CN111716354A

CN111716354A - Mobile robot

Info

Publication number: CN111716354A
Application number: CN202010494411.6A
Authority: CN
Inventors: 王崴; 赵敏睿; 杨洁; 李建栋; 瞿珏; 雷松贵; 李淘金
Original assignee: Air Force Engineering University of PLA
Current assignee: Air Force Engineering University of PLA
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2020-09-29

Abstract

The invention discloses a mobile robot, which comprises a two-wheeled self-balancing electric vehicle, a rotating seat and a manipulator, wherein the two-wheeled self-balancing electric vehicle is connected with the rotating seat through a connecting rod; the two-wheeled self-balancing electric vehicle comprises a frame, wherein two bilaterally symmetrical wheels and two bilaterally symmetrical pedals are arranged on the frame; the manipulator is arranged on one pedal through a rotating seat and is used for grabbing articles and controlling the walking posture of the two-wheeled self-balancing electric vehicle. Compared with the prior art, the mobile robot has the advantages of simple structure, multiple degrees of freedom, flexible movement, fine and accurate executable action and the like.

Description

Mobile robot

Technical Field

The invention relates to the field of robots, in particular to a mobile robot.

Background

The method can be used for executing tasks in severe environments such as high temperature, low temperature and toxic gas, and has great danger. Simple tasks can be performed entirely by means of robots.

In addition, pets and flowers have become a fashion, and when people go bad or travel home, care of pets and flowers is a problem to be faced.

At present, there are two main approaches to the care of pets: firstly, a timed and quantitative pet feeding machine is adopted, the feeding machine can only execute commands according to time and quantity in a stereotypy, and outside owners cannot see the pet condition in real time, so that excessive feeding or insufficient feeding is easily caused; secondly, the pet is maintained in a way which needs high cost, moreover, the consignee is not familiar with the habit of the pet, and the pet still cannot be well cared for.

There are two main ways to take care of flowers: firstly, an automatic watering machine is adopted, the scheme can only water the plants according to a preset program, and the watering can not be carried out according to the real-time condition of the plants; and secondly, the applicant cares for the flowers from home, the method is high in cost, and potential safety hazards can be caused when strangers enter the house.

Therefore, it is highly desirable to design a mobile robot capable of observing pets and flowers in real time and controlling the mobile robot through the acquired images to perform corresponding tasks.

Disclosure of Invention

In order to solve the above technical problems, a primary object of the present invention is to provide a mobile robot, which can acquire surrounding environment information and execute corresponding tasks according to the surrounding environment information.

In order to achieve the above object, the present invention adopts the following technical solutions.

A mobile robot comprises a two-wheeled self-balancing electric vehicle, a rotating seat and a manipulator; the two-wheeled self-balancing electric vehicle comprises a frame, wherein two bilaterally symmetrical wheels and two bilaterally symmetrical pedals are arranged on the frame; the manipulator is arranged on one pedal through a rotating seat and is used for grabbing articles and controlling the walking posture of the two-wheeled self-balancing electric vehicle.

Further, the rotating base comprises a bottom plate and a top plate, the bottom plate is detachably and fixedly connected with one pedal, an arm fixing plate is arranged on the top plate, and the arm fixing plate is connected with the manipulator; the top plate is provided with a first motor, the first motor drives the top plate to horizontally rotate relative to the bottom plate, and the top plate drives the manipulator to rotate;

when the gravity center of the manipulator rotates to the front of the gravity center of the two-wheeled self-balancing electric vehicle, the two-wheeled self-balancing electric vehicle moves forwards; when the gravity center of the manipulator rotates to the rear of the gravity center of the two-wheeled self-balancing electric vehicle, the two-wheeled self-balancing electric vehicle retreats; when the gravity center of the manipulator and the gravity center of the two-wheeled self-balancing electric vehicle are positioned in the same vertical plane, the two-wheeled self-balancing electric vehicle stops.

Further, the manipulator comprises a large arm, a small arm, a wrist and a clamping hand; the top end of the arm fixing plate is hinged with the rear end of the large arm through a first hinge shaft, the front end of the large arm is hinged with the rear end of the small arm through a second hinge shaft, the front end of the small arm is hinged with the rear end of the wrist through a third hinge shaft, a first steering engine is arranged at the front end of the wrist, and an output shaft of the first steering engine is connected with the clamping hand;

the first articulated shaft is connected with a second motor used for driving the large arm to do pitching motion, the second articulated shaft is connected with a third motor used for driving the small arm to do pitching motion, the third articulated shaft is connected with a fourth motor used for driving the wrist to do pitching motion, and the first steering engine is used for driving the clamping hand to roll.

Furthermore, the centre gripping hand contains the finger fixing base, the finger fixing base with the output shaft fixed connection of first steering wheel, it has relative left finger and right finger to articulate on the finger fixing base, be provided with the driving gear on the articulated shaft of left finger, be provided with on the articulated shaft of right finger with driving gear meshed driven gear, the articulated shaft of left finger is connected with the second steering wheel, the output shaft of second steering wheel with driving gear fixed connection, second steering wheel drive the left finger rotates, the left finger drives the right finger and rotates the opening and shutting that realizes left finger and right finger.

Furthermore, a steering control rod is arranged in the middle of the frame, and when the clamping hand controls the steering control rod to incline to the left, the two-wheeled self-balancing electric vehicle turns to the left; when the clamping hand controls the steering control rod to incline rightwards, the two-wheeled self-balancing electric vehicle turns rightwards.

The device further comprises a main control board and a camera, wherein the camera is arranged on the large arm; the main control board comprises a processor and a wireless signal transceiving module, the processor is electrically connected with the camera, the first motor, the second motor, the third motor, the fourth motor, the first steering engine and the second steering engine, and the processor is electrically connected with the wireless signal transceiving module.

Furthermore, a water barrel is arranged on the other pedal, a submersible pump is placed in the water barrel, and a water outlet pipe of the submersible pump is connected to the left finger or the right finger of the clamping hand; the submersible pump is electrically connected with the main control board.

Compared with the prior art, the mobile robot has the advantages of simple structure, multiple degrees of freedom, flexible movement, fine and accurate executable action and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic perspective view of one embodiment of a mobile robot of the present invention;

FIG. 2 is a perspective view of a robot hand according to an embodiment of the present invention;

FIG. 3 is an exploded view of the gripper hand of the robot;

in the above figures:

1, a two-wheeled self-balancing electric vehicle; 101 a steering control rod;

2, rotating the base; 201 a base plate; 202 a top plate; 203 arm fixing plate; 204 a first motor;

3, a big arm; 4, a small arm; 5, a wrist;

6, clamping a hand; 601 a finger fixing seat; 602, a left finger; 603 right finger; 604 a second steering engine;

7, a first steering engine; 8 a second motor; 9 a third motor; 10 a fourth motor; 11 a camera; 12 bucket.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

Referring to fig. 1, a mobile robot includes a two-wheeled self-balancing electric vehicle 1, a rotary base 2 and a manipulator; the two-wheeled self-balancing electric vehicle 1 comprises a vehicle frame, wherein two bilaterally symmetrical wheels and two bilaterally symmetrical pedals are arranged on the vehicle frame; the manipulator is arranged on one pedal through the rotating seat 2 and is used for grabbing articles and controlling the walking posture of the two-wheeled self-balancing electric vehicle 1.

The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. Mainly comprises a single wheel and two wheels. The operating principle is mainly based on a basic principle called dynamic stability. The gyroscope and the acceleration sensor in the vehicle body are used for detecting the change of the vehicle body posture, and the servo control system is used for accurately driving the motor to perform corresponding adjustment so as to keep the balance of the system. The two-wheeled self-balancing electric vehicle 1 mainly has the following characteristics in design: the two-wheeled electrodynamic balance car is green, turning radius is very little, no braking system, detects the angular velocity signal by the gyroscope, and the accelerometer detects the angle signal, then fuses the accurate angle signal that obtains two-wheeled electrodynamic balance car, transmits the singlechip at last, lets the PWM module control two-wheeled electrodynamic balance car's of singlechip motor just reverse. Therefore, energy waste is avoided, and abrasion to the brake pad can be avoided. When the traditional automobile is not braked flexibly, the situation is not worried about on the two-wheeled electric balance car. The control is extremely convenient, and the forward and backward movement and the running speed of the two-wheeled electric balance car can be changed only by tilting the body forwards and backwards.

In the above embodiment, the mobile robot includes the two-wheeled self-balancing electric vehicle 1 and the manipulator mounted on the pedal, the two-wheeled self-balancing electric vehicle 1 is made to reach the destination by controlling the postures of the manipulator to control the postures of the balance vehicle such as forward movement, backward movement, turning and the like, and when the balance vehicle reaches the preset destination, the manipulator is controlled to execute the preset task. The mobile robot can replace people to carry out tasks in severe environment, and can finish simple housework at home, such as caring, feeding pets, watering flowers, moving articles and the like.

Referring to fig. 2, further, the rotating base 2 includes a bottom plate 201 and a top plate 202, the bottom plate 201 is detachably and fixedly connected to one of the pedals, for example, a screw hole is formed in the pedal, and the bottom plate 201 of the rotating base is fixed to the pedal by a bolt. When not in use, the mechanical arm is directly detached. An arm fixing plate 203 is arranged on the top plate 202, and the arm fixing plate 203 is connected with a manipulator; a first motor 204 is arranged on the top plate 202, the first motor 204 drives the top plate 202 to horizontally rotate relative to the bottom plate 201, and the top plate 202 drives the manipulator to rotate;

when the gravity center of the manipulator rotates to the front of the gravity center of the two-wheeled self-balancing electric vehicle 1, the two-wheeled self-balancing electric vehicle 1 moves forwards; when the gravity center of the manipulator rotates to the rear of the gravity center of the two-wheeled self-balancing electric vehicle 1, the two-wheeled self-balancing electric vehicle 1 retreats; when the gravity center of the manipulator and the gravity center of the two-wheeled self-balancing electric vehicle 1 are in the same vertical plane, the two-wheeled self-balancing electric vehicle 1 stops.

In the above embodiment, the bottom plate 201 of the rotating base 2 is fixedly connected with the pedals, and the top plate 202 can horizontally rotate relative to the bottom plate 201, so that the manipulator can freely rotate in the horizontal plane, and the manipulator can conveniently control the posture of the two-wheeled self-balancing electric vehicle 1; when the gravity center of the manipulator is positioned behind the gravity center of the two-wheeled self-balancing electric vehicle 1, the two-wheeled self-balancing electric vehicle 1 retreats; when the gravity center of the manipulator and the gravity center of the two-wheeled self-balancing electric vehicle 1 are in the same vertical plane, the two-wheeled self-balancing electric vehicle 1 stops; on the other hand, the rotary base 2 enables the manipulator to rotate freely in the horizontal range, thereby being convenient for taking articles.

Further, the manipulator comprises a large arm 3, a small arm 4, a wrist 5 and a clamping hand 6; the top end of the arm fixing plate 203 is hinged with the rear end of the large arm 3 through a first hinge shaft, the front end of the large arm 3 is hinged with the rear end of the small arm 4 through a second hinge shaft, the front end of the small arm 4 is hinged with the rear end of the wrist 5 through a third hinge shaft, the front end of the wrist 5 is provided with a first steering engine 7, and an output shaft of the first steering engine 7 is connected with the clamping hand 6;

the first articulated shaft is connected with a second motor 8 used for driving the large arm 3 to do pitching motion, the second articulated shaft is connected with a third motor 9 used for driving the small arm 4 to do pitching motion, the third articulated shaft is connected with a fourth motor 10 used for driving the wrist 5 to do pitching motion, and the first steering engine 7 is used for driving the clamping hand 6 to roll.

In the above embodiment, the second motor 8 is installed at the first hinge shaft of the large arm 3 and the arm fixing seat, and the output shaft of the second motor 8 is fixedly connected with the rear end of the large arm 3, so as to realize the pitching motion of the large arm 3; a third motor 9 is arranged at a second hinge shaft of the large arm 3 and the small arm 4, and an output shaft of the third motor 9 is fixedly connected with the rear end of the small arm 4, so that the pitching action of the small arm 4 is realized; a fourth motor 10 is arranged at a third hinge shaft of the small arm 4 and the wrist 5, and an output shaft of the fourth motor 10 is fixedly connected with the rear end of the wrist 5, so that the pitching action of the wrist 5 is realized. A first steering engine 7 is arranged at the front end of the wrist 5, and an output shaft of the first steering engine 7 is connected with a clamping hand 6 to realize the rolling action of the clamping hand 6. Through second motor 8, third motor 9, fourth motor 10, can let the manipulator realize accurate every single move action in vertical direction, can realize controlling the roll-over of centre gripping hand 6 through first steering wheel 7.

Referring to fig. 3, further, the clamping hand 6 includes a finger fixing seat 601, the finger fixing seat 601 is fixedly connected to an output shaft of the first steering gear 7, the finger fixing seat 601 is hinged to a left finger 602 and a right finger 603, a driving gear is arranged on a hinge shaft of the left finger 602, a driven gear engaged with the driving gear is arranged on a hinge shaft of the right finger 603, the hinge shaft of the left finger 602 is connected to a second steering gear 604, an output shaft of the second steering gear 604 is fixedly connected to the driving gear, the second steering gear 604 drives the left finger 602 to rotate, and the left finger 602 drives the right finger 603 to rotate so as to open and close the left finger 602 and the right finger 603.

In the above embodiment, the clamping hand 6 includes the left finger 602 and the right finger 603, the left finger 602 is connected to the second steering engine 604, and the left finger 602 and the right finger 603 are opened and closed through the gears engaged with the left finger 602 and the right finger 603, so as to conveniently grab and put down an article.

Further, a steering control rod 101 is arranged in the middle of the frame, and when the clamping hand 6 controls the steering control rod 101 to incline to the left, the two-wheeled self-balancing electric vehicle 1 turns to the left; when the clamping hand 6 controls the steering control rod 101 to incline rightwards, the two-wheeled self-balancing electric vehicle 1 turns rightwards.

In the above embodiment, the steering control rod 101 is disposed in the middle of the two-wheeled self-balancing electric vehicle 1, so that the steering control rod 101 tilts left, the left wheel rotates reversely, the right wheel rotates positively, and the left turn of the vehicle body is realized, and the steering control rod 101 tilts right, the left wheel rotates positively, the right wheel rotates reversely, and the right turn of the vehicle body is realized. The clamping hand 6 of the control manipulator pushes the steering control rod 101 leftwards or rightwards, and then the two-wheeled self-balancing electric vehicle 1 can be controlled to turn.

Further, the robot arm also comprises a main control board and a camera 11, wherein the camera 11 is arranged on the large arm 3; the main control board comprises a processor and a wireless signal transceiving module, the processor is electrically connected with the first motor 204, the second motor 8, the third motor 9, the fourth motor 10, the first steering engine 7 and the second steering engine 604, and the processor is electrically connected with the wireless signal transceiving module. In the above embodiment, in order to implement remote control, the large arm 3 is provided with the camera 11, the camera 11 is used for acquiring peripheral image information and transmitting the peripheral image information to the processor, the processor sends the image information to the client, the client sends a control command to the processor according to the image information, and the processor controls the first motor 204, the second motor 8, the third motor 9, the fourth motor 10, the first steering engine 7 and the second steering engine 604 to perform corresponding actions.

Further, as an embodiment for watering flowers, a water bucket 12 is arranged on the other pedal, a submersible pump is arranged in the water bucket 12, and a water outlet pipe of the submersible pump is connected to the left finger 602 or the right finger 603 of the clamping hand 6; the submersible pump is electrically connected with the main control board. The user judges whether the plant needs to be watered according to the image information acquired by the camera 11, the mobile robot walks to the side of the flowerpot, the submersible pump is started, and the manipulator stretches to the plant to be watered. The mobile robot can also be used for pet care, a user obtains pet conditions through the camera 11 and sends preset food feeding, water supplementing and other commands, and the mobile robot can achieve tasks such as food feeding, water supplementing and the like according to preset programs and paths.

The mobile robot can be used for feeding pets and watering plants when no one is at home. The control steps are explained by taking pet feeding as an example, the mobile robot is connected with the internet through wifi, the user installs the client app on the mobile phone, and the user can acquire the real-time condition of the pet at home through the camera 11 arranged on the mobile robot. The user judges whether the pet needs to be added with the feed. If the pet food is needed, a feeding instruction is sent to the mobile robot through app, the mobile robot firstly moves to a feed storage place according to the feeding instruction preset by a user, quantitative feed is contained, and the pet food is moved to a pet food trough for putting in. The user can also preset instructions of other tasks, such as a flower watering instruction, an article moving instruction, a window curtain opening or closing instruction and the like, and the more the preset instructions are, the more tasks the mobile robot can execute, and the more the mobile robot is intelligent.

The mobile robot can also be used for performing tasks in the field, and replacing people to perform tasks which can not be approached by people. A mobile signal transceiving module is installed on the mobile robot, a user holds a controller, and the user controls the mobile robot to execute tasks such as image acquisition and sample acquisition through the surrounding environment condition of the mobile robot acquired by a camera.

Although the present invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Accordingly, such modifications and improvements are intended to be within the scope of this invention as claimed.

Claims

1. A mobile robot is characterized by comprising a two-wheeled self-balancing electric vehicle (1), a rotating seat (2) and a manipulator; the two-wheeled self-balancing electric vehicle (1) comprises a vehicle frame, wherein two bilaterally symmetrical wheels and two bilaterally symmetrical pedals are arranged on the vehicle frame; the manipulator is arranged on one pedal through a rotating seat (2), and is used for grabbing articles and controlling the walking posture of the two-wheeled self-balancing electric vehicle (1).

2. The mobile robot according to claim 1, wherein the rotary base (2) comprises a bottom plate (201) and a top plate (202), the bottom plate (201) is detachably and fixedly connected with one of the pedals, an arm fixing plate (203) is arranged on the top plate (202), and the arm fixing plate (203) is connected with the manipulator; a first motor (204) is arranged on the top plate (202), the first motor (204) drives the top plate (202) to horizontally rotate relative to the bottom plate (201), and the top plate (202) drives the manipulator to rotate;

when the gravity center of the manipulator rotates to the front of the gravity center of the two-wheeled self-balancing electric vehicle (1), the two-wheeled self-balancing electric vehicle (1) moves forwards; when the gravity center of the manipulator rotates to the rear of the gravity center of the two-wheeled self-balancing electric vehicle (1), the two-wheeled self-balancing electric vehicle (1) retreats; when the gravity center of the manipulator and the gravity center of the two-wheel self-balancing electric vehicle (1) are positioned in the same vertical plane, the two-wheel self-balancing electric vehicle (1) stops.

3. The mobile robot according to claim 2, characterized in that the manipulator comprises a large arm (3), a small arm (4), a wrist (5) and a gripper hand (6); the top end of the arm fixing plate (203) is hinged with the rear end of the large arm (3) through a first hinge shaft, the front end of the large arm (3) is hinged with the rear end of the small arm (4) through a second hinge shaft, the front end of the small arm (4) is hinged with the rear end of the wrist (5) through a third hinge shaft, a first steering engine (7) is arranged at the front end of the wrist (5), and an output shaft of the first steering engine (7) is connected with the clamping hand (6);

the novel clamping device is characterized in that a second motor (8) used for driving the large arm (3) to do pitching motion is connected to the first hinged shaft, a third motor (9) used for driving the small arm (4) to do pitching motion is connected to the second hinged shaft, a fourth motor (10) used for driving the wrist (5) to do pitching motion is connected to the third hinged shaft, and the first steering engine (7) is used for driving the clamping hand (6) to roll.

4. Mobile robot as claimed in claim 3, characterized in that the gripper hand (6) comprises a finger holder (601), the finger fixing seat (601) is fixedly connected with an output shaft of the first steering engine (7), a left finger (602) and a right finger (603) which are opposite to each other are hinged on the finger fixing seat (601), a driving gear is arranged on a hinged shaft of the left finger (602), a driven gear meshed with the driving gear is arranged on a hinged shaft of the right finger (603), the hinged shaft of the left finger (602) is connected with a second steering gear (604), an output shaft of the second steering gear (604) is fixedly connected with the driving gear, the second steering gear (604) drives the left finger (602) to rotate, the left finger (602) drives the right finger (603) to rotate so as to realize the opening and closing of the left finger (602) and the right finger (603).

5. The mobile robot as claimed in claim 4, wherein a steering control rod (101) is arranged in the middle of the frame, and when the clamping hand (6) controls the steering control rod (101) to tilt to the left, the two-wheeled self-balancing electric vehicle (1) turns to the left; when the clamping hand (6) controls the steering control rod (101) to incline rightwards, the two-wheeled self-balancing electric vehicle (1) turns rightwards.

6. The mobile robot according to claim 5, characterized by further comprising a main control board and a camera (11), the camera (11) being arranged on the large arm (3); the main control board comprises a processor and a wireless signal transceiving module, the processor is electrically connected with the camera (11), the first motor (204), the second motor (8), the third motor (9), the fourth motor (10), the first steering engine (7) and the second steering engine (604), and the processor is electrically connected with the wireless signal transceiving module.

7. The mobile robot according to claim 6, characterized in that a water bucket (12) is arranged on the other pedal, a submersible pump is arranged in the water bucket (12), and a water outlet pipe of the submersible pump is connected to a left finger (602) or a right finger (603) of the clamping hand (6); the submersible pump is electrically connected with the main control board.