CN108942862A - A kind of compound mobile robot - Google Patents
A kind of compound mobile robot Download PDFInfo
- Publication number
- CN108942862A CN108942862A CN201810780569.2A CN201810780569A CN108942862A CN 108942862 A CN108942862 A CN 108942862A CN 201810780569 A CN201810780569 A CN 201810780569A CN 108942862 A CN108942862 A CN 108942862A
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- mobile robot
- platform support
- mechanical arm
- platform
- compound
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 46
- 238000013016 damping Methods 0.000 claims abstract description 11
- 230000004438 eyesight Effects 0.000 claims description 11
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 2
- 235000013399 edible fruits Nutrition 0.000 abstract 1
- 238000011835 investigation Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B25J19/0091—Shock absorbers
-
- 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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of compound mobile robots, including a mobile platform and the multi-degree-of-freemechanical mechanical arm being installed on the mobile platform, the mobile platform includes platform support, running gear and laser radar, the running gear is set to below the platform support by damping device, the laser radar is installed on the edge of the platform support, the platform support is equipped with slideway, the multi-degree-of-freemechanical mechanical arm is installed on the slideway by mounting plate, and the multi-degree-of-freemechanical mechanical arm end is equipped with sighting device and grabbing device.Using the present invention, the present invention is integrated with mobile platform and the advantage of mechanical arm respectively, and compact-sized, perfect in shape and function invention can be widely used in agriculture picking fruit, industrial goods and materials load and the fields such as transport and environment investigation.
Description
Technical field
The present invention relates to a kind of robotic technology fields more particularly to one kind flexibly to move, independent navigation and avoidance
It is able to achieve the compound mobile robot of object visual identity and crawl again.
Background technique
Robot is to integrate the multidisciplinary comprehensive skill such as machinery, electronics, computer, sensor and control technology
Art has reacted a national automation and intelligentized research level, while being a national high-tech core technology competition
One important embodiment of power.With the continuous development of mobile robot technology, mobile robot is applied more and more widely
In fields such as industrial and agricultural production, military affairs, medicine and mankind's daily lifes, various convenient services are provided for the life of the mankind.
Robot can be divided into the multiclass such as industry, agricultural, household, medical, service type, education, amusement, the disaster relief according to purposes
Robot.For industrial robot, multi-freedom robot is the most common industrial robot in current industrial circle
One of form, be usually used in the mechanical automation operation of industrial circle, for example, the work such as automatic assembling, spraying, carrying, welding.
The mounting means of multiple degrees of freedom industrial robot is mostly console mode installation and in-wall mounting, and installation is all by machine body
Fixed, online tracing is carried out when this is for flowing water on-line operation cannot achieve the tracking of super large stroke and a wide range of operation, Wu Faji
Degree plays the functionality advantage of multi-freedom robot, is unfavorable for enterprise development.
Currently, may be used as the trolley of transport cargo known to moveable platform is in practice, or it is used as
The haulage vehicle of multiple degrees of freedom industrial robot.In general, moveable platform can move to different places to use, as can
Moveable platform and mechanical arm are subjected to reasonable combination, the two is beneficial to and is greatly expanded in the effect in existing each field
Exhibition, but the case for being at present combined mobile platform and mechanical arm is actually rare, the two is effectively designed and is incorporated in one
Rise there is also certain difficulty.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that a kind of novel in structural design, rationally is provided, it is functional
By force, flexibility is high, job area is wide and high reliablity, can be applied to the compound mobile robot of different operating environment.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of compound mobile robots comprising one
Mobile platform and the multi-degree-of-freemechanical mechanical arm being installed on the mobile platform, the mobile platform include a platform support, a storing
Cabinet, running gear and laser radar, which is set among the platform support, for loading article；The running gear
It is set to below the platform support by damping device；The edge that the laser radar is installed on the platform support is compound for this
Mobile robot realizes automatic obstacle avoiding；The platform support is equipped with slideway, which passes through the mounting plate being arranged on the slideway
It is installed on the mobile platform, which is equipped with sighting device and grabbing device, for realizing the visual identity of object
With crawl.
Wherein, which is a square set, and four edges of the platform support are further provided with four
A conducting ring is respectively connected with the steering motor being installed on the platform support in the top of four conducting rings.
Wherein, which is four driving wheels, is respectively arranged in the lower section at four angles of platform support, and respectively with one
Damping device is connected.
Further, which includes damper, the first linking arm and the second linking arm, which fixes
It is connected to the output end of the conducting ring, the second linking arm one end and one end of the first linking arm are hinged, the other end and the driving
Wheel is connected, which is connected with the output end of the conducting ring and second linking arm respectively.
Wherein, the scanning angle of the laser radar is 270 °, and there are two, two laser radars are set to the platform branch outwardly
The diagonal angle of frame.
Further, which further includes that four visions being respectively arranged in below the platform support edge are sought
Mark device, vision guided navigation and vision avoidance for the compound mobile robot.
Further, the mounting plate be equipped with identical quantity in the mechanical arm bottom base, for installing the machinery
The mounting hole of arm；It further include the mounting hole being fixed on the mechanical arm and the mounting plate on the slideway.
Further, which is a mechanical paw, which is that a technical grade camera or three-dimensional high-definition are taken the photograph
As head, and it is installed on the mechanical arm tail end joint.
It further, further include a display screen on the mobile platform, which is installed on mechanical arm on the platform support
The sides adjacent of side or the centre of opposite side, for showing the operating status of the compound mobile robot and leading to convenient for user
The display screen is crossed to control the movement of the compound mobile robot and monitor the operating condition of robot.
Further, the shield for protecting the steering motor is installed in the steering motor, display screen is being installed
It is provided with a scram button above one of shield in two shields of side, it is anti-for urgent emergency stop and safety
Shield.
The implementation of the embodiments of the present invention has the following beneficial effects: structure of the invention is novel in design rationally, will dexterously move
Moving platform is combined with multi-degree-of-freemechanical mechanical arm, and the technical solution of this kind of combining form has merged mobile platform and multiple degrees of freedom machine
The various advantages of tool arm, it is stable well that the damping device of such as installation can be such that compound mobile robot has in operational process
Property；The laser radar and vision tracing device of installation are able to achieve independent navigation and avoidance；In the vision dress of mechanical arm tail end setting
Setting can make the compound mobile robot have the function of good object visual identity and visual grasping with grabbing device；Compared to
Big stroke, a wide range of operation may be implemented in single multi-degree-of-freemechanical mechanical arm, the compound mobile robot.Entirety of the invention
Compact-sized, stability is good, functional, and adapts to be conducive to wide popularization and application in different application environments.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the compound mobile robot first embodiment of the present invention；
Fig. 2 is the structural schematic diagram of damping device and driving wheel in the compound mobile robot first embodiment of the present invention；
Fig. 3 is the structural representation of robotic arm and corresponding mounting plate in the compound mobile robot first embodiment of the present invention
Figure；
Fig. 4 is the overall structure diagram of the compound mobile robot second embodiment of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give the preferred embodiment of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
It should be noted that it can directly on the other element when element is referred to as " being fixedly arranged on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig. 1, a kind of compound mobile robot that first embodiment of the invention provides, including a mobile platform 10
With a multi-degree-of-freemechanical mechanical arm 20 being installed on the mobile platform 10, which includes a rectangular platform support
101 and storing cabinet 103 and two laser radars 105, the storing cabinet 103 be set to the centre of the platform support 101, be used for
Article is loaded, when battery powered such as the control cabinet of multi-degree-of-freemechanical mechanical arm, for the compound mobile mechanical arm and work needs
Carrying and the article loaded etc., are equipped with protective plate 106 on the platform support 101, which has water-and fire-proof
Characteristic is mainly used for the protection of the storing cabinet 103 and the circuit-line of the compound mobile robot；It further include passing through damping
Device 107 is set to the running gear of 101 lower section of the platform support, and in the present embodiment, which is four driving wheels
109, four driving wheels 109 are respectively arranged in the lower section at 101 4 angles of platform support, and are respectively connected with a damping device 107.
Further in four edges setting of the platform support 101, there are four conducting rings 1011, in four conducting rings 1011
Top is respectively connected with the steering motor 1013 being installed on the platform support 101.
It should be understood that in other embodiments, which may be crawler type walking mechanism.
It in the present embodiment, is the steering and realization closed-loop control of preferably control driving wheel 109, the steering motor 1013
Using servo motor.The driving wheel 109 has brushless gearless hub motor, which passes through the conducting ring
1011 connect with cell apparatus, make the driving wheel 109 can be with Arbitrary Rotation and without material winds.
The scanning angle of two laser radars 105 is 270 °, and is set to the diagonal edge of the platform support 101 outwardly, two
The information that laser radar 105 is got carries out the environmental information that coupling is superimposed available surrounding, consequently facilitating the compound shifting
Mobile robot realizes independent navigation and avoidance.
Referring again to Fig. 2, above-mentioned damping device 107 includes damper 1070, the first linking arm 1072 and the second linking arm
1074, which is fixedly connected on the output end of the conducting ring 1011, the second linking arm one end 1074 and
One end of one linking arm 1072 is hinged, and the other end of second linking arm 1074 is connected with the driving wheel 109, the damper 1070
Both ends are connected with the output end of the conducting ring 1011 and second linking arm 1074 respectively.It can make this by the damper 1070
Compound mobile robot operates in the stability kept when uneven road surface.
In conjunction with Fig. 1 and Fig. 3, it is provided with slideway 1015 on the platform support 101, which passes through the cunning
The mounting plate 1017 being arranged on road 1015 is installed on the mobile platform 101.
The mounting plate 1017 is equipped with inside and outside each 4 holes, and the mounting hole 1019a of corner is located at by outside four, can
The mounting plate 1017 to be fixed on the slideway 1015 on the platform support 101, four mounting hole 1019b of the inside are more with this
Four hole locations of degree-of-freedom manipulator pedestal 205 are aligned one by one, for the multi-degree-of-freemechanical mechanical arm 20 to be fixed on the mounting plate
On 1017.
The multi-degree-of-freemechanical mechanical arm end is equipped with sighting device and grabbing device, which is a mechanical paw 201,
The gripper 201 can be adaptive crawl article, the sighting device be a three-dimensional high-definition camera 203, for realizing object
Visual identity and assist the mechanical paw 201 carry out visual grasping.
It should be understood that in other embodiments, which may be a technical grade camera.
For convenient for control, in the embodiment of the present invention, on the platform support 101 in the opposite side of the multi-degree-of-freemechanical mechanical arm 20
Between be provided with a display screen 1021, which is displayed for the operating status of compound mobile robot and one
It is convenient for the movement of the user's control compound mobile robot under a little particular surroundings.In four steerings electricity of the platform support 101
The shield 1023 for protecting the steering motor 1013 is separately installed at machine 1013, which can be more to avoid this
Degree-of-freedom manipulator 20 in the process of running with the steering motor 1013 it is that may be present collision and lead to the multi freedom degree mechanical
Arm 20 and steering motor 1013 are impaired.For the structure for better illustrating the embodiment of the present invention, there is a steering in Fig. 1 embodiment
Protective cover is not shown at motor 1013.For the safety for improving the compound mobile robot, in 1021 left side of display
Shield 1023 on, a scram button 1025 is installed, for urgent emergency stop and security protection when emergency to occur.
Referring to Fig. 4, implementing for the structural schematic diagram of the compound mobile robot second embodiment of the present invention with first
Compound mobile robot structure in example is similar, the difference is that the present embodiment increases on the basis of first embodiment
Four vision tracing devices 30 and a mechanical arm 20a, while the installation site and first embodiment of the invention of display screen 1021a
Different, which is respectively arranged in the lower section of 101 edge of platform support, the vision that tracks
Device is camera, and for the environment around observing, the vision of the compound mobile robot may be implemented by the camera
Navigation and vision avoidance；Mechanical arm 20a is installed on the opposite side of multi-degree-of-freemechanical mechanical arm 20 in first embodiment, and display screen 30 is pacified
Adjacent side loaded on two mechanical arms (20 and 20a) on the platform support 101, two mechanical arms can communicate with each other work compound.
It can be cooperateed in the embodiment of the present invention using two mechanical arms and complete some impossible work of separate unit mechanical arm (such as part dress
Match, repair；Demolition blasting, bomb disposal etc.), expand the working range of the compound mobile robot, and can mention significantly
The working efficiency for rising the compound mobile robot, so that the compound mobile robot is more intelligent.
In the embodiment that aforementioned present invention provides, mobile platform is combined with multi-degree-of-freemechanical mechanical arm, to make this
The various advantages that compound mobile robot has had both mobile platform and multi-degree-of-freemechanical mechanical arm are invented, mobile platform has fine
Independent driving omnidirectional moving ability, be able to achieve a wide range of work；Multi-degree-of-freemechanical mechanical arm has flexible locomitivity, can be complete
At the operation content of some complexity.Some important auxiliary equipments keep it more functional in the compound mobile robot, such as
The damping device of installation can make compound mobile robot have good stability in operational process；The laser radar of installation and
Vision tracing device is able to achieve independent navigation and avoidance；In the sighting device and grabbing device of the setting of multi-degree-of-freemechanical mechanical arm end
The compound mobile robot is set to have good object visual identity and visual grasping function；Compared to it is single mostly freely
Mechanical arm is spent, which may be implemented big stroke, a wide range of operation.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. a kind of compound mobile robot, which is characterized in that including a mobile platform and be installed on the mobile platform
Multi-degree-of-freemechanical mechanical arm, the mobile platform include platform support, running gear and laser radar, and the running gear is by subtracting
Shake device is set to below the platform support, and the laser radar is installed on the edge of the platform support, on the platform support
Equipped with slideway, the multi-degree-of-freemechanical mechanical arm is installed on the slideway by mounting plate, the multi-degree-of-freemechanical mechanical arm end
Equipped with sighting device and grabbing device.
2. compound mobile robot according to claim 1, which is characterized in that four edges of the platform support
There are four conducting rings for setting, and the top of four conducting rings is respectively connected with the steering motor being installed on the platform support.
3. compound mobile robot according to claim 2, which is characterized in that the running gear is four drivings
Wheel, is respectively arranged in the lower section at four angles of platform support, and be respectively connected with a damping device.
4. compound mobile robot according to claim 3, which is characterized in that the damping device include damper,
First linking arm and the second linking arm, first linking arm are fixedly connected on the output end of the conducting ring, and described second connects
It is hinged to connect arm one end and one end of the first linking arm, the other end is connected with the driving wheel, the damper both ends respectively with institute
The output end for stating conducting ring is connected with second linking arm.
5. compound mobile robot according to claim 1, which is characterized in that the laser radar is two and sets respectively
It is placed in the diagonal angle of the platform support.
6. compound mobile robot according to claim 1, which is characterized in that further include being set to the platform support
Four vision tracing devices below edge.
7. compound mobile robot according to claim 1, which is characterized in that the grabbing device is a manipulator
Pawl, the sighting device is a technical grade camera or three-dimensional high-definition camera, and is installed on the mechanical arm tail end joint.
8. compound mobile robot according to claim 1, which is characterized in that further include one aobvious on the mobile platform
Display screen, the display screen are installed on the centre of the sides adjacent of mechanical arm side or opposite side on the platform support.
9. compound mobile robot according to claim 8, which is characterized in that be equipped with and be used in the steering motor
The shield of the steering motor is protected, is provided with a scram button above one of shield.
10. -9 described in any item compound mobile robots according to claim 1, which is characterized in that set on the mounting plate
Have with identical quantity in the mechanical arm bottom base, for installing the mounting hole of the mechanical arm；It further include by the machine
Tool arm and the described mounting plate are fixed on the mounting hole on the slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780569.2A CN108942862A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780569.2A CN108942862A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot |
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| CN108942862A true CN108942862A (en) | 2018-12-07 |
Family
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Family Applications (1)
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| CN201810780569.2A Pending CN108942862A (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109352571A (en) * | 2018-12-11 | 2019-02-19 | 沈阳航空航天大学 | A kind of Intelligent spanner based on speech recognition is more changed trains |
| CN109732555A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | A kind of robot system of robot arm end effector that playing leak stopping with twirl |
| CN109795580A (en) * | 2019-03-01 | 2019-05-24 | 厦门大学 | A kind of mobile robot with shockproof function |
| CN110465928A (en) * | 2019-08-23 | 2019-11-19 | 河北工业大学 | A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform |
| CN110843957A (en) * | 2019-12-03 | 2020-02-28 | 山东农业工程学院 | Agricultural robot platform with lifting hand and working method thereof |
| CN111015659A (en) * | 2019-12-20 | 2020-04-17 | 湖南大学 | Multifunctional recognizable classifying manipulator |
| CN111054553A (en) * | 2020-01-02 | 2020-04-24 | 辽宁石油化工大学 | Multifunctional split type full-automatic indoor spraying robot |
| CN111113363A (en) * | 2019-12-31 | 2020-05-08 | 西安交通大学 | Arm moving platform suitable for complicated road conditions |
| CN111203849A (en) * | 2020-01-08 | 2020-05-29 | 浙江大学 | Mobile robot grabbing operation system and control method |
| CN112809688A (en) * | 2021-02-25 | 2021-05-18 | 柳斯 | Manipulator with higher accuracy and control method thereof |
| CN114019979A (en) * | 2021-11-09 | 2022-02-08 | 中国科学院西北生态环境资源研究院 | Agricultural robot |
| CN114197359A (en) * | 2021-12-15 | 2022-03-18 | 北京云迹科技有限公司 | Split type outdoor unmanned street sweeper |
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