CN107414810A - The Modularized mobile robot of Driven by Solar Energy - Google Patents
The Modularized mobile robot of Driven by Solar Energy Download PDFInfo
- Publication number
- CN107414810A CN107414810A CN201710819729.5A CN201710819729A CN107414810A CN 107414810 A CN107414810 A CN 107414810A CN 201710819729 A CN201710819729 A CN 201710819729A CN 107414810 A CN107414810 A CN 107414810A
- Authority
- CN
- China
- Prior art keywords
- module
- solar energy
- mobile
- motor
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Modularized mobile robot of the Driven by Solar Energy of mechanical electronic equipment technical field, including：Solar energy module, sensing module, control module, mobile module and manipulator, wherein：Solar energy module is installed on above sensing module, sensing module is installed on above control module, control module is installed on above mobile module, manipulator is installed on mobile module front end, solar energy module is connected with control module transmits solar energy information, sensing module is connected with control module transmits outer environment state information, and control module is connected with mobile module and manipulator respectively transmits control information.The present invention uses solar energy module, energy independently can be extracted from environment, realize Power Autonomy；By will be robot modularized, quick assembling, replacement, maintenance and the Function Extension of mobile robot difference in functionality module can be achieved, manufacturing cost substantially reduces.
Description
Technical field
The present invention relates to a kind of device of mechanical electronic equipment technical field, specifically a kind of modularization of Driven by Solar Energy
Mobile robot.
Background technology
With the development of society, robot application field and scope constantly extend, from automatic production line to ocean
The fields such as the exploration or even space operation of resource, robot are ubiquitous.Numerous scholars think：In the near future,
Robot is mainly used in individual service, rather than for factory.The whole world has all carried out numerous studies to mobile robot, but will
Mobile robot is allowed to turn into real promising commercially produced product, also many problems require study.Although in many places
A large amount of mobile robots are have developed, but these robot characteristics are different, it is impossible to carry out Techno-sharing；Every kind of robot is according to each
From requiring, from zero construction.Therefore, this robot can hardly be expanded or be applied in his robot, and robot can not
Meet the requirement of different users.
Through to prior art literature search find, sieve into et al.《Electromechanical engineering》, the 6th phase in 2009, P17-20, write
Literary " Hexapod Robot Modular Structure Design ", this article describes Hexapod Robot Modular Structure Design scheme, and utilizes
Solidworks completes the overall configuration of each module and robot.But the robot architecture fixes, belong to six sufficient structures,
The modularization robot of different structure can not be reassembled as according to the difference of module, it is unable to rapid-maintenance, changed, manufacturing cost
It is high.
For Modularized mobile robot, also need to solve the problems, such as that the energy can be carried, the battery being commonly used
Volume and quality, seem too big, too heavy with respect to its capacitance of storage.Modularized mobile robot not only needs effectively rational utilize
Its own energy, and energy can be extracted from environment, this be it can realize remote task need the key technology that solves it
One.Current robot is to provide the energy by cable or various rechargeable batteries mostly, without obtaining energy from principal and subordinate's environment
Ability.
The content of the invention
Above-mentioned deficiency and defect of the present invention for prior art, there is provided a kind of modularization movement machine of Driven by Solar Energy
People.Mobile robot in the present invention using modular structure and the interface of standardization, reach reduce mobile robot cost,
It is easy to repair, improve the target of security, and energy can be independently obtained from environment by the solar energy module of itself, so as to
Solves energy problem.
The present invention is achieved by the following technical solutions：
The present invention includes：Solar energy module, sensing module, control module, mobile module and manipulator, wherein：Too
Positive energy module is installed on above sensing module, and sensing module is installed on above control module, and control module is installed on mobile module
Top, manipulator are installed on mobile module front end, and solar energy module is connected with control module transmits solar energy information, sensing
Module is connected with control module transmits outer environment state information, and control module is connected with mobile module and manipulator respectively
Transmit control information.
Described solar energy module includes：Solar panels, two shaft couplings, two motors, sun declination sensor and
One motor fixing frame, wherein：Sun declination sensor is installed on solar panels, and sun declination sensor is connected with control module
Positional information of the solar panels with respect to the sun is transmitted, the lower surface of solar panels is connected with one end of first shaft coupling, and first
The other end of axle device is connected with the first motor, and solar panels are connected with control module transmits solar energy information, and the first motor is fixed
On the first motor fixing frame, the lower surface of the first motor fixing frame is connected with one end of second shaft coupling, second shaft coupling
The other end is connected with the second motor, and the first motor and the second motor are connected transmission control information with control module respectively.
Described mobile module includes：Mobile module housing, two driving wheels, two shaft couplings, driven castor, two drives
Dynamic motor and opening, wherein：Two driving wheels, two shaft couplings and two motors are installed on mobile module housing following table
Face, the first driving wheel and the second driving wheel are symmetrically mounted at the side of mobile module housing bottom, and driven castor, which is arranged on, to be moved
The center of the opposite side of dynamic model block housing bottom, the first motor are connected with one end of the 3rd shaft coupling, the 3rd shaft coupling
The other end is connected with the first driving wheel, and the second motor is connected with one end of the 4th shaft coupling, the other end of the 4th shaft coupling
It is connected with the second driving wheel, the first motor and the second motor are connected transmission control information with control module respectively, open
On a side surface of mobile module housing, manipulator is fixed in opening mouth.
Described manipulator includes：Mechanical paw, main motor and the 5th shaft coupling, wherein：The basis of mechanical paw
One end of connecting rod is connected with one end of the 5th shaft coupling, and the other end of the 5th shaft coupling is connected with main motor, and main motor is fixed on
On mobile module, main motor is connected with control module transmits control information.
The ground link top of described mechanical paw is L-shaped or T-shaped.
The solar energy module real-time tracking sun in the present invention, the solar energy of collection is transmitted to control module, is whole machine
People provides the energy；The environmental state information of acquisition is transferred to control module and handled by sensing module, and control module is being handled
Instruction is sent to mobile module or manipulator according to control strategy on Information base afterwards, mobile module is adjusted its fortune
Dynamic state or startup manipulator are operated accordingly.
Compared with prior art, the beneficial effects of the invention are as follows：Using solar energy module, independently can be extracted from environment
Energy, realize Power Autonomy；By will be robot modularized, quick group of mobile robot difference in functionality module can be achieved
Dress, replacement, maintenance and Function Extension, manufacturing cost substantially reduce.
Brief description of the drawings
Fig. 1 is the overall schematic of the present invention；
Fig. 2 solar energy module schematic diagrames of the present invention；
Fig. 3 sensing module schematic diagrames of the present invention；
Fig. 4 control module schematic diagrames of the present invention；
Fig. 5 mobile module schematic diagrames of the present invention；
Fig. 6 manipulator schematic diagrames of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment
As shown in figure 1, the present embodiment includes：Solar energy module, sensing module, control module, mobile module and manipulator
Module, wherein：Solar energy module is installed on above sensing module by mechanical interface, and sensing module is installed on by mechanical interface
Above control module, control module is installed on above mobile module by mechanical interface, and manipulator is installed on mobile module
Front end, solar energy module is connected by electric interfaces with control module transmits solar energy information, and sensing module passes through electric interfaces
Be connected transmission environment status information with control module, control module by electric interfaces respectively with mobile module and manipulator
Be connected transmission control information.
As shown in Fig. 2 described solar energy module includes：Solar panels 1, first shaft coupling 2, second shaft coupling 4, first
Motor 6, the second motor 3, sun declination sensor and the first motor fixing frame 5, wherein：Sun declination sensor is installed on the sun
On energy plate 1, sun declination sensor is connected by electric interfaces with control module transmits position letter of the solar panels 1 with respect to the sun
Breath, the lower surface of solar panels 1 are connected with one end of first shaft coupling 2, the other end of first shaft coupling 2 and the phase of the first motor 6
Even, solar panels 1 are connected with control module transmits solar energy information, and the first motor 6 is fixed on the first motor fixing frame 5, the
The lower surface of one motor fixing frame 5 is connected with one end of second shaft coupling 2, the other end of second shaft coupling 2 and the phase of the second motor 3
Even, the first motor 6 and the second motor 3 are connected by electric interfaces with control module respectively transmits control information, the He of the first motor 6
Second motor 3 realizes the two degrees of freedom rotation of solar panels 1 jointly.
As shown in figure 3, described sensing module includes：Sensing module housing 7, ultrasonic sensor, dual spindle gyroscopes and
Azimuth sensor, wherein：Ultrasonic sensor, dual spindle gyroscopes and azimuth sensor are all located in sensing module housing 7,
Ultrasonic sensor is connected the complaint message that detects of transmission with control module, and dual spindle gyroscopes are connected conveyer with control module
The device people obliquity information of itself, azimuth sensor are connected the azimuth information of transferring robot with control module, sensing module shell
Body 7 is fixed in control module by the lower interface 8 of lower surface.
The model ZCC212N-232 of described azimuth sensor.
As shown in figure 4, described control module includes：Battery, master chip, voltage stabilizing chip, voltage conversion chip, amplification
Circuit, motor drive ic and control module housing 10, wherein：Battery, master chip, voltage stabilizing chip and voltage conversion chip are all
In control module housing 10, control module housing 10 is connected by upper interface 9 with the lower interface 8 of sensing module housing 7, too
Positive energy plate 1 is connected with battery and voltage stabilizing chip respectively transmits solar energy, and battery is connected with voltage stabilizing chip transmits electric energy, voltage stabilizing
Chip be connected with voltage conversion chip transmission voltage stabilizing after electric energy, voltage conversion chip be connected with master chip transmits electric energy, main core
Piece is connected transmission electrical machine control signal with amplifying circuit, and amplifying circuit is connected transmission electrical machine control signal with motor drive ic,
Motor drive ic be connected respectively with the motor in mobile module, solar energy module and manipulator transmission electrical machine control letter
Number.
Described battery is voltage 12V capacity 2300mAh lithium battery group.
Described master chip is model TMS320F2810 DSP.
The model of described voltage stabilizing chip is LM2576-5.0.
Described voltage conversion chip includes：LM1117-1.8 chips and LM1117-3.3 chips.
The model of described motor drive ic is L298N.
As shown in figure 5, described mobile module includes：Mobile module housing 11, the first driving wheel 12, the second driving wheel
22nd, the 3rd shaft coupling 13, the 4th shaft coupling 21, driven castor 15, the first motor 14, the second motor 20 and opening
19, wherein：First driving wheel 12, the second driving wheel 22, the 3rd shaft coupling 13, the 4th shaft coupling 21, the and of the first motor 14
Second motor 20 is all arranged on the lower surface of mobile module housing 11, and the first driving wheel 12 and the second driving wheel 22 are symmetrically
Installed in the side of the bottom of mobile module housing 11, driven castor 15 is arranged in the opposite side of the bottom of mobile module housing 11
The heart, the first motor 14 are connected with one end of the 3rd shaft coupling 13, the other end of the 3rd shaft coupling 13 and the first driving wheel 12
It is connected, the second motor 20 is connected with one end of the 4th shaft coupling 21, the other end and the second driving wheel of the 4th shaft coupling 21
22 are connected, and the transmission that is connected respectively with the motor drive ic in control module of the first motor 14 and the second motor 20 is controlled
Information processed, on a side surface of mobile module housing 11, manipulator is fixed in opening 19 opening 19.
Described mobile module realizes divertical motion by the differential between the first driving wheel 12 and the second driving wheel 22.
Described driven castor 15 has two frees degree, can adapt to rotation direction automatically under rubbing action.
As shown in fig. 6, described manipulator includes：Mechanical paw 16, the shaft coupling 17 of main motor 18 and the 5th, its
In：One end of the ground link of mechanical paw 16 is connected with one end of the 5th shaft coupling 17, the other end of the 5th shaft coupling 17 with
Main motor 18 is connected, and main motor 18 is fixed in the opening of mobile module, main motor 18 and the motor driving core in control module
Piece, which is connected, transmits control information.
The ground link top of described mechanical paw 16 is L-shaped.
The course of work of the present embodiment：The solar energy module real-time tracking sun, the solar energy of collection is converted into electric energy and passed
Directly powered by solar panels 1 to control module, during solar energy abundance and unnecessary electric energy is stored in the battery of control module
In, storage battery power supply is switched to by circuit control during solar energy deficiency；Sensing module is by the complaint message of acquisition, robot itself
Inclination angle and azimuth information be transferred to control module and handled；According to control plan on the Information base of control module after treatment
Instruction slightly is sent to mobile module or manipulator, mobile module is adjusted its motion state or driving manipulator pawl 16
Ground link make rotary motion in vertical plane, realize that mechanical paw 16 lifts or put down object.
The advantages of the present embodiment：Using solar energy module, energy independently can be extracted from environment, realize the energy certainly
Control；By will be robot modularized, quick assembling, replacement, maintenance and the function of mobile robot difference in functionality module can be achieved
Extension, manufacturing cost substantially reduce.
Claims (2)
- A kind of 1. Modularized mobile robot of Driven by Solar Energy, it is characterised in that including：Solar energy module, sensing module, control Molding block, mobile module and manipulator, wherein：Solar energy module is installed on above sensing module, and sensing module is installed on Above control module, control module is installed on above mobile module, and manipulator is installed on mobile module front end, solar energy mould Block is connected with control module transmits solar energy information, and sensing module is connected with control module transmits outer environment state information, control Molding block is connected with mobile module and manipulator respectively transmits control information；Described solar energy module includes：Solar panels, two shaft couplings, two motors, sun declination sensor and the first electricity Machine fixed mount, wherein：Sun declination sensor is installed on solar panels, and sun declination sensor is connected transmission with control module Solar panels are with respect to the positional information of the sun, and the lower surface of solar panels is connected with one end of first shaft coupling, first shaft coupling The other end be connected with the first motor, solar panels are connected transmission solar energy information with control module, and the first motor is fixed on the On one motor fixing frame, the lower surface of the first motor fixing frame is connected with one end of second shaft coupling, second shaft coupling it is another End is connected with the second motor, and the first motor and the second motor are connected with control module respectively transmits control information.
- 2. the Modularized mobile robot of Driven by Solar Energy according to claim 1, it is characterized in that, described mobile module Including：Mobile module housing, two driving wheels, two shaft couplings, driven castor, two motors and opening, wherein：Two Driving wheel, two shaft couplings and two motors are installed on mobile module housing lower surface, the first driving wheel and the second driving Wheel is symmetrically mounted at the side of mobile module housing bottom, and driven castor is arranged on the opposite side of mobile module housing bottom Center, the first motor are connected with one end of the 3rd shaft coupling, and the other end of the 3rd shaft coupling is connected with the first driving wheel, the Two motors are connected with one end of the 4th shaft coupling, and the other end of the 4th shaft coupling is connected with the second driving wheel, the first driving Motor and the second motor are connected with control module respectively transmits control information, and opening is positioned at a side of mobile module housing On surface, manipulator is fixed in opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819729.5A CN107414810A (en) | 2017-09-13 | 2017-09-13 | The Modularized mobile robot of Driven by Solar Energy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819729.5A CN107414810A (en) | 2017-09-13 | 2017-09-13 | The Modularized mobile robot of Driven by Solar Energy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414810A true CN107414810A (en) | 2017-12-01 |
Family
ID=60433074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819729.5A Pending CN107414810A (en) | 2017-09-13 | 2017-09-13 | The Modularized mobile robot of Driven by Solar Energy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414810A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733745A (en) * | 2009-12-17 | 2010-06-16 | 上海交通大学 | Solar modularized mobile robot |
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
-
2017
- 2017-09-13 CN CN201710819729.5A patent/CN107414810A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733745A (en) * | 2009-12-17 | 2010-06-16 | 上海交通大学 | Solar modularized mobile robot |
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201907491U (en) | Robot with battery capable of being quickly replaced | |
| CN104191434B (en) | Hollow cascade machine mechanical arm | |
| CN205889243U (en) | People's arm is imitated to modularization | |
| CN106863282A (en) | A kind of big corner intelligent solar tracking device | |
| CN202225209U (en) | 90-degree manipulator | |
| CN103223669A (en) | Light mechanical arm mechanism | |
| CN101372096B (en) | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction | |
| CN101698301A (en) | Multi-planar-degree-of-freedom robot | |
| CN204566123U (en) | A kind of intelligent finishing book robot | |
| CN202241275U (en) | Four-station material taking manipulator | |
| CN101844348A (en) | Master-slave modular robot | |
| CN202241272U (en) | 180-degree mechanical arm | |
| CN101733745B (en) | Solar modularized mobile robot | |
| CN107538472A (en) | A kind of mechanical arm and robot and robot experimental system | |
| CN201808064U (en) | Single degree of freedom rotating device | |
| CN202186365U (en) | Passenger car electricity-exchanging platform system capable of realizing automatic posture adjusting and car positioning | |
| CN206105843U (en) | Four degree of freedom parallel robots | |
| CN201565954U (en) | Plane robot with multiple degrees of freedom | |
| CN107414810A (en) | The Modularized mobile robot of Driven by Solar Energy | |
| CN202089044U (en) | Quick replacing robot for chassis battery of electric passenger vehicle | |
| CN103777634A (en) | Large-size spherical robot control system | |
| CN211167161U (en) | Pendulum-type spherical robot and control system thereof | |
| Liu et al. | ReBot: A novel under-actuated resilient robot | |
| CN203902718U (en) | Robot platform with integrated-formed base plate | |
| CN206717844U (en) | Few branch chain six-freedom degree parallel vivid platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |