CN105150206B - A kind of six sufficient both arms combined mobile robot system - Google Patents
A kind of six sufficient both arms combined mobile robot system Download PDFInfo
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- CN105150206B CN105150206B CN201510628842.6A CN201510628842A CN105150206B CN 105150206 B CN105150206 B CN 105150206B CN 201510628842 A CN201510628842 A CN 201510628842A CN 105150206 B CN105150206 B CN 105150206B
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Abstract
The invention discloses a kind of six sufficient both arms combined mobile robot systems.This six sufficient both arms combined mobile robot system, the mechanical arm set on six sufficient mobile platforms, connection member and the connection of big connection member serrated vertical that mechanical arm is provided with, so that mechanical arm has multiple degrees of freedom, one arm multipotency, because the free degree is more, motion is flexible, by the instrument for changing mechanical arm actuating station, it is possible to achieve different functions；The performance accuracy of mechanical arm by real-time operation robot, can be improved simultaneously.WIFI cameras are carried on flexible arm, observation scope is more extensive；Six sufficient mobile platforms can use leg with wheel, and obstacle climbing ability and mobile efficiency are secure.The present invention is applied to robot field.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of six sufficient both arms combined mobile robot system.
Background technology
The robot moved under complex environment faces many challenges, because complex environment is presented destructuring feature, often
Often it is difficult to be gone to describe barrier feature with specific shape and parameter, so landform adaptability is just reduced, so as to cause moving machine
The difficulty of device people's obstacle detouring.In addition, often being had under complex environment, many information are unknown or uncertain situation, it is simple to rely on
The self-contained sensor of robot and processor are difficult to reply in time, it is easy to cause unexpected generation.This is to complexity
Mobile robot under environment just proposes harsher requirement：Robot will possess stronger landform adaptability, can
By Multi-type obstacles, this is needed from theory of mechanisms angle, and research has more the barrier getting over mechanism of environmental suitability, and to ensure one
Fixed sport efficiency；Robot not only needs to carry certain sensor, and sensor type should not be too many, but information will also be protected
Card is comprehensive, it is necessary to the real-time control of man-machine interaction is introduced, to avoid accidents；And to carry certain power tool
Or auxiliary body, its function and practicality are improved, while having certain from miscellaneous function when robot breaks down.
Current mobile-robot system, relatively more representative robot is concentrated mainly on following field：Rescue
Help robot, nuclear detection robot, the moon（Mars）Car.Rescue robot system：The Talon robots in the U.S. are used without swing arm
Crawler type is designed, and locomitivity is stronger, and adaptive capacity to environment is also very strong, but its complex structure, and obstacle climbing ability is poor.Its front end
A mechanical arm is added, can be detected, it is explosive etc.；The Silver search and rescue robots of Iran's design, are mainly used to building
Build thing ruins the inside rescue worker.The robot is adding energy using the crawler type design with rocking arm without swing arm crawler belt both sides
The crawler belt joint of rotation.This design greatly improves robot obstacle climbing ability, but also makes structure more complicated simultaneously；Japan sets
The FUMA robots of meter, one end carries mechanical arm, can carry camera, it is also possible to help robot obstacle detouring.Its walking mechanism
Using wheel type design, simple structure is easy to control, and motion is rapid, but, in complex environment, it is difficult to cross higher or ditch
The obstacle of groove class, using being limited in scope；The HELIOS VIII robots of Japanese Design, the robot uses reconfigurable design, its
Mechanical arm can both capture object, it is also possible to turn into caterpillar type robot as a dysarthrasis.Its obstacle climbing ability and operation
It is very capable, but structure and control are all very complicated, and larger constraint is subject in narrow environment.Nuclear detection robot system：
Nuclear detection robot generally requires to be detected or operation into the more severe place of nuclear radiation instead of staff, its face
The environment for facing is also more complicated.The nuclear radiation environment sniffing robot SURBOT of the 20 th century America design eighties.The robot
Using Universal wheel structure, motion is very flexible, but very limited to the span ability of complex barrier.The moon（Mars）Car：Nothing
By being the moon or Mars, surface geological environment is complicated, and ground is rugged and rough, to the obstacle climbing ability requirement of robot all very
It is high.And the major function of robot is detection, so, the quality of robot probe's ability is also to weigh a weight of its function
Want index.The Marsokhod " Sojourner " in the U.S., it uses six wheel rocking bar suspension type structures, and front and rear four wheels are using independent
Driving and control, locomitivity is very strong.Later S Design Marsokhod of new generation " Rocky-7 ", its motion and
Sojourner is the same, but it is worth mentioning that two mechanical arm-galianconism and long-armed of its equipment.Galianconism has 4 freedom
Degree, is mainly used in sampling；It is long-armed to have 5 frees degree, it is mainly used in instrumentation.
The rescue robot with flexible manipulator for occurring now, it is important that manipulator, lacks body obstacle climbing ability and grind
Study carefully；Rescuing robot for fire control of the composite crawler formula with manipulator, lacks communication, and manipulator ability is also limited；Rescue robot, weight
Point describes mechanical arm, lacks platform locomotivity research.
The content of the invention
To solve the above problems, the present invention provides a kind of six sufficient both arms Combined movable machines for improving mechanical arm flexibility ratio
People's system.
The technical solution adopted for the present invention to solve the technical problems is：A kind of six sufficient both arms combined mobile robot system
System, including six sufficient mobile platforms and the mechanical arm that is set on six sufficient mobile platforms, mechanical arm include providing some of the free degree
Connection member and some big connection members, connection member include small steering wheel and the U-shaped frame on small steering wheel output shaft, small rudder
Machine is provided with small connector, and big connection member includes big steering wheel and the large U type frame on big steering wheel output shaft, on big steering wheel
Big connector is provided with, each connection member and big connection member serrated vertical are connected.
Be further used as the improvement of technical solution of the present invention, be additionally provided with six sufficient mobile platforms can arbitrarily bend for supervising
The flexible arm of environment is controlled, the end of flexible arm is provided with camera.
The improvement of technical solution of the present invention is further used as, flexible arm connection consumer unit, consumer unit is fixed on six foot movements
On platform.
The improvement of technical solution of the present invention is further used as, camera is the WiFi cameras with night vision function, it is flexible
Arm is snake-like hose.
The improvement of technical solution of the present invention is further used as, the quantity of big connection member is for four and located at mechanical arm bottom
Portion, the quantity of connection member is three and located at the head end of mechanical arm, and mechanical arm is fixed on six sufficient mobile platforms by link
On.
Be further used as the improvement of technical solution of the present invention, be additionally provided with six sufficient mobile platforms the sufficient mobile platforms of control six,
The control system and sensed communication system of mechanical arm and flexible arm, control system include slave computer and host computer, sensed communication system
System is provided with communication module.
The improvement of technical solution of the present invention is further used as, communication module includes host computer wireless module, slave computer is wireless
Module and router, host computer wireless module, slave computer wireless module are communicated by the way of WiFi, are conveniently carried out man-machine
Interaction.
The improvement of technical solution of the present invention is further used as, slave computer includes that communicating circuit, servo driving circuit, program are write
Enter circuit, power module, host computer includes control module, receives video port, instruction input port, the planning of camera signals
Module, control module include mechanical arm control module and mobile platform control module, planning module include trajectory planning module and
Gait planning module.
The improvement of technical solution of the present invention is further used as, six sufficient mobile platforms include many foot moving mechanisms and wheel type mobile
Mechanism, wheeled locomotion mechanism is changeable with many foot moving mechanisms to be used.
Beneficial effects of the present invention：This six sufficient both arms combined mobile robot system, is set on six sufficient mobile platforms
Mechanical arm, connection member that mechanical arm is provided with and the connection of big connection member serrated vertical so that how free mechanical arm have
Degree, an arm multipotency, because the free degree is more, motion is flexible, by the instrument for changing mechanical arm actuating station, it is possible to achieve different work(
Energy；The performance accuracy of mechanical arm by real-time operation robot, can be improved simultaneously.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is embodiment of the present invention overall structure diagram；
Fig. 2 is embodiment of the present invention system diagram；
Fig. 3 is embodiment of the present invention communication flow figure.
Specific embodiment
1~Fig. 3 of reference picture, the present invention is mobile flat for a kind of six sufficient both arms combined mobile robot systems, including six foots
Platform 1 and the mechanical arm 3 set on six sufficient mobile platforms 1, if mechanical arm 3 include providing some connection members 31 of the free degree and
Dry big connection member 32, connection member 31 includes small steering wheel 312 and the U-shaped frame 313 on the output shaft of small steering wheel 312, small
Steering wheel 312 is provided with small connector 311, and big connection member 32 includes big steering wheel 322 and on the output shaft of big steering wheel 322
Large U type frame 323, big steering wheel 322 is provided with big connector 321, each connection member 31 and the big serrated vertical of connection member 32 connection.
This six sufficient both arms combined mobile robot system, the mechanical arm 3 set on six sufficient mobile platforms 1, mechanical arm 3
The connection member 31 being provided with and the big serrated vertical of connection member 32 connection so that mechanical arm 3 has multiple degrees of freedom, and an arm is more
Can, because the free degree is more, motion is flexible, by the instrument for changing mechanical arm actuating station, it is possible to achieve different functions；Simultaneously can
By real-time operation robot, to improve the performance accuracy of mechanical arm 3.
As the preferred embodiment of the present invention, be additionally provided with six sufficient mobile platforms 1 can arbitrarily bend for monitoring ring
The flexible arm 2 in border, the end of flexible arm 2 is provided with camera 22.
Used as the preferred embodiment of the present invention, the connection consumer unit 21 of flexible arm 2, it is mobile flat that consumer unit 21 is fixed on six foots
On platform 1.
Used as the preferred embodiment of the present invention, camera 22 is the WiFi cameras with night vision function, and flexible arm 2 is
Snake-like hose.
Used as the preferred embodiment of the present invention, the quantity of big connection member 32 connects for four and located at the bottom of mechanical arm 3
The quantity of relay part 31 be three and located at mechanical arm 3 head end, mechanical arm 3 by link 33 be fixed on six foot mobile platforms
On 1.
As the preferred embodiment of the present invention, the sufficient mobile platform 1 of control six, machinery are additionally provided with six sufficient mobile platforms 1
The control system and sensed communication system of arm 3 and flexible arm 2, control system include slave computer and host computer, sensed communication system
It is provided with communication module.
As the preferred embodiment of the present invention, communication module include host computer wireless module, slave computer wireless module and
Router, host computer wireless module, slave computer wireless module are communicated by the way of WiFi, conveniently carry out man-machine interaction..
As the preferred embodiment of the present invention, the signal that WiFi module will be collected into by robot main control chip at
Reason, the motion of control machinery arm and six sufficient mobile platforms 1.
Used as the preferred embodiment of the present invention, slave computer includes communicating circuit, servo driving circuit, program write-in electricity
Road, power module, video port, instruction input port, planning mould that host computer includes control module, receives the signal of camera 22
Block, control module includes mechanical arm control module and mobile platform control module, and planning module includes trajectory planning module and step
State planning module.
Used as the preferred embodiment of the present invention, six sufficient mobile platforms 1 include many foot moving mechanisms and wheeled locomotion mechanism,
Wheeled locomotion mechanism is changeable with many foot moving mechanisms to be used.
The invention discloses a kind of six sufficient both arms combined mobile robot systems, the movement of wheel-leg combined type Hexapod Robot
Both arms are carried on platform：Multivariant mechanical arm 3 is used for operation, and flexible arm 2 carries camera is used for monitors environment, and system is led to
Multiple wireless modules are crossed to be communicated and man-machine interaction.The robot system includes that a kind of foot of wheel-leg combined type robot six is mobile
Platform 1, multivariant mechanical arm 3 is connected by a link 33 with the upper plate of six sufficient mobile platforms 1, and mechanical arm 3 is with seven
Individual steering wheel is main body, is connected by each U-shaped frame serrated vertical, is to mitigate total quality as far as possible, using the big steering wheel in bottom three
322, the layout of small steering wheel 312 of top four；Flexible arm 2 is by end thread and the consumer unit of the upper plate of six sufficient mobile platforms 1
21 connections, flexible arm 2 can arbitrarily bend in space, the end of flexible arm 2 connection WiFi cameras；Slave computer passes through hexagonal copper
Post is fixed on the six sufficient upper plates of mobile platform 1；Communication module includes slave computer WiFi module, router and host computer wireless module;
Host computer includes receiving the video port of WiFi cameras, instruction input window, trajectory planning module, gait planning module, machine
The control module of tool arm 3, mobile platform control module.Can be used for operation under complex environment, it is suitable to the various job tasks of various environment
Should be able to power it is especially strong.
Reference picture 3, WiFi cameras collection ambient condition information, transmits site environment by wireless WiFi communication mode
To host computer, host computer receives signal by wireless receiving module, and video is shown from video port, is presented to operation
Personnel.Operating personnel are input into control instruction, according to control instruction, the rule of host computer according to site environment from instruction input port
Drawing module can carry out corresponding gait or trajectory planning, inverse to solve motor rotational angle, then send angle by each wireless module
Data, by the transfer of router, are sent to the WiFi module in slave computer.WiFi module is the data for receiving by communicating electricity
Road and servo driving circuit drives motor are rotated, so as to realize control.After receiving steering wheel rotational angle data, if six
Sufficient mobile platform 1 moves related steering wheel, then the six sufficient Tui Shi mechanisms of mobile platform 1 or ratcheting mechanism can be driven to move.If
Related steering wheel is moved to mechanical arm 3, then corresponding steering wheel is rotated, steering wheel output shaft exports certain torque.The whole He of mechanical arm 3
Six sufficient mobile platforms 1 are connected by link 33, and the steering wheel and link 33 of steering wheel are connected by screw, and the residue of mechanical arm 3 is stretched
Go out part to be connected with the shell of the steering wheel of bottommost, so as to realize motion of the mechanical arm 3 on six sufficient mobile platforms 1.Due to rudder
Disk and each U-shaped frame are connected with screw, and connector and steering wheel shell are connected, and when steering wheel is rotated, band follower link and U-shaped frame turn relatively
It is dynamic, so that shape forms an angle.Due to being mutually connected vertically between steering wheel, by the cooperation of the corner in different joints, just
Can realize that space is arbitrarily angled, optional position configuration.Interface is left in the end of mechanical arm 3, can install different instruments.It is soft
Property arm 2 use snake-like hose, one end is fixed on the consumer unit 21 of the upper plate of platform, other end connection camera using bolt connection
22, so, camera 22 can be fixed any position in space by we, it is to avoid camera 22 can only be fixed on a position
The small shortcoming in the visual field is put, we can be with the pose of observer robot, more conducively obstacle detouring by camera 22.
Six sufficient both arms combined mobile robot systems in the present invention possess stronger landform adaptability, can pass through
Multi-type obstacles, and ensure certain sport efficiency under flat road conditions；Robot carries certain sensor, and
Sensor type is few, it is not necessary to which complicated treatment, observation scope extensively, can guarantee that the comprehensive of information；Introduce man-machine interaction
Real-time control, using host computer by the way of embedded Control is combined, the operation that enables people is quick, effectively for control system
Ground meets with a response in robot, such that it is able to avoid accidents；During remote operation by the way of wireless WiFi, overcome
Wired limitation；Certain power tool or auxiliary body is carried, and the body function is powerful, possesses practicality,
Have certain from miscellaneous function when robot breaks down simultaneously.This is a complete system, from sensing, control, communicate to
Obstacle detouring, operation function are very complete；Wheel-leg combined type mobile platform, while obstacle climbing ability is ensured, under flat road conditions, protects
Card speed；Multi-degree-of-freemechanical mechanical arm, an arm multipotency, because the free degree is more, motion is flexible, by the work for changing mechanical arm actuating station
Tool, it is possible to achieve different functions；Camera environment of observation is carried using flexible arm, compared to being fixed on robot certain
For sensor, its environment of observation can be more comprehensive；Avoidance security and effect can be improved by artificial real-time operation robot
The performance accuracy of rate and mechanical arm.
Certainly, the invention is not limited to above-mentioned implementation method, and those of ordinary skill in the art are without prejudice to originally
Equivalent variations or replacement can be also made on the premise of spirit, these equivalent deformations or replacement are all contained in the application right
It is required that in limited range.
Claims (8)
1. a kind of six sufficient both arms combined mobile robot system, it is characterised in that：Including six sufficient mobile platforms（1）And described
Six sufficient mobile platforms（1）The mechanical arm of upper setting（3）, the mechanical arm（3）Some connection members including providing the free degree
（31）And some big connection members（32）, the connection member（31）Including small steering wheel（312）And installed in small steering wheel（312）It is defeated
U-shaped frame on shaft（313）, the small steering wheel（312）It is provided with small connector（311）, the big connection member（32）Including
Big steering wheel（322）And installed in big steering wheel（322）Large U type frame on output shaft（323）, the big steering wheel（322）It is provided with big
Connector（321）, each connection member（31）And big connection member（32）Serrated vertical is connected, described six sufficient mobile platforms
（1）Including many foot moving mechanisms and wheeled locomotion mechanism, the wheeled locomotion mechanism is changeable with many foot moving mechanisms to be used.
2. according to claim 1 six sufficient both arms combined mobile robot system, it is characterised in that：Six foot is moved
Moving platform（1）On be additionally provided with the flexible arm for monitors environment that can arbitrarily bend（2）, the flexible arm（2）End be provided with
Camera（22）.
3. according to claim 2 six sufficient both arms combined mobile robot system, it is characterised in that：The flexible arm
（2）Connection consumer unit（21）, the consumer unit（21）It is fixed on six sufficient mobile platforms（1）On.
4. according to claim 2 six sufficient both arms combined mobile robot system, it is characterised in that：Camera（22）
It is the WiFi cameras with night vision function, the flexible arm（2）It is snake-like hose.
5. according to claim 1 six sufficient both arms combined mobile robot system, it is characterised in that：The big connection
Part（32）Quantity for four and located at mechanical arm（3）Bottom, the connection member（31）Quantity for three and located at machine
Tool arm（3）Head end, the mechanical arm（3）By link（33）It is fixed on six sufficient mobile platforms（1）On.
6. as claimed in any of claims 2 to 5 six sufficient both arms combined mobile robot system, its feature exists
In：Described six sufficient mobile platforms（1）On be additionally provided with the sufficient mobile platforms of control six（1）, mechanical arm（3）And flexible arm（2）Control
System and sensed communication system, the control system include slave computer and host computer, and the sensed communication system is provided with communication mould
Block.
7. according to claim 6 six sufficient both arms combined mobile robot system, it is characterised in that：The communication mould
Block includes host computer wireless module, slave computer wireless module and router, the host computer wireless module, slave computer wireless module
Communicated by the way of WiFi, conveniently carried out man-machine interaction.
8. according to claim 6 six sufficient both arms combined mobile robot system, it is characterised in that：The slave computer
Including communicating circuit, servo driving circuit, program write circuit, power module, the host computer includes that control module, reception are taken the photograph
As head（22）The video port of signal, instruction input port, planning module, the control module include mechanical arm control module and
Mobile platform control module, the planning module includes trajectory planning module and gait planning module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510628842.6A CN105150206B (en) | 2015-09-28 | 2015-09-28 | A kind of six sufficient both arms combined mobile robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510628842.6A CN105150206B (en) | 2015-09-28 | 2015-09-28 | A kind of six sufficient both arms combined mobile robot system |
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| CN105150206A CN105150206A (en) | 2015-12-16 |
| CN105150206B true CN105150206B (en) | 2017-06-23 |
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| CN201510628842.6A Expired - Fee Related CN105150206B (en) | 2015-09-28 | 2015-09-28 | A kind of six sufficient both arms combined mobile robot system |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3021968A1 (en) * | 2016-04-25 | 2017-11-02 | Siemens Aktiengesellschaft | Agile manufacturing platform and system |
| CN106428484B (en) * | 2016-11-28 | 2018-04-06 | 东北石油大学 | A kind of adaptive polypody underwater robot of marine petroleum development |
| CN107253204A (en) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | Remote explosive-removal robot |
| 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 |
| CN109091736B (en) * | 2018-07-27 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Intelligent auxiliary respiratory system |
| CN109079746A (en) * | 2018-11-02 | 2018-12-25 | 中国人民解放军陆军工程大学 | A kind of four-wheel and the deformable real training robot devices of six foots and control method |
| 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 |
| CN113386130B (en) * | 2021-05-21 | 2023-02-03 | 北部湾大学 | Bionic snake-shaped robot control system and control method thereof |
| 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 |
| CN113733151B (en) * | 2021-09-10 | 2023-07-21 | 中山大学 | Space station cabin internal 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636137A (en) * | 1980-10-24 | 1987-01-13 | Lemelson Jerome H | Tool and material manipulation apparatus and method |
| KR100797001B1 (en) * | 2006-12-19 | 2008-01-22 | 한국생산기술연구원 | Wheel-based humanoid robot |
| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
| KR101327975B1 (en) * | 2012-05-17 | 2013-11-13 | 한국해양과학기술원 | Test bed for testing function of underwater robot |
| CN202878325U (en) * | 2012-10-26 | 2013-04-17 | 上海未来伙伴机器人有限公司 | Small modularization mechanical arm |
| CN104527831B (en) * | 2014-12-25 | 2016-08-17 | 华北科技学院 | A kind of underground coal mine six foot Aranea search and rescue robot |
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
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