CN106457557A - Robot assembly device - Google Patents
Robot assembly device Download PDFInfo
- Publication number
- CN106457557A CN106457557A CN201580023461.3A CN201580023461A CN106457557A CN 106457557 A CN106457557 A CN 106457557A CN 201580023461 A CN201580023461 A CN 201580023461A CN 106457557 A CN106457557 A CN 106457557A
- Authority
- CN
- China
- Prior art keywords
- robot
- mentioned
- module
- assembling
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
- G16Z99/00—Subject matter not provided for in other main groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31027—Computer assisted manual assembly CAA, display operation, tool, result
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
According to one embodiment of the present invention, provided is a robot assembly device comprising: a storage unit which stores 3D image files relating to a plurality of components constituting a robot, and IDs, position data, characteristics data and required voltage data relating to a plurality of robot modules that either respectively operate the plurality of components or are associated therewith, and data about electrical connections between the robot modules, as well as data about electrical connections between the robot modules and a controller for controlling the robot modules; and a robot assembly viewer which displays 3D images relating to the plurality of components and uses the data about the electrical connections so as to display, on an assembly screen window, data relating to at least one robot module that can be connected to the controller, and data about robot modules that can be connected together.
Description
Technical field
The present invention relates to robot assembling device, relate to the use of the electrical connection of the structural element constituting robot in more detail
The robot assembling device of composable robot.
Background technology
Recently, because of the development of robotics, in multi industries, utilize robot, and machine to be readily produced
Device Man's Demands just increase.
Generally, mounter people not only needs the mechanical connection considering to constitute robot, and also needs to consider electrical connection.
But, in the past as mounter people, only consider that mechanical connection is only limitted to thing using method after carrying out mounter people
Rationality side.
Therefore, currently just it is being badly in need of following scheme：Consider the physical property assembling of robot, and further contemplate including battery, control
Being electrically connected between the robot module of device, Drive Module, sensor assembly, communication module, display apparatus module etc. fetches can group
Machine people.
Content of the invention
Technical problem
The present invention is used for solving above-mentioned problem of the prior art, it is intended that providing using composition 30-1 robot
Structural element electrical connection can be assembled robot robot assembling device.
The purpose of the present invention is not limited to purpose mentioned above, and the NM other purposes of here can be by following
Contents are expressly understood that.
The means of solve problem
According to being used for realizing above-mentioned purpose one embodiment of the invention, provide robot assembling device, above-mentioned robot group
Assembling device includes：Storage part, the relevant 3 D image file of the multiple assemblies for storing with constitute robot and with make
State multiple assemblies to be operated respectively or the identification code relevant with multiple robot modules that it sets up association, positional information, spy
Electrical connection information between property information and required information of voltage, above-mentioned robot module and above-mentioned robot module with for controlling
Make the electrical connection information between the controller of above-mentioned robot module；And robot assembling reader, for display with above-mentioned
The relevant 3-D view of multiple assemblies, using above-mentioned electrical connection information, show in assembling screen window and can be with above-mentioned control
The relevant information of at least one above-mentioned robot module that device is connected with being capable of the relevant letter of interconnective robot module
Breath.
Above-mentioned storage part also stores to be had with the port being formed in one of above-mentioned multiple robot modules robot module
The information closed with and the relevant information of the adapter that combines of above-mentioned port and above-mentioned adapter and controller noted above between
Electrical connection information, above-mentioned robot assembles the combination side using the validation of information above-mentioned port relevant with above-mentioned port for the reader
To, the quantity of size, pin, and judge whether above-mentioned port and above-mentioned adapter can combine, if being judged as combining,
Show the 3-D view that above-mentioned adapter is combined with above-mentioned port in above-mentioned assembling screen window, and in above-mentioned assembling screen window
The adapter that mouth display can be combined with controller noted above.
Above-mentioned storage part also stores above-mentioned robot module and between the battery powered to above-mentioned robot module
Electrical connection information, above-mentioned robot assembles the electricity of the reader voltage required to the work of above-mentioned robot module and battery supply
Pressure is compared, and shows at least one the above-mentioned robot mould being connected with above-mentioned battery in above-mentioned assembling screen window
Block.
Above-mentioned robot assembling reader also shows in above-mentioned assembling screen window and is shown in above-mentioned assembling screen window
The relevant 3-D view of each above-mentioned multiple assembly and the identification code being allocated in each above-mentioned multiple robot module, if choosing
Select more than one robot module, then above-mentioned robot assembling reader also shows for root in above-mentioned assembling screen window
Adjust the interface of the angle of the above-mentioned robot module of selection according to the time, above-mentioned storage part also stores by above-mentioned interface institute
The angle adjustment information of the time correlation of input.
Above-mentioned robot assembling reader utilizes above-mentioned angle adjustment information, may also display in above-mentioned assembling screen window and borrows
Help the video of the assembly movement of above-mentioned robot module's work of selection.
Invention effect
According to one embodiment of the invention, the robot module being connected with controller or battery in screen display, from
And have the effect that：Mechanical connection not only can be grasped, but also the structure of the robot being connected according to electrical characteristics can be grasped
Relation between key element.
And, according to one embodiment of the invention, provide the interface of the angle that can adjust robot module according to the time, from
And can the movement of acceptant robot analog video.
It should be understood that the effects of the present invention are not limited to the effect above, including from being recorded in the detailed of the present invention
Explanation or the claimed scope of invention invention the inferrible whole effects of composition.
Brief description
Fig. 1 is the block diagram of the structure of robot assembling device illustrating one embodiment of the invention.
Fig. 2 is the figure of the assembling screen window of the display robot illustrating one embodiment of the invention.
Fig. 3 is to illustrate that the display of one embodiment of the invention constitutes the figure of the assembling screen window of the assembly of robot.
Fig. 4 is the figure of the assembling screen window of the display robot illustrating another embodiment of the present invention.
Label declaration
100：Robot assembling device
110：Storage part
120：Robot assembles reader
201：First robot module
202：Second robot module
203：Controller
204：Battery
301：First port
302：First adapter
Specific embodiment
Hereinafter, the present invention is described in detail referring to the drawings.But, the present invention can be in mutually different various modes
Realize, be therefore not limited to that here illustrates is strength.And, in order to more clearly the present invention is described in the accompanying drawings,
Eliminate and unrelated part is described, in the specification, for similar structural element, be labelled with similar accompanying drawing mark
Note.
In the specification, when having a part and other parts " being connected ", this not only includes " be joined directly together and connect "
Situation, but also across the situation of miscellaneous part " being indirectly connected to connect " between being included therein.And, have when there being a part " inclusion "
During individual structural element, this is to mean in the case of no especially contrary record, is not exclusion other structures key element, but
Also can possess other structures key element.
Referring to the drawings embodiments of the invention are described in detail.
Fig. 1 is the block diagram of the structure of robot assembling device illustrating one embodiment of the invention.
With reference to Fig. 1, the robot assembling device 100 of one embodiment of the invention may include storage part 110 and robot assembling
Reader 120.
Storage part 110 can be by the memorizer shape of the robot assembling device 100 including program storage, data storage etc.
Become.
Program storage can be stored in by the configuration processor that robot assembling reader 120 executes.For example, storage part 110
Can program storage storage can to robot module between connection and the first program entering edlin for information about, can be by machine
Second program of device people's module control action etc..
Can be stored with data storage and be stored in the program of program storage and holding assembling reader 120 by robot
The data producing in the way of row.For example, storage part 110 can store robot module by the first Program Generating and controller it
Between electrical connection information, the electrical connection information between robot module and battery, the electrical connection letter between multiple robot module
Electrical connection information between breath, controller and adapter etc., and the mould of the robot movement by the second Program Generating can be stored
Intend video.
Robot assembling device 100 can be able to be made by first by being connected and to execute the first program and the second program
The information of Program Generating loads in the second program.That is, robot assembling device 100 load in the second program with by first
Connection between the structural element of process robot obtains the relevant information of machine edited, and to be provided with the dynamic of the people that shuts down
Make the analog video of controlled robot movement.
Storage part 110 can store the 3 D image file relevant with the various structures key element of robot.For example, storage part
110 can store multiple assemblies of composition robot, make each component operation or set up the multiple robot modules associating, shape with this
Become the port of robot module and the 3-D view literary composition of the various structures key element of robot such as adapter that port combines
Part.
Wherein, robot module may include：Drive Module, is used for making component operation；Communication module, for setting with outside
Standby execute communication；Sensor assembly, senses surrounding enviroment to obtain information；And display apparatus module, for display information, but simultaneously
It is not limited to this, may additionally include and constitute the multiple module needing in robot.
Storage part 110 can store and be respectively allocated identification code in multiple robot modules, the position of each robot module
Information, the characteristic information of each robot module and in order that each robot module work and required voltage information.
Storage part 110 can store the electrical connection information between at least one robot module and controller.Wherein, electrically connect
Information is as how mode between the controller representing for controlling robot module and the robot module being controlled by controller
It is connected, to inform the information whether controller is connected with robot module or whether can be connected, a control can be comprised
Electrical connection information between device and a robot module, also can comprise the electricity between a controller and multiple robot module
Link information.
Storage part 110 can store the electrical connection information between at least one robot module and controller.Wherein, electrically connect
Information as represent for the battery to robot module's supply electricity and between the robot module of battery receptacle electricity with how
Mode is connected, and to inform the information whether robot module is connected with battery or whether can be connected, and can comprise an electricity
Electrical connection information between pond and more than one robot module.
Storage part 110 can store the electrical connection information between multiple robot modules.Wherein, electrical connection information is as expression
Between multiple robot modules so that how mode is connected, to inform whether robot module is connected or whether can be connected
Information, can comprise the electrical connection information between at least one robot module.
Storage part 110 can store the letter relevant with the port being formed in one of multiple robot modules robot module
Breath and the electrical connection information and the relevant information of the adapter that combines of port and adapter and controller between.Wherein, it is electrically connected
The information that connects to inform machine as expression adapter with by between the controller of adapter transmission signal so that how mode is connected
The information whether whether device people's module be connected with battery or can be connected, can comprise a controller and more than one connection
Electrical connection information between device.
The angle that storage part 110 is directed to the robot module that robot assembles reader 120 display can stored angles be adjusted
Whole information, above-mentioned angle adjustment information is according to by the time for being inputted according to the interface of time adjustment.Ginseng related to this
Carry out aftermentioned according to Fig. 4.
Robot is assembled reader 120 and can show much information in the assembling screen window being provided by the first program.This
When, robot assembling reader 120 can be by more than one assembling screen window come display information, by multiple assembling screens
In the case that curtain window carrys out display information, divisible display window is showing or can overlapping display window show.
Robot assembling reader 120 can show many with the robot being stored in storage part 110 in assembling screen window
Plant the relevant 3 D image file of structural element.Robot assembling reader 120 can show each structure in assembling screen window
The 3 D image file of key element.Now, in assembling screen window, robot assembling reader 120 can individually show that each structure will
The 3-D view of element, also can show the entirety of the robot combining multiple structural elements or the three of a part in assembling screen window
Dimension image.
If show the 3-D view relevant with the various structures key element of robot in assembling screen window, and according to using people
Operation entr screen change order (for example, move, amplify, reducing) of member, then robot assembling reader 120 is in assembling screen
Curtain window may also display the 3-D view being changed according to screen change order.
Robot assembling reader 120 is using being electrically connected between the robot module being stored in storage part 110 and controller
Connect information, more than one the robot module being connected with controller or can be with controller can be shown in assembling screen window
More than one the robot module being connected.
That is, if the operation selection control according to user of service, robot assembles reader 120 and can show and selection
More than one robot module or more than one the robot module being connected with controller that controller is connected, if
Robot module is selected according to the operation of user of service, then can show the controller being connected with the robot module of selection or can
The controller being connected with robot module.
Robot assembling reader 120 shows the three-dimensional relevant with the various structures key element of robot in assembling screen window
Image, and can individually show more than one the robot module being connected with controller or can be with new assembling screen window
The robot module that controller is connected, and more than one the robot module being connected with controller can be highlighted
(for example, make relevant structural element flicker or shown with different colors).
Robot assembles the voltage that reader 120 confirms robot module using the information of voltage being stored in storage part 110,
And can determine whether that relevant robot module could be connected with battery, to show and could connect in assembling screen window.Now, machine
People assembles reader 120 voltage required to the work for robot module and the voltage of battery supply is compared, and can sentence
Relevant robot module of breaking could be connected with battery.
And, robot assembling reader 120 is using between the robot module being stored in storage part 110 and controller
Electrical connection information, can individually show more than one the robot module being connected with battery and can be strong in assembling screen window
Adjust more than one the robot module that display is connected with battery.
Robot assembles reader 120 using the electrical connection information being stored between the robot module of storage part 110, can
Show more than one the robot module being connected with specific robotic module or can be with particular machine in assembling screen window
More than one the robot module that people's module is connected.
For example, in the case that the first robot module is set as being connected with the second robot module, if according to use
The operation of personnel selects the first robot module, then can show can be with first robot module's phase for robot assembling reader 120
The second robot module connecting, if selecting the second robot module according to the operation of user of service, can show can be with second
The first robot module that robot module is connected.
If being set as, the first robot module is connected with the second robot module, if as described above, selecting the first machine
People's module, then robot assembling reader 120 can show the second robot module being connected with the first robot module, if choosing
Select the second robot module, then can show the first robot module being connected with the second robot module.
Robot assembling reader 120 can be utilized the information relevant with the port being stored in storage part 110 and and adapter
Relevant information, can be aobvious in the adapter that assembling screen window show the port being formed at robot module and port is connected
Show.Now, robot assembling reader 120 can show three relevant with the various structures key element of robot in assembling screen window
Dimension image, and the region of display port or adapter can be shown by using the operational order of personnel or automatic amplification.
When display port and adapter, robot assembles the knot using the validation of information port relevant with port for the reader
Close direction, size, the quantity of pin, and judge whether port and adapter can combine, if being judged as combining, can be in assembling
The 3-D view that screen window display port is combined with adapter.Now, the robot assembling pin to port for the reader 120
Quantity and the quantity of pin of adapter be compared, can determine whether whether relevant port can combine with adapter.
Robot assembling reader 120 can be utilized be electrically connected relevant with the controller being stored in storage part 110 and adapter
Connect information, can assembling screen window show the more than one adapter being connected with controller or attachable more than one
Adapter.
Robot is assembled reader 120 and can be shown the various structures with robot by the first program in assembling screen window
The relevant 3-D view of key element, and may also display and be stored in being respectively allocated in the identification of multiple robot modules of storage part 110
Code.
If selecting the robot module of one or more of multiple robot modules, robot assembling reader 120 is held
Row second program, to show, in assembling screen window, the interface for adjusting robot module passing through the second procedure Selection,
Using the angle adjustment information being stored in storage part 110, may also display by robot module's work in assembling screen window
The video of assembly movement.Related to this carry out with reference to Fig. 4 aftermentioned.
Fig. 2 is the figure of the assembling screen window of the display robot illustrating one embodiment of the invention.
First, robot assembles reader 120 and can show and the robot being stored in storage part 110 in assembling screen window
The relevant 3-D view of various structures key element.
With reference to Fig. 2, robot assembling reader 120 can show including the first robot module 201, the second robot module
202nd, the 3-D view of the globality of the robot of controller 203 and battery 204.Wherein, the first robot module 201 and second
Robot module 202 can be multiple robot module such as Drive Module, communication module, sensor assembly, display apparatus module
One of.
In addition to the globality 3-D view of robot, robot assembling reader 120 may also display as robot
A part 3-D view, also can individually represent relevant with structural element three in the various structures key element of robot
Dimension image.
For example, robot assembles the globality 3-D view that reader 120 shows robot, if robot is amplified in input
The order of leg section, then can show a part for robot by only amplifying the leg section of robot.Robot assembling is checked
If device 120 selects the controller 203 in the various structures key element of robot, individually show the three-dimensional relevant with controller 203
Image, and may also display the details (information of the robot module that by controller 203 controlled relevant with controller 203
Deng), if selecting battery 204, individually show the 3-D view relevant with battery 204, and may also display and have with battery 204
The details (information of the robot module being connected with battery, information of voltage of electricity of battery 204 supply etc.) closed.
Controller 203 can be connected with more than one robot module with battery 204, it is assumed hereinafter that being controller
203 can be connected with the first robot module 201 and the second robot module 202, and battery 204 can be with the first robot module
201 and second robot module 202 be connected.
Storage part 110 can store the first robot module 201 and the positional information of the second robot module 202.For example, deposit
Storage portion 110 can store the positional information informing following information：First robot module 201 is located at the left part of controller 203,
Second robot module 202 is located at the right part of controller 203, and battery 204 is located at and controls its 203 lower portion.
As Fig. 2, robot assembles the globality 3-D view that reader 120 display is stored in the robot of storage part 110,
If according to the operation selection control 203 of user of service, robot assembling reader 120 is highlighted controller 203, also may be used
It is highlighted the first robot module 201 being connected and the second robot module 202 with controller 203.Now, robot
Assembling reader 120 by making controller 203, the first robot module 201 and the second robot module 202 flash or can utilize
The method that the color differential with other structures key element shows etc. is highlighted.
If the bind command between the operation input controller 203 according to user of service and the first robot module 201,
Robot assembling reader 120 is using the electricity between the controller 203 being stored in storage part 110 and the first robot module 201
Link information, judges that controller 203 could be connected with the first robot module 201, to show in assembling screen window and sentences
Disconnected result.Now, if can be inputted including the first robot module 201 and the second robot module according to the operation of user of service
Bind command between 202 multiple robot modules and controller 203, robot assembling reader 120 can be utilized and is stored in
Electrical connection information between the controller 203 of storage part 110 and multiple robot module, judges controller 203 and multiple machines
People's module could be connected, and comes in assembling screen window display judged result.
If being judged as connecting with the judged result that could be connected of the first robot module 201 with regard to controller 203,
Storage part 110 changes controller 203 and the electrical connection information of the first robot module 201.Storage part 110 is directed to controller
The 203 and first electrical connection information between robot module 201 can be changed to " connection terminates " to store from " can connect ".
Using the electrical connection information between controller 203 and robot module, robot assembling reader 120 passes through with phase
With color show the method for robot module etc. can be highlighted controller 203 and one kind of being connected with controller 203 with
On robot module.It is connected with more than one robot module by controller noted above 203, may be notified that by control
The actual robot module controlling of device 203.
For example, if the connection of controller 203, the first robot module 201 and the second robot module 202 terminates, deposit
Storage portion 110 can be directed to the electrical connection information between controller 203, the first robot module 201 and the second robot module 202
Variable more " connection terminates " storing, if according to the operation selection control 203 of user of service, robot assembles reader
120 can be to show controller and and the second machine for controlling the first robot module 201 with controller 203 identical color
Device people's module 202, if selecting the first robot module 201, can be to show with the first robot module 201 identical color
For controlling the controller 203 of the first robot module 201 and as another robot module's being connected with controller 203
Second robot module 202.
Storage part 110 can the information of voltage of electricity of storage battery 204 supply, information of voltage, in order that component operation and the
One robot module 201 required voltage information is in order that component operation and the second robot module 202 required voltage information
Deng the information of voltage relevant with each structural element.
As Fig. 2, robot assembles the globality 3-D view that reader 120 shows robot, if according to user of service's
Operation selects battery 204, then robot assembling reader 120 is highlighted battery 204, and also can be highlighted can be with battery
204 the first robot modules 201 being connected and the second robot module 202.
If the operation according to user of service inputs the bind command between battery 204 and the first robot module 201, machine
Device people assembling reader 120 is using the electrical connection between the battery 204 being stored in storage part 110 and the first robot module 201
Information, confirms the voltage of battery 204 and the first robot module 201, and judges battery 204 and the first robot mould according to voltage
Whether block 201 can connect, and can show and could connect.Now, if can be inputted including the first machine according to the operation of user of service
Bind command between multiple robot modules of people's module 201 and the second robot module 202 and controller 203, robot
Assembling reader 120 confirms the voltage of battery 204 and multiple robot module, and judges controller 203 and multiple robots
Module could be connected, and to show and could connect in assembling screen window.
For example, storage part 110 can storage battery 204 voltage be 5V, the voltage of the first robot module 201 be 5V and the
The voltage of two robot modules 202 is the battery information of 10V.Now, if according to the operation of user of service input battery 204, the
Bind command between one robot module 201 and the second robot module 202, then robot assembling reader 120 be judged as
Battery 204 merely with the voltage of identical 5V can be connected with the first robot module 201, and coming can be with identical with battery 204
Color show the first robot module 201, and can show, with regard to the second robot module 202, the nothing being caused by voltage differences
The information that method connects.
In the case that battery 204 is connected with the first robot module 201, storage part 110 is directed to battery 204 and
Electrical connection information between one robot module 201 can be changed to " connection terminates " to store from " can connect ".
On the other hand, multiple robot modules can be connected it is assumed that can be with the second robot for the first robot module 201
Module 202 is connected, the 3rd robot module and first outside the first robot module 201 and the second robot module 202
Robot module 201 cannot be connected.
If the operation according to user of service selects the first robot module 201, robot assembling reader 120 is emphasized to show
Show the first robot module 201, and also can be highlighted the second robot module being connected with the first robot module 201
202.Now, robot assembling reader 120 with robot module 201 and the second robot module 202 carry out differential
Color shows, may be notified that the 3rd robot module cannot be connected with the first robot module 201.
If the connection life between operation input the first robot module 201 according to user of service and the 3rd robot module
Order, then robot assembling reader 120 is using the first robot module 201 being stored in storage part 110 and the 3rd robot mould
Electrical connection information between block, judges that the first robot module 201 could be connected with the 3rd robot module, and coming can be in assembling
Screen window shows judged result.Now, because the first robot module 201 cannot be connected with the 3rd device people's module, thus
Robot assembling reader 120 together shows the second robot module as attachable robot module with judged result
202, the robot module being connected can be recommended with the first robot module 201.
If operation input the first robot module 201 according to user of service and the connection life of the second robot module 202
Order, then storage part 110 be directed to electrical connection information between the first robot module 201 and the second robot module 202 can be from
" can connect " is changed to " connection terminates " to store.
As described above, according to one embodiment of the invention, being connected with controller 203 or battery 204 in screen display
Robot module, thus have the effect that：Also can grasp and be connected not only according to mechanical connection, but also can grasp according to electricity
Relation between the structural element that characteristic is connected.
Fig. 3 is to illustrate that the display of one embodiment of the invention constitutes the figure of the assembling screen window of the assembly of robot.
In fig. 2, robot assembles the globality 3-D view that reader 120 shows robot, if according to user of service
Operation entr screen amplify order or select specific components, then as Fig. 3 can show the graphics of the part as robot
Picture.
With reference to Fig. 3, robot assembling reader 120 can show as inclusion first port 301 and tie with second port phase
The 3-D view of the assembly of a part for robot of the first adapter 302 closing.Wherein, first port 301 and second port
May include in identical robot module, and may include in respectively different robot module.First port 301 be in not with even
Connect the state that device combines, second port may be included in the state combining with the first adapter 302 that figure 3 illustrates
A connector 302.
Adapter supplies for the signal of telecommunication conveyer external power source between robot module, can combine with port, show
For Fig. 3 the first adapter 302 can perform to include the robot module of second port and include with except second port it
The effect of information is transmitted between the robot module of the port that outer port combines.
Storage part 110 can store and the first port 301 being formed in robot module and the end combining with second port
Mouthful the relevant information of the first adapter 302, robot assembles reader 120 to be believed using the electrical connection being stored in storage part 110
Breath, can show the first adapter 302 being connected with first port 301 and second port.
Specifically, robot assembles the robot module that reader 120 display constitutes robot, and if first port
301 are included in robot module, then robot assembling reader 120 may also display the first port being included in robot module
301.
As described above, if second port is included in assembly, robot assembling reader 120 also shows second port,
And judge whether that second port can combine with the first adapter 302 using electrical connection information, and if being judged as combining, can
Show the 3-D view that the first adapter 302 is combined with second port.
Now, robot assembles reader 120 and passes through to confirm the quantity of pin of second port and the first adapter 302
The quantity of pin, can determine whether whether second port can combine with the first adapter.For example, storage part 110 can store second
The electrical connection information that the quantity of the pin of port is 5, the quantity of the pin of the first adapter 302 is 5.In this regard, robot
Assembling reader 120 utilizes electrical connection information, confirms the quantity of pin of second port and the number of the pin of the first adapter 302
Amount, because the quantity of pin is identical, is therefore judged as combining, and can show that second port is mutually tied with the first adapter 302
The 3-D view closing.
When judge whether can in conjunction with when, robot assemble reader 120 except confirm port pin quantity in addition to,
Confirm size, bonding position of port of port etc., can determine whether whether port and adapter can combine.
If selecting the first adapter 302, robot assembling reader 120 may also display can be with the first adapter 302 phase
Other ports connecting.For example, if the quantity of the pin of first port 301 and the first adapter 302 is 5 identical, machines
People's assembling reader 120 shows the first adapter 302 and first port 301 with identical color, may be notified that and can be connected
Information.
On the other hand, controller 203 can be connected with more than one adapter, is below set as controller 203, first
Adapter 302 and the second adapter can be connected.
If according to the operation selection control 203 of user of service, robot assembling reader 120 can be in screen display bag
Include the adapter list of the first adapter 302 being connected and the second adapter with controller 203.
If selecting the first adapter 302 in adapter list, it is identified as input controller 203 and the first adapter
302 bind command, carrys out electrical connection information that storage part 110 is directed between controller 203 and the first adapter 302 from " can
Connect " it is changed to " connection terminates " electrical connection information can be stored.
Afterwards, if selection control 203, robot assembling reader 120 is by using electrical connection information with identical
Color display controller 203 and the method for the first adapter 302 being connected with controller 203, may be notified that controller 203 He
Second adapter is connected.
And if, selection control 203, robot assembling reader 120 passes through differential with other structures key element
The color method that shows the second adapter, may be notified that controller 203 can be connected with the second adapter.
On the other hand, storage part 110 can store with regard to being respectively allocated the machine be connected in the identification code of port and with port
The information of device people's module.
For example, robot assembling reader 120 can include first port 301 and second port in assembling screen window display
Port list, if selecting first port 301 in port list, can be in assembling screen window display as being allocated in first
The robot module that " 1 " of the identification code of port 301 is connected with first port 301.
As described above, according to one embodiment of the invention, include the assembly of port and adapter in screen display, thus can
It is easily mastered according to by the relation between the interconnective structural element of clear electrical characteristics.
Fig. 4 is the figure of the assembling screen window of the display robot illustrating another embodiment of the present invention.
The storage part 110 storage 3 D image file relevant with the various structures key element of robot, and be also storable in tying
It is respectively allocated the identification code in robot module in structure key element.Wherein, identification code can be carried out according to the operational order of user of service
Distribution, also arbitrarily can be allocated by robot assembling device 100.
With reference to Fig. 4, robot assembles reader 120 and shows being stored in storage part 110 and machine in assembling screen window
The relevant 3-D view of the various structures key element of people, and also reality can be respectively allocated the identification code in robot module.
If according to the operation of user of service, select identification more than one of identification code of assembling screen window for the reality
Yard, then robot assembling reader 120 real can be used for the interface according to the time adjustment angle of the robot module of selection,
Storage part 110 can store the angle adjustment information based on the time being inputted by respective interface.Wherein, angle adjustment information is
Represent the information being directed to the robot module selecting by interface in which time adjustment how many angles.
For example, if user of service selects to be equivalent to the robot module of identification code 15 by interface, input afterwards in 2 seconds will
The angle of robot module changes 30 degree of angle adjustment information, then storage part 110 can store relevant angle adjustment information.This
When, user of service be directed to each robot module can extra setup angle adjustment, and by multiple robot modules are set
It is set to group that the robot module being set as group also can set angle be adjusted.
Storage part 110 can store the characteristic information of robot module.Wherein, the characteristic information of robot module can be for closing
The information of the angular range being adjusted in relevant robot module.
For example, storage part 110 can store with regard to 0 degree extremely as the characteristic information of the robot module being equivalent to identification code 11
The information of 90 degree of angular range, robot assembles the adjustable interface that reader 120 can show 0 degree to 90 degree.This be by
In by the adjustable angle of robot module, different (for example, the scope of the moveable angle of arm segment and leg section is not
With), thus preset the characteristic to angular range by robot module, thus removable about robot module for limiting
Dynamic scope.
Storage part 110 is adjusted using the angle that the characteristic information of robot module is identified through the time correlation that interface is inputted
Whole information, can stored angles adjustment information if appropriate for afterwards.For example, if being equivalent to the characteristic of the robot module of identification code 11
Information is the information of the angular range with regard to 0 degree to 90 degree, then storage part 110 confirms to be equivalent to the robot module of identification code 11
Angle adjustment information whether be located at 0 degree to 90 degree in the range of after, relevant angle adjustment information can be stored.
Robot assembles reader 120 and the angle adjustment information that is stored in storage part 110 can be utilized, and coming can be in assembling screen
Window shows the video of the assembly movement by robot module's work, that is, generate the analog video of robot movement.
For example, if user of service is directed to the angle of the robot module being equivalent to identification code 3 and identification code 4 by interface
Input is changed to 90 degree of angle adjustment information for 2 seconds afterwards, then 2 seconds readers 120 of robot assembling afterwards will be equivalent to
The angle of the robot module of identification code 3 and identification code 4 is reconciled as 90 degree, to make the machine being equivalent to identification code 3 and identification code 4
Move between the group of device people's module work, thus the video that the two-arm of robot rises to top can be shown in assembling screen window.
The second program performing, reference can be passed through with reference to the action control by each robot module that above-mentioned Fig. 4 illustrates
Connection between each structural element that Fig. 2 and Fig. 3 illustrates and storage for information about can pass through the first program performing.
That is, storage part 110 can be wanted by the structure of the first Program Generating as specific file (for example, XML file) storage
Electrical connection information between element etc., robot assembles the file that reader 120 loads storage in the second program, thus being directed to
Pass through the second program in the robot by the first program setting, carrying out control action can provide the analog video of robot.
As described above, according to one embodiment of the invention, providing the boundary of the angle that can adjust robot module according to the time
Face, thus the analog video of robot movement can easily be received.
Industrial applicability
The explanation of the above-mentioned present invention is used for illustrating, and general technical staff of the technical field of the invention is it will be appreciated that can
, in the case of the technological thought not changing the present invention or essential feature, easily to be become with the concrete form that other are different
Shape.
It will consequently be understood that, embodiment described above is illustration in all respects, and non-limiting.For example, explanation
Each structural element for single shape dispersibles and is implemented, and in the same manner, illustrating also can be to combine for scattered structural element
Form implemented.
Should be interpreted that the scope of the present invention claims scope by invention described later and illustrates, the claimed scope of invention
Meaning and scope and from its equivalent concepts derive the form being had altered or being deformed include in the scope of the present invention.
Claims (5)
1. a kind of robot assembling device is it is characterised in that include：
Storage part, the relevant 3 D image file of the multiple assemblies for storing with constitute robot and with make above-mentioned multiple groups
Part is operated respectively or the identification code relevant with multiple robot modules that it sets up association, positional information, characteristic information and
Electrical connection information between required information of voltage, above-mentioned robot module and above-mentioned robot module with for controlling above-mentioned machine
Electrical connection information between the controller of device people's module；And
Robot assembles reader, for showing the 3-D view relevant with above-mentioned multiple assemblies, using above-mentioned electrical connection information,
Assembling screen window show the information relevant with least one the above-mentioned robot module being connected with controller noted above,
With being capable of the relevant information of interconnective robot module.
2. robot according to claim 1 assembling device it is characterised in that
Above-mentioned storage part also stores relevant with the port being formed in one of above-mentioned multiple robot modules robot module
Information and being electrically connected and the relevant information of the adapter that combines of above-mentioned port and above-mentioned adapter and controller noted above between
Connect information,
Above-mentioned robot assemble reader using the bonding position of validation of information above-mentioned port relevant with above-mentioned port, size,
The quantity of pin, and judge whether above-mentioned port and above-mentioned adapter can combine, if being judged as combining, at above-mentioned group
Dress screen window shows the 3-D view that above-mentioned adapter is combined with above-mentioned port, and shows energy in above-mentioned assembling screen window
Enough adapters combining with controller noted above.
3. robot according to claim 1 assembling device it is characterised in that
Above-mentioned storage part also stores above-mentioned robot module and for being electrically connected between the battery powered to above-mentioned robot module
Connect information,
Above-mentioned robot assembles the reader voltage required to the work of above-mentioned robot module and the voltage of battery supply is carried out
Relatively, show at least one the above-mentioned robot module being connected with above-mentioned battery in above-mentioned assembling screen window.
4. robot according to claim 1 assembling device it is characterised in that
Above-mentioned robot assembling reader also shows in above-mentioned assembling screen window and is shown in each of above-mentioned assembling screen window
The relevant 3-D view of individual above-mentioned multiple assemblies and the identification code being allocated in each above-mentioned multiple robot module, if having selected
More than one robot module, then above-mentioned robot assembling reader above-mentioned assembling screen window also show for according to when
Between adjusting the interface of the angle of the above-mentioned robot module of selection,
Above-mentioned storage part also stores the angle adjustment information of the time correlation being inputted by above-mentioned interface.
5. robot according to claim 4 assembling device is it is characterised in that above-mentioned robot assembling reader is using upper
State angular adjustment information, the assembly also showing the above-mentioned robot module's work by selection in above-mentioned assembling screen window moves
Dynamic video.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140032371A KR101618585B1 (en) | 2014-03-19 | 2014-03-19 | Device for assembling robot |
| KR10-2014-0032371 | 2014-03-19 | ||
| PCT/KR2015/002398 WO2015141984A1 (en) | 2014-03-19 | 2015-03-12 | Robot assembly device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106457557A true CN106457557A (en) | 2017-02-22 |
| CN106457557B CN106457557B (en) | 2019-09-03 |
Family
ID=54144893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580023461.3A Active CN106457557B (en) | 2014-03-19 | 2015-03-12 | Robot assembling device |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR101618585B1 (en) |
| CN (1) | CN106457557B (en) |
| WO (1) | WO2015141984A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000753A (en) * | 2019-02-28 | 2019-07-12 | 北京镁伽机器人科技有限公司 | User interaction approach, control equipment and storage medium |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11345053B2 (en) | 2016-09-16 | 2022-05-31 | Verb Surgical Inc. | Belt termination and tensioning in a pulley arrangement for a robotic arm |
| EP3512436B1 (en) | 2016-09-16 | 2023-04-19 | Verb Surgical Inc. | Robotic arms |
| WO2018053361A1 (en) | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Multi-degree of freedom sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09153082A (en) * | 1995-12-01 | 1997-06-10 | Nippon Steel Corp | Model making device and storage medium thereof |
| CN101934471A (en) * | 2009-06-30 | 2011-01-05 | 张坛 | Method for quickly assembling modular robot product in virtual environment and technology |
| KR20120119402A (en) * | 2011-04-21 | 2012-10-31 | 주식회사 케이엠씨로보틱스 | Apparatus for emulating user created robot and method for importing user created robot model |
| CN103116286A (en) * | 2013-01-16 | 2013-05-22 | 博雅创世(北京)智能科技有限公司 | Implement method and device of network-based robot development platform based on cyber |
| KR101296597B1 (en) * | 2011-06-10 | 2013-08-14 | (주)로보티즈 | Apparatus for assembling robot based on graphic user interface |
| CN103433923A (en) * | 2007-01-12 | 2013-12-11 | 汉斯乔格·巴尔特斯 | Method and system for generating a robot |
-
2014
- 2014-03-19 KR KR1020140032371A patent/KR101618585B1/en active Active
-
2015
- 2015-03-12 CN CN201580023461.3A patent/CN106457557B/en active Active
- 2015-03-12 WO PCT/KR2015/002398 patent/WO2015141984A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09153082A (en) * | 1995-12-01 | 1997-06-10 | Nippon Steel Corp | Model making device and storage medium thereof |
| CN103433923A (en) * | 2007-01-12 | 2013-12-11 | 汉斯乔格·巴尔特斯 | Method and system for generating a robot |
| CN101934471A (en) * | 2009-06-30 | 2011-01-05 | 张坛 | Method for quickly assembling modular robot product in virtual environment and technology |
| KR20120119402A (en) * | 2011-04-21 | 2012-10-31 | 주식회사 케이엠씨로보틱스 | Apparatus for emulating user created robot and method for importing user created robot model |
| KR101296597B1 (en) * | 2011-06-10 | 2013-08-14 | (주)로보티즈 | Apparatus for assembling robot based on graphic user interface |
| CN103116286A (en) * | 2013-01-16 | 2013-05-22 | 博雅创世(北京)智能科技有限公司 | Implement method and device of network-based robot development platform based on cyber |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000753A (en) * | 2019-02-28 | 2019-07-12 | 北京镁伽机器人科技有限公司 | User interaction approach, control equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20150109215A (en) | 2015-10-01 |
| WO2015141984A1 (en) | 2015-09-24 |
| KR101618585B1 (en) | 2016-05-09 |
| CN106457557B (en) | 2019-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zafar et al. | Exploring the synergies between collaborative robotics, digital twins, augmentation, and industry 5.0 for smart manufacturing: A state-of-the-art review | |
| CN106457557A (en) | Robot assembly device | |
| CN105938618B (en) | Pass through the vision system of object Virtual assemble training assembly system | |
| CN105706153B (en) | Virtual reality and reality welding training system and method | |
| CN103213125B (en) | There is robot teaching's device that 3D shows | |
| CN106457572B (en) | Operating personnel's terminal | |
| CN103733149B (en) | Load control system and load driving system | |
| CN101396829A (en) | Robot control method and robot | |
| CN106462133A (en) | Automation operating and management system | |
| CN106228563A (en) | Automatic setup system based on 3D vision | |
| US20170329295A1 (en) | Production module for implementing a production function on a product | |
| JP5133721B2 (en) | Production system with work sharing function | |
| DE102020206403A1 (en) | Configuring, executing and / or analyzing an application of a mobile and / or collaborative robot | |
| US12145267B2 (en) | System and method for embodied authoring of human-robot collaborative tasks with augmented reality | |
| DE102018109326A1 (en) | Multi-unit actuated kinematics, preferably robots, particularly preferably articulated robots | |
| CN105723422A (en) | Processing device for label information for multi-viewpoint images and processing method for label information | |
| KR20150102610A (en) | Device for assembling robot | |
| CN109664271A (en) | A kind of tele-robotic teaching system based on virtual reality | |
| CN204347516U (en) | A kind of for modularization robot manipulation and the handle of communication | |
| Vozar et al. | Augmented reality user interface for mobile robots with manipulator arms: Development, testing, and qualitative analysis | |
| Sopon et al. | Mixed reality framework for eye-in-hand collaborative robot-human interaction | |
| KR200490766Y1 (en) | Cording training tools for infants | |
| Klinker et al. | FixIt: An Approach towards Assisting Workers in Diagnosing Machine Malfunctions. | |
| Vilacoba et al. | Press dedicated machine Show-room, a direct application of Augmented reality in industry. An industrial Augmented reality experience | |
| Haviland | Control strategies for reactive manipulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |