垂直，包括有第二摆动基座201、紧定螺钉202、第一转动轴203、法兰轴承204、圆头螺钉205、摆转关节模块处理器安装板206、锁紧螺钉和螺母207、摆转关节模块处理器208、第一摆动基座209、紧定螺母210、配重块211、配重安装臂212、编码器213、第二转动轴214、对角螺钉215、平头螺钉216,第一转动轴203和第二转动轴214分居模块的两侧，通过四个紧定螺钉202与第二摆动基座201连接；第一摆动基座209的支耳通过法兰轴承204及通过第一转动轴203和第二转动轴214间接与第二摆动基座201连接，实现摆动；法兰轴承204套在转动轴上，法兰轴承204的套筒的内径与第一转动轴203和第二转动轴214间隙配合，法兰轴承204的外径与第一摆动基座209的轴承孔紧配合；配重安装臂212通过两个平头螺钉216与第一摆动基座209或第二摆动基座201固连；配重块211通过紧定螺母219与端面的螺柱固定到配重安装臂212上的滑槽中；编码器213由四个对角螺钉215固连到第一摆动基座209一侧支耳的内侧面上，第二转动轴214的轴端伸入编码器213的中心孔中与码盘固连，编码器走线通过第一摆动基座209的内腔连接到摆转关节模块处理器208上；摆转关节模块处理器安装板206由圆头螺钉205固定在第一摆动基座209上，摆转关节模块处理器208通过锁紧螺钉和螺栓207固定到摆转关节模块处理器安装板206上，摆转关节模块处理器208的上下端设计有电气接口用于与编码器213和两端的其他模块连接，实现电源信号的供应和CAN总线信号传输；模块的两端设计有与其它模块的标准机械接口。Figure 5 and Figure 6 are the external view and section view of the swing joint module respectively. The rotating shaft of the swing joint module 003 is perpendicular to its own axis, including a second swing base 201, a set screw 202, a first rotating shaft 203, a flange bearing 204, a round head screw 205, and a swing joint module processor Mounting plate 206, locking screw and nut 207, swing joint module processor 208, first swing base 209, set nut 210, counterweight 211, counterweight mounting arm 212, encoder 213, second rotating shaft 214, diagonal screws 215, flat-head screws 216, the first rotating shaft 203 and the second rotating shaft 214 are located on both sides of the module, and are connected to the second swing base 201 through four set screws 202; the first swing base 209 The lugs are indirectly connected to the second swing base 201 through the flange bearing 204 and through the first rotating shaft 203 and the second rotating shaft 214 to realize swinging; the flange bearing 204 is sleeved on the rotating shaft, and the sleeve of the flange bearing 204 The inner diameter of the cylinder fits with the first rotating shaft 203 and the second rotating shaft 214 in clearance, and the outer diameter of the flange bearing 204 closely fits with the bearing hole of the first swing base 209; The first swing base 209 or the second swing base 201 are fixedly connected; the counterweight 211 is fixed in the chute on the counterweight installation arm 212 through the set nut 219 and the stud on the end face; the encoder 213 is composed of four pairs The angle screw 215 is fixedly connected to the inner surface of the side lug of the first swing base 209, and the shaft end of the second rotating shaft 214 extends into the central hole of the encoder 213 and is fixedly connected with the code disc. The cavity of a swing base 209 is connected to the swing joint module processor 208; the swing joint module processor mounting plate 206 is fixed on the first swing base 209 by round head screws 205, and the swing joint module processor 208 Fixed to the swing joint module processor mounting plate 206 by locking screws and bolts 207, the upper and lower ends of the swing joint module processor 208 are designed with electrical interfaces for connecting with the encoder 213 and other modules at both ends to realize the power signal The supply and CAN bus signal transmission; the two ends of the module are designed with standard mechanical interfaces with other modules.
如图7和图8所示分别为手柄模块的外观图和剖面图。手柄模块（005）包括有手柄301、按钮开关305、第一按钮安装条307、第二按钮安装条308和手柄模块处理器302；第一按钮安装条307与第二按钮安装条308分别由两个螺钉304固定于手柄301底部的空腔内，第一按钮安装条307上安装有一个按钮开关305，第二按钮安装条308上安装有两个按钮开关305，如此操作者可以很方便地通过拇指和食指控制这三个按钮开关305，手柄模块处理器302通过双头螺柱303固定在手柄301的顶部空腔内。Figure 7 and Figure 8 are the appearance view and section view of the handle module respectively. The handle module (005) includes a handle 301, a button switch 305, a first button installation bar 307, a second button installation bar 308 and a handle module processor 302; the first button installation bar 307 and the second button installation bar 308 are respectively composed of two A screw 304 is fixed in the cavity at the bottom of the handle 301, a button switch 305 is installed on the first button installation bar 307, and two button switches 305 are installed on the second button installation bar 308, so that the operator can easily pass through The thumb and forefinger control the three button switches 305 , and the handle module processor 302 is fixed in the top cavity of the handle 301 through the stud 303 .
上述第一按钮安装条307与第二按钮安装条308绕手柄301空腔的回转中心成90°分布；第一按钮安装条307上安装的一个按钮开关305及第二按钮安装条308上安装的两个按钮开关305均是自锁开关，通过排列组合产生8种不同的切换方便的工作模式；手柄模块处理器302通过两个双头螺柱303固定在手柄301的顶部空腔内；手柄模块处理器302的上设计有电气接口用于与其他模块连接，实现电源信号的供应和CAN总线信号传输。手柄301的顶端有与其它模块的标准机械接口。The above-mentioned first button installation bar 307 and the second button installation bar 308 are distributed at 90° around the center of rotation of the handle 301 cavity; The two push button switches 305 are self-locking switches, which can be arranged and combined to produce 8 different working modes for convenient switching; the handle module processor 302 is fixed in the top cavity of the handle 301 through two studs 303; the handle module An electrical interface is designed on the processor 302 for connecting with other modules to realize power signal supply and CAN bus signal transmission. The top of the handle 301 has a standard mechanical interface with other modules.
本发明的工作原理如下：主机器人固定在基座上，操作者握住另一端的手柄模块牵引主机器人，各关节模块上编码器检测关节的角位移，经处理器对检测到的关节信号进行处理，映射到从机器人引导从机器人跟随，并通过手柄上的按钮控制从机器人末端执行器的动作。本发明的模块化串联式主机器人在实际应用中，模块数量可增减，连接顺序可变，也就是说，从机器人的构型可以自由人工改变。The working principle of the present invention is as follows: the main robot is fixed on the base, the operator holds the handle module at the other end to pull the main robot, the encoders on each joint module detect the angular displacement of the joints, and the detected joint signals are processed by the processor. Handle, map to slave robot lead slave robot follow, and control the actions of the slave robot end effector through the buttons on the handle. In the practical application of the modular serial master robot of the present invention, the number of modules can be increased or decreased, and the connection sequence can be changed, that is to say, the configuration of the slave robot can be freely and manually changed.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364629.4ACN104149089B (en) | 2014-07-28 | 2014-07-28 | A kind of modular series connection formula main robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364629.4ACN104149089B (en) | 2014-07-28 | 2014-07-28 | A kind of modular series connection formula main robot |
| Publication Number | Publication Date |
|---|---|
| CN104149089Atrue CN104149089A (en) | 2014-11-19 |
| CN104149089B CN104149089B (en) | 2017-03-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410364629.4AActiveCN104149089B (en) | 2014-07-28 | 2014-07-28 | A kind of modular series connection formula main robot |
| Country | Link |
|---|---|
| CN (1) | CN104149089B (en) |
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