CN116394224A - Self-adaptive mobile robot in failure mode - Google Patents
Self-adaptive mobile robot in failure mode Download PDFInfo
- Publication number
- CN116394224A CN116394224A CN202310318759.3A CN202310318759A CN116394224A CN 116394224 A CN116394224 A CN 116394224A CN 202310318759 A CN202310318759 A CN 202310318759A CN 116394224 A CN116394224 A CN 116394224A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- mobile robot
- failure mode
- base
- universal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003044 adaptive effect Effects 0.000 claims abstract description 24
- 239000012636 effector Substances 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the application provides an adaptive mobile robot in a failure mode. Belongs to the field of mobile robots, and comprises: the first mechanical arm and the second mechanical arm are connected with the mounting platform in a matched mode; the bottom of the mounting platform is provided with a base, the bottom of the base is provided with a plurality of universal balls in an array, and the universal balls are at least partially embedded into the lower surface of the base; the first mechanical arm is connected with the second mechanical arm in a matched mode, and the first mechanical arm and the second mechanical arm can rotate; the free end of the second mechanical arm is connected with an end effector in a matched manner; the base is internally provided with a chip which is used for controlling the universal ball to rotate and realizing universal movement so as to adapt to the moving path of the mobile robot; through a plurality of universal balls of base installation to through chip control, realize mobile robot's self-adaptation and remove, improve the moving accuracy.
Description
Technical Field
The application relates to the field of mobile robots, in particular to an adaptive mobile robot in a failure mode.
Background
The mobile robot is used as a mobile platform and is generally divided into a wheel type mobile robot and a crawler type mobile robot, wherein the wheel type mobile robot is usually driven by two wheels, four wheels or multiple wheels, and the mobile robot is characterized by simple structure, relatively high moving speed and low moving noise, is suitable for long-distance movement, but has poor adaptability to the terrain due to wheel type movement, insufficient obstacle crossing capability, incapability of working under a complex road section and limited application occasions, and in addition, the wheel type mobile robot has relatively low adjusting speed when adjusting the moving direction, needs large-angle slow adjustment and is difficult to realize universal movement of the robot.
In view of the above problems, an effective technical solution is currently needed.
Disclosure of Invention
An object of the embodiment of the application is to provide a self-adaptive mobile robot in failure mode, which can realize the self-adaptive movement of the mobile robot and improve the movement precision by installing a plurality of universal balls on a base and controlling the chip.
The embodiment of the application also provides a self-adaptive mobile robot in a failure mode, which comprises the following steps: the first mechanical arm and the second mechanical arm are connected with the mounting platform in a matched mode;
the bottom of the mounting platform is provided with a base, the bottom of the base is provided with a plurality of universal balls in an array, and the universal balls are at least partially embedded into the lower surface of the base;
the first mechanical arm is connected with the second mechanical arm in a matched mode, and the first mechanical arm and the second mechanical arm can rotate;
the free end of the second mechanical arm is connected with an end effector in a matched manner;
the base is internally provided with a chip which is used for controlling the universal ball to rotate and realizing universal movement so as to adapt to the moving path of the mobile robot.
Optionally, in the adaptive mobile robot in the failure mode according to the embodiment of the present application, a positioning ball is disposed at a central position of a bottom of the base, and a plurality of universal balls are uniformly distributed on an outer side of the positioning ball.
Optionally, in the adaptive mobile robot in the failure mode according to the embodiment of the present application, a diameter of the positioning ball is larger than a diameter of the universal ball.
Optionally, in the adaptive mobile robot in the failure mode described in the embodiments of the present application, a plurality of universal balls are uniformly distributed on the outer sides of the positioning balls along the circumferential direction; or (b)
The universal balls are distributed in an array mode in multiple rows and multiple columns.
Optionally, in the adaptive mobile robot in the failure mode according to the embodiment of the present application, the mounting platform includes a first side and a second side, the first side is perpendicular to the second side, a first position sensor is disposed at a central position of the first side, and a second position sensor is disposed at a central position of the second side.
Optionally, in the adaptive mobile robot in failure mode according to the embodiment of the present application, a power rotating shaft is provided at the top of the mounting platform, a power arm is provided at the top of the power rotating shaft, the first mechanical arm is connected to one side of the power arm in a matching manner, and at least one angle detecting piece is provided outside the power rotating shaft.
Optionally, in the adaptive mobile robot in the failure mode described in the embodiments of the present application, two ends of the first mechanical arm are provided with first joints, and the power arm is hinged with the first mechanical arm through the first joints;
and two ends of the second mechanical arm are respectively provided with a second joint, and the second mechanical arm is hinged with the end effector through the second joints.
Optionally, in the adaptive mobile robot in the failure mode according to the embodiment of the present application, an axial direction of the first joint is perpendicular to an axial direction of the first mechanical arm, and an axial direction of the second joint is perpendicular to an axial direction of the second mechanical arm.
Optionally, in the adaptive mobile robot in the failure mode described in the embodiment of the present application, at least one first calibration block is disposed on the first mechanical arm, and when the number of the first calibration blocks is more than two, the more than two first calibration blocks are distributed at intervals along the length direction of the first mechanical arm;
and at least one second calibration block is arranged on the second mechanical arm, and when the second calibration blocks are more than two, the more than two second calibration blocks are arranged at intervals along the length direction of the second mechanical arm.
Optionally, in the adaptive mobile robot in the failure mode according to the embodiment of the present application, the end effector is hinged to a connection end, and a plurality of fixing holes are uniformly distributed on an end surface of one side of the connection end along a circumference.
From the above, the adaptive mobile robot in failure mode provided by the embodiment of the application is embedded into the lower surface of the base through the universal ball part; the first mechanical arm and the second mechanical arm are connected in a matched mode, and rotation can be achieved through the first mechanical arm and the second mechanical arm; the free end of the second mechanical arm is connected with an end effector in a matched manner; a chip is arranged in the base and used for controlling the universal ball to rotate and realizing universal movement so as to adapt to the moving path of the mobile robot; through installing a plurality of universal balls at the base to through chip control, realize mobile robot's self-adaptation and remove, improve the technique of moving accuracy.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a three-dimensional structure of a robot according to an embodiment of the present application;
fig. 2 is a schematic view of a base structure according to an embodiment of the present application;
fig. 3 is a schematic diagram of a distribution of universal balls according to an embodiment of the present application.
In the figure, 1, a base, 2, a universal ball, 3, a mounting platform, 4, a first position sensor, 5, a second position sensor, 6, a power rotating shaft, 7, an angle detection piece, 8, a power arm, 9, a first joint, 10, a first mechanical arm, 11, a first calibration block, 12, a second mechanical arm, 13, a second joint, 14, a second calibration block, 15, an end effector, 16, a connecting end, 17 and a positioning ball.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application, which are 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 application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Referring to fig. 1-3, the present invention discloses an adaptive mobile robot in a failure mode, wherein the adaptive mobile robot in the failure mode comprises a mounting platform 3, and a first mechanical arm 10 and a second mechanical arm 12 which are cooperatively connected with the mounting platform 3;
the bottom of the mounting platform 3 is provided with a base 1, the bottom of the base 1 is provided with a plurality of universal balls 2 in an array, and the universal balls 2 are at least partially embedded into the lower surface of the base 1;
the first mechanical arm 10 is connected with the second mechanical arm 12 in a matched manner, and the first mechanical arm 10 and the second mechanical arm 12 can rotate;
the free end of the second mechanical arm 12 is connected with an end effector 15 in a matched manner;
the base 1 is internally provided with a chip which is used for controlling the rotation of the universal ball 2 and realizing universal movement so as to adapt to the moving path of the mobile robot.
According to the embodiment of the invention, the positioning balls 17 are arranged at the center of the bottom of the base 1, the universal balls 2 are uniformly distributed on the outer sides of the positioning balls 17, the diameter of the positioning balls 17 is larger than that of the universal balls 2, and it is understood that the size of the positioning balls 17 embedded into the base 1 is larger than that of the universal balls 2 embedded into the base 1, so that the bottom of the positioning balls 17 and the bottom of the universal balls 2 are in the same horizontal plane, and one of the universal balls 2 or the positioning balls 17 cannot be suspended in the moving and walking process of the mobile robot.
According to the embodiment of the invention, a plurality of universal balls 2 are uniformly distributed on the outer side of a positioning ball 17 along the circumferential direction; or (b)
The plurality of universal balls 2 are distributed in an array manner in a plurality of rows and a plurality of columns.
The positioning ball 17 is used to calculate and position the starting position of the mobile robot, and the current position at a predetermined time interval, and the calculated data of the positioning ball 17 is used as the reference data of the rotation amount of the universal ball 2.
According to an embodiment of the invention, the mounting platform 3 comprises a first side surface and a second side surface, the first side surface is perpendicular to the second side surface, a first position sensor 4 is arranged at the center position of the first side surface, and a second position sensor 5 is arranged at the center position of the second side surface.
The moving position and the moving state of the base 1 are detected in real time according to the first position sensor 4 and the second position sensor 5, the moving position is compared with a preset position, and when the moving position deviates from a preset threshold value, the universal ball 2 is controlled by the chip to reversely rotate, so that the compensation of the position deviation is realized.
It can be understood that the chip can control different universal balls 2 to rotate towards different directions, the rotation amount can also be adjusted, and the accurate control of the direction and the displacement amount of the base 1 is realized.
Further, the top of the mounting platform 3 is provided with a power rotating shaft 6, the top of the power rotating shaft 6 is provided with a power arm 8, a first mechanical arm 10 is connected to one side of the power arm 8 in a matched mode, and at least one angle detecting piece 7 is arranged on the outer side of the power rotating shaft 6.
The angle detecting member 7 is an angle sensor, and detects the rotation angle of the power shaft 6 by the angle sensor, and is used as an important basis for determining the posture of the robot.
According to the embodiment of the invention, the two ends of the first mechanical arm 10 are provided with the first joints 9, and the power arm 8 and the first mechanical arm 10 are hinged through the first joints 9;
the second mechanical arm 12 is provided with the second joint 13 in both ends, articulates through the second joint 13 between second mechanical arm 12 and the end effector 15, and the axis direction of first joint 9 is mutually perpendicular with the axis direction of first mechanical arm 10, and the axis direction of second joint 13 is mutually perpendicular with the axis direction of second mechanical arm 12.
It should be noted that, through the first joint 9 and the second joint 13, the wide-angle rotation of the first mechanical arm 10 and the second mechanical arm 12 is realized, the linkage of the first mechanical arm 10 and the second mechanical arm 12 is realized, the position of the end effector 15 can be accurately adjusted, the first joint 9 at one end of the first mechanical arm 10 far away from the power arm 8 and the second joint 13 at one end of the second mechanical arm 12 far away from the end effector 15 are coaxially hinged, and the flexible rotation of the first mechanical arm 10 and the second mechanical arm 12 is realized.
According to the embodiment of the invention, at least one first calibration block 11 is arranged on the first mechanical arm 10, and when the number of the first calibration blocks 11 is more than two, the more than two first calibration blocks 11 are distributed at intervals along the length direction of the first mechanical arm 10;
at least one second calibration block 14 is arranged on the second mechanical arm 12, and when the number of the second calibration blocks 14 is more than two, the more than two second calibration blocks 14 are arranged at intervals along the length direction of the second mechanical arm 12.
In the process of calculating the posture of the robot, the rotation angle and the rotation speed of the first mechanical arm 10 are determined according to the first calibration block 11, the movement state of the first mechanical arm 10 is determined according to the rotation angle and the rotation speed of the second mechanical arm 12 is determined according to the second calibration block 14, the movement state of the second mechanical arm 12 is determined according to the determination result of the first calibration block 11 and the determination result of the second calibration block 14, and the relative displacement state of the first mechanical arm 10 and the second mechanical arm 12 is calculated in a comparison manner, so that posture change information of the mobile robot is obtained, the position deviation of the mobile robot is compensated more accurately, and the movement precision of the mobile robot is improved.
According to the embodiment of the invention, the end effector 15 is hinged with a connecting end 16, and a plurality of fixing holes are uniformly distributed on the end surface of one side of the connecting end 16 along the circumference.
It should be noted that, through a plurality of fixed holes, different manipulators, such as a clamping manipulator or a grabbing manipulator or a sucker type manipulator, can be replaced and selected according to actual use conditions by a person skilled in the art.
In summary, the universal ball 2 is partially embedded into the lower surface of the base 1; the first mechanical arm 10 is connected with the second mechanical arm 12 in a matched manner, and the first mechanical arm 10 and the second mechanical arm 12 can rotate; the free end of the second mechanical arm 12 is connected with an end effector 15 in a matched manner; the base 1 is internally provided with a chip which is used for controlling the rotation of the universal ball 2 and realizing universal movement so as to adapt to the moving path of the mobile robot; the base 1 is provided with a plurality of universal balls 2, and the chip is used for controlling the self-adaptive movement of the mobile robot, so that the movement precision is improved.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present specification. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. An adaptive mobile robot in a failure mode, comprising: the first mechanical arm and the second mechanical arm are connected with the mounting platform in a matched mode;
the bottom of the mounting platform is provided with a base, the bottom of the base is provided with a plurality of universal balls in an array, and the universal balls are at least partially embedded into the lower surface of the base;
the first mechanical arm is connected with the second mechanical arm in a matched mode, and the first mechanical arm and the second mechanical arm can rotate;
the free end of the second mechanical arm is connected with an end effector in a matched manner;
the base is internally provided with a chip which is used for controlling the universal ball to rotate and realizing universal movement so as to adapt to the moving path of the mobile robot.
2. The adaptive mobile robot in failure mode according to claim 1, wherein a positioning ball is arranged at the center of the bottom of the base, and a plurality of universal balls are uniformly distributed on the outer sides of the positioning balls.
3. The adaptive mobile robot in failure mode of claim 2, wherein the diameter of the positioning ball is greater than the diameter of the universal ball.
4. The adaptive mobile robot in failure mode according to claim 2 or 3, wherein a plurality of the universal balls are uniformly distributed on the outer side of the positioning ball in the circumferential direction; or (b)
The universal balls are distributed in an array mode in multiple rows and multiple columns.
5. The adaptive mobile robot in failure mode of claim 1, wherein the mounting platform comprises a first side and a second side, the first side being perpendicular to the second side, the first side being centrally located with a first position sensor, the second side being centrally located with a second position sensor.
6. The adaptive mobile robot in failure mode of claim 1 or 5, wherein a power shaft is provided at the top of the mounting platform, a power arm is provided at the top of the power shaft, the first mechanical arm is cooperatively connected to one side of the power arm, and at least one angle detecting member is provided outside the power shaft.
7. The adaptive mobile robot in failure mode of claim 1, wherein a first joint is provided at both ends of the first mechanical arm, and the power arm is hinged to the first mechanical arm through the first joint;
and two ends of the second mechanical arm are respectively provided with a second joint, and the second mechanical arm is hinged with the end effector through the second joints.
8. The adaptive mobile robot in failure mode of claim 7, wherein an axial direction of the first joint is perpendicular to an axial direction of the first mechanical arm, and an axial direction of the second joint is perpendicular to an axial direction of the second mechanical arm.
9. The adaptive mobile robot in failure mode according to claim 1, wherein at least one first calibration block is provided on the first mechanical arm, and when the first calibration blocks are more than two, the more than two first calibration blocks are distributed at intervals along the length direction of the first mechanical arm;
and at least one second calibration block is arranged on the second mechanical arm, and when the second calibration blocks are more than two, the more than two second calibration blocks are arranged at intervals along the length direction of the second mechanical arm.
10. The adaptive mobile robot in failure mode according to claim 1, wherein the end effector is hinged with a connecting end, and a plurality of fixing holes are uniformly distributed on one side end surface of the connecting end along the circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310318759.3A CN116394224A (en) | 2023-03-29 | 2023-03-29 | Self-adaptive mobile robot in failure mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310318759.3A CN116394224A (en) | 2023-03-29 | 2023-03-29 | Self-adaptive mobile robot in failure mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116394224A true CN116394224A (en) | 2023-07-07 |
Family
ID=87019214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310318759.3A Pending CN116394224A (en) | 2023-03-29 | 2023-03-29 | Self-adaptive mobile robot in failure mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116394224A (en) |
-
2023
- 2023-03-29 CN CN202310318759.3A patent/CN116394224A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101272887B (en) | Method and apparatus for measurement and/or calibration of position of an object in space | |
| CN109732600B (en) | Full-automatic sequential multi-station measuring system and measuring method | |
| CN110500470B (en) | Pipeline crawling robot with relative position navigation function | |
| US10634123B2 (en) | Apparatus and methods for maintenance of wind turbine blades | |
| CN106170371A (en) | Modularity movable type checks vehicle | |
| US5712961A (en) | Contact-type sensor | |
| KR20010023263A (en) | System and method for controlling a robot | |
| CA2319381A1 (en) | Systems and methods employing a rotary track for machining and manufacturing | |
| US8127871B2 (en) | Frame walker predicated on a parallel mechanism | |
| US20210031361A1 (en) | Independent Pan of Coaxial Robotic Arm and Perception Housing | |
| KR102125571B1 (en) | 6-axis compliance device with variable compliance capability | |
| KR101845325B1 (en) | 6 dof ball-driven robot with a 3 dof parallel kinematic manipulator | |
| Korayem et al. | Dynamic load-carrying capacity of mobile-base flexible joint manipulators | |
| CN111086006B (en) | Adjustable length joint arm type demonstrator | |
| CN116394224A (en) | Self-adaptive mobile robot in failure mode | |
| US20220203544A1 (en) | Mechanical arm calibration system and mechanical arm calibration method | |
| JP2000337807A (en) | Movement error correcting method of parallel mechanism, and its apparatus | |
| CN115062482B (en) | Kinematic modeling method of serial robots considering positioning errors of rotary joints | |
| US4534694A (en) | Multi-articulate arm mechanism | |
| US20230266186A1 (en) | Torque sensor element and torque sensor | |
| CN115682934A (en) | Microscopic vision detection device and calibration method for assembling cross-scale micro-nano device | |
| KR100499090B1 (en) | Device and Method for Kinematic Calibration of Robots | |
| Shoval et al. | Sensory redundant parallel mobile mechanism | |
| CN115556096B (en) | Automatic calibration method for joint zero point of multi-axis robot and robot | |
| CN113532353A (en) | Precision measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20230707 |
|
| WD01 | Invention patent application deemed withdrawn after publication |