CN106457557B - Robot assembling device - Google Patents
Robot assembling device Download PDFInfo
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- CN106457557B CN106457557B CN201580023461.3A CN201580023461A CN106457557B CN 106457557 B CN106457557 B CN 106457557B CN 201580023461 A CN201580023461 A CN 201580023461A CN 106457557 B CN106457557 B CN 106457557B
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- 238000010200 validation analysis Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 239000000203 mixture Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000018199 S phase Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
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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
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- 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]
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- 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
An embodiment according to the present invention, robot assembling device is provided, above-mentioned robot assembling device includes: storage unit, for store with the related 3 D image file of multiple components for constituting robot and with make above-mentioned multiple components carry out work respectively or establish the related identification code of associated multiple robot modules with it, location information, being electrically connected between information and above-mentioned robot module and the controller for controlling above-mentioned robot module between characteristic information and required information of voltage, above-mentioned robot module are electrically connected information；And robot assembles reader, for showing 3-D image related with above-mentioned multiple components, using above-mentioned electrical connection information, assembling screen window show with the related information of at least one above-mentioned robot module that can be connected with above controller, with being capable of the related information of robot module interconnected.
Description
Technical field
The present invention relates to robot assembling devices, relate to the use of the electrical connection for constituting the structural element of robot in more detail
The robot assembling device of composable robot.
Background technique
Recently, because of the development of robotic technology field, robot is utilized in multi industries, and to readily produce machine
Device Man's Demands just increase.
In general, mounter people not only needs to consider to constitute the mechanical connection of robot, but also need to consider to be electrically connected.
But in the past as mounter people, utilization method is only limitted to object after only consideration mechanical connection carrys out mounter people
Rationality side.
Therefore, currently just it is being badly in need of following scheme: is considering the physical assembling of robot, and is also considering including battery, control
Electrical connection between the robot module of device, Drive Module, sensor module, communication module, display apparatus module etc. comes can group
Machine people.
Summary of the invention
Technical problem
The present invention utilizes composition 30-1 robot for solving above-mentioned problem of the prior art, it is intended that providing
Structural element the composable robot of electrical connection robot assembling device.
The purpose of the present invention is not limited to purpose mentioned above, and unmentioned other purposes can be by following herein
Contents are expressly understood that.
The means solved the problems, such as
According to one embodiment of the invention for achieving the above object, robot assembling device, above-mentioned robot group are provided
Assembling device includes: storage unit, for store 3 D image file related with multiple components of robot are constituted and with make
Multiple components are stated to carry out work respectively or establish the related identification code of associated multiple robot modules, location information, spy with it
Property information and required information of voltage, above-mentioned robot module between electrical connection information and above-mentioned robot module with for controlling
Make the electrical connection information between the controller of above-mentioned robot module；And robot assemble reader, for show with it is above-mentioned
The related 3-D image of multiple components show and can be with above-mentioned control using above-mentioned electrical connection information in assembling screen window
The related information of at least one above-mentioned robot module that device is connected, with being capable of the related letter of robot module interconnected
Breath.
Above-mentioned storage unit is also stored to be had in the port that one of above-mentioned multiple robot modules robot module is formed
The information of pass, between above-mentioned the port related information of connector and above-mentioned connector and above controller that combine
It is electrically connected information, above-mentioned robot assembling reader utilizes and the combination side of the related above-mentioned port of validation of information in above-mentioned port
To, size, the quantity of pin, and judge whether above-mentioned port and above-mentioned connector can combine, if being judged as can combine,
The 3-D image that above-mentioned connector is combined with above-mentioned port is shown in above-mentioned assembling screen window, and in above-mentioned assembling screen window
The connector that mouth display can be combined with above controller.
Above-mentioned storage unit also stores between above-mentioned robot module and battery for powering to above-mentioned robot module
It is electrically connected information, the electricity of voltage and battery supply needed for work of the above-mentioned robot assembling reader to above-mentioned robot module
Pressure is compared, at least one the above-mentioned robot mould that can be connected with above-mentioned battery is shown in above-mentioned assembling screen window
Block.
Above-mentioned robot assembling reader also shows and is shown in above-mentioned assembling screen window in above-mentioned assembling screen window
The related 3-D image of each above-mentioned multiple components and be allocated in the identification code of each above-mentioned multiple robot modules, if choosing
More than one robot module is selected, then above-mentioned robot assembling reader is also shown in above-mentioned assembling screen window for root
The interface of the angle of selected above-mentioned robot module is adjusted according to the time, above-mentioned storage unit is also stored through 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 and borrows in above-mentioned assembling screen window
The mobile video of the component for helping selected above-mentioned robot module to work.
Invention effect
An embodiment according to the present invention shows the robot module that can be connected with controller or battery in screen, from
And mechanical connection can not only be grasped by having the effect that, but also can grasp the structure for the robot being connected according to electrical characteristics
Relationship between element.
Also, an embodiment according to the present invention, provides the interface that can adjust the angle of robot module according to the time, from
And it can the mobile analog video of acceptant robot.
It should be understood that effects of the invention are not limited to said effect, including of the invention detailed from being recorded in
Explanation or invent claimed range invention the inferrible whole effects of composition.
Detailed description of the invention
Fig. 1 is the block diagram for showing the structure of robot assembling device of one embodiment of the invention.
Fig. 2 is the figure for showing the assembling screen window of display robot of one embodiment of the invention.
Fig. 3 is the figure for showing the assembling screen window of display robot of another embodiment of the present invention.
Fig. 4 is the figure for showing the assembling screen window of the component of display composition robot of one embodiment of the invention.
Label declaration
100: robot assembling device
110: storage unit
120: robot assembles reader
201: the first robot modules
202: the second robot modules
203: controller
204: battery
301: first port
302: the first connectors
Specific embodiment
Hereinafter, referring to attached drawing, the present invention is described in detail.But the present invention can by it is mutually different it is various in a manner of
It realizes, therefore be not limited to be illustrated herein is strength.Also, in order to more clearly illustrate the present invention in the accompanying drawings,
The part unrelated with explanation is omitted, in the specification, for similar structural element, is labelled with similar attached drawing mark
Note.
In the specification, when there is a part " to be connected " with other parts, this not only includes " being connected directly "
Situation, but also between being included therein across other component " be indirectly connected and connect " the case where.Also, working as has a part " comprising " to have
When a structural element, this is to mean without especially opposite record, is not exclusion other structures element, but
Can also have other structures element.
The embodiment of the present invention is described in detail referring to the drawings.
Fig. 1 is the block diagram for showing the structure of robot assembling device of one embodiment of the invention.
Referring to Fig.1, the robot assembling device 100 of one embodiment of the invention may include storage unit 110 and robot assembling
Reader 120.
Storage unit 110 can be by the memory shape of the robot assembling device 100 including program storage, data storage etc.
At.
Program storage can be stored in by the execution program that robot assembling reader 120 executes.For example, storage unit 110
The first program that can be edited to the connection between robot module and for information about in program storage storage, can be by machine
The second program etc. of device people's module control action.
It can be stored in data storage and be stored in the program of program storage and held by robot assembling reader 120
The data generated in capable way.For example, storage unit 110 can store by the robot module of 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 modules
Electrical connection information etc. between breath, controller and connector, and the mould mobile by the robot of the second Program Generating can be stored
Quasi- video.
Robot assembling device 100 can be executed by the way that the first program and the second program are connected, and can be made by first
The information of Program Generating loads in the second program.That is, robot assembling device 100 loads in the second program and passes through first
The related information of machine that connection between the structural element of process robot is edited, it is dynamic in relation to robot can provide
Make the mobile analog video of the robot controlled.
Storage unit 110 can store 3 D image file related with the various structures element of robot.For example, storage unit
110 can store multiple components of composition robot, various components is made to work or establish associated multiple robot modules, shape with this
At the 3-D image text of the various structures element in robots such as the port of robot module, the connectors combined with port
Part.
Wherein, robot module can include: Drive Module, for making component operation；Communication module, for being set with outside
It is standby to execute communication；Sensor module senses surrounding enviroment to obtain information；And display apparatus module, for showing information, but simultaneously
It is not limited to this, it may additionally include the multiple module for constituting and needing in robot.
Storage unit 110 can store the position of the identification code, each robot module that are allocated in multiple robot modules respectively
Information, the characteristic information of each robot module and in order to make each robot module work and required voltage information.
Storage unit 110 can store the electrical connection information between at least one robot module and controller.Wherein, it is electrically connected
Information as indicate for control robot module controller and by controller control robot module between how mode
Be connected, come inform controller whether be connected with robot module or whether the connectable information connect, may include one control
Electrical connection information between device and a robot module also may include the electricity between a controller and multiple robot modules
Link information.
Storage unit 110 can store the electrical connection information between at least one robot module and controller.Wherein, it is electrically connected
Information as indicate for robot module supply electricity battery and between the robot module of battery receptacle electricity with how
Mode is connected, come inform robot module whether be connected with battery or whether the connectable information connect, may include an electricity
Electrical connection information between pond and more than one robot module.
Storage unit 110 can store the electrical connection information between multiple robot modules.Wherein, electrical connection information is as expression
Between multiple robot modules by how in a manner of be connected, to inform whether robot module is connected or whether connectable connects
Information may include the electrical connection information between at least one robot module.
Storage unit 110 can store letter related with the port of robot module formation in multiple robot modules
Breath, with the electrical connection information between the related information of connector that combines of port and connector and controller.Wherein, it is electrically connected
Connect information as indicate connector and pass through connector transmit signal controller between by how in a manner of be connected, come the machine of informing
Device people module whether be connected with battery or whether the connectable information connect, may include a controller and more than one connection
Electrical connection information between device.
The angle that storage unit 110 is directed to the robot module that robot assembling reader 120 is shown can stored angles tune
Whole information, above-mentioned angle adjustment information is according to the time inputted by the interface for being adjusted according to the time.Ginseng related to this
It is carried out according to Fig. 3 aftermentioned.
Robot, which assembles reader 120, to show much information in the assembling screen window provided by the first program.This
When, robot assembling reader 120 can show information by more than one assembling screen window, shield by multiple assemblings
Come in the case where showing information, divisible display window is shown curtain window to show or can be overlapped display window.
Robot assembling reader 120 can assembling screen window show and be stored in storage unit 110 robot it is more
The related 3 D image file of kind structural element.Robot assembling reader 120 can show each structure in assembling screen window
The 3 D image file of element.At this point, robot assembling reader 120 can individually show that each structure is wanted in assembling screen window
The 3-D image of element, can also be the three of the whole or part of the robot of the multiple structural elements of assembling screen window display combination
Tie up image.
If showing 3-D image related with the various structures element of robot in assembling screen window, and according to user
The operation input screen change order (for example, mobile, amplification, reduce etc.) of member, then robot assembling reader 120 shields in assembling
Curtain window may also display the 3-D image changed according to screen change order.
Robot assembling reader 120, which utilizes, is stored in being electrically connected between the robot module and controller of storage unit 110
Information is connect, can show more than one the robot module being connected with controller or can be with controller phase in assembling screen window
More than one robot module of connection.
That is, if robot assembling reader 120 can show and select according to the operation selection control of user of service
More than one the robot module that controller is connected or more than one the robot module that can be connected with controller, if
Robot module is selected according to the operation of user of service, then can show the controller being connected with the robot module selected or can
The controller being connected with robot module.
Robot assembles reader 120 and shows three-dimensional related with the various structures element of robot in assembling screen window
Image, and more than one the robot module being connected with controller can be individually shown in new assembling screen window or can be with
The robot module that controller is connected, and more than one the robot module being connected with controller can be highlighted
(for example, related structural element is made to flash or show with different colors).
Robot assembling reader 120 confirms the voltage of robot module using the information of voltage for being stored in storage unit 110,
And can determine whether that related robot module could be connected with battery, to show and could connect in assembling screen window.At this point, machine
People assembles the voltage that reader 120 supplies voltage needed for the work for robot module and battery and is compared, and can sentence
Related robot module of breaking could be connected with battery.
Also, robot assembling reader 120, which utilizes, to be stored between the robot module and controller of storage unit 110
It is electrically connected information, can individually show more than one the robot module being connected with battery and can be strong in assembling screen window
More than one the robot module for adjusting display to be connected with battery.
Robot assembling reader 120, can using the electrical connection information being stored between the robot module of storage unit 110
More than one the robot module being connected with specific robotic module is shown or can be with specific machine in assembling screen window
More than one the robot module that people's module is connected.
For example, the first robot module and the second robot module are set as connectable connect in the case where, if according to using
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
Second robot module of connection, 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 to be connected with the second robot module, as described above, if the first machine of selection
People's module, then robot assembling reader 120 can show the second robot module being connected with the first robot module, if choosing
The second robot module is selected, then can show the first robot module being connected with the second robot module.
Robot assembles the available information related with the port for being stored in storage unit 110 of reader 120 and and connector
Related information can show that the port for being formed in robot module, the connector being connected with port are aobvious in assembling screen window
Show.At this point, robot assembling reader 120 can show the various structures element related three with robot in assembling screen window
Image is tieed up, and can be by using the operational order or automatic amplification of personnel, to show the region of display port or connector.
When display port and connector, robot assembles the knot that reader utilizes validation of information related with port port
Direction, size, the quantity of pin are closed, and judges whether port and connector are combinable, if being judged as combinable, can assembled
The 3-D image that screen window display port is combined with connector.At this point, robot assembles reader 120 to the pin of port
Quantity and the quantity of pin of connector be compared, can determine whether related port combinable with connector.
Robot assembling reader 120 is available related with the controller and connector for being stored in storage unit 110 to be electrically connected
Connect information, can assembling screen window show the more than one connector being connected with controller or it is attachable more than one
Connector.
Robot assembling reader 120 can be shown and the various structures of robot by the first program in assembling screen window
The related 3-D image of element, and may also display the identification for being allocated in multiple robot modules respectively for being stored in storage unit 110
Code.
If selecting the robot module of one or more of multiple robot modules, robot assembling reader 120 is held
The second program of row, it is next to show through the second procedure selection in assembling screen window for adjusting the interface of robot module,
Using the angle adjustment information for being stored in storage unit 110, may also display in assembling screen window by robot module's work
The mobile video of component.It is related to this aftermentioned referring to Fig. 3 progress.
Fig. 2 is the figure for showing the assembling screen window of display robot of one embodiment of the invention.
Firstly, robot assembling reader 120 can show and be stored in the robot of storage unit 110 in assembling screen window
The related 3-D image of various structures element.
Referring to Fig. 2, robot assembling reader 120 can be shown including the first robot module 201, the second robot module
202, the 3-D image 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 a variety of robot modules such as Drive Module, communication module, sensor module, display apparatus module
One of.
Other than the globality 3-D image of robot, robot assembling reader 120 be may also display as robot
A part 3-D image, can also individually indicate in the various structures element of robot with a structural element related three
Tie up image.
For example, robot assembling reader 120 shows the globality 3-D image of robot, if input amplification robot
The order of leg section then can show a part of robot by only amplifying the leg section of robot.Robot assembling is checked
If device 120 selects the controller 203 in the various structures element of robot, individually display three-dimensional related with controller 203
Image, and may also display details related with controller 203 (by the information for the robot module that controller 203 controls
Deng), if selection battery 204, independent related with battery 204 3-D image of display, and may also display and have with battery 204
The details (information of voltage of electricity etc. that the information for the robot module being connected with battery, battery 204 supply) of pass.
Controller 203 and battery 204 can be connected with more than one robot module, 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 unit 110 can store the location information of the first robot module 201 and the second robot module 202.For example, depositing
Storage portion 110 can store the location information for informing following information: the 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 the lower portion of controller 203.
Such as Fig. 2, robot assembling reader 120 shows the globality 3-D image for being stored in the robot of storage unit 110,
If robot assembling reader 120 is highlighted controller 203 according to the operation selection control 203 of user of service, may be used also
It is highlighted the first robot module 201 and the second robot module 202 that can be connected with controller 203.At this point, robot
Assembling reader 120 can be by making controller 203, the first robot module 201 and the second robot module 202 flash or utilize
The method that differential color is shown etc. with other structures element is highlighted.
If according to the bind command between the operation input controller 203 of user of service and the first robot module 201,
Robot assembling reader 120 utilizes the electricity being stored between the controller 203 of storage unit 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 sentence
Disconnected result.At this point, if can be inputted according to the operation of user of service including the first robot module 201 and the second robot module
Bind command between 202 multiple robot modules and controller 203, robot assembling reader 120 is available to be stored in
Electrical connection information between the controller 203 and multiple robot modules of storage unit 110, judges controller 203 and multiple machines
People's module could be connected, and show judging result in assembling screen window.
If being judged as and can connect with the judging result that could be connect of the first robot module 201 about controller 203,
Storage unit 110 changes the electrical connection information of controller 203 and the first robot module 201.Storage unit 110 is directed to controller
203 and the first electrical connection information between robot module 201 " connection terminates " can be changed to from " can connect " to store.
Using the information that is electrically connected between controller 203 and robot module, robot assembles reader 120 by with phase
With the color method that shows robot module etc. can be highlighted controller 203 and be connected with controller 203 it is a kind of with
On robot module.It is connected by above controller 203 with more than one robot module, may be notified that by control
The robot module that device 203 actually controls.
For example, being deposited if the connection of controller 203, the first robot module 201 and the second robot module 202 terminates
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 " stores, if robot assembles reader according to the operation selection control 203 of user of service
120 can be shown with color identical with controller 203 for control the first robot module 201 controller and with the second machine
Device people module 202, if the first robot module 201 of selection, can be shown with color identical with the first robot module 201
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 unit 110 can the information of voltage of electricity that supplies of storage battery 204, in order to make component operation and the first robot mould
201 required voltage information of block, in order to make component operation and 202 required voltage information of the second robot module etc. and each knot
The related information of voltage of structure element.
Such as Fig. 2, robot assembles the globality 3-D image that reader 120 shows robot, if according to user of service's
Operation selection battery 204, then robot assembling reader 120 is highlighted battery 204, and can also be highlighted can be with battery
204 the first robot modules 201 and the second robot module 202 being connected.
If according to the bind command between the operation input battery 204 of user of service and the first robot module 201, machine
Device people assembles reader 120 using the electrical connection being stored between the battery 204 of storage unit 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.At this point, if can be inputted according to the operation of user of service including the first machine
Bind command between people's module 201 and the multiple robot modules and controller 203 of the second robot module 202, robot
It assembles reader 120 and confirms the voltage of battery 204 and multiple robot modules, and judge controller 203 and multiple robots
Module could be connected, and to show and could connect in assembling screen window.
For example, storage unit 110 can storage battery 204 voltage be 5V, the voltage of the first robot module 201 is 5V and
The voltage of two robot modules 202 is the battery information of 10V.At this point, if according to the operation input battery 204 of user of service,
Bind command between one robot module 201 and the second robot module 202, then robot assembling reader 120 is judged as
It can be connect with the first robot module 201 merely with the battery 204 of the voltage of identical 5V, coming can be with identical as battery 204
Color show the first robot module 201, and can show the nothing as caused by voltage differences about the second robot module 202
The information of method connection.
In the case where battery 204 is connected with the first robot module 201, storage unit 110 is directed to battery 204 and
Electrical connection information between one robot module 201 can be changed to " connection terminates " from " can connect " to store.
On the other hand, multiple robot modules are connectable connects, it is assumed that can be with the second robot for the first robot module 201
Module 202 is connected, the third robot module and first except the first robot module 201 and the second robot module 202
Robot module 201 can not be connected.
If selecting the first robot module 201 according to the operation of user of service, robot assembling reader 120 is emphasized to show
Show the first robot module 201, and can also be highlighted the second robot module that can be connected with the first robot module 201
202.At this point, robot assembling reader 120 is differential to carry out with robot module 201 and the second robot module 202
Color is shown, may be notified that third robot module can not be connected with the first robot module 201.
If being ordered according to the connection between the first robot module of operation input 201 of user of service and third robot module
It enables, then robot assembling reader 120 utilizes the first robot module 201 and the third robot mould for being stored in storage unit 110
Electrical connection information between block judges that the first robot module 201 could be connected with third robot module, can assemble
Screen window shows judging result.At this point, since the first robot module 201 can not be connected with third device people module, thus
Robot assembling reader 120 shows the second robot module as attachable robot module together with judging result
202, the robot module that can be connected with the first robot module 201 can be recommended.
If being ordered according to the connection of operation input the first robot module 201 of user of service and the second robot module 202
Enable, then storage unit 110 be directed to the information that is electrically connected 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, an embodiment according to the present invention, shows in screen and be connected with controller 203 or battery 204
Robot module is connected to have the effect that and can also grasp not only according to mechanical connection, but also can grasp according to electricity
The relationship between structural element that characteristic is connected.
Fig. 4 is the figure for showing the assembling screen window of the component of display composition robot of one embodiment of the invention.
In Fig. 2, robot assembles the globality 3-D image that reader 120 shows robot, if according to user of service
The order of operation input screen magnifying or selection specific components, then as Fig. 4 can show the three-dimensional figure of a part as robot
Picture.
Referring to Fig. 4, robot assembling reader 120 can be shown mutually to be tied as including first port 301 and with second port
The 3-D image of the component of a part of the robot of the first connector 302 closed.Wherein, first port 301 and second port
It may include in identical robot module, and may include in respectively different robot module.First port 301 is in not and connects
The state that device combines is connect, second port may be included in the state combined with the first connector 302 being shown in FIG. 4
A connector 302.
Connector can combine with port, show for the electric signal conveyer external power supply supply between robot module
For Fig. 4 the first connector 302 can be performed to include second port robot module and including in addition to second port it
The effect of information is transmitted between the robot module for the port that outer port combines.
Storage unit 110 can be stored with the first port 301 formed in robot module and the end combined with second port
The related information of the first connector 302 of mouth, robot assembling reader 120 are believed using the electrical connection for being stored in storage unit 110
Breath, can show the first connector 302 being connected with first port 301 and second port.
Specifically, the display of robot assembling reader 120 constitutes the robot module of robot, and if first port
301 are included in robot module, then robot assembling reader 120 may also display the first port for being included in robot module
301。
As described above, robot assembling reader 120 also shows second port if second port is included in component,
And judge whether that second port can be combined with the first connector 302 using electrical connection information, it, can if being judged as can combine
Show the 3-D image that the first connector 302 is combined with second port.
At this point, robot assembling reader 120 passes through the quantity and the first connector 302 for confirming the pin of second port
The quantity of pin, can determine whether second port can combine with the first connector.For example, storage unit 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 connector 302 is 5.In this regard, robot
Reader 120 is assembled using electrical connection information, confirms the number of the quantity of the pin of second port and the pin of the first connector 302
Amount, since the quantity of pin is identical, being judged as can be combined, and can show second port and 302 phase knot of the first connector
The 3-D image of conjunction.
When judging whether can combine, robot assembles reader 120 other than the quantity of the pin of confirmation port,
Size, the bonding position of port etc. of port are confirmed, can determine whether port and connector can combine.
If selecting the first connector 302, robot assembling reader 120 may also display can be with 302 phase of the first connector
Other ports of connection.For example, if the quantity of the pin of first port 301 and the first connector 302 is 5 identical, machines
People assembles reader 120 and with identical color shows the first connector 302 and first port 301, may be notified that connectable connect
Information.
On the other hand, controller 203 can be connected with more than one connector, be set as controller 203, first below
Connector 302 and the second connector is connectable connects.
If robot, which assembles reader 120, to show packet in screen according to the operation selection control 203 of user of service
Include the connector list of the first connector 302 and the second connector that can be connected with controller 203.
If selecting the first connector 302 in connector list, it is identified as input controller 203 and the first connector
302 bind command carrys out electrical connection information that storage unit 110 is directed between controller 203 and the first connector 302 from " can
Connection " is changed to " connection terminates " to store electrical connection information.
Later, if selection control 203, robot assembles reader 120 and passes through using electrical connection information with identical
The method of color display controller 203 and the first connector 302 being connected with controller 203, may be notified that 203 He of controller
Second connector is connected.
If also, selection control 203, robot assembling reader 120 pass through with differential with other structures element
The color method that shows the second connector, may be notified that controller 203 and the second connector is connectable connects.
On the other hand, storage unit 110 can be stored about the identification code for being allocated in port respectively and the machine being connected with port
The information of device people's module.
For example, robot assembling reader 120 can be shown in assembling screen window including first port 301 and second port
Port list can be in assembling screen window display as being allocated in first if selecting first port 301 in port list
" 1 " of the identification code of the port 301, robot module being connected with first port 301.
As described above, an embodiment according to the present invention, shows the component including port and connector in screen, so as to
It is easily mastered according to by the relationship between clear electrical characteristics structural element interconnected.
Fig. 3 is the figure for showing the assembling screen window of display robot of another embodiment of the present invention.
Storage unit 110 stores 3 D image file related with the various structures element of robot, and is also storable in knot
The identification code of robot module is allocated in structure element respectively.Wherein, identification code can be carried out according to the operational order of user of service
Distribution, can be also arbitrarily allocated by robot assembling device 100.
Referring to Fig. 3, robot assembles reader 120 and shows be stored in storage unit 110 and machine in assembling screen window
The related 3-D image of various structures element of people, and real can also be allocated in respectively the identification code of robot module.
If according to the operation of user of service, more than one identification of the selection reality in the identification code of assembling screen window
Code, then robot assembling reader 120 can be real for adjusting the interface of the angle of selected robot module according to the time,
Storage unit 110 can store the angle adjustment information based on the time inputted by respective interface.Wherein, angle adjustment information is
It indicates to be directed to the information that the robot module selected by interface adjusts how many angle in which time.
For example, input will after 2 seconds if user of service is equivalent to the robot module of identification code 15 by interface selection
The angle of robot module changes 30 degree of angle adjustment information, then storage unit 110 can store related angle adjustment information.This
When, user of service be directed to each robot module can the adjustment of extra setup angle, and by the way that multiple robot modules are set
Be set to group come to be set as group robot module can also set angle adjust.
Storage unit 110 can store the characteristic information of robot module.Wherein, the characteristic information of robot module can be pass
In the information for the angular range that related robot module can be adjusted.
For example, storage unit 110 can be stored about 0 degree extremely as the characteristic information for the robot module for being equivalent to identification code 11
The information of 90 degree of angular range, robot assembling reader 120 can show 0 degree to 90 degree of adjustable interface.This be by
In different (for example, the range of the moveable angle of arm segment and leg section is not by the adjustable angle of robot module
Together), thus by robot module the characteristic to angular range is preset, for limiting in relation to the removable of robot module
Dynamic range.
Storage unit 110 is identified through the angle tune for the time correlation that interface is inputted using the characteristic information of robot module
Whole information, can stored angles adjustment information if appropriate for later.For example, if being equivalent to the characteristic of the robot module of identification code 11
Information is the information of the angular range about 0 degree to 90 degree, then storage unit 110 confirms the robot module for being equivalent to identification code 11
Angle adjustment information whether be located within the scope of 0 degree to 90 degree after, related angle adjustment information can be stored.
For robot assembling reader 120 using the angle adjustment information for being stored in storage unit 110, coming can be in assembling screen
Window shows the video mobile by the component of robot module's work, the i.e. mobile analog video of generation robot.
For example, if user of service is directed to the angle for being equivalent to the robot module of identification code 3 and identification code 4 by interface
Input is changed to 90 degree of angle adjustment information after 2 seconds, then robot assembling reader 120 will be equivalent to after 2 seconds
It is 90 degree that the angle of the robot module of identification code 3 and identification code 4, which is reconciled, to make to be equivalent to the machine of identification code 3 and identification code 4
It is moved between the group of device people's module work, so as to show the video that the two-arm of robot rises to top in assembling screen window.
The action control by each robot module being illustrated referring to above-mentioned Fig. 3 can be executed by the second program, reference
The connection between each structural element and storage for information about that Fig. 2 and Fig. 4 is illustrated can be executed by the first program.
It is wanted that is, storage unit 110 can be used as specific file (such as XML file) storage by the structure of the first Program Generating
Electrical connection information between element etc., robot assembling reader 120 loads stored file in the second program, to be directed to
In the robot by the first program setting by the second program, carrying out control action can provide the analog video of robot.
As described above, an embodiment according to the present invention, provides the boundary that can adjust the angle of robot module according to the time
Face, so as to easily receive the mobile analog video of robot.
Industrial availability
Above-mentioned explanation of the invention is for illustrating, and general technical staff of the technical field of the invention is it will be appreciated that can
With in the case where not changing technical idea or essential feature of the invention, it is easy to be become with other different specific forms
Shape.
It will consequently be understood that embodiment described above is illustration in all respects, and non-limiting.For example, explanation
It can be dispersed and implemented for each structural element of single shape, in the same manner, illustrating also can be to combine for the structural element of dispersion
Form implemented.
It should be interpreted that range is claimed by aftermentioned invention to show in the scope of the present invention, invent claimed range
Meaning and range and the form for having altered or being deformed derived from its equivalent concepts be included in the scope of the present invention.
Claims (5)
1. a kind of robot assembling device characterized by comprising
Storage unit, for store 3 D image file related with multiple components of robot are constituted and with make above-mentioned multiple groups
Part carry out respectively work or with it establishes the related identification code of associated multiple robot modules, location information, characteristic information and
Electrical connection information and above-mentioned robot module between required information of voltage, 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 3-D image related with above-mentioned multiple components, using above-mentioned electrical connection information,
Assembling screen window show with the related information of at least one above-mentioned robot module that can be connected with above controller,
With can the related information of robot module interconnected,
If above-mentioned robot assembling reader is aobvious in above-mentioned assembling screen window according to the operation selection control of user of service
Show and is connected or attachable more than one robot module with the controller of selection, and
If selecting robot module according to the operation of user of service, above-mentioned robot assembling reader is in above-mentioned assembling screen window
Mouthful display is connected with the robot module selected or attachable more than one robot module or controller, and
If according to the bind command of 2 robot modules of operation input of user of service, above-mentioned robot assembling reader benefit
With the electrical connection information for being stored in above-mentioned storage unit, judge that above-mentioned 2 robot modules could be connected, and in above-mentioned assembling screen
Curtain window shows judging result, and when 2 robot modules can not be connected, above-mentioned robot assembling reader judges to tie with it
The other robot module that fruit recommends display that can be connected with any one robot module together.
2. robot assembling device according to claim 1, which is characterized in that
Above-mentioned storage unit also stores related in the port that one of above-mentioned multiple robot modules robot module is formed
Information, with being electrically connected between above-mentioned the port related information of connector and above-mentioned connector and above controller that combine
Information is connect,
Above-mentioned robot assembling reader using the bonding position of the above-mentioned port of validation of information related with above-mentioned port, size,
The quantity of pin, and judge whether above-mentioned port and above-mentioned connector can combine, if being judged as can combine, at above-mentioned group
Dress screen window shows the 3-D image that above-mentioned connector is combined with above-mentioned port, and shows energy in above-mentioned assembling screen window
Enough connectors combined with above controller.
3. robot assembling device according to claim 1, which is characterized in that
Above-mentioned storage unit also stores being electrically connected between above-mentioned robot module and battery for powering to above-mentioned robot module
Information is connect,
Voltage needed for work of the above-mentioned robot assembling reader to above-mentioned robot module and the voltage of battery supply carry out
Compare, at least one the above-mentioned robot module that can be connected with above-mentioned battery is shown in above-mentioned assembling screen window.
4. robot assembling device according to claim 1, which is characterized in that
Above-mentioned robot assembling reader also shows and is shown in each of above-mentioned assembling screen window in above-mentioned assembling screen window
The related 3-D image of a above-mentioned multiple components and the identification code for being allocated in each above-mentioned multiple robot modules, if selection
More than one robot module, then above-mentioned robot assembling reader above-mentioned assembling screen window also show for according to when
Between come adjust selected above-mentioned robot module angle interface,
Above-mentioned storage unit also stores the angle adjustment information of the time correlation inputted by above-mentioned interface.
5. robot assembling device according to claim 4, which is characterized in that above-mentioned robot assembling reader utilizes upper
Angular adjustment information is stated, also shows in above-mentioned assembling screen window and is moved by the component of selected above-mentioned robot module work
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 CN106457557A (en) | 2017-02-22 |
| CN106457557B true CN106457557B (en) | 2019-09-03 |
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| 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) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN110000753B (en) * | 2019-02-28 | 2021-10-26 | 深圳镁伽科技有限公司 | User interaction method, control device and storage medium |
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|---|---|---|---|---|
| CN101934471A (en) * | 2009-06-30 | 2011-01-05 | 张坛 | Method for quickly assembling modular robot product in virtual environment and technology |
| 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 |
| CN103433923A (en) * | 2007-01-12 | 2013-12-11 | 汉斯乔格·巴尔特斯 | Method and system for generating a robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3899137B2 (en) * | 1995-12-01 | 2007-03-28 | 株式会社ソニー・ミュージックエンタテインメント | Model making device |
| 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 |
-
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 (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20150109215A (en) | 2015-10-01 |
| WO2015141984A1 (en) | 2015-09-24 |
| CN106457557A (en) | 2017-02-22 |
| KR101618585B1 (en) | 2016-05-09 |
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