阅读说明：本技术 一种模块化教学机械臂平台 (Modularization teaching arm platform ) 是由 周春琳 石金泽 方晨昊 曾宝成 李昊颖 熊蓉 于 2021-10-08 设计创作，主要内容包括：本发明公开了一种模块化教学机械臂平台,由电源模块、控制模块、连线模块、运动模块、框架模块、拓展模块组成,接口统一,且通过各个模块的相互拼装连接,可以得到各种构型的机器人。其中所述电源模块为整机提供所需电压,所述控制模块用于控制各运动模块,所述连线模块用于连接各模块线路,所述运动模块包括旋转模块、平动模块,所述框架模块包括操作机器人框架模块和移动机器人框架模块,所述拓展模块包括传感器模块、框架拓展模块、可编程模块、算法模块、显示模块。本发明通过模块化设计、统一接口的各个模块的互相连接、拼装,可以快速搭建出各种种类的机器人,满足学校教学的不同需求。(The invention discloses a modular teaching mechanical arm platform which is composed of a power supply module, a control module, a connecting line module, a motion module, a frame module and an expansion module, wherein the interfaces are unified, and robots with various configurations can be obtained by mutually splicing and connecting the modules. The power module provides required voltage for the whole machine, the control module is used for controlling each motion module, the connecting line module is used for connecting each module line, the motion module comprises a rotation module and a translation module, the frame module comprises an operation robot frame module and a mobile robot frame module, and the expansion module comprises a sensor module, a frame expansion module, a programmable module, an algorithm module and a display module. According to the invention, various types of robots can be quickly built by modular design and mutual connection and assembly of modules with unified interfaces, so that different requirements of school teaching are met.)

1. A modular teaching mechanical arm platform is characterized by comprising a power module (1), a control module (2), a connecting line module (3), a motion module (4), a frame module (5) and an expansion module (6), wherein the power module, the control module, the connecting line module (3), the motion module and the frame module can be assembled and connected into a robot; the power supply module (1) is used for providing voltage; the control module (2) is used as a lower computer and is used for realizing signal transmission between the upper computer and the motion module; the connecting line module (3) is provided with a plurality of interfaces and is used for being connected with each module or an upper computer so as to realize the transmission of signals or voltage;

the motion module (4) comprises a rotation module (41) and a translation module (42) capable of stretching along the axial direction, and the rotation module (41) comprises a first connecting part and a second connecting part which can be connected with other modules to form a revolute pair; the frame module (5) comprises an operating robot frame module and a mobile robot frame module; the frame module of the operation robot comprises a base module (51) with an inner cavity, an arm module (52) in a connecting rod structure, a connecting module (53) for converting the connecting direction and an executing module (54) capable of being installed at the tail end of a mechanical arm, wherein the executing module (54) comprises an actuator connecting module (541) and an actuator module (542); the mobile robot frame module comprises a chassis module, a wheel module and a wheel support module; the wheel bracket module is used for connecting the wheel module and the chassis module and can realize the movement of the chassis module through the wheel module; the expansion module (6) comprises a sensor module, a framework expansion module, a programmable module (62), an algorithm module (63) and a display module.

2. The modular teaching mechanical arm platform as claimed in claim 1, wherein the power module (1) can be connected with the wiring module (3) for supplying power, and the control module (2), the motion module (4) and the upper computer can be connected with the wiring module (3); the upper computer can be communicated with the control module (2) through the connecting module (3), and the control module (2) can control the motion module (4) through the connecting module (3); the expansion module (6) can realize signal transmission with an upper computer or a programmable module (62) through the connecting line module (3).

3. The modular teaching robotic arm platform according to claim 1, wherein the rotating module (41) is a cylindrical structure, the side wall is provided with a first connecting portion in the shape of a groove, and the top end is provided with a second connecting portion in the shape of a protrusion; the rotating module (41) is connected with an intelligent flexible actuator to drive the intelligent flexible actuator to rotate, and the intelligent flexible actuator is preferably one of an integrated servo motor, a controller, an encoder and a speed reducer.

4. The modular teaching robotic arm platform according to claim 1, wherein the arm module (52) comprises a first connecting arm (521) and a second connecting arm (522) of different lengths; the first connecting arm (521) and the second connecting arm (522) are both cylindrical structures and comprise a first connecting end in a groove shape and a second connecting end in a convex shape; the wheel module includes a rubber wheel and a Mecanum wheel.

5. The modular teaching robotic arm platform as claimed in claim 1, wherein the sensing modules comprise a vision module (61) and a ranging module, the frame-extension module comprises a foot module and a crawler module for movement, the programmable module (62) is used for programming functions, the algorithm module (63) is used for processing high-computing operations, and the display module is used for displaying content.

6. The modular teaching mechanical arm platform as claimed in any one of claims 1 to 5, wherein the power module (1), the control module (2), the connecting module (3), the motion module (4), the operation robot frame module and the expansion module (6) can be assembled to form an operation robot.

7. The modular teaching robotic arm platform according to claim 6, wherein the manipulator robot is a six-degree-of-freedom cooperative robot comprising a power module (1), a control module (2), a wiring module (3), a base module (51), six rotation modules (41), five first connecting arms (521), two connecting modules (53), two second connecting arms (522), an execution module (54) and a vision module (61);

a power supply module (1), a control module (2), a connecting line module (3) and a first rotating module (41) are arranged in an inner cavity of the base module (51), and the first rotating module (41) is connected with a first connecting arm (521) positioned outside the base module (51); the first connecting arm (521), the second rotating module (41), the second first connecting arm (521), the first connecting module (53), the first second connecting arm (522), the third rotating module (41), the third first connecting arm (521), the second connecting module (53), the second connecting arm (522), the fourth rotating module (41), the fourth first connecting arm (521), the fifth rotating module (41), the fifth first connecting arm (521) and the sixth rotating module (41) are sequentially connected, and the outer end of the sixth rotating module (41) is connected with an execution module (54) and a vision module (61).

8. The modular teaching robotic arm platform according to claim 6, wherein the manipulator robot is a SCARA robot comprising a power module (1), a control module (2), a wiring module (3), a base module (51), three rotation modules (41), a translation module (42), a first connecting arm (521), two connecting modules (53) and two second connecting arms (522);

a power supply module (1), a control module (2), a connecting line module (3) and a first rotating module (41) are arranged in an inner cavity of the base module (51), and the first rotating module (41) is connected with a translation module (42) positioned outside the base module (51); the translation module (42), the first connecting module (53), the first second connecting arm (522), the second rotating module (41), the first connecting arm (521), the second connecting module (53), the second connecting arm (522) and the third rotating module (41) are sequentially connected.

9. The modular teaching mechanical arm platform as claimed in any one of claims 1 to 5, wherein the power module (1), the control module (2), the connecting module (3), the motion module (4), the mobile robot frame module and the expansion module (6) can be assembled to form a mobile robot.

10. The modular teaching mechanical arm platform as claimed in any one of claims 1 to 5, wherein the power module (1), the control module (2), the wiring module (3), the motion module (4), the operation robot frame module, the mobile robot frame module and the expansion module (6) can be assembled and connected to form a mobile operation type robot.

Technical Field

The invention belongs to the technical field of teaching robots, and particularly relates to a modular teaching mechanical arm platform.

Background

The teaching robot is a representative of the application of the robot in the field of education, is a typical example of the application of artificial intelligence, voice recognition and bionic technology in education, and aims to develop the analysis ability, creation ability and practice ability of students. At present, the robot shows incomparable educational value and development prospect in the application of the education field, and the characteristic of multidisciplinary cross fusion provides a good platform for culturing wide-caliber, high-quality and composite engineering talents. The development and application of the educational robot and the development of thinking ability and practical ability of students are not separable, and the deep research of the educational robot is an example of conforming to the trend of the development of the times. But present teaching arm structure is complicated, and the installation is difficult, lacks the modularization thought.

Therefore, it is highly desirable to design a new modular teaching robotic arm platform.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a modular teaching mechanical arm platform.

The invention adopts the following specific technical scheme:

the invention provides a modular teaching mechanical arm platform which comprises a power module, a control module, a connecting module, a motion module, a frame module and an expansion module, wherein the power module, the control module, the connecting module, the motion module, the frame module and the expansion module can be assembled and connected into a robot; the power supply module is used for providing voltage; the control module is used as a lower computer and is used for realizing signal transmission between the upper computer and the motion module; the connecting module is provided with a plurality of interfaces and is used for being connected with each module or an upper computer so as to realize the transmission of signals or voltage;

the motion module comprises a rotation module and a translation module capable of stretching along the axial direction, and the rotation module comprises a first connecting part and a second connecting part which can be connected with other modules to form a revolute pair; the frame module comprises an operating robot frame module and a mobile robot frame module; the frame module of the operation robot comprises a base module with an inner cavity, an arm module in a connecting rod structure, a connecting module for converting the connecting direction and an execution module which can be arranged at the tail end of a mechanical arm, wherein the execution module comprises an actuator connecting module and an actuator module; the mobile robot frame module comprises a chassis module, a wheel module and a wheel support module; the wheel bracket module is used for connecting the wheel module and the chassis module and can realize the movement of the chassis module through the wheel module; the expansion module comprises a sensor module, a framework expansion module, a programmable module, an algorithm module and a display module.

Preferably, the power supply module can be connected with the connecting line module for supplying power, and the control module, the motion module and the upper computer can be connected with the connecting line module; the upper computer can complete communication with the control module through the connecting module, and the control module can realize control over the movement module through the connecting module; the expansion module can realize signal transmission with an upper computer or a programmable module through the connecting line module.

Preferably, the rotating module is of a columnar structure, the side wall of the rotating module is provided with a groove-shaped first connecting part, and the top end of the rotating module is provided with a convex second connecting part; the rotating module is connected with an intelligent flexible actuator to drive the intelligent flexible actuator to rotate, and the intelligent flexible actuator is preferably one of an integrated servo motor, a controller, an encoder and a speed reducer.

Preferably, the arm module comprises a first connecting arm and a second connecting arm which are different in length; the first connecting arm and the second connecting arm are both of cylindrical structures and comprise a first connecting end in a groove shape and a second connecting end in a convex shape; the wheel module includes a rubber wheel and a Mecanum wheel.

Preferably, the sensing module comprises a vision module and a distance measuring module, the frame expanding module comprises a foot type module and a crawler belt module which are used for moving, the programmable module is used for programming functions, the algorithm module is used for processing high-computing-force operation, and the display module is used for displaying contents.

As any preference, the power module, the control module, the connecting module, the motion module, the operation robot frame module and the expansion module can be spliced and connected into an operation type robot.

Furthermore, the operation type robot is a six-degree-of-freedom cooperative robot and comprises a power supply module, a control module, a connecting line module, a base module, six rotating modules, five first connecting arms, two connecting modules, two second connecting arms, an execution module and a vision module;

a power supply module, a control module, a connecting line module and a first rotating module are arranged in an inner cavity of the base module, and the first rotating module is connected with a first connecting arm positioned outside the base module; the first connecting arm, the second rotating module, the second first connecting arm, the first connecting module, the first second connecting arm, the third rotating module, the third first connecting arm, the second connecting module, the second connecting arm, the fourth rotating module, the fourth first connecting arm, the fifth rotating module, the fifth first connecting arm and the sixth rotating module are sequentially connected, and the outer end of the sixth rotating module is connected with the execution module and the vision module.

Furthermore, the operation type robot is an SCARA robot and comprises a power supply module, a control module, a connecting line module, a base module, three rotating modules, a translation module, a first connecting arm, two connecting modules and two second connecting arms;

a power supply module, a control module, a connecting line module and a first rotating module are arranged in an inner cavity of the base module, and the first rotating module is connected with a translation module positioned outside the base module; the translation module, the first connecting module, the first second connecting arm, the second rotating module, the first connecting arm, the second connecting module, the second connecting arm and the third rotating module are sequentially connected.

As any preference, the power module, the control module, the connecting module, the motion module, the mobile robot frame module and the expansion module can be spliced to form a mobile robot.

As any one of the above preferences, the power module, the control module, the wiring module, the motion module, the operation robot frame module, the mobile robot frame module and the expansion module can be assembled to connect into a mobile operation type robot.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a design scheme of a modular teaching mechanical arm platform, which can be used for quickly constructing various robots by modular design and mutual connection and assembly of modules with unified interfaces, thereby meeting different requirements of school teaching.

Drawings

FIG. 1 is a schematic structural diagram of a portion of a module;

FIG. 2 is a schematic structural diagram of a built six-degree-of-freedom cooperative robot;

FIG. 3 is a schematic structural diagram of a built SCARA robot;

FIG. 4 is a schematic diagram of three broad classes of robots that can be set up using the platform of the present invention;

the reference numbers in the figures are: the device comprises a power module 1, a control module 2, a connecting line module 3, a motion module 4, a rotation module 41, a translation module 42, a frame module 5, a base module 51, an arm module 52, a first connecting arm 521, a second connecting arm 522, a connecting module 53, an execution module 54, an actuator connecting module 541, an actuator module 542, an expansion module 6, a vision module 61, a programmable module 62 and an algorithm module 63.

Detailed Description

The invention will be further elucidated and described with reference to the drawings and the detailed description. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.

As shown in fig. 1, the modular teaching mechanical arm platform provided by the present invention mainly includes a power module 1, a control module 2, a connection module 3, a motion module 4, a frame module 5 and an expansion module 6, the interfaces of the modules are unified, various robots can be obtained by mutually splicing and connecting the modules, and the structure and composition of the modules are as follows:

the power module 1 is used for providing required voltage for the whole machine, and for example, a 12V/24V switching power supply or a 12V/24V lithium battery can be adopted. The control module 2 is used as a lower computer, can adopt a raspberry pi or an STM32 and is used for realizing signal transmission between the upper computer and the motion module 4, so that the position, the speed and the output torque of each motion module can be controlled, and the position, the speed, the output force, the temperature and the like of each motion module can be collected. The connection module 3 has a plurality of interfaces, and can be connected with components such as a control module, a motion module, an expansion module, an upper computer (such as a computer) and the like through the interfaces. The connection module 3 CAN adopt an NI CAN Breakout Box adapter and a Tashi TAS-LAN-463 to support mainstream industrial communication protocols such as a CAN bus, RS485, Ethernet and the like, so that the transmission of signals or voltages among the modules is realized.

In practical application, the power module 1 can be connected with the connection module 3 for supplying power, and the control module 2, the movement module 4 and the upper computer can be connected with the connection module 3. The upper computer can complete communication with the control module 2 through the connecting module 3, and the control module 2 can realize control over the motion module 4 through the connecting module 3. The expansion module 6 can realize signal transmission with the upper computer or the programmable module 62 through the wiring module 3.

The motion module 4 comprises a rotation module 41 and a translation module 42. The rotating module 41 can realize circular motion, and includes a first connecting part and a second connecting part which can be connected with other modules to form a revolute pair; the translation module 42 can be axially telescopic, and for example, a telescopic structure can be adopted. In practical application, the rotating module 41 may be a cylindrical structure, and the side wall is provided with a first connecting portion in a groove shape, and the top end is provided with a second connecting portion in a convex shape; the rotating module 41 is connected with an intelligent flexible actuator to drive the intelligent flexible actuator to rotate, and the intelligent flexible actuator is preferably one of an integrated servo motor, a controller, an encoder and a speed reducer. The translation module and the rotation module can be combined to form a belt-slide block structure or a worm-slide block structure.

The frame module 5 includes an operating robot frame module and a mobile robot frame module. The operation robot frame module includes a base module 51, an arm module 52, a connection module 53, and an execution module 54. Wherein, the base module 51 has a hollow inner cavity, and can place a power module, a control module, a wiring module and the like according to requirements. The arm module 52 includes links of different lengths, and may include, for example, a first connecting arm (short arm) 521 and a second connecting arm (long arm) 522 of different lengths. In practical applications, the first connecting arm 521 and the second connecting arm 522 may be both configured to be cylindrical structures, and the first connecting arm 521 and the second connecting arm 522 each include a first connecting end in a groove shape and a second connecting end in a protrusion shape. The connection module 53 is used to switch the connection direction of the module connected thereto. The implement module 54 includes an implement interface module 541 and an implement module 542, typically mounted to the end of the robotic arm. The actuator module includes various actuators, such as an air pump, a gripper, a nozzle, etc., and is connected to the end of the robot arm through an actuator connection module 541. The mobile robot frame module includes a chassis module, a wheel module, and a wheel support module. The chassis module is provided with enough corresponding hole positions for freely installing all parts; the wheel bracket module is used for connecting the wheel module and the chassis module and can realize the movement of the chassis module through the wheel module; the wheel module may employ a common rubber wheel and a mecanum wheel.

The expansion module 6 includes a sensor module, a frame expansion module, a programmable module 62, an algorithm module 63, and a display module. Wherein the sensing module comprises a vision module 61 and a ranging module, for example the vision module 61 comprises a series of depth cameras with a unified interface. The frame expansion module comprises a special frame module, a foot type module and a crawler belt module, wherein the special frame module is used for moving, the special frame module refers to a chassis light mounting frame of the mobile robot, and mounting hole sites for a motor, communication equipment and a mobile power supply are reserved. The programmable module 62 is used to expand the auxiliary programming function of the sensor or the execution module, complete data acquisition preprocessing, control signal output, and the like, and for example, an arduino single chip microcomputer or an STM32 single chip microcomputer may be used. The algorithm module 63 is used for processing operations requiring high computational power, such as artificial intelligence, image processing, etc., and for example, an NVIDIA JETSON series artificial intelligence operation panel can be adopted. The display module is used for displaying content, and for example, an MF219 serial port screen, a MAKEBIT-7 inch high-definition display screen and the like can be adopted.

In practical application, different modules can be selected to be combined according to needs, so that different robots can be obtained conveniently. As shown in fig. 4, a power module 1, a control module 2, a connecting module 3, a motion module 4, an operation robot frame module and an expansion module 6 can be assembled and connected to form an operation robot; the power module 1, the control module 2, the connecting line module 3, the motion module 4, the mobile robot frame module and the expansion module 6 can be spliced and connected into a mobile robot; the power module 1, the control module 2, the connecting line module 3, the motion module 4, the operation robot frame module, the mobile robot frame module and the expansion module 6 can be spliced into a mobile operation type robot. That is to say, through the mutual assembly and connection of each module in the platform, most robots in the market can be formed.

As shown in fig. 2, a manipulation type robot, i.e., a six-degree-of-freedom cooperative robot, is provided. The six-degree-of-freedom cooperative robot comprises a power supply module 1, a control module 2, a connecting line module 3, a base module 51, six rotating modules 41 (respectively marked as a first rotating module 41, a second rotating module 41, a third rotating module 41, a fourth rotating module 41, a fifth rotating module 41 and a sixth rotating module 41), five first connecting arms 521 (respectively referred to as a first connecting arm 521, a second first connecting arm 521, a third first connecting arm 521, a fourth first connecting arm 521 and a fifth first connecting arm 521), two connecting modules 53 (respectively referred to as a first connecting module 53 and a second connecting module 53), two second connecting arms 522 (respectively referred to as a first second connecting arm 522 and a second connecting arm 522), an execution module 54 and a vision module 61, wherein the connection modes among the modules are as follows:

the inner cavity of the base module 51 is provided with a power module 1, a control module 2 and a connecting module 3 (not shown in the figure), the power module 1 is connected with the connecting module 3 for supplying power, and the control module 2, the motion module 4 and the upper computer are all connected with the connecting module 3. The upper computer is communicated with the control module 2 through the connecting module 3, and the control module 2 controls the motion module 4 through the connecting module 3. The expansion module 6 realizes signal transmission with the upper computer or the programmable module 62 through the connection module 3. The first rotating module 41 is further disposed in the inner cavity of the base module 51, and the first rotating module 41 is connected to the first connecting arm 521 located outside the base module 51. The first connecting arm 521, the second rotating module 41, the second first connecting arm 521, the first connecting module 53, the first second connecting arm 522, the third rotating module 41, the third first connecting arm 521, the second connecting module 53, the second connecting arm 522, the fourth rotating module 41, the fourth first connecting arm 521, the fifth rotating module 41, the fifth first connecting arm 521 and the sixth rotating module 41 are connected in sequence, and the outer end of the sixth rotating module 41 is connected with the execution module 54 and the vision module 61.

As shown in fig. 3, a manipulator type robot, i.e., a SCARA robot, is provided. The SCARA robot comprises a power module 1, a control module 2, a connecting line module 3, a base module 51, three rotating modules 41 (respectively recorded as a first rotating module 41, a second rotating module 41 and a third rotating module 41), a translation module 42, a first connecting arm 521, two connecting modules 53 (respectively recorded as a first connecting module 53 and a second connecting module 53) and two second connecting arms 522 (respectively recorded as a first second connecting arm 522 and a second connecting arm 522), wherein the connection modes among the modules are as follows:

the inner cavity of the base module 51 is provided with a power module 1, a control module 2 and a connecting module 3 (not shown in the figure), the power module 1 is connected with the connecting module 3 for supplying power, and the control module 2, the motion module 4 and the upper computer are all connected with the connecting module 3. The upper computer is communicated with the control module 2 through the connecting module 3, and the control module 2 controls the motion module 4 through the connecting module 3. The first rotating module 41 is further disposed in the inner cavity of the base module 51, and the first rotating module 41 is connected to the translation module 42 located outside the base module 51. The translation module 42, the first connection module 53, the first second connection arm 522, the second rotation module 41, the first connection arm 521, the second connection module 53, the second connection arm 522, and the third rotation module 41 are connected in sequence.

The above-described embodiments are merely preferred embodiments of the present invention, which should not be construed as limiting the invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, the technical scheme obtained by adopting the mode of equivalent replacement or equivalent transformation is within the protection scope of the invention.