CN108527309A - Mobile robot and its mechanism, system - Google Patents
Mobile robot and its mechanism, system Download PDFInfo
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- CN108527309A CN108527309A CN201810568561.XA CN201810568561A CN108527309A CN 108527309 A CN108527309 A CN 108527309A CN 201810568561 A CN201810568561 A CN 201810568561A CN 108527309 A CN108527309 A CN 108527309A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 230000005284 excitation Effects 0.000 claims abstract description 6
- 230000003993 interaction Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 4
- 238000012512 characterization method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 241000288105 Grus Species 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
A kind of mobile robot and its mechanism, system, including：Robot body, one side offer the groove for placing external mobile terminal, and external mobile terminal can put together machines people's control system, and bottom portion of groove is provided with controller and places position；Steering mechanism, is arranged on robot body the other side relative to groove side, and steering mechanism is used for the moving direction of guiding machine human body；Driving mechanism, is arranged on robot body the other side relative to groove side, and driving mechanism and steering mechanism are located at the tail end and head end of robot body；Driving mechanism drives direction movement of the robot body by drive signal characterization under the excitation of drive signal；Controller, setting are placed in controller in position；Controller provides drive signal after receiving the control signal that external mobile terminal provides to driving mechanism.When needing upgrading control system, external mobile terminal need to be only replaced, reduce the probability of happening for eliminating mobile robot complete machine.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of mobile robot and its mechanism, system.
Background technology
In recent years, robot technology is fast-developing.Sweeping robot takes out the service-delivery machines such as robot, amusement robot
People has incorporated people’s lives, offers convenience to people’s lives and enjoyment.However, robot in the market is changed in the presence of update
For the features such as fast, expensive, so the popularity of robot is not high.
Robot is generally grouped as by multi-sections such as basic machine, control system, sensor, driver, input-output systems.
Basic machine is supporting base and the executing agency of robot, is often designed to adapt to specific working environment, driver is
For making basic machine send out the actuating unit of action.Sensor can be used for perceiving ambient condition information, and robot is made to have
The anthropoid consciousness function of class and respond.Control system can complete one according to instruction and heat transfer agent control robot
Fixed action or task.Through applicants have found that, in specific working environment, basic machine, the driver of robot are past
It is past to update, and control system then needs constantly to adjust upgrading according to new demand.
With the development of science and technology, hardware update is regenerated comparatively fast, for the demand for adapting to new, it is often required to retaining driver, passing
Upgrading is carried out to control system while the components such as sensor, still, in the prior art, the control system of robot usually collects
At in robot body, it is difficult to upgrade to control system.Currently, when robot updates, complete machine is typically directly eliminated,
It results in waste of resources.Therefore, how to realize reduces because the mortality that control system update causes robot complete machine superseded becomes urgently
Technical problem to be solved.
Invention content
The technical problem to be solved in the present invention is the mortality that control system upgrading update causes robot complete machine superseded
It is high.
For this purpose, according in a first aspect, the embodiment of the invention discloses a kind of mobile robot mechanisms, including：
Robot body, one side offer the groove for placing external mobile terminal, and external mobile terminal can assemble
Robot control system, bottom portion of groove are provided with controller and place position；Steering mechanism is arranged on robot body relative to recessed
The other side of slot side, steering mechanism are used for the moving direction of guiding machine human body；Driving mechanism is arranged in robot body
On the other side relative to groove side, driving mechanism and steering mechanism are located at the tail end and head end of robot body；It drives
Motivation structure drives direction movement of the robot body by drive signal characterization under the excitation of drive signal；Controller, setting exist
Controller is placed in position；Controller provides driving letter after receiving the control signal that external mobile terminal provides to driving mechanism
Number.
Optionally, driving mechanism includes：First support arm, one end can opposed robots' ontology rotation be fixed on robot
Tail end on ontology；The other end in the first support arm is arranged in first driving wheel；Second support arm, one end can be with respect to machines
Human body's rotation is fixed on the tail end on robot body；First support arm is relative to the rotation axis of robot body and second
Brace is coaxial relative to the rotation axis of robot body；The other end in the second support arm is arranged in second driving wheel；Driver,
Be fixed between the first support arm and the second support arm, for respectively driven under the driving of drive signal the first driving wheel and/
Or second driving wheel rotation, with mobile robot ontology.
Optionally, the tail end on robot body offers the first card slot and the second card slot, for respectively in the first support
Arm and the second support arm store the first support arm and the second support arm to after the rotation of robot body direction.
Optionally, steering mechanism includes：Universal wheel；Universal wheel is fixed on the head end of robot body by caster bracket；
Turntable connects between caster bracket and robot body, for driving caster bracket rotation to become under the effect of external force
To.
Optionally, caster bracket is hinged on a spinstand；Head end on robot body offers holder accommodating groove, uses
Storage universal wheel and caster bracket after being rotated to close robot body direction in caster bracket.
Optionally, further include：Camera is arranged in the outside of the head end of robot body, and camera is provided in controller
The lower acquisition robot body of acquisition control signal driving outside image data；Camera is connect with controller signals；Control
Device receives camera the image collected data or the camera the image collected data received are sent to by controller
The external mobile terminal being placed in groove.
Optionally, further include：Lid is placed on external in groove for covering the tail end for closing robot body with limit
Mobile terminal；Lid is controlled relative to the electrical interface being electrically connected with the controller, electrical interface is provided on the inside of groove for being connected to
Device and the external mobile terminal being placed in groove, so that the external mobile terminal and controller that are placed in groove carry out data
Interaction.
Optionally, further include：Guide rail, set overlay in robot body, guide rail can opposed robots' ontology it is separate or close
The tail end of robot body translates；One end far from robot body is arranged on guide rail in lid.
According to second aspect, the embodiment of the invention discloses a kind of mobile robots, including：
Mobile robot mechanism disclosed in above-mentioned first aspect；Mobile terminal is placed in the groove of robot body, with
Controller carries out data interaction.
According to the third aspect, the embodiment of the invention discloses a kind of mobile-robot systems, including：Above-mentioned first aspect is public
The mobile robot mechanism opened；First movement terminal, is placed in the groove of robot body, and data friendship is carried out with controller
Mutually；Second mobile terminal carries out data interaction with first movement terminal.
Technical solution of the present invention has the following advantages that：
Mobile robot and its mechanism provided in an embodiment of the present invention, system, it is outer that robot body side offers placement
Set the groove of mobile terminal, external mobile terminal can put together machines people's control system, and controller setting is placed in controller in position,
Controller provides drive signal after receiving the control signal that external mobile terminal provides to driving mechanism, and driving mechanism is being driven
Robot body can be driven to be moved by the direction of drive signal under the excitation of dynamic signal, to so that the mobile robot machine
Structure can adapt to the external mobile terminal after the different people's control systems that puts together machines and then need upgrading control system
When, external mobile terminal need to be only replaced, reduce the probability of happening for eliminating mobile robot complete machine, avoid the wasting of resources.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of mobile robot mechanism top perspective structural schematic diagram disclosed in the present embodiment；
Fig. 2 looks up dimensional structure diagram for a kind of mobile robot mechanism disclosed in the present embodiment；
Fig. 3 is a kind of mobile robot top perspective structural schematic diagram disclosed in the present embodiment；
Fig. 4 a are a kind of the first status diagram of mobile robot mechanism disclosed in the present embodiment；
Fig. 4 b are a kind of second of status diagram of mobile robot mechanism disclosed in the present embodiment；
Fig. 4 c are a kind of the third status diagram of mobile robot mechanism disclosed in the present embodiment；
Fig. 5 is a kind of another embodiment top perspective structural schematic diagram of mobile robot mechanism disclosed in the present embodiment；
Fig. 6 is a kind of another embodiment top perspective structural schematic diagram of mobile robot disclosed in the present embodiment.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements, can be wirelessly connected, can also be wired connection.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other at conflict.
In order to realize the mortality for reducing and causing robot complete machine superseded because of control system update, present embodiment discloses one
Kind mobile robot mechanism, please refers to Fig.1 and Fig. 2, Fig. 1 are the mobile robot mechanism top perspective structural schematic diagram, and Fig. 2 is
The mobile robot mechanism looks up dimensional structure diagram, which includes：Robot body 1, steering mechanism
2, driving mechanism 3 and controller (being not shown in figure reference numeral), wherein：
Referring to FIG. 1,1 one side of robot body offers the groove for placing external mobile terminal, figure is please referred to
3, the state diagram that external mobile terminal 4 is placed in after 1 groove of robot body is illustrated, in specific implementation process, groove size
It is adapted to destination mobile terminal, the present embodiment is not intended to limit specific groove size.In a particular embodiment, external
Mobile terminal 4 can put together machines people's control system, and external mobile terminal 4, which can be tablet computer, mobile phone, PDA etc., to be assembled
The intelligent terminal of robot control system.In the present embodiment, referring to FIG. 1, bottom portion of groove, which is provided with controller, places position 11,
In specific embodiment, groove can be opened up again in bottom portion of groove to provide controller and place position 11, controller places position 11 can be with
Conjunction and opening are covered by rotatable lid.
Referring to FIG. 2, the other side relative to groove side, steering mechanism on robot body 1 is arranged in steering mechanism 2
2 are used for the moving direction of guiding machine human body 1.In the present embodiment, steering mechanism 2 uses the scheme passively turned to, relative to
By steering engine come the scheme of active steering, driver can be saved.Specifically, referring to FIG. 2, steering mechanism 2 includes：Universal wheel
21, caster bracket 22 and turntable 23, wherein universal wheel 21 is fixed on the head end of robot body 1 by caster bracket 22,
Turntable 23 connects between caster bracket 22 and robot body 1, for driving caster bracket 22 under the effect of external force
Rotate deflecting.In the present embodiment, turntable 23 is rotatably installed in by revolute pair on robot body 1, specifically, rotation
The plane that the rotary shaft of platform 23 is installed on robot body 1 with turntable 23.
Referring to FIG. 2, the other side relative to groove side, driving mechanism on robot body 1 is arranged in driving mechanism 3
3 and steering mechanism 2 be located at the tail end and head end of robot body 1, the driving machine under the excitation of drive signal of driving mechanism 3
Device human body 1 is moved by the direction of drive signal characterization.
In a particular embodiment, driving mechanism 3 includes：First support arm 31, the second support arm 32, the first driving wheel 33,
Second driving wheel 34 and driver 35, wherein：First support arm, 31 one end can opposed robots' ontology 1 rotation be fixed on machine
Tail end on human body 1, in a particular embodiment, one end of the first support arm 31 can rotatably be fixed by hinged mode
Tail end on robot body 1 specifically can fix one end and the robot of the first support arm 31 by damp hinge
Ontology 1, so that the first support arm 31 can be with relative limit after opposed robots' ontology 1 rotates any angle；This implementation
In example, the other end in the first support arm 31, the first being rotated by driver of driving wheel 33 is arranged in the first driving wheel 33.
Second support arm, 32 one end can opposed robots' ontology 1 rotate and be fixed on tail end on robot body 1, specifically, can be with
One end and the robot body 1 of the second support arm 32 are fixed by damp hinge, so that the second support arm 32 is opposite
Robot body 1 can be with relative limit after rotating any angle.In the present embodiment, the first support arm is relative to robot body 1
Rotation axis and the second support arm it is coaxial relative to the rotation axis of robot body；In the present embodiment, the setting of the second driving wheel 34
In the other end of the second support arm 32, the second being rotated by driver of driving wheel 34.Driver 35 is fixed on first
Between brace 31 and the second support arm 32, for respectively driving the first driving wheel 33 and/or second under the driving of drive signal
Driving wheel rotation 34, with mobile robot ontology.In the present embodiment, the first driving wheel 33 and the second driving wheel rotation 34 can lead to
Independent driver is crossed to drive, for example, the first driving wheel 33 and the second driving wheel can be respectively driven by two motors
34 rotation of rotation.It drives the first driving wheel 33 and the second driving wheel to rotate 34 by independent driver, may be implemented first
Driving wheel 33 and the second driving wheel rotate the rotation of 34 differentials, to drive robot body 1 to be moved to preset direction, for example：When
When first driving wheel, 33 velocity of rotation is more than the second driving wheel rotation 34, robot body 1 can be made by 33 court of the first driving wheel
It is moved to the direction of the second driving wheel rotation 34.
Referring to FIG. 1, controller (being not shown in figure reference numeral) setting is placed in controller in position 11, controller is connecing
It receives and provides drive signal to driving mechanism after the control signal that external mobile terminal provides.In the present embodiment, alleged controller
For the bottom control circuit of mobile robot mechanism, in a particular embodiment, controller can pass through the micro-controls such as microcontroller or DSP
Unit, motor-drive circuit, power circuit etc. are realized.
Referring to FIG. 2, for the ease of storing driving mechanism, in an alternate embodiment of the invention, the tail end on robot body 1 is opened
Equipped with the first card slot 341 and the second card slot 342, for respectively in the first support arm 31 and the second support arm 32 to close to robot
The first support arm 31 and the second support arm 32 are stored after the rotation of ontology direction.
For the ease of storing steering mechanism, in an alternate embodiment of the invention, caster bracket 22 is hinged on turntable 23, machine
Head end on device human body 1 offers holder accommodating groove 221, and holder accommodating groove 221 is used in caster bracket 22 to close to machine
Storage universal wheel 21 and caster bracket 22 after the rotation of 1 direction of device human body.
A is please referred to Fig.4, the first support arm 31 is illustrated and the second support arm 32 storage to the first card slot 341 and second blocks
Slot 342 and steering mechanism store to the status architecture after holder accommodating groove 221.Pass through the first card slot 341 and the second card slot 342
Storage and holder accommodating groove 221 storage, convenient mobile robot mechanism when not working, in addition, being also conducive to realize outer
Terminal protection shell function is set, external mobile terminal is held convenient for user.
B and Fig. 4 c are please referred to Fig.4, different receiving state structures is respectively illustrated, wherein when the first support arm 31 and
The storage of two support arms 32 is to the first card slot 341 and the second card slot 342, and steering mechanism is after the expansion of holder accommodating groove 221, Ke Yitong
Cross steering mechanism to realize mobile terminal cradling function, as shown in Figure 4 b；When the first support arm 31 and the second support arm 32 are distinguished
It, then can be according to upper from the first card slot 341 and the expansion of the second card slot 342 and steering mechanism after the expansion of holder accommodating groove 221
Scheme disclosed in embodiment is stated to realize mobile robot mechanism function.
In an alternate embodiment of the invention, which further includes：Camera (not shown), camera setting
In the outside of the head end of robot body, camera acquires robot body under the acquisition control signal driving that controller provides
External image data.Camera is connect with controller signals, and controller receives camera the image collected data, or control
The camera the image collected data received are sent to the external mobile terminal being placed in groove by device processed.Specifically,
Acquisition control signal can be provided by controller, and controller acquisition control signal can also be supplied to by external mobile terminal,
Then received acquisition control signal is supplied to camera by controller.In specific implementation process, camera collects
Image data can be stored in the memory of controller, external mobile terminal can also be stored.
In the present embodiment, camera is arranged by the outside of the head end in robot body, may be implemented to surrounding enviroment
Image Acquisition is carried out, realizes the advantageous effect of security protection and remote collection image data.It should be noted that other alternative
, can according to actual needs or practical application scene in embodiment, being added in robot body other there are data to acquire work(
The sensor, such as range sensor, Temperature Humidity Sensor etc. of energy, are considered to be the equivalent replacement of camera.
Fig. 5 and Fig. 6 are please referred to, in an alternate embodiment of the invention, which further includes：Lid 5, lid 5 are used
The tail end of robot body 1 is closed in lid, the external mobile terminal 4 being placed on limit in groove.In a particular embodiment, lid
5 relative to the electrical interface 51 being electrically connected with the controller is provided on the inside of groove, electrical interface 51 is for being connected to controller and placement
External mobile terminal 4 in groove, so that the external mobile terminal 4 and controller that are placed in groove carry out data interaction.
In specific implementation process, electrical interface 51 can be USB interface, miniUSB interfaces, typeC interfaces etc., if can realize with
External mobile terminal 4 carries out the interface of data interaction.
In an alternate embodiment of the invention, referring to FIG. 5, the mobile robot mechanism further includes：Guide rail 52,52 sets of guide rail overlay on
In robot body 1, guide rail 52 can opposed robots' ontology 1 far from or close to robot body tail end translate, lid 5 be arranged
One end far from robot body 1 on guide rail.In a particular embodiment, lid 5 is arranged on the side of robot body 1
There are the first fast fitting, robot body 1 to be provided with the second fast fitting on the side of lid 5, the first fast fitting and second is soon
Fitting matches, and realization is detachably connected.First fast fitting and the second fast fitting can be by modes such as buckle, elastic components come real
It is existing, when lid 5 along guide rail 52 close to robot body 1 when, the first fast fitting and the second fast fitting fitting are fixed, to external
Mobile terminal is limited；When lid 5 along guide rail 52 far from robot body 1 when, the first fast fitting and the separation of the second fast fitting,
Consequently facilitating carrying out the operation such as charge to mobile terminal.
It should be noted that corresponding skill can be arranged in those skilled in the art on robot body according to actual needs
Art feature for example can open up the through-hole through its upper and lower surface on robot body so that external mobile terminal carried
Image collecting device can carry out Image Acquisition by the through-hole.
The present embodiment also discloses a kind of mobile robot, referring to FIG. 3, showing for the mobile robot top perspective structure
It is intended to, which includes：
Mobile robot mechanism and mobile terminal disclosed in above-described embodiment, wherein mobile terminal is placed on robot
In the groove of ontology, data interaction is carried out with controller.
The present embodiment also discloses a kind of mobile-robot system, including：
Mobile robot mechanism disclosed in above-described embodiment；First movement terminal is placed in the groove of robot body,
Data interaction is carried out with controller；Second mobile terminal carries out data interaction with first movement terminal.
In the present embodiment, data interaction is carried out by the second mobile terminal and first movement terminal, may be implemented by the
Two mobile terminals carry out the remote controls such as mobile control, Image Acquisition control to robot mechanism, it is of course also possible to pass through second
Mobile terminal receives the image data that first movement terminal is sent, to realize remote monitoring.
Mobile robot and its mechanism, system disclosed in the present embodiment, robot body side, which offers, places external shifting
The groove of dynamic terminal, external mobile terminal can put together machines people's control system, and controller setting is placed in controller in position, control
Device provides drive signal after receiving the control signal that external mobile terminal provides to driving mechanism, and driving mechanism is believed in driving
Number excitation under robot body can be driven to be moved by the direction of drive signal, to so that the mobile robot mechanism energy
The external mobile terminal being enough adapted to after the different people's control systems that puts together machines, then, when needing upgrading control system, only
External mobile terminal need to be replaced, reduce the probability of happening for eliminating mobile robot complete machine, avoid the wasting of resources.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of mobile robot mechanism, which is characterized in that including：
Robot body, one side offer the groove for placing external mobile terminal, and the external mobile terminal can assemble
Robot control system, the bottom portion of groove are provided with controller and place position；
Steering mechanism, is arranged on the robot body other side relative to the groove side, and the steering mechanism uses
In the moving direction for being oriented to the robot body；
Driving mechanism, is arranged on the robot body other side relative to the groove side, the driving mechanism and
The steering mechanism is located at the tail end and head end of the robot body；The driving mechanism is under the excitation of drive signal
The robot body is driven to be moved by the direction that the drive signal characterizes；
Controller, setting are placed in the controller in position；The controller is in the control for receiving external mobile terminal offer
After signal the drive signal is provided to the driving mechanism.
2. mobile robot mechanism as described in claim 1, which is characterized in that the driving mechanism includes：
First support arm, one end can rotate the tail end being fixed on the robot body relative to the robot body；
The other end in first support arm is arranged in first driving wheel；
Second support arm, one end can rotate the tail end being fixed on the robot body relative to the robot body；Institute
The first support arm is stated relative to the rotation axis of the robot body and second support arm relative to the robot body
Rotation axis it is coaxial；
The other end in second support arm is arranged in second driving wheel；
Driver is fixed between first support arm and second support arm, for dividing under the driving of drive signal
First driving wheel and/or second driving wheel is not driven to rotate, with the movement robot body.
3. mobile robot mechanism as claimed in claim 2, which is characterized in that the tail end on the robot body offers
First card slot and the second card slot, for respectively in first support arm and second support arm to close to the robot sheet
First support arm and second support arm are stored after the rotation of body direction.
4. mobile robot mechanism as described in claim 1, which is characterized in that the steering mechanism includes：
Universal wheel；
The universal wheel is fixed on the head end of the robot body by caster bracket；
Turntable connects between the caster bracket and the robot body, described in driving under the effect of external force
Caster bracket rotates deflecting.
5. mobile robot mechanism as claimed in claim 4, which is characterized in that the caster bracket is hinged on the rotation
On platform；Head end on the robot body offers holder accommodating groove, is used in the caster bracket to close to the machine
The universal wheel and the caster bracket are stored after the rotation of device human body direction.
6. mobile robot mechanism as described in claim 1, which is characterized in that further include：Camera is arranged in the machine
The outside of the head end of human body, the camera acquire the machine under the acquisition control signal driving that the controller provides
Image data outside human body；The camera is connected with the controller in a signal way.；The controller receives the camera
Collected described image data or the controller send out the collected described image data of the camera received
Give the external mobile terminal being placed in the groove.
7. mobile robot mechanism as claimed in any one of claims 1 to 6, which is characterized in that further include：
Lid, for covering the tail end for closing the robot body, to limit the external mobile terminal being placed in the groove；
The lid is used relative to the electrical interface being electrically connected with the controller, the electrical interface is provided on the inside of the groove
In the external mobile terminal for being connected to the controller and being placed in the groove, so as to be placed on the external shifting in the groove
Dynamic terminal and the controller carry out data interaction.
8. mobile robot mechanism as claimed in claim 7, which is characterized in that further include：
Guide rail, set overlay in the robot body, the guide rail can the relatively described robot body far from or close to the machine
The tail end of device human body translates；
One end far from the robot body is arranged on the guide rail in the lid.
9. a kind of mobile robot, which is characterized in that including：
Mobile robot mechanism as described in claim 1-8 any one；
Mobile terminal is placed in the groove of the robot body, and data interaction is carried out with the controller.
10. a kind of mobile-robot system, which is characterized in that including：
Mobile robot mechanism as described in claim 1-8 any one；
First movement terminal is placed in the groove of the robot body, and data interaction is carried out with the controller；
Second mobile terminal carries out data interaction with the first movement terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810568561.XA CN108527309A (en) | 2018-05-25 | 2018-05-25 | Mobile robot and its mechanism, system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810568561.XA CN108527309A (en) | 2018-05-25 | 2018-05-25 | Mobile robot and its mechanism, system |
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| CN201810568561.XA Pending CN108527309A (en) | 2018-05-25 | 2018-05-25 | Mobile robot and its mechanism, system |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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