CN208896082U - A kind of compound mobile robot - Google Patents
A kind of compound mobile robot Download PDFInfo
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- CN208896082U CN208896082U CN201821125302.1U CN201821125302U CN208896082U CN 208896082 U CN208896082 U CN 208896082U CN 201821125302 U CN201821125302 U CN 201821125302U CN 208896082 U CN208896082 U CN 208896082U
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- mobile robot
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Abstract
The utility model embodiment discloses a kind of compound mobile robot, 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 utility model, the utility model is integrated with mobile platform and the advantage of mechanical arm respectively, compact-sized, perfect in shape and function, and the utility model can be widely used for agriculture picking fruit, industrial goods and materials load and the fields such as transport and environment investigation.
Description
Technical field
The utility model relates to a kind of robotic technology fields more particularly to one kind flexibly to move, independent navigation and
Avoidance 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.
Utility model content
The technical problem to be solved by the embodiment of the utility model is, a kind of novel in structural design, rationally is provided, function
Property it is strong, 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 utility model embodiment provides a kind of compound mobile robot, packet
The multi-degree-of-freemechanical mechanical arm for including a mobile platform and being installed on the mobile platform, the mobile platform include a platform support, one
Storing cabinet, running gear and laser radar, which is set among the platform support, for loading article；The walking
Device is set to below the platform support by damping device；The edge that the laser radar is installed on the platform support is multiple for this
Mould assembly mobile robot realizes automatic obstacle avoiding；The platform support is equipped with slideway, which passes through the peace being arranged on the slideway
Loading board is installed on the mobile platform, which is equipped with sighting device and grabbing device, for realizing the vision of object
Identification and 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.
Implement the utility model embodiment, has the following beneficial effects: that the utility model novel in structural design is reasonable, it is skilful
Mobile platform is combined with multi-degree-of-freemechanical mechanical arm wonderfully, the technical solution of this kind of combining form has merged mobile platform and more
The various advantages of degree-of-freedom manipulator, it is fine that the damping device of such as installation can be such that compound mobile robot has in operational process
Stability；The laser radar and vision tracing device of installation are able to achieve independent navigation and avoidance；In mechanical arm tail end setting
Sighting device and grabbing device can make the compound mobile robot have the function of good object visual identity and visual grasping；
Compared to single multi-degree-of-freemechanical mechanical arm, which may be implemented big stroke, a wide range of operation.This is practical
Novel compact overall structure, stability is good, functional, and adapts to answer in different application environments conducive to being widely popularized
With.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the compound mobile robot first embodiment of the utility model；
Fig. 2 is the structural representation of damping device and driving wheel in the compound mobile robot first embodiment of the utility model
Figure；
Fig. 3 is that the structure of robotic arm and corresponding mounting plate is shown in the compound mobile robot first embodiment of the utility model
It is intended to；
Fig. 4 is the overall structure diagram of the compound mobile robot second embodiment of the utility model.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms in fact
It is existing, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes public affairs to the utility model
It is more thorough and comprehensive to open content.
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 are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more related listed items.
Referring to Fig. 1, a kind of compound mobile robot that the utility model first embodiment provides, including a movement are flat
Platform 10 and a multi-degree-of-freemechanical mechanical arm 20 being installed on the mobile platform 10, the mobile platform 10 include a rectangular platform
Bracket 101 and a storing cabinet 103 and two laser radars 105, the storing cabinet 103 are set to the centre of the platform support 101,
When the battery powered for loading article such as the control cabinet of multi-degree-of-freemechanical mechanical arm, for the compound mobile mechanical arm and work
Carrying and the article loaded etc. are needed, protective plate 106 is equipped on the platform support 101, which has waterproof
Fire-resistance property 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 drivings
Wheel 109, four driving wheels 109 are respectively arranged in the lower section at 101 4 angles of platform support, and respectively with 107 phase of a damping device
Even.Further in four edges setting of the platform support 101, there are four conducting rings 1011, in four conducting rings 1011
Top be 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 utility model embodiment, pair of the multi-degree-of-freemechanical mechanical arm 20 on the platform support 101
A display screen 1021 is provided among side, the display screen 1021 be displayed for compound mobile robot operating status and
It is convenient for the movement of the user's control compound mobile robot under some particular surroundings.Four in the platform support 101 turn
The shield 1023 for protecting the steering motor 1013 is separately installed with to motor 1013, which can be to avoid
The multi-degree-of-freemechanical mechanical arm 20 in the process of running with the steering motor 1013 it is that may be present collision and lead to the multiple degrees of freedom
Mechanical arm 20 and steering motor 1013 are impaired.For the structure for better illustrating the utility model embodiment, have in Fig. 1 embodiment
Protective cover is not shown at one steering motor 1013.For the safety for improving the compound mobile robot, in the display
On the shield 1023 in 1021 left sides, a scram button 1025 is installed, for urgent emergency stop and peace when emergency to occur
Full protection.
Referring to Fig. 4, being the structural schematic diagram of the compound mobile robot second embodiment of the utility model, with first
Compound mobile robot structure in embodiment 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 are added, while the installation site of display screen 1021a and the utility model the
One embodiment is different, which is respectively arranged in the lower section of 101 edge of platform support, should
The sighting device that tracks be camera, for observe around environment, which may be implemented by the camera
The vision guided navigation and vision avoidance of people；Mechanical arm 20a is installed on the opposite side of multi-degree-of-freemechanical mechanical arm 20 in first embodiment, shows
Display screen 30 is installed on the adjacent side of two mechanical arms (20 and 20a) on the platform support 101, and two mechanical arms can communicate with each other association
Same operation.It can be cooperateed in the utility model embodiment using two mechanical arms and complete some impossible works of separate unit mechanical arm
Make (such as component assembly, maintenance；Demolition blasting, bomb disposal etc.), expand the working range of the compound mobile robot, and
The working efficiency of the compound mobile robot can be greatly promoted, so that the compound mobile robot is more intelligent.
In above-mentioned embodiment provided by the utility model, mobile platform is combined with multi-degree-of-freemechanical mechanical arm, thus
The compound mobile robot of the utility model is set to have had both the various advantages of mobile platform and multi-degree-of-freemechanical mechanical arm, mobile platform
With good independent driving omnidirectional moving ability, it is able to achieve a wide range of work；Multi-degree-of-freemechanical mechanical arm has flexible movement
Ability can complete the operation content of some complexity.Some important auxiliary equipments have more it in the compound mobile robot
Functionality, the damping device of such as installation can make compound mobile robot have good stability in operational process；Installation
Laser radar and vision tracing device are able to achieve independent navigation and avoidance；In the sighting device of multi-degree-of-freemechanical mechanical arm end setting
The compound mobile robot is set to have good object visual identity and visual grasping function with grabbing device；Compared to list
Big stroke, a wide range of operation may be implemented in one multi-degree-of-freemechanical mechanical arm, the compound mobile robot.
Above disclosed is only a kind of preferred embodiment of the utility model, certainly cannot be practical to limit with this
Novel interest field, therefore equivalent variations made according to the claim of the utility model still belong to what the utility model was covered
Range.
Claims (9)
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, there are four conducting ring, four conductions for four edges setting of the platform support
The top of ring is respectively connected with the steering motor being installed on the platform support.
2. compound mobile robot according to claim 1, 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.
3. compound mobile robot according to claim 2, 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.
4. 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.
5. 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.
6. 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.
7. 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.
8. compound mobile robot according to claim 7, 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.
9. compound mobile robot according to claim 1-8, 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 |
|---|---|---|---|
| CN201821125302.1U CN208896082U (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821125302.1U CN208896082U (en) | 2018-07-16 | 2018-07-16 | A kind of compound mobile robot |
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| CN208896082U true CN208896082U (en) | 2019-05-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942862A (en) * | 2018-07-16 | 2018-12-07 | 汕头大学 | A kind of compound mobile robot |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
-
2018
- 2018-07-16 CN CN201821125302.1U patent/CN208896082U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942862A (en) * | 2018-07-16 | 2018-12-07 | 汕头大学 | A kind of compound mobile robot |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jieyang Meister plastic products Co.,Ltd. Assignor: SHANTOU University Contract record no.: X2023980032491 Denomination of utility model: A composite mobile robot Granted publication date: 20190524 License type: Common License Record date: 20230224 |
|
| EE01 | Entry into force of recordation of patent licensing contract |