CN111347389A - Intelligent vehicle with mechanical arm - Google Patents
Intelligent vehicle with mechanical arm Download PDFInfo
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- CN111347389A CN111347389A CN202010288535.9A CN202010288535A CN111347389A CN 111347389 A CN111347389 A CN 111347389A CN 202010288535 A CN202010288535 A CN 202010288535A CN 111347389 A CN111347389 A CN 111347389A
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- 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
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to the technical field of intelligent automobiles, in particular to an intelligent automobile with a mechanical arm. By adopting the invention, the mechanical arm can move along with the intelligent vehicle, and the mechanical arm is flexible in steering and convenient to operate.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an intelligent automobile with a mechanical arm.
Background
Robotic arms are automated devices that mimic certain motion functions of human hands and arms, and are used to grasp, carry objects or manipulate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. However, the existing mechanical arm is generally fixed and has low flexibility.
Disclosure of Invention
The invention aims to provide an intelligent vehicle with a mechanical arm, wherein the mechanical arm can move along with the intelligent vehicle, and the mechanical arm is flexible in steering and convenient to operate.
The embodiment of the invention is realized by the following steps:
the utility model provides an intelligence car with arm, includes the automobile body, and the automobile body is equipped with the drive wheel, and the automobile body rotates and is equipped with the rotor arm and is used for driving rotor arm pivoted drive arrangement, and the rotor arm is equipped with the gripper that can snatch the object.
Further, in some embodiments of the present invention, the rotating arm includes a plurality of connecting rods, the connecting rods are sequentially and rotatably connected, the driving device includes a plurality of driving motors, and a driving motor is disposed at a connection point of any adjacent connecting rods and is used for driving the connecting rods to rotate.
Further, in some embodiments of the present invention, the robot further includes a telescopic push rod, the telescopic push rod is fixed to the rotating arm, the gripper includes at least two gripper hands, any gripper is rotatably connected to the rotating arm, any gripper is provided with a sixth connecting rod, one end of the sixth connecting rod is hinged to the gripper, and the other end of the sixth connecting rod is hinged to the telescopic push rod.
Further, in some embodiments of the present invention, the device further includes a processor, an information acquisition module, and a power module, wherein the processor is electrically connected to the information acquisition module, the power module, the driving wheel, and the driving device, respectively; the power supply module is used for supplying power to the processor, the information acquisition module, the driving wheel and the driving device; the information acquisition module is used for acquiring external object information and transmitting the external object information to the processor; the processor is used for receiving the external object information transmitted by the information acquisition module and sending a control command to control the driving wheel and the driving device to operate.
Further, in some embodiments of the present invention, the mobile terminal further includes a voice recognition module, the voice recognition module is electrically connected to the processor, and the voice recognition module is configured to recognize external voice information and transmit the external voice information to the processor; the processor is used for receiving the voice information transmitted by the voice recognition module and sending a control command to control the driving wheel and the driving device to operate.
Further, in some embodiments of the present invention, the mobile terminal further includes an infrared sensing module, the infrared sensing module is electrically connected to the processor, and the infrared sensing module is configured to identify external object information and transmit the external object information to the processor; the processor is used for receiving the object information transmitted by the infrared sensing module and sending a control command to control the driving wheels to operate.
Further, in some embodiments of the present invention, the mobile terminal further includes a wireless transmission module and a receiving terminal, the wireless transmission module is electrically connected to the processor and the receiving terminal, respectively, and the wireless transmission module is configured to transmit the external object information transmitted by the information acquisition module to the receiving terminal.
Further, in some embodiments of the present invention, the mobile terminal further includes a memory module, the memory module is electrically connected to the processor, and the memory module is configured to access the control command sent by the processor.
Further, in some embodiments of the present invention, the mobile terminal further includes a display module, the display module is electrically connected to the processor, and the processor sends a control command to the display module after receiving the external object information transmitted by the information acquisition module; the display module is used for receiving the control command sent by the processor and displaying the related graphics.
Further, in some embodiments of the present invention, the mobile terminal further includes a voice prompt alarm module, the voice prompt alarm module is electrically connected to the processor, and the processor sends a control command to the voice prompt alarm module after receiving the external object information transmitted by the information acquisition module; the voice prompt alarm module is used for receiving the control command sent by the processor and sending out a voice alarm.
The embodiment of the invention at least has the following advantages or beneficial effects:
the embodiment of the invention provides an intelligent vehicle with a mechanical arm, which comprises a vehicle body, wherein the vehicle body is provided with a driving wheel, the vehicle body is rotationally provided with a rotating arm and a driving device for driving the rotating arm to rotate, and the rotating arm is provided with a mechanical claw capable of grabbing an object.
During actual use, the driving wheel drives the vehicle body to move, the vehicle body drives the rotating arm to move to the side of an object to be grabbed, the driving device drives the rotating arm to rotate, the mechanical claw is made to be close to the object, then the mechanical claw grabs the object, and then the driving wheel drives the vehicle body to continuously move to a target position to place the object. So the arm can move along with the intelligent car, and the arm turns to in a flexible way moreover, convenient operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of the swivel arm of FIG. 1;
FIG. 3 is a partial cross-sectional view of the gripper location of FIG. 2;
fig. 4 is a block diagram of an intelligent vehicle module.
Icon: the device comprises a vehicle body 1, a mechanical claw 2, a first connecting rod 3, a second connecting rod 4, a third connecting rod 5, a fourth connecting rod 6, a fifth connecting rod 7, a telescopic push rod 8, a sixth connecting rod 9, a clamping claw 10, a camera 11, a driving wheel 12, a protective plate 13, a button 14, a storage groove 15, a display 16, an infrared detector 17, a driving motor 18 and a storage box 19.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
Referring to fig. 1 to 4, the present embodiment provides an intelligent vehicle with a robot arm, including a vehicle body 1, the vehicle body 1 is provided with a driving wheel 12, the vehicle body 1 is rotatably provided with a rotating arm and a driving device for driving the rotating arm to rotate, and the rotating arm is provided with a robot gripper 2 capable of gripping an object.
In practical use, the driving wheel 12 drives the vehicle body 1 to move, the vehicle body 1 drives the rotating arm to move to the side of an object to be grabbed, the driving device drives the rotating arm to rotate, the mechanical claw 2 is enabled to be close to the object, then the mechanical claw 2 grabs the object, and then the driving wheel 12 drives the vehicle body 1 to continuously move to a target position to place the object. So the arm can move along with the intelligent car, and the arm turns to in a flexible way moreover, convenient operation.
Alternatively, the driving wheel 12 of the present embodiment employs a crawler. The rotor arm of this embodiment adopts carbon fiber material to make, and carbon fiber material light in weight, intensity are big, antifatigue, corrosion-resistant etc. especially carbon fiber material creep nature is little, even if also can rely on the coefficient of expansion that is close to zero under great difference in temperature to keep super high accuracy, can let the rotor arm operation more accurate. Optionally, the vehicle body 1 of the present embodiment is provided with a fender 13.
As a preferred embodiment, the rotating arm of the present embodiment includes a plurality of connecting rods, the connecting rods are sequentially and rotatably connected, the driving device includes a plurality of driving motors 18, a driving motor 18 is disposed at a joint of any adjacent connecting rods, and the driving motor 18 is used for driving the connecting rods to rotate.
The invention is convenient to enlarge the moving range of the rotating arm by arranging a plurality of connecting rods. Optionally, the connecting rods of the present embodiment include a first connecting rod 3, a second connecting rod 4, a third connecting rod 5, a fourth connecting rod 6 and a fifth connecting rod 7 which are rotatably connected in sequence, and the gripper 2 is connected to the first connecting rod 3; the automobile body 1 of this embodiment is equipped with and accomodates groove 15, and fifth connecting rod 7 is located and accomodates groove 15 and is connected with automobile body 1 rotation, accomodates groove 15 through setting up, is convenient for accomodate the rotor arm in accomodating groove 15.
As a better implementation mode, the present embodiment further includes a telescopic push rod 8, the telescopic push rod 8 is fixed to the rotating arm, the gripper 2 includes at least two gripper hands 10, any gripper 2 is rotatably connected to the rotating arm, any gripper 2 is provided with a sixth connecting rod 9, one end of the sixth connecting rod 9 is hinged to the gripper 2, and the other end of the sixth connecting rod 9 is hinged to the telescopic push rod 8.
The working principle is as follows: when an article needs to be grabbed, the telescopic push rod 8 extends, and as one end of the sixth connecting rod 9 is hinged with the mechanical claw 2 and the other end of the sixth connecting rod 9 is hinged with the telescopic push rod 8, the sixth connecting rod 9 is pushed to rotate when the telescopic push rod 8 extends; in the rotation process of the sixth connecting rod 9, the sixth connecting rod 9 is gradually perpendicular to the telescopic push rod 8, the distance between the clamping claws 10 and the telescopic push rod 8 is gradually increased, the plurality of clamping claws 10 are expanded outwards, and the clamping claws 10 are placed on an object; then, the telescopic rod 8 is contracted, and the plurality of gripping claws 10 are contracted inward to grip the object.
Alternatively, the number of the gripping claws 10 is three and the gripping claws are respectively arranged around the telescopic push rod 8, and the telescopic push rod 8 of the present embodiment adopts a hydraulic rod.
As a better implementation manner, the present embodiment further includes a processor, an information acquisition module, and a power module, where the processor is electrically connected to the information acquisition module, the power module, the driving wheel 12, and the driving device respectively;
the power supply module is used for supplying power to the processor, the information acquisition module, the driving wheel 12 and the driving device; optionally, the power module of this embodiment employs a storage battery.
The information acquisition module is used for acquiring external object information and transmitting the external object information to the processor; optionally, the information acquisition module of this embodiment includes a camera 11, and the camera 11 acquires object information around the vehicle body 1 and transmits the object information to the processor.
The processor is used for receiving the external object information transmitted by the information acquisition module and sending a control command to control the driving wheel 12 and the driving device to operate. Optionally, the processor of the present embodiment employs an AT89S51 chip.
According to the invention, through arranging the information acquisition module, the visual tracking can be carried out on peripheral objects and people, the information is transmitted to the processor, the position of the object can be positioned when the mechanical claw 2 grabs the object, and the processor is guided to send a control command to control the driving wheel 12 and the driving device to operate, so that the mechanical claw 2 can smoothly operate to the object to grab the object.
Optionally, the camera 11 of the present embodiment is disposed at the telescopic rod 8 and located in the middle of the gripper jaw 10. The present embodiment may further provide a camera 11 on the front side or around the vehicle body 1, so that objects around the vehicle body 1 can be collected.
As a preferred embodiment, the embodiment further comprises a voice recognition module, the voice recognition module is electrically connected to the processor,
the voice recognition module is used for recognizing external voice information and transmitting the external voice information to the processor; optionally, the voice recognition module of this embodiment includes a speaker for receiving external voice.
The processor is used for receiving the voice information transmitted by the voice recognition module and sending a control command to control the driving wheel 12 and the driving device to operate.
According to the invention, by arranging the voice recognition module, a user can conveniently control the vehicle body 1 through voice, for example, the vehicle body 1 can make a forward movement action by speaking a forward command to the vehicle body 1.
Optionally, the speech recognition module of this embodiment can also set up speech recognition encryption function, and speech recognition encryption function is provided with the management authority, can only allow some people to control its pronunciation, avoids idle personnel to carry out the pronunciation to the intelligent vehicle and controls.
As a preferred embodiment, the present embodiment further includes an infrared sensing module, the infrared sensing module is electrically connected to the processor,
the infrared sensing module is used for identifying external object information and transmitting the external object information to the processor; optionally, the infrared sensing module of this embodiment includes an infrared detector 17, where the infrared detector 17 is preferably a pyroelectric infrared detector PIR, and the pyroelectric infrared detector PIR employs a D203S pyroelectric infrared sensor, and the pyroelectric infrared sensor itself does not emit any type of radiation, so that the device has low power consumption and low price. Alternatively, the infrared detectors 17 of the present embodiment are disposed around the vehicle body 1.
The processor is used for receiving the object information transmitted by the infrared sensing module and sending a control command to control the driving wheel 12 to operate.
According to the invention, by arranging the infrared sensing module, when the vehicle body 1 moves, the infrared detector 17 detects whether a nearby obstacle blocks the traveling path of the vehicle body 1, and if the obstacle blocks the traveling path of the vehicle body 1, the processor sends a control command to control the driving wheel 12 to rotate to bypass the obstacle.
As a preferred embodiment, the embodiment further includes a wireless transmission module and a receiving terminal, the wireless transmission module is electrically connected to the processor and the receiving terminal respectively,
the wireless transmission module is used for transmitting the external object information transmitted by the information acquisition module to the receiving terminal. Optionally, the receiving terminal of this embodiment may be disposed on a carrier such as a campus guard room and a mobile phone. The wireless transmission module of the embodiment may adopt 4G transmission and the like.
The wireless transmission module is arranged, so that the information acquired by the information acquisition module can be conveniently transmitted, for example, certain illegal behaviors are acquired, and the recorded information is transmitted to the receiving terminal.
As a preferred implementation manner, the present embodiment further includes a storage module, where the storage module is electrically connected to the processor, and the storage module is used for accessing the control command sent by the processor.
The invention is convenient for accessing the control command sent by the processor by arranging the storage module, for example, the control command of the processor for controlling the mechanical claw 2 is stored in the storage module, and the processor directly uses the control command in the storage module, so that the mechanical claw 2 can circularly and repeatedly act without manually controlling the mechanical claw all the time.
Alternatively, the memory module of this embodiment may store some existing object feature database, and then the processor controls the driving wheel 12 to move the vehicle body 1 to the selected object by listing several options on the display 16, such as collecting garbage, collecting fruit, etc., and the user selects one of the objects by clicking the display 16 or by voice, and then the gripper 2 grabs the target object.
As a preferred embodiment, the present embodiment further comprises a display module, the display module is electrically connected to the processor,
the processor sends a control command to the display module after receiving the external object information transmitted by the information acquisition module;
the display module is used for receiving the control command sent by the processor and displaying the related graphics.
Optionally, the display module of this embodiment includes the display 16, and by providing the display module, the processor may display some expressions or other images on the display module after receiving the external object information transmitted by the information acquisition module, so as to increase interaction with the user.
As a better implementation manner, the embodiment further includes a voice prompt alarm module, the voice prompt alarm module is electrically connected to the processor,
the processor sends a control command to the voice prompt alarm module after receiving the external object information transmitted by the information acquisition module;
the voice prompt alarm module is used for receiving the control command sent by the processor and sending out a voice alarm.
According to the invention, the voice prompt alarm module is arranged, and when the processor judges that activities such as illegal behaviors exist after receiving the external object information transmitted by the information acquisition module, the voice prompt alarm module can give out voice alarm.
Optionally, the embodiment may further incorporate a visual technology, may utilize a deep learning system to identify an object, may also record a video of suspicious people at night, and may send out a voice alarm through the voice prompt alarm module.
As a preferred embodiment, the present embodiment further includes a button 14, the button 14 is disposed on the vehicle body 1 and located on both sides of the display 16, and the user can control the smart vehicle by pressing the button 14.
As a better implementation mode, the vehicle body 1 of this embodiment is further provided with a storage box 19, and the storage box 19 can be used for storing articles such as garbage and the like captured by the gripper 2, and also can be used for placing articles in the storage box 19 to allow the smart car to transport. The storage tank 19 of this embodiment can be set to the activity, and the accessible bottom sets up the hydraulic stem and removes it out, and then accessible gripper 2 snatchs storage tank 19, pours out article such as rubbish in the storage tank 19, then puts back storage tank 19. Therefore, the intelligent vehicle can automatically dump garbage and other articles in the storage box 19 conveniently.
In summary, the embodiment of the present invention provides an intelligent vehicle with a robot arm, which includes a vehicle body 1, wherein the vehicle body 1 is provided with a driving wheel 12, the vehicle body 1 is rotatably provided with a rotating arm and a driving device for driving the rotating arm to rotate, and the rotating arm is provided with a robot gripper 2 capable of gripping an object.
In practical use, the driving wheel 12 drives the vehicle body 1 to move, the vehicle body 1 drives the rotating arm to move to the side of an object to be grabbed, the driving device drives the rotating arm to rotate, the mechanical claw 2 is enabled to be close to the object, then the mechanical claw 2 grabs the object, and then the driving wheel 12 drives the vehicle body 1 to continuously move to a target position to place the object. So the arm can move along with the intelligent car, and the arm turns to in a flexible way moreover, convenient operation.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an intelligence car with arm, includes the automobile body, the automobile body is equipped with drive wheel, its characterized in that: the car body is provided with a rotating arm and a driving device for driving the rotating arm to rotate, and the rotating arm is provided with a mechanical claw capable of grabbing an object.
2. The smart car with robotic arm of claim 1, wherein: the rotor arm includes a plurality of connecting rods, and is a plurality of the connecting rod rotate in proper order and connect, drive arrangement includes a plurality of driving motor, and arbitrary adjacent connecting rod junction is equipped with driving motor, driving motor is used for driving the connecting rod and rotates.
3. The smart car with robotic arm of claim 1, wherein: still include flexible push rod, flexible push rod is fixed in the rotor arm, the gripper includes two at least centre gripping claw hands, and arbitrary gripper rotates with the rotor arm to be connected, and arbitrary gripper is equipped with the sixth connecting rod, sixth connecting rod one end is articulated with the gripper, the sixth connecting rod other end is articulated with flexible push rod.
4. The smart car with robotic arm of claim 1, wherein: the device comprises a processor, an information acquisition module and a power module, wherein the processor is respectively and electrically connected with the information acquisition module, the power module, a driving wheel and a driving device;
the power supply module is used for supplying power to the processor, the information acquisition module, the driving wheel and the driving device;
the information acquisition module is used for acquiring external object information and transmitting the external object information to the processor;
the processor is used for receiving the external object information transmitted by the information acquisition module and sending a control command to control the driving wheel and the driving device to operate.
5. The smart car with robotic arm of claim 4, wherein: also comprises a voice recognition module which is electrically connected with the processor,
the voice recognition module is used for recognizing external voice information and transmitting the external voice information to the processor;
the processor is used for receiving the voice information transmitted by the voice recognition module and sending a control command to control the driving wheel and the driving device to operate.
6. The smart car with robotic arm of claim 4, wherein: also comprises an infrared induction module which is electrically connected with the processor,
the infrared sensing module is used for identifying external object information and transmitting the external object information to the processor;
the processor is used for receiving the object information transmitted by the infrared sensing module and sending a control command to control the driving wheels to operate.
7. The smart car with robotic arm of claim 4, wherein: also comprises a wireless transmission module and a receiving terminal, wherein the wireless transmission module is respectively electrically connected with the processor and the receiving terminal,
the wireless transmission module is used for transmitting the external object information transmitted by the information acquisition module to the receiving terminal.
8. The smart car with robotic arm of claim 4, wherein: the storage module is electrically connected with the processor and used for accessing the control command sent by the processor.
9. The smart car with robotic arm of claim 4, wherein: also comprises a display module which is electrically connected with the processor,
the processor sends a control command to the display module after receiving the external object information transmitted by the information acquisition module;
the display module is used for receiving the control command sent by the processor and displaying the related graph.
10. The smart car with robotic arm of claim 4, wherein: also comprises a voice prompt alarm module which is electrically connected with the processor,
the processor sends a control command to the voice prompt alarm module after receiving the external object information transmitted by the information acquisition module;
the voice prompt alarm module is used for receiving the control command sent by the processor and sending out a voice alarm.
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| CN202010288535.9A CN111347389A (en) | 2020-04-14 | 2020-04-14 | Intelligent vehicle with mechanical arm |
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| CN202010288535.9A CN111347389A (en) | 2020-04-14 | 2020-04-14 | Intelligent vehicle with mechanical arm |
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| CN110614622A (en) * | 2019-10-22 | 2019-12-27 | 山东大学 | Intelligent fruit picking robot and implementation method thereof |
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