CN205219095U - Intelligent movement platform of multi freedom arm - Google Patents
Intelligent movement platform of multi freedom arm Download PDFInfo
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- CN205219095U CN205219095U CN201520866271.5U CN201520866271U CN205219095U CN 205219095 U CN205219095 U CN 205219095U CN 201520866271 U CN201520866271 U CN 201520866271U CN 205219095 U CN205219095 U CN 205219095U
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Abstract
The embodiment of the utility model discloses intelligent movement platform of multi freedom arm, including carrying platform, respectively through buffer independent setting in four drive wheels of carrying platform below, buffer passes through the electric machine control that turns to of the last setting of carrying platform turns to, the last arm that is provided with of carrying platform. Adopt the utility model discloses, the drive of control drive wheel that can be independent and turning to makes drive wheel 360 degrees freely turn to, can accomplish set movement route in a flexible way and remove in various environment to having certain obstacle climbing ability, can moving according to the orbit of setting for of advancing, the letter sorting or the fitting work of article can be carried to the multi freedom arm of configuration, realize going up unloading work around moving, the utility model has the advantages of use nimble, perfect, the simple structure of function.
Description
Technical field
The utility model relates to the automatic guided robot of a kind of farmland operation and production logistics transport, particularly relates to a kind of intelligent family moving platform of multi-degree-of-freemechanical mechanical arm.
Background technology
The mid-90 in 20th century, China starts the research and development of agricultural robot technology, up to now achievement is remarkable, but due to the particularity of agricultural environment and the limitation of technology, current agricultural robot is difficult to popularization and application in agricultural production practice, even if real effective universal use also cannot be realized in developed country, being on the one hand because a lot of key technology awaits improving further and innovation, is the problems such as the low and maintenance cost of the agricultural robot efficiency that causes due to seasonality is high on the other hand.Along with the progressively aggravation of China's aging population trend, be engaged in agriculture work the size of population by fewer and feweri, the cost of labour is more and more higher, the universal practicality problem realizing agricultural robot becomes more and more important, and solve one of effective way of these problems above-mentioned be develop a kind of can be applicable to agricultural operation multifunctional usage and be equipped with the intelligent family moving platform of robot.
Meanwhile, 21 century manufacturing industry will enter a new phase, Agile manufactruing will become the dominant pattern of enterprise.On production line in the past, guide type AGV is the mode that people often adopt, and has the methods such as guide tracked, magnetic guidance formula.These methods all need the running route having planned AGV in advance, and the device of workshop can not arbitrarily movement.AGV can not realize assembling or sorting at handling process part simultaneously in addition, and time availability is not high.For the problems referred to above, the intelligent family moving platform that research has independent navigation, automatically obstacle avoidance, handling process can carry out workpiece screening or assembling is simultaneously necessary to enhancing productivity and reducing production cost.
Therefore research have that versatility, applicability are strong, the intelligent family moving platform of the multifunctional usage of easily extensible and low cost for farmland operation universalness and production and logistics transportation high efficiency significant.
Summary of the invention
The utility model embodiment technical problem to be solved is, provides a kind of intelligent family moving platform of multi-degree-of-freemechanical mechanical arm.Promptly according to running route needs, the mobile problem of the complicated landform of indoor and outdoor can be solved.
In order to solve the problems of the technologies described above, the utility model embodiment provides a kind of intelligent family moving platform of multi-degree-of-freemechanical mechanical arm, comprise carrying platform, be independently arranged at four driving wheels below described carrying platform respectively by buffer unit, described buffer unit controls to turn to by the steer motor that described carrying platform is arranged, and described carrying platform is provided with mechanical arm;
Described buffer unit comprises shock absorber, first, second hinged linking arm, described first linking arm is fixedly connected on the output of described steer motor, described second linking arm end rotates and arranges described driving wheel, and described shock absorber two ends swing respectively and are connected on described steer motor output, described second linking arm.
Further, described four driving wheels have brushless gearless wheel hub motor.
Further, described brushless gearless wheel hub motor is connected with electric supply installation by conducting ring.
Further, described steer motor is servomotor.
Further, the sighting device that tracks be arranged on carrying platform front end is also comprised.
Further, described steer motor is provided with decelerator.
Implement the utility model embodiment, there is following beneficial effect: the utility model can independently control the driving of driving wheel and turn to, can move in various environment flexibly, and there is certain obstacle climbing ability, can run by the travel track of setting, the multi-degree-of-freemechanical mechanical arm of configuration can carry out sorting or the assembly work of carrying object, realizes loading and unloading work before and after mobile.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail.
With reference to the overall structure schematic diagram of the present utility model shown in Fig. 1.
The intelligent family moving platform of a kind of multi-degree-of-freemechanical mechanical arm of the utility model embodiment, comprises carrying platform 10, is independently arranged at four driving wheels 30 below carrying platform 10 respectively by buffer unit 20, carrying platform 10 is provided with mechanical arm 40.
Buffer unit 20 comprises shock absorber 21, the first hinged linking arm 22, second linking arm 23, first linking arm 22 one end is connected on the output of steer motor 50, second linking arm end rotates and arranges described driving wheel 30, shock absorber 21 two ends swing respectively and are connected between steer motor 50 output, the second linking arm 23, mobile platform is made to have certain obstacle detouring and shock-absorbing ability, because driving wheel 30 is independently installed on the output of steer motor 50 by buffer unit 20, also make mobile platform can turning operation flexibly in complex environment.
More optimizedly driving wheel 30 has brushless gearless wheel hub motor 31, and brushless gearless wheel hub motor 31 is connected with electric supply installation by conducting ring 32, make driving wheel can 360 degree to turn to and without material winds.
In order to better control turning to of driving wheel 30, steer motor 50 is servomotor, and is configured with decelerator.
The sighting device 60 that tracks on carrying platform front end, the sighting device 60 that tracks can camera or photocell eye, for identifying the Trajectories Toggle line in course, makes mobile platform by arranging route running.
The utility model can realize driving wheel 360 degree of freedom and flexibility and turn to, and drive, achieve zero turn radius, the various transportation environment complicated and changeable of indoor and outdoor can be adapted to, and be configured with multiple degrees of freedom robotic arm, automatic charging or blanking work can be realized through setting, the utility model has highly versatile, applicability is strong, easily extensible is excellent, the advantage such as low cost.
Certain above-described embodiment, only for technical conceive of the present utility model and feature are described, its object is to person skilled in the art can be understood content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All modifications done according to the Spirit Essence of the utility model main technical schemes, all should be encompassed within protection domain of the present utility model.
Claims (6)
1. the intelligent family moving platform of a multi-degree-of-freemechanical mechanical arm, it is characterized in that, comprise carrying platform, be independently arranged at four driving wheels below described carrying platform respectively by buffer unit, described buffer unit controls to turn to by the steer motor that described carrying platform is arranged, and described carrying platform is provided with mechanical arm;
Described buffer unit comprises shock absorber, first, second hinged linking arm, described first linking arm is fixedly connected on the output of described steer motor, described second linking arm end rotates and arranges described driving wheel, and described shock absorber two ends swing respectively and are connected between described steer motor output, described second linking arm.
2. the intelligent family moving platform of multi-degree-of-freemechanical mechanical arm according to claim 1, is characterized in that, described four driving wheels have brushless gearless wheel hub motor.
3. the intelligent family moving platform of multi-degree-of-freemechanical mechanical arm according to claim 2, is characterized in that, described brushless gearless wheel hub motor is connected with electric supply installation by conducting ring.
4. the intelligent family moving platform of multi-degree-of-freemechanical mechanical arm according to claim 1, is characterized in that, described steer motor is servomotor.
5. the intelligent family moving platform of the multi-degree-of-freemechanical mechanical arm according to claim 3 or 4, is characterized in that, also comprises the sighting device that tracks be arranged on carrying platform front end.
6. the intelligent family moving platform of multi-degree-of-freemechanical mechanical arm according to claim 5, is characterized in that, described steer motor is provided with decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520866271.5U CN205219095U (en) | 2015-11-03 | 2015-11-03 | Intelligent movement platform of multi freedom arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520866271.5U CN205219095U (en) | 2015-11-03 | 2015-11-03 | Intelligent movement platform of multi freedom arm |
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| CN205219095U true CN205219095U (en) | 2016-05-11 |
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| CN201520866271.5U Active CN205219095U (en) | 2015-11-03 | 2015-11-03 | Intelligent movement platform of multi freedom arm |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584421A (en) * | 2017-02-10 | 2017-04-26 | 中国东方电气集团有限公司 | Mobile trolley system based on mobile robot |
| CN106625553A (en) * | 2015-11-03 | 2017-05-10 | 汕头大学 | Intelligent movement platform with multi-degree-of-freedom mechanical arm |
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
| WO2018045448A1 (en) * | 2016-09-06 | 2018-03-15 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| CN109571418A (en) * | 2019-01-21 | 2019-04-05 | 广州百士臣科技有限公司 | A kind of logistics distribution robot with balance adjustment function |
| US10633190B2 (en) | 2018-02-15 | 2020-04-28 | Advanced Intelligent Systems Inc. | Apparatus for supporting an article during transport |
| US10645882B1 (en) | 2018-10-29 | 2020-05-12 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| US10676279B1 (en) | 2018-11-20 | 2020-06-09 | Advanced Intelligent Systems Inc. | Systems, methods, and storage units for article transport and storage |
| US10745219B2 (en) | 2018-09-28 | 2020-08-18 | Advanced Intelligent Systems Inc. | Manipulator apparatus, methods, and systems with at least one cable |
| US10751888B2 (en) | 2018-10-04 | 2020-08-25 | Advanced Intelligent Systems Inc. | Manipulator apparatus for operating on articles |
| US10966374B2 (en) | 2018-10-29 | 2021-04-06 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| CN114131402A (en) * | 2021-11-18 | 2022-03-04 | 柳州沪信汽车科技有限公司 | Flexible automatic switching system |
-
2015
- 2015-11-03 CN CN201520866271.5U patent/CN205219095U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625553A (en) * | 2015-11-03 | 2017-05-10 | 汕头大学 | Intelligent movement platform with multi-degree-of-freedom mechanical arm |
| WO2018045448A1 (en) * | 2016-09-06 | 2018-03-15 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| US10884426B2 (en) | 2016-09-06 | 2021-01-05 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| US20190248024A1 (en) | 2016-09-06 | 2019-08-15 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| US10611036B2 (en) | 2016-09-06 | 2020-04-07 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| CN106584421A (en) * | 2017-02-10 | 2017-04-26 | 中国东方电气集团有限公司 | Mobile trolley system based on mobile robot |
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
| US10633190B2 (en) | 2018-02-15 | 2020-04-28 | Advanced Intelligent Systems Inc. | Apparatus for supporting an article during transport |
| US10745219B2 (en) | 2018-09-28 | 2020-08-18 | Advanced Intelligent Systems Inc. | Manipulator apparatus, methods, and systems with at least one cable |
| US10751888B2 (en) | 2018-10-04 | 2020-08-25 | Advanced Intelligent Systems Inc. | Manipulator apparatus for operating on articles |
| US10645882B1 (en) | 2018-10-29 | 2020-05-12 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| US10966374B2 (en) | 2018-10-29 | 2021-04-06 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| US10676279B1 (en) | 2018-11-20 | 2020-06-09 | Advanced Intelligent Systems Inc. | Systems, methods, and storage units for article transport and storage |
| CN109571418A (en) * | 2019-01-21 | 2019-04-05 | 广州百士臣科技有限公司 | A kind of logistics distribution robot with balance adjustment function |
| CN114131402A (en) * | 2021-11-18 | 2022-03-04 | 柳州沪信汽车科技有限公司 | Flexible automatic switching system |
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