CN105150206A - Six-leg and double-arm compound type mobile robot system - Google Patents
Six-leg and double-arm compound type mobile robot system Download PDFInfo
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- CN105150206A CN105150206A CN201510628842.6A CN201510628842A CN105150206A CN 105150206 A CN105150206 A CN 105150206A CN 201510628842 A CN201510628842 A CN 201510628842A CN 105150206 A CN105150206 A CN 105150206A
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Abstract
The invention discloses a six-leg and double-arm compound type mobile robot system which comprises a mechanical arm arranged on a six-leg mobile platform. Connecting parts and large connecting parts which are arranged on the mechanical arm are perpendicularly connected in a crossed manner so that the mechanical arm can have multiple degrees of freedom and have multiple functions. Due to the multiple degrees of freedom, movement is flexible, and different functions can be achieved by replacing a tool at an executing end of the mechanical arm. Meanwhile, the operation precision of the mechanical arm can be improved by operating the robot in real time. A WIFI camera is carried on a flexible arm so that the observation range can be wider. Wheels and legs can be used for the six-leg mobile platform, and the obstacle crossing ability and the moving efficiency are ensured. The six-leg and double-arm compound type mobile robot is suitable for the field of robots.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of six sufficient both arms combined mobile robot systems.
Background technology
The robot moved under complex environment faces many challenges, because complex environment presents destructuring feature, usually be difficult to go to describe barrier feature by specific shape and parameter, so landform adaptability just reduces, thus cause the difficulty of mobile robot's obstacle detouring.In addition, often have the unknown of much information or uncertain situation under complex environment, the simple self-contained sensor of robot and the processor of relying on is difficult to accomplish timely reply, is easy to cause unexpected generation.This just proposes harsher requirement to the mobile robot under complex environment: robot will possess stronger landform adaptive capacity, Multi-type obstacles can be passed through, this needs from theory of mechanisms angle, and research has more the barrier getting over mechanism of environmental suitability, and will ensure certain sport efficiency; Robot not only needs to carry certain sensor, and sensor type is unsuitable too many, but information also will ensure comprehensively, is necessary the real-time control introducing man-machine interaction, to avoid accidents; And certain power tool or auxiliary body will be carried, improve its function and practicality, have when robot breaks down certain for miscellaneous function simultaneously.
Current mobile-robot system, more representative robot mainly concentrates on following field: rescue robot, nuclear detection robot, the moon (Mars) car.Rescue robot system: the Talon robot of the U.S. adopts without the design of swing arm crawler type, and locomitivity is comparatively strong, and adaptive capacity to environment is also very strong, but its complex structure, obstacle climbing ability is poor.Its front end adds a mechanical arm, can detect, explosive etc.; The Silver search and rescue robot of Iran's design, is mainly used to rescue worker inside building ruins.This robot adopts the crawler type design of band rocking arm, is namely adding the crawler belt joint that can rotate without swing arm crawler belt both sides.This design makes robot obstacle climbing ability significantly improve, but also makes structure more complicated simultaneously; The FUMA robot of Japanese Design, camera, with mechanical arm, can be carried in one end, also can help robot obstacle detouring.Its walking mechanism adopts wheel type design, and structure is simple, and it is convenient to control, and move rapidly, but in complex environment, be difficult to cross obstacle that is higher or groove class, the scope of application is limited; The HELIOSVIII robot of Japanese Design, this robot adopts reconfigurable design, and its mechanical arm both can capture object, also can become caterpillar type robot as a dysarthrasis.Its obstacle climbing ability and work capacity are very strong, but structure is all very complicated with control, in narrow environment, be subject to larger constraint.Nuclear detection robot system: nuclear detection robot often needs to replace staff to enter the more severe place of nuclear radiation to carry out detecting or operation, its environment faced also more complicated.The nuclear radiation environment sniffing robot SURBOT of the 20 th century America design eighties.This robot adopts Universal wheel structure, and motion is very flexible, but very limited to the span ability of complex barrier.The moon (Mars) car: no matter be the moon or Mars, surperficial geology circumstance complication, ground is rugged and rough, requires all very high to the obstacle climbing ability of robot.And the major function of robot is detection, so the quality of robot probe's ability is also weigh an important indicator of its function.The Marsokhod " Sojourner " of the U.S., it adopts six to take turns rocking bar suspension type structure, and front and back four wheels adopts and independently drives and control, and locomitivity is very strong.S Design Marsokhod of new generation " Rocky-7 " afterwards, its motion and Sojourner are the same, but it is worth mentioning that its two mechanical arm-galianconism equipped and long-armed.Galianconism has 4 frees degree, is mainly used in sampling; Long-armed have 5 frees degree, is mainly used in instrumentation.
The rescue robot with flexible manipulator of present appearance, emphasis is manipulator, lacks the research of body obstacle climbing ability; The rescuing robot for fire control of composite crawler formula band manipulator, lack communication, manipulator ability is also limited; Rescue robot, introduces mechanical arm, lacks platform movement capability study.
Summary of the invention
For solving the problem, the invention provides a kind of six sufficient both arms combined mobile robot systems improving mechanical arm flexibility ratio.
The technical solution adopted for the present invention to solve the technical problems is: a kind of six sufficient both arms combined mobile robot systems, the mechanical arm comprising six sufficient mobile platforms and arrange on six sufficient mobile platforms, mechanical arm comprises provides some attaching parts of the free degree and some large attaching parts, attaching parts comprise little steering wheel and are arranged on the U-shaped frame on little steering wheel output shaft, little steering wheel is provided with little connector, large attaching parts comprise large steering wheel and are arranged on the large U type frame on large steering wheel output shaft, large steering wheel is provided with large connector, each attaching parts and large attaching parts serrated vertical connect.
Be further used as the improvement of technical solution of the present invention, six sufficient mobile platforms are also provided with the flexible arm for monitoring environment that can bend arbitrarily, the end of flexible arm is provided with camera.
Be further used as the improvement of technical solution of the present invention, flexible arm connects consumer unit, and consumer unit is fixed on six sufficient mobile platforms.
Be further used as the improvement of technical solution of the present invention, camera is the WiFi camera with night vision function, and flexible arm is snake-like hose.
Be further used as the improvement of technical solution of the present invention, the quantity of large attaching parts is four and is located at bottom mechanical arm, and the quantity of attaching parts is three and is located at the head end of mechanical arm, and mechanical arm is fixed on six sufficient mobile platforms by link.
Be further used as the improvement of technical solution of the present invention, six sufficient mobile platforms are also provided with control system and the sensed communication system of the sufficient mobile platform of control six, mechanical arm and flexible arm, control system comprises slave computer and host computer, and sensed communication system is provided with communication module.
Be further used as the improvement of technical solution of the present invention, communication module comprises host computer wireless module, slave computer wireless module and router, and host computer wireless module, slave computer wireless module adopt the mode of WiFi to communicate, and conveniently carry out man-machine interaction.
Be further used as the improvement of technical solution of the present invention, slave computer comprises communicating circuit, servo driving circuit, program write circuit, power module, host computer comprises control module, receives video port, instruction input port, the planning module of camera signals, control module comprises mechanical arm control module and mobile platform control module, and planning module comprises trajectory planning module and gait planning module.
Be further used as the improvement of technical solution of the present invention, six sufficient mobile platforms comprise polypody travel mechanism and wheeled locomotion mechanism, the changeable use of wheeled locomotion mechanism and polypody travel mechanism.
Beneficial effect of the present invention: this six sufficient both arms combined mobile robot system, the mechanical arm that six sufficient mobile platforms are arranged, the attaching parts that mechanical arm is provided with and large attaching parts serrated vertical connect, mechanical arm is made to have multiple degrees of freedom, one arm multipotency, because the free degree is many, motion is flexibly, by the instrument of changing machine mechanical arm actuating station, different functions can be realized; Can real-time operation robot be passed through simultaneously, improve the performance accuracy of mechanical arm.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is embodiment of the present invention overall structure schematic diagram;
Fig. 2 is embodiment of the present invention system diagram;
Fig. 3 is embodiment of the present invention communication flow figure.
Detailed description of the invention
With reference to Fig. 1 ~ Fig. 3, the present invention is a kind of six sufficient both arms combined mobile robot systems, the mechanical arm 3 comprising six sufficient mobile platforms 1 and arrange on six sufficient mobile platforms 1, mechanical arm 3 comprises provides some attaching parts 31 of the free degree and some large attaching parts 32, attaching parts 31 comprise little steering wheel 312 and are arranged on the U-shaped frame 313 on little steering wheel 312 output shaft, little steering wheel 312 is provided with little connector 311, large attaching parts 32 comprise large steering wheel 322 and are arranged on the large U type frame 323 on large steering wheel 322 output shaft, large steering wheel 322 is provided with large connector 321, each attaching parts 31 and large attaching parts 32 serrated vertical connect.
This six sufficient both arms combined mobile robot system, the mechanical arm 3 that six sufficient mobile platforms 1 are arranged, the attaching parts 31 that mechanical arm 3 is provided with and large attaching parts 32 serrated vertical connect, mechanical arm 3 is made to have multiple degrees of freedom, one arm multipotency, because the free degree is many, motion is flexibly, by the instrument of changing machine mechanical arm actuating station, different functions can be realized; Can real-time operation robot be passed through simultaneously, improve the performance accuracy of mechanical arm 3.
As the preferred embodiment of the present invention, six sufficient mobile platforms 1 are also provided with the flexible arm 2 for monitoring environment that can bend arbitrarily, the end of flexible arm 2 is provided with camera 22.
As the preferred embodiment of the present invention, flexible arm 2 connects consumer unit 21, and consumer unit 21 is fixed on six sufficient mobile platforms 1.
As the preferred embodiment of the present invention, camera 22 is for having the WiFi camera of night vision function, and flexible arm 2 is snake-like hose.
As the preferred embodiment of the present invention, the quantity of large attaching parts 32 is four and is located at bottom mechanical arm 3, and the quantity of attaching parts 31 is three and is located at the head end of mechanical arm 3, and mechanical arm 3 is fixed on six sufficient mobile platforms 1 by link 33.
As the preferred embodiment of the present invention, six sufficient mobile platforms 1 are also provided with control system and the sensed communication system of the sufficient mobile platform 1 of control six, mechanical arm 3 and flexible arm 2, control system comprises slave computer and host computer, and sensed communication system is provided with communication module.
As the preferred embodiment of the present invention, communication module comprises host computer wireless module, slave computer wireless module and router, and host computer wireless module, slave computer wireless module adopt the mode of WiFi to communicate, and conveniently carry out man-machine interaction.。
As the preferred embodiment of the present invention, WiFi module by the signal collected through robot main control chip process, the motion of controller mechanical arm and six sufficient mobile platforms 1.
As the preferred embodiment of the present invention, slave computer comprises communicating circuit, servo driving circuit, program write circuit, power module, host computer comprises control module, receives video port, instruction input port, the planning module of camera 22 signal, control module comprises mechanical arm control module and mobile platform control module, and planning module comprises trajectory planning module and gait planning module.
As the preferred embodiment of the present invention, six sufficient mobile platforms 1 comprise polypody travel mechanism and wheeled locomotion mechanism, the changeable use of wheeled locomotion mechanism and polypody travel mechanism.
The invention discloses a kind of six sufficient both arms combined mobile robot systems, wheel-leg combined type six biped robot mobile platform carries both arms: multivariant mechanical arm 3 is for operation, flexible arm 2 carries camera for monitoring environment, and system is undertaken communicating and man-machine interaction by multiple wireless module.This robot system comprises the sufficient mobile platform 1 of a kind of wheel-leg combined type robot six, multivariant mechanical arm 3 is connected with the upper plate of six sufficient mobile platforms 1 by a link 33, mechanical arm 3 is based on seven steering wheels, connected by each U-shaped frame serrated vertical, for alleviating total quality as far as possible, adopt three the large steering wheels 322 in bottom, the layout of the little steering wheel 312 in four, top; Flexible arm 2 is connected by the consumer unit 21 of end thread with the upper plate of six sufficient mobile platforms 1, and flexible arm 2 can bend arbitrarily in space, and flexible arm 2 end connects WiFi camera; Slave computer is fixed on six sufficient mobile platform 1 upper plates by hexagonal copper post; Communication module comprises slave computer WiFi module, router and host computer wireless module; Host computer comprises the video port receiving WiFi camera, instruction input window, trajectory planning module, gait planning module, mechanical arm 3 control module, mobile platform control module.Can be used for operation under complex environment, strong especially to various environment various job task adaptive capacity.
With reference to Fig. 3, WiFi camera collection ambient condition information, by wireless WiFi communication mode, site environment is passed to host computer, host computer receives signal by wireless receiving module, from video port, video is shown, and presents to operating personnel.Operating personnel are according to site environment, from instruction input port input control order, according to control instruction, the planning module of host computer can carry out corresponding gait or trajectory planning, against solving electric machine rotation angle, send angle-data by each wireless module again, by the transfer of router, be sent to the WiFi module in slave computer.WiFi module the data received by communicating circuit and servo driving circuit drives electric machine rotation, thus realize control.After receiving steering wheel rotational angle data, if six sufficient mobile platforms 1 move relevant steering wheel, then can drive six sufficient mobile platform 1 Tui Shi mechanisms or ratcheting mechanism motion.If to move relevant steering wheel to mechanical arm 3, then corresponding steering wheel rotates, and steering wheel output shaft exports certain moment.Whole mechanical arm 3 is connected by link 33 with six sufficient mobile platforms 1, steering wheel and the link 33 of steering wheel are connected by screw, mechanical arm 3 remains extension and is connected with the shell of the steering wheel of bottommost, thus realizes the motion of mechanical arm 3 on six sufficient mobile platforms 1.Because steering wheel and each U-shaped frame screw are connected, connector and steering wheel shell are connected, and when steering wheel rotates, band follower link and U-shaped frame relatively rotate, thus shape forms an angle.Owing to being mutually connected vertically between steering wheel, by the cooperation of the corner in different joint, just can the configuration of arbitrarily angled, optional position, implementation space.The end of mechanical arm 3 leaves interface, can install different instruments.Flexible arm 2 adopts snake-like hose, one end utilizes bolt to be fastened on the consumer unit 21 of the upper plate of platform, the other end connects camera 22, like this, we can fixing for camera 22 any position in space, avoid camera 22 and can only be fixed on the little shortcoming in the visual field, a position, by camera 22, we can also the pose of observer robot, is more conducive to obstacle detouring.
In the present invention six sufficient both arms combined mobile robot systems possess stronger landform adaptive capacity, can pass through Multi-type obstacles, and ensure certain sport efficiency under smooth road conditions; Robot carries certain sensor, and sensor type is few, does not need complicated process, and observation scope is extensive, can guarantee information comprehensive; Introduce the real-time control of man-machine interaction, the mode that control system adopts host computer to combine with embedded Control, the operation of people is met with a response quickly and efficiently in robot, thus can avoid accidents; Adopt the mode of wireless WiFi during operated from a distance, overcome wired limitation; Carry certain power tool or auxiliary body, and this body function is powerful, possesses practicality, has when robot breaks down certain for miscellaneous function simultaneously.This is a complete system, very complete to obstacle detouring, operation function from sensing, control, communication; Wheel-leg combined type mobile platform, while guarantee obstacle climbing ability, under smooth road conditions, ensures speed; Multi-degree-of-freemechanical mechanical arm, an arm multipotency, because the free degree is many, motion flexibly, by the instrument of changing machine mechanical arm actuating station, can realize different functions; Utilize flexible arm to carry camera environment of observation, compared to the sensor being fixed on robot certain, its environment of observation can be more comprehensive; Can be real-time operation robot by people, improve the performance accuracy keeping away barrier security and efficiency and mechanical arm.
Certainly, the invention is not limited to above-mentioned embodiment, those of ordinary skill in the art also can make equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (9)
1. a sufficient both arms combined mobile robot system, it is characterized in that: comprise six sufficient mobile platforms (1) and the mechanical arm (3) in the upper setting of described six sufficient mobile platforms (1), described mechanical arm (3) comprises the some attaching parts (31) and some large attaching parts (32) that provide the free degree, described attaching parts (31) comprise little steering wheel (312) and are arranged on the U-shaped frame (313) on little steering wheel (312) output shaft, described little steering wheel (312) is provided with little connector (311), described large attaching parts (32) comprise large steering wheel (322) and are arranged on the large U type frame (323) on large steering wheel (322) output shaft, described large steering wheel (322) is provided with large connector (321), each described attaching parts (31) and large attaching parts (32) serrated vertical connect.
2. six sufficient both arms combined mobile robot systems according to claim 1, it is characterized in that: described six sufficient mobile platforms (1) are also provided with the flexible arm for monitoring environment (2) that can bend arbitrarily, the end of described flexible arm (2) is provided with camera (22).
3. six sufficient both arms combined mobile robot systems according to claim 2, is characterized in that: described flexible arm (2) connects consumer unit (21), and described consumer unit (21) is fixed on six sufficient mobile platforms (1).
4. six sufficient both arms combined mobile robot systems according to claim 2, is characterized in that: camera (22) is for having the WiFi camera of night vision function, and described flexible arm (2) is snake-like hose.
5. six sufficient both arms combined mobile robot systems according to claim 1, it is characterized in that: the quantity of described large attaching parts (32) is four and is located at mechanical arm (3) bottom, the quantity of described attaching parts (31) is three and is located at the head end of mechanical arm (3), and described mechanical arm (3) is fixed on six sufficient mobile platforms (1) by link (33).
6. six sufficient both arms combined mobile robot systems as claimed in any of claims 2 to 5, it is characterized in that: the control system and the sensed communication system that described six sufficient mobile platforms (1) are also provided with the sufficient mobile platform of control six (1), mechanical arm (3) and flexible arm (2), described control system comprises slave computer and host computer, and described sensed communication system is provided with communication module.
7. six sufficient both arms combined mobile robot systems according to claim 6, it is characterized in that: described communication module comprises host computer wireless module, slave computer wireless module and router, described host computer wireless module, slave computer wireless module adopt the mode of WiFi to communicate, and conveniently carry out man-machine interaction.
8. six sufficient both arms combined mobile robot systems according to claim 6, it is characterized in that: described slave computer comprises communicating circuit, servo driving circuit, program write circuit, power module, described host computer comprises control module, receives video port, instruction input port, the planning module of camera (22) signal, described control module comprises mechanical arm control module and mobile platform control module, and described planning module comprises trajectory planning module and gait planning module.
9. according to six sufficient both arms combined mobile robot systems described arbitrarily in claim 1 to 5, it is characterized in that: described six sufficient mobile platforms (1) comprise polypody travel mechanism and wheeled locomotion mechanism, the changeable use of described wheeled locomotion mechanism and polypody travel mechanism.
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| CN106428484A (en) * | 2016-11-28 | 2017-02-22 | 东北石油大学 | Self-adaption multi-legged ROV (Remote Operated Vehicle) for marine petroleum exploitation |
| CN107253204A (en) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | Remote explosive-removal robot |
| WO2017189502A1 (en) * | 2016-04-25 | 2017-11-02 | Siemens Aktiengesellschaft | Agile manufacturing platform and system |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN109079746A (en) * | 2018-11-02 | 2018-12-25 | 中国人民解放军陆军工程大学 | Four-wheel and six-foot deformable practical training robot device and control method |
| CN109091736A (en) * | 2018-07-27 | 2018-12-28 | 西安交通大学医学院第附属医院 | A kind of intelligent assisted breathing system |
| CN112606919A (en) * | 2020-12-16 | 2021-04-06 | 深圳先进技术研究院 | Six-foot crawler type parallel hydraulic building curtain plate installation robot |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113386130A (en) * | 2021-05-21 | 2021-09-14 | 北部湾大学 | Bionic snake-shaped robot control system and control method thereof |
| CN113733151A (en) * | 2021-09-10 | 2021-12-03 | 中山大学 | Space station under-deck service robot with bionic flexible arm |
| CN115180048A (en) * | 2022-08-04 | 2022-10-14 | 北京理工大学 | Reconfigurable modular mobility cross-country unmanned transportation platform |
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| CN113386130A (en) * | 2021-05-21 | 2021-09-14 | 北部湾大学 | Bionic snake-shaped robot control system and control method thereof |
| CN113386130B (en) * | 2021-05-21 | 2023-02-03 | 北部湾大学 | Bionic snake-shaped robot control system and control method thereof |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113291389B (en) * | 2021-06-28 | 2022-07-08 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113733151A (en) * | 2021-09-10 | 2021-12-03 | 中山大学 | Space station under-deck service robot with bionic flexible arm |
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