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机器人参数说明
第一章中，我们探讨了产品的卖点及其设计理念，为您提供了对产品高层次理解的全景视角。现在，让我们进入第二章——机器人参数说明。这一章节将是您理解产品技术细节的关键。详细了解这些技术参数，不仅可以帮助您充分认识到我们产品的先进性和实用性，而且还能够确保您能够更有效地利用这些技术来满足您的具体需求。
1 机器参数
| 指标 | 参数 |
|---|---|
| 中文名称 | 水星B1双臂机器人 |
| 型号 | 水星B1 |
| 产品尺寸 | 200*192.5*537mm |
| 自由度 | 17 |
| 最大工作半径 | 8小时 |
| 最大负载 | 1KG |
| 机械臂重复精度 | ±0.05 mm |
| 净重 | 8KG |
| 工作电压 | 24V |
| 重复精度 | +-0.05mm |
| 减速机构 | 谐波减速机 |
| 关节制动式 | 电磁摩擦片式 |
| CPU | 6核Arm v8.2 64位CPU |
| GPU | 384 核 Volta™ GPU |
| 算力 | 21 TOPS |
| 材质 | 铝合金，工程塑料 |
| 3D相机 | 奥比中光 Dabai |
| 麦克风阵列 | 线性4麦克风，5米180°拾音 |
| IO | 24V 6 输入，6 输出 |
| 屏幕 | 9寸触摸屏 |
| 通讯方式 | CAN总线/WIFI/网口/蓝牙/USB/串口 |
2 软件基本功能支持
| 功能/开发环境 | 用途 |
|---|---|
| 自由行动 | 支持 |
| 关节运动 | 支持 |
| 笛卡尔运动 | 支持 |
| 轨迹记录 | 支持 |
| 无线控制 | 支持 |
| 紧急停止 | 支持 |
| Windows | 支持 |
| Linux | 支持 |
| MAC | 支持 |
| ROS 1 | 支持 |
| Python | 支持 |
| C++ | 支持 |
| C# | 支持 |
| JavaScript | 支持 |
| myblockly | 支持 |
| Arduino | 支持 |
| mystudio | 支持 |
| 串口控制协议 | 支持 |
| TCP/IP | 支持 |
| MODBUS | 支持 |
3 控制核心参数
主控制器规格表
| 指标 | 参数 |
|---|---|
| 主控 | NVIDIA Jetson Xavier NX 8GB |
| 主模型 | Jetson Orin Nano SUPER 8GB |
| 中央处理器 | 6 核 NVIDIA Carmel ARM®v8.2 64 位 CPU 6MB L2 + 4MB L3 |
| 图形处理器 | 具有 48 个 Tensor 核心的 384 核 NVIDIA Volta™ GPU |
| 算力 | 21 TOPS |
| 存储 | 16 GB eMMC 5.1 |
| CSI 摄像机 | 2 个 CSI 摄像机 |
| 网络 | 10/100/1000 BASE-T 以太网 |
| USB端口 | 1 个 USB 3.2 2.0 (10 Gbps) 2 个 USB 2.0 端口 |
| 其他输入/输出 | 2个UART串口 |
左右臂副控制器规格表
| 指标 | 参数 |
|---|---|
| 副控 | 左右臂副控 |
| 副控型号 | ESP32 |
| 核心参数 | 240MHz dual core. 600 DMIPS, 520KB SRAM. Wi-Fi, dual mode Bluetooth |
| 辅控Flash | 4MB |
| LED显示 | 5X5 RGB |
4 结构尺寸参数
本章的距离和角度单位为毫米。
产品尺寸和工作空间
选择机器人安装位置时，重要的是要考虑机器人正上方和正下方的圆柱空间，并尽可能避免将工具移向圆柱空间。 因为这会导致工具运动缓慢时关节旋转过快，导致机器人效率低下且风险评估困难。
双臂端法兰尺寸
产品尺寸
产品尺寸图
工作空间
工作空间
电气特性参数
底座接口概述
图1 基础接口图
底座接口说明
| 编号 | 接口 | 定义 | 特点 | 注意 |
|---|---|---|---|---|
| 1 | 急停接口 | 停止 | 急停回路接口 | |
| 2 | DC/IO接口 | 24V | 直流24V | DC24V输出 |
| OUT1 | 数字输出信号1~6 | 仅在 PNP 模式下输出 | ||
| OUT2 | ||||
| OUT3 | ||||
| OUT4 | ||||
| OUT5 | ||||
| OUT6 | ||||
| GND | GND | |||
| 3 | DC/IO接口 | GND | GND | |
| IN6 | 数字输入信号1~6 | 仅进入NPN模式 | ||
| IN5 | ||||
| IN4 | ||||
| IN3 | ||||
| IN2 | ||||
| IN1 | ||||
| 24V | 直流24V | DC24V输入 | ||
| 4 | 以太网端口 | 以太网 | 以太网通讯接口 | |
| 5 | 电源输入接口 | DC24V输入 | DC24V输入 | |
| 4 | 以太网端口 | 以太网 | 以太网通讯接口 | |
| 5 | 电源输入接口 | DC24V输入 | DC24V输入 | |
| 6 | 开关 | 电源开关 | 控制输入电源的通断 | 带灯（灯亮） |
| 7 | R-USB | 右臂 USB | 用USB连接外置摄像头 | |
| 8 | L-USB | 左臂 USB | 用USB连接外置摄像头 | |
| 9 | USB3.0 | USB3.0*2 | 可连接外部设备或U盘 |
末端接口总览
Figure 5 左臂末端图
Figure 6 右臂末端图
末端接口说明
| 编号 | 接口 | 定义 | 功能 | 备注 |
|---|---|---|---|---|
| 6 | 4pinUSB端子 | 对外接口 | 连接摄像头 | |
| 7 | M8航空插座 | 末端工具IO接口 | 与外部设备交互 |
如图所示是M8航空插座I/O图，Mercury B1机器人提供了一路输入和两路输出。
各个工具I/O端口的定义如下表所示，注意的是，工具I/O无论是输入还是输出都是PNP类型，接线方式同底部输出接口一致。
| 编号 | 信号 | 解释 | 配套M8线颜色 |
|---|---|---|---|
| 1 | GND | DC24V 负极 | 白 |
| 2 | OUT1 | 工具输出接口1 | 褐 |
| 3 | OUT2 | 工具输出接口2 | 绿 |
| 4 | 485A | 预留, 未开发 | 黄 |
| 5 | 24V | DC24V 正极 | 灰 |
| 6 | IN1 | 工具输入接口1 | 粉 |
| 7 | IN2 | 具输入接口2 | 蓝 |
| 8 | 485B | 预留, 未开发 | 紫 |
注意: 此接口目前不支持热插拔, 可能会导致机器器件损坏。在插拔前，需要先关机。
USB端子：用于连接摄像头
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Robot Parameters Description
In the first chapter, we explored the product's selling points and design concepts, providing you with a panoramic view of the product's high-level understanding. Now, let's move on to the second chapter - Robot Parameters Description. This chapter will be key to understanding the technical details of the product. Understanding these technical parameters in detail will not only help you fully recognize the product's advanced features and practicality but also ensure that you can effectively utilize these technologies to meet your specific needs.
1 Machine Parameters
| Index | Parameter |
|---|---|
| Chinese Name | Mercury B1 Dual-arm Robot |
| Model | Mercury B1 |
| Product Size | 200*192.5*537mm |
| Degrees of Freedom | 17 |
| Maximum Working Radius | 8 hours |
| Maximum Load | 1KG |
| Arm Repeatability | ±0.05 mm |
| Net Weight | 8KG |
| Working Voltage | 24V |
| Repeatability | +-0.05mm |
| Reduction Mechanism | Harmonic Reducer |
| Joint Brake Type | Electromagnetic Friction Plate |
| CPU | 6-core Arm v8.2 64-bit CPU |
| GPU | 384-core Volta™ GPU |
| Computing Power | 67 TOPS |
| Material | Carbon Fiber, Aluminum Alloy, Engineering Plastics |
| 3D Camera | dabai DC1 |
| Microphone Array | Linear 4-microphone, 5 meters 180° pickup |
| IO | 24V 6 inputs, 6 outputs |
| Screen | 9-inch Touch Screen |
| Communication Methods | CAN bus/WIFI/Ethernet/Bluetooth/USB/Serial Port |
2 Basic Software Function Support
| Function/Development Environment | Purpose |
|---|---|
| Free Movement | Supported |
| Joint Movement | Supported |
| Cartesian Movement | Supported |
| Trajectory Recording | Supported |
| Wireless Control | Supported |
| Emergency Stop | Supported |
| Windows | Supported |
| Linux | Supported |
| MAC | Supported |
| ROS 1 | Supported |
| Python | Supported |
| C++ | Supported |
| C# | Supported |
| JavaScript | Supported |
| myblockly | Supported |
| Arduino | Supported |
| mystudio | Supported |
| Serial Control Protocol | Supported |
| TCP/IP | Supported |
| MODBUS | Supported |
3 Control Core Parameters
Main Controller Specifications
| Index | Parameter |
|---|---|
| Main Control | Jetson Orin Nano SUPER 8GB |
| Main Model | Jetson Orin Nano SUPER 8GB |
| Central Processor | 6-core NVIDIA Carmel ARM®v8.2 64-bit CPU 6MB L2 + 4MB L3 |
| Graphics Processor | 384-core NVIDIA Volta™ GPU with 48 Tensor Cores |
| Computing Power | 67 TOPS |
| Storage | 16 GB eMMC 5.1 |
| CSI Camera | 2 CSI Cameras |
| Network | 10/100/1000 BASE-T Ethernet |
| USB Ports | 1 USB 3.2 2.0 (10 Gbps) 2 USB 2.0 Ports |
| Other Inputs/Outputs | 2 UART Serial Ports |
Left and Right Arm Sub-controller Specifications
| Index | Parameter |
|---|---|
| Sub-control | Left and Right Arm Sub-control |
| Sub-control Model | ESP32 |
| Core Parameters | 240MHz dual core. 600 DMIPS, 520KB SRAM. Wi-Fi, dual mode Bluetooth |
| Sub-control Flash | 4MB |
| LED Display | 5X5 RGB |
4 Structural Dimensions Parameters
The units of distance and angle in this chapter are millimeters.
Product Size and Working Space
When choosing the installation location of the robot, it is important to consider the cylindrical space directly above and below the robot and avoid moving the tool towards the cylindrical space as much as possible. This is because it will cause the joints to rotate too fast when the tool moves slowly, resulting in low robot efficiency and difficult risk assessment.
Dual-arm End Flange Dimensions
Electrical Characteristics Parameters
Base Interface Overview
Figure 1 Basic Interface Diagram
Base Interface Description
| Number | Interface | Definition | Features | Notes |
|---|---|---|---|---|
| 1 | Emergency Stop Interface | Stop | Emergency Stop Circuit Interface | |
| 2 | DC/IO Interface | 24V | DC 24V | DC 24V Output |
| OUT1 | Digital Output Signal 1~6 | Only output in PNP mode | ||
| OUT2 | ||||
| OUT3 | ||||
| OUT4 | ||||
| OUT5 | ||||
| OUT6 | ||||
| GND | GND | |||
| 3 | DC/IO Interface | GND | GND | |
| IN6 | Digital Input Signal 1~6 | Only enter NPN mode | ||
| IN5 | ||||
| IN4 | ||||
| IN3 | ||||
| IN2 | ||||
| IN1 | ||||
| 24V | DC 24V | DC 24V Input | ||
| 4 | Ethernet Port | Ethernet | Ethernet Communication Interface | |
| 5 | Power Input Interface | DC 24V Input | DC 24V Input | |
| 6 | Switch | Power Switch | Controls the on/off of the input power | With light (light on) |
| 7 | R-USB | Right Arm USB | Connects external camera via USB | |
| 8 | L-USB | Left Arm USB | Connects external camera via USB | |
| 9 | USB 3.0 | USB 3.0*2 | Connects external devices or USB drives |
End Interface Overview
Figure 5 Left Arm End Diagram
Figure 6 Right Arm End Diagram
End Interface Description
| Number | Interface | Definition | Function | Notes |
|---|---|---|---|---|
| 6 | 4-pin USB Terminal | External Interface | Connects Camera | |
| 7 | M8 Aviation Socket | End Tool IO Interface | Interacts with External Devices |
As shown in the figure is the M8 aviation socket I/O diagram, the Mercury B1 robot provides one input and two outputs.
The definitions of each tool I/O port are shown in the table below. Note that the tool I/O is PNP type whether it is input or output, and the wiring method is the same as the bottom output interface.
| Number | Signal | Explanation | Matching M8 Wire Color |
|---|---|---|---|
| 1 | GND | DC 24V Negative | White |
| 2 | OUT1 | Tool Output Interface 1 | Brown |
| 3 | OUT2 | Tool Output Interface 2 | Green |
| 4 | 485A | Reserved, Not Developed | Yellow |
| 5 | 24V | DC 24V Positive | Gray |
| 6 | IN1 | Tool Input Interface 1 | Pink |
| 7 | IN2 | Tool Input Interface 2 | Blue |
| 8 | 485B | Reserved, Not Developed | Purple |
Note: This port does not currently support hot-swapping, which may damage the device components. Power off the device before hot-swapping.
USB Terminal: Used to connect the camera
If you have read all the content of this chapter, you can continue to the next chapter.
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