CN111113366A - Omnidirectional movement general robot carrying mechanical arms - Google Patents
Omnidirectional movement general robot carrying mechanical arms Download PDFInfo
- Publication number
- CN111113366A CN111113366A CN202010026835.XA CN202010026835A CN111113366A CN 111113366 A CN111113366 A CN 111113366A CN 202010026835 A CN202010026835 A CN 202010026835A CN 111113366 A CN111113366 A CN 111113366A
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- Prior art keywords
- rotating mechanism
- hub motor
- robot
- swinging
- shell
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Classifications
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The omnidirectional mobile universal robot comprises a shell, a hub motor set, a damping device, a battery, a main control center and a mechanical arm assembly, wherein the hub motor set, the damping device, the battery and the main control center are integrated in the shell, the hub motor set comprises a hub motor and a universal tire set, and the hub motor is integrated with a position encoder, a planetary reducer, a Hall, a motor module and an external structure connecting module; the universal tire group is distributed below the shell and is driven to move by the hub motor; the damping device is connected with the hub motor set, so that the vibration problem of tires in the operation of robots is effectively reduced; the mechanical arm assembly is installed on the shell through the support body.
Description
Technical Field
The application relates to the field of robots, in particular to an omnidirectional mobile universal robot carrying mechanical arms.
Background
With the rapid development of the electronic industry technology, the latest electronic technology is applied to the computer industry, which drives the rapid development of the robot technology, and the productivity level of industries such as industry, service industry, intelligent medical treatment and the like is continuously improved, so that the demand for automation is increased, the cost of manual service is gradually increased, and the development of the robot is further promoted. The integrated development of a robot arm and an AGV moving trolley in the application field of the robot technology is more and more different day by day. The general robot with the integrated mechanical arm and AGV moving trolley is widely applied to application scenes of autonomous transportation, intelligent storage, production assembly, instrument medical treatment and the like, can replace manpower to complete tasks with higher danger coefficient, repetition and boring, greatly reduces the labor intensity of the manpower, and improves the production efficiency.
However, the robot has certain requirements on the space operation range of the use field, if the robot moves to work in a small space, the position cannot be accurately controlled, the rotation angle is limited, and the difficulty exists in practical use; in addition, the AGV does not combine the development of a human-computer interaction technology in real time at present, and the autonomous learning and remote control functions are to be developed.
Disclosure of Invention
The utility model aims at the not enough of above-mentioned prior art, the purpose of this application is to provide a during operation in little space, also can realize omnidirectional movement, accurate location's the omnidirectional movement universal robot who carries on robotic arm, can possess independently study and remote control function simultaneously.
The technical scheme adopted by the invention is as follows: an omnidirectional mobile universal robot carrying a mechanical arm comprises a shell, a hub motor set, a damping device, a battery, a main control center and a mechanical arm assembly, wherein the hub motor set, the damping device, the battery and the main control center are integrally arranged in the shell;
the hub motor set integrates a hub motor and a universal tire set, and the hub motor set device is a modularized, low-cost, intelligent and integrated large-torque high-precision motor. The device combines a position encoder, a planetary reducer, a Hall module, a motor module, an external structure connecting module and the like, realizes the task completed under the condition of needing a specified path, and realizes accurate and timely stop, acceleration and deceleration.
Various small-angle rotary positioning;
the universal tire group is distributed below the shell and is driven to move in a small space range by the hub motor;
the damping device is connected with the hub motor set, so that the vibration problem of tires in the operation of robots is effectively reduced;
the mechanical arm assembly is effectively and stably fixed on the shell through the support body and comprises a first rotating mechanism, a first swinging mechanism, a first extension arm, a second swinging mechanism, a second extension arm, a second rotating mechanism, a third rotating mechanism, a fourth rotating mechanism and an insulating operating rod component, wherein the first rotating mechanism is connected to the support body and is connected with the first swinging mechanism to drive the first swinging mechanism to rotate; the first swinging mechanism is connected with the second swinging mechanism through a first extending arm, and the first extending arm can perform swinging motion relative to the first swinging mechanism; one end of the second extension arm can be connected to the second swing mechanism in a relatively swinging mode, and the other end of the second extension arm is connected to the second rotating mechanism; the second rotating mechanism is connected with the third rotating mechanism, the third rotating mechanism is connected with the fourth rotating mechanism, the fourth rotating mechanism is connected with the insulating operating rod component, the insulating operating rod component can rotate relative to the fourth rotating mechanism under the driving of the fourth rotating mechanism, the fourth rotating mechanism can rotate relative to the third rotating mechanism under the driving of the third rotating mechanism, and the third rotating mechanism can rotate relative to the second rotating mechanism under the driving of the second rotating mechanism.
The joint modules are arranged in the first rotating mechanism, the first swinging mechanism, the second rotating mechanism, the third rotating mechanism and the fourth rotating mechanism, motors of the joint modules are connected together, and each joint module comprises a position encoder, a torque sensor, a limiting sensor, a speed reducer module, a motor module and an external structure connecting module. The rotating and swinging mechanism can adapt to various working conditions through effective transmission among the arms, realize multi-angle and large-scale operation, realize accurate control and positioning through driver control, and improve the operation efficiency.
The number of the mechanical arm assemblies is one or two.
The novel omnidirectional mobile universal robot can also be connected with an AR (augmented reality) glasses module on a mechanism, and the motion sensing control and recognition function is added by utilizing various technical sets such as a simulation technology, a computer graphics man-machine interface technology, a multimedia technology, a sensing technology, a network technology and the like.
The in-wheel motor assembly may be, for example, a split-type mecanum wheel motor (application No. 2019217696757) developed by the company itself, a split-type mecanum wheel motor including a mecanum wheel and a motor mounted inside the mecanum wheel, the motor being detachably and fixedly connected to the mecanum wheel without disassembling the mecanum wheel. The Mecanum wheel comprises a left end cover, a right end cover, a rubber roller, a rotating shaft and a sleeve, wherein the left end cover and the right end cover are both annular, the sleeve is limited between the left end cover and the right end cover, the inner diameter of the sleeve is the same as the diameter of an inner circle of the left end cover or the right end cover, and as another embodiment, the inner diameter of the sleeve is the same as the diameters of the inner circles of the left end cover and the right end cover; the rubber covered rollers are arranged on the periphery of the sleeve, the rotating shafts penetrate through the rubber covered rollers and fix the rubber covered rollers between the left end cover and the right end cover, specifically, each rotating shaft corresponds to one rubber covered roller, the rotating shafts are of double-headed bolt types, threads are arranged at two ends of each rotating shaft and penetrate through the left end cover and the right end cover respectively, and nuts are screwed at two ends of each rotating shaft, which extend out of the left end cover and the right end cover, so that the rotating shafts are. The rubber rollers are distributed on the outer periphery of the sleeve to form an annular shape, and the diameter of the excircle on the outermost side of the rubber roller ring is larger than the diameters of the excircles of the left end cover and the right end cover. The motor comprises a main shaft, a shell, an inner gear ring, a rotor, a stator, a planet gear speed reducing assembly and a brake disc, wherein a bearing is arranged between the shell and the main shaft, the shell can rotate relative to the main shaft, the stator is fixedly sleeved on the main shaft, the stator is positioned in the rotor, the rotor can be sleeved on the main shaft relative to the rotation of the main shaft, the brake disc is sleeved on the main shaft close to the rotor, the planet gear speed reducing assembly is sleeved on the main shaft and is in transmission fit with the rotor, and the inner gear ring is installed in the shell and is in transmission fit with the planet gear assembly. The rotor comprises a transmission cover body and a side cover, a bearing is arranged between the transmission cover body and the main shaft, a stator is arranged in the transmission cover body, a coil is arranged between the stator and the transmission cover body, the side cover is fixedly connected with the transmission cover body, the rotor side cover is made of a permanent magnetic material, an encoder is arranged on the stator, a magnetic ring is oppositely arranged on the transmission cover body, and a certain distance is reserved between the encoder and the magnetic ring. The brake disc is made of ferromagnetic materials, the integrated coil is arranged in the brake disc, the brake disc and the main shaft are connected through keys, the main shaft is provided with strip-shaped grooves for accommodating the keys, the length of each strip-shaped groove is slightly larger than that of each key, and the brake disc can be displaced along the axial direction of each strip-shaped groove on the main shaft in a small amplitude mode through the keys. The brake disc is integrally made of two discs made of ferromagnetic materials with different outer diameters, and a coil is arranged on the outer periphery of each disc with the smaller outer diameter. The planet wheel speed reduction assembly is located on one side of the rotor transmission cover body and comprises a sun wheel, a planet wheel retainer and a positioning pin, the sun wheel is rotatably sleeved on the main shaft, the planet wheel is distributed around the sun wheel and positioned through the positioning pin, the positioning pin is fixed on the planet wheel retainer, the sun wheel is respectively in meshing transmission with the rotor transmission cover body and the planet wheel gear, the planet wheel is in meshing transmission with the inner gear ring gear, so that the shell is driven to rotate relative to the main shaft, and the planet wheel retainer is in key connection with the main shaft, so that the rotation of the planet wheel retainer relative to. And a hollow channel for connecting a circuit is arranged in the main shaft, and the circuit is respectively communicated with the brake disc and the coil of the stator through the hollow channel in the main shaft. The main shaft is of a single-output-shaft type or a double-output-shaft type, only one side of the main shaft of the single-output-shaft type extends out of the shell, and two sides of the main shaft of the double-output-shaft type extend out of the shell. The outer diameter of the motor shell is the same as the inner diameter of the sleeve, so that the motor can be directly installed in an inner space formed by the left end cover, the right end cover and the sleeve, the diameter of an inner circle of one end cover of the left end cover and the right end cover is the same as the outer diameter of the motor shell, the diameter of an inner circle of the other end cover is smaller than the outer diameter of the motor shell, or the diameters of the inner circles of the left end cover and the right end cover are the same as the outer diameter. The motor is detachably and fixedly connected with the Mecanum wheel, for example, when the inner diameter of the sleeve is the same as the diameters of the inner circles of the left end cover and the right end cover, threaded holes inclined towards the central axis are circumferentially distributed on the left end cover and the right end cover of the Mecanum wheel close to the inner circles, the threaded holes penetrate through the outer annular surfaces of the left end cover and the right end cover and penetrate through the inner cylindrical surfaces of the left end cover and the right end cover, threaded holes inclined towards the central axis are arranged on the outer cylindrical surface of the motor shell, when the motor is installed in the inner space of the Mecanum wheel, the threaded holes on the inner cylindrical surfaces of the left end cover and the right end cover of the Mecanum wheel correspond to the threaded holes on the outer cylindrical surface of the motor shell in position, so that, when the Mecanum wheel is required to be disassembled, the screws which are obliquely screwed on the left end cover and the right end cover can be disassembled in sequence, so that the Mecanum wheel and the motor can be separated, and a single part can be maintained or replaced more conveniently and quickly.
The invention has the advantages that:
1. and (6) integration. The system is formed by integrating a mechanical hardware module and a central control software module, wherein the hardware module receives a control instruction of a main control center and carries out corresponding action and behavior. The software module automatically collects data fed back by the hardware for integration and analysis, and records and trends are formed and sent to the database. The method is used for machine self-checking and iterative optimization of software. The reasonability and the intelligence of the machine operation are ensured.
2. The convenient selection installation that integrates of single robotic arm or two robotic arms, each joint module motor in the robotic arm links together, and rotation, swing mechanism can adapt to various operating modes through the effective transmission between each arm, have realized multi-angle, implement the operation on a large scale, through driver control, realize accurate control location. The working efficiency is improved.
3. The hub motor set is provided with a modularized, low-cost, intelligent and integrated large-torque high-precision motor, and a position encoder, a planetary reducer, a Hall, a motor module, an external structure connecting module and the like are combined, so that tasks finished under a required specified path are realized, and accurate and timely walking and stopping, acceleration and deceleration and various small-angle rotary positioning are realized.
Drawings
FIG. 1 is a schematic structural diagram of an omnidirectional mobile universal robot carrying two mechanical arms according to the present invention;
FIG. 2 is a front view of the omnidirectional mobile general purpose robot of the present invention;
FIG. 3 is a schematic structural diagram of an omnidirectional mobile universal robot carrying a single mechanical arm according to the present invention;
in the figure: 1. the device comprises a shell, 2, a hub motor group, 3, a damping device, 4, a battery, 5, a main control center, 6, a support body, 7, a first rotating mechanism, 8, a first swinging mechanism, 9, a first extension arm, 10, a second swinging mechanism, 11, a second extension arm, 12, a second rotating mechanism, 13, a third rotating mechanism, 14, a fourth rotating mechanism, 15 and an insulating operating rod component.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the disclosure herein.
Referring to the drawings, the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present disclosure can be implemented, so that the present disclosure has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the disclosure of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. Meanwhile, the positional limitation terms used in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship therebetween may be regarded as the scope of the present invention without substantial changes in the technical content.
As shown in fig. 1 and fig. 2, which are a schematic structural diagram of an omnidirectional mobile universal robot carrying dual mechanical arms and a front view of the omnidirectional mobile universal robot of the present invention, an omnidirectional mobile universal robot carrying mechanical arms includes a housing 1, a hub motor set 2, a damping device 3, a battery 4, a main control center 5, and a mechanical arm assembly, wherein the hub motor set 2, the damping device 3, the battery 4, and the main control center 5 are integrally disposed in the housing 1, a touch operation panel is disposed on a surface of the housing 1, a manual start-stop switch and an emergency-stop switch are integrated on the touch operation panel, and the motor and the main control center inside the housing can be effectively protected by the integral protection of the housing 1;
the hub motor set 2 integrates a hub motor and a universal tire set, and the hub motor set device is a modularized, low-cost, intelligent and integrated large-torque high-precision motor. The device combines a position encoder, a planetary reducer, a Hall module, a motor module, an external structure connecting module and the like, realizes the task completed under the condition of needing a specified path, and realizes accurate and timely stop, acceleration and deceleration. Various small-angle rotary positioning; the universal tire set is, for example, Mecanum wheels distributed at four corners below the shell, and the universal tire set is driven to move in a small space range by the hub motor;
the damping device 3 is connected with the hub motor set 2, so that the vibration problem of tires in the robot work is effectively reduced;
the mechanical arm assembly is effectively and stably fixed on the shell through the support body 6 and comprises a first rotating mechanism 7, a first swinging mechanism 8, a first extension arm 9, a second swinging mechanism 10, a second extension arm 11, a second rotating mechanism 12, a third rotating mechanism 13, a fourth rotating mechanism 14 and an insulating operating rod component 15, wherein the first rotating mechanism 7 is connected on the support body 6 and is connected with the first swinging mechanism 8 to drive the first swinging mechanism 8 to rotate; the first swing mechanism 8 is connected with the second swing mechanism 10 through a first extension arm 9, and the first extension arm 9 can swing relative to the first swing mechanism 8; one end of the second extension arm 11 is connected to the second swing mechanism 10 in a relatively swinging manner, and the other end is connected to the second rotation mechanism 12; the second rotating mechanism 12 is connected to the third rotating mechanism 13, the third rotating mechanism 13 is connected to the fourth rotating mechanism 14, the fourth rotating mechanism 14 is connected to the insulating operating rod member 15, the insulating operating rod member 15 is driven by the fourth rotating mechanism 14 to rotate relative to the fourth rotating mechanism 14, the fourth rotating mechanism 14 is driven by the third rotating mechanism 13 to rotate relative to the third rotating mechanism 13, and the third rotating mechanism 13 is driven by the second rotating mechanism 12 to rotate relative to the second rotating mechanism 12.
As shown in fig. 3, the structure of the omnidirectional mobile universal robot carrying a single mechanical arm is schematically illustrated, and the omnidirectional mobile universal robot can carry only one mechanical arm assembly as required, and is convenient to assemble.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and changes in equivalent structure or equivalent flow, or direct or indirect application to other related fields without creative efforts based on the technical solutions of the present invention may be made within the scope of the present invention.
Claims (6)
1. An omnidirectional mobile universal robot carrying mechanical arms is characterized by comprising a shell, a hub motor set, a damping device, a battery, a master control center and a mechanical arm assembly, wherein the hub motor set, the damping device, the battery and the master control center are integrated in the shell,
the hub motor set comprises a hub motor and a universal tire set, wherein the hub motor is integrated with a position encoder, a planetary reducer, a Hall, a motor module and an external structure connecting module; the universal tire group is distributed below the shell and is driven to move by the hub motor;
the damping device is connected with the hub motor set, so that the vibration problem of tires in the operation of robots is effectively reduced;
the mechanical arm assembly is installed on the shell through the support body.
2. The omnidirectional mobile general purpose robot with a robot arm according to claim 1, wherein the robot arm assembly comprises a first rotating mechanism, a first swinging mechanism, a first extension arm, a second swinging mechanism, a second extension arm, a second rotating mechanism, a third rotating mechanism, a fourth rotating mechanism and an insulating operating rod member, wherein the first rotating mechanism is connected to the support body and connected with the first swinging mechanism to drive the first swinging mechanism to rotate; the first swinging mechanism is connected with the second swinging mechanism through a first extending arm, and the first extending arm can perform swinging motion relative to the first swinging mechanism; one end of the second extension arm can be connected to the second swing mechanism in a relatively swinging mode, and the other end of the second extension arm is connected to the second rotating mechanism; the second rotating mechanism is connected with the third rotating mechanism, the third rotating mechanism is connected with the fourth rotating mechanism, the fourth rotating mechanism is connected with the insulating operating rod component, the insulating operating rod component can rotate relative to the fourth rotating mechanism under the driving of the fourth rotating mechanism, the fourth rotating mechanism can rotate relative to the third rotating mechanism under the driving of the third rotating mechanism, and the third rotating mechanism can rotate relative to the second rotating mechanism under the driving of the second rotating mechanism.
3. The omnidirectional mobile general robot with the mechanical arm according to claim 1, wherein a touch panel is disposed on a surface of the housing, and a manual start-stop switch and an emergency stop switch are integrated on the touch panel.
4. The omnidirectional mobile general robot with the mechanical arm as recited in claim 1 or 2, wherein the first rotating mechanism, the first swinging mechanism, the second rotating mechanism, the third rotating mechanism, and the fourth rotating mechanism are each provided with a joint module, motors of the joint modules are connected together, and each joint module includes a position encoder, a torque sensor, a limit sensor, a speed reducer module, a motor module, and an external structure connecting module.
5. The omnidirectional mobile robotic arm-mounted general purpose robot according to claim 4, further wherein the number of robot arm assemblies is one or two.
6. The omnidirectional mobile robot according to claim 4, wherein an AR eyeglass module is further connected to the universal robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010026835.XA CN111113366A (en) | 2020-01-10 | 2020-01-10 | Omnidirectional movement general robot carrying mechanical arms |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010026835.XA CN111113366A (en) | 2020-01-10 | 2020-01-10 | Omnidirectional movement general robot carrying mechanical arms |
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| CN111113366A true CN111113366A (en) | 2020-05-08 |
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| CN202010026835.XA Pending CN111113366A (en) | 2020-01-10 | 2020-01-10 | Omnidirectional movement general robot carrying mechanical arms |
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