CN210819526U - Mechanical arm autonomous navigation moving system - Google Patents
Mechanical arm autonomous navigation moving system Download PDFInfo
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- CN210819526U CN210819526U CN201920063897.0U CN201920063897U CN210819526U CN 210819526 U CN210819526 U CN 210819526U CN 201920063897 U CN201920063897 U CN 201920063897U CN 210819526 U CN210819526 U CN 210819526U
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Abstract
The utility model discloses an autonomous navigation mobile system of mechanical arm, which comprises a mobile chassis unit, a mechanical arm unit, a scanning unit, a terminal control unit, a remote monitoring unit and a visual detection unit, wherein the mobile chassis unit, the mechanical arm unit and the scanning unit are respectively connected with the terminal control unit, and the mechanical arm unit and the scanning unit are arranged on the mobile chassis unit; the terminal control unit controls the mobile chassis unit to operate to a specified working position, detects an obstacle through the scanning unit in the operation process, and controls the mobile chassis unit to effectively avoid the obstacle after analyzing obstacle information; the remote monitoring unit is in wireless connection with the terminal control unit and can communicate with each other, and the remote monitoring unit can issue an instruction to the terminal control unit; the visual detection unit detects the real-time working condition information of the mechanical arm unit and transmits the working condition information to the remote monitoring unit in real time, and finally the terminal control unit controls the mechanical arm unit to carry out effective operation.
Description
Technical Field
The utility model relates to a robotic arm and autonomous navigation dolly technical field especially relate to a robotic arm autonomous navigation mobile system.
Background
The automated guided vehicle is a vehicle equipped with an electromagnetic or optical automated guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. Compared with walking, crawling or other non-wheeled mobile robots, the automatic guided transport vehicle has the advantages of being fast in movement, high in working efficiency, simple in structure, strong in controllability, good in safety and the like. Compared with other equipment commonly used in material conveying, the movable area of the automatic guide transport vehicle does not need to be paved with fixing devices such as rails and supporting frames, and is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.
At present, a composite robot of an automatic guided transport vehicle and a mechanical arm is in the front end of research, but the composite robot is used as an expanding application of a cooperative robot, and still has good application prospect in the aspect of intelligent manufacturing and transformation of enterprises.
Firstly, due to the large moving range, the composite robot can move more intelligently in a workshop by utilizing the SLAM (Simultaneous localization And Mapping) technology of the current automatic guided transport vehicle, the multi-station operation of the cooperative robot is realized, And compared with the traditional robot, the composite robot is more flexible And has a wider coverage range. When the coverage of the robot is improved, the composite robot can better combine with an information System to operate by referring to instructions of the information System such as ERP (Enterprise Resource Planning), MES (Manufacturing Execution System) and the like. The workshop scheduling personnel can give the instruction of material transportation, go up unloading to compound type robot through the system, improve the intelligent degree in workshop. In general, besides organically combining an automated guided vehicle with high heat in the field of modern robots with a cooperative robot, the composite robot has the capability of enabling a workshop and intelligent manufacturing to be closer, and the application prospect of the composite robot is expected.
SUMMERY OF THE UTILITY MODEL
Problem to prior art exists, the utility model aims to provide a can solve automated guided travelling bogie function singleness, can only advance according to set route, can not independently avoid barrier, the arm autonomous navigation mobile system of poor scheduling problem of environment adaptability.
In order to achieve the above object, the utility model relates to an arm autonomous navigation mobile system, including removing chassis unit, arm unit, scanning unit, terminal control unit, remote monitoring unit and visual detection unit, wherein, remove chassis unit, arm unit, scanning unit and be connected with terminal control unit respectively, arm unit, scanning unit are installed on removing chassis unit; the terminal control unit controls the mobile chassis unit to operate to a specified working position, detects an obstacle through the scanning unit in the operation process, and controls the mobile chassis unit to effectively avoid the obstacle after analyzing obstacle information; the remote monitoring unit is in wireless connection with the terminal control unit and can communicate with each other, and the remote monitoring unit can issue an instruction to the terminal control unit; and at the appointed working position, the visual detection unit detects the real-time working condition information of the mechanical arm unit and transmits the working condition information to the remote monitoring unit in real time, and the remote monitoring unit issues an instruction to the terminal control unit so that the terminal control unit controls the mechanical arm unit to carry out effective operation.
Further, the mobile chassis unit comprises a base, casters, a driving motor and a gyroscope, wherein the base comprises three plates which are parallel to each other, namely a top plate, a middle plate and a bottom plate, and a plurality of support columns which are arranged among the three plates; the trundles are arranged at the tail ends of the driving shafts of the driving motors, the driving motors are arranged on the lower surfaces of the bottom plates, and the driving motors drive the trundles to move so that the movable chassis unit can move; the gyroscope is arranged on the upper surface of the bottom plate and used for collecting the angle information of the base; the driving motor and the gyroscope are respectively connected with the terminal control unit, the rotation of the driving motor is controlled through the terminal control unit, and the gyroscope transmits information to the terminal control unit.
Further, the mechanical arm unit comprises a mechanical arm and a mechanical arm base, the mechanical arm base is installed at the top of the movable chassis unit, and the mechanical arm is installed on the mechanical arm base, wherein the mechanical arm comprises a large arm, a large arm motor, a small arm motor, a sucking disc and a calibration square block; the small arm driving motor and the large arm driving motor are respectively connected with the terminal control unit, and the rotation of the motors is controlled through the terminal control unit; the sucking disc is used for snatching the material, is provided with position information's two-dimensional code on the surface of demarcation square, shows the position information of demarcating the square for the visual detection unit.
Furthermore, the scanning unit comprises a laser radar sensor and a data processing module, wherein the laser radar sensor transmits a detection signal to a target and then receives a signal reflected from the target; and processing signals sent and received by the laser radar sensor through the data processing module, and finally transmitting data to the terminal control unit.
The system further comprises a vacuum pump unit, wherein the vacuum pump unit comprises a vacuum pump motor and an air pipe, one end of the air pipe is connected with the vacuum pump motor, the other end of the air pipe is connected with a sucker of the mechanical arm unit, the vacuum pump motor pumps air away through rotation to form a negative pressure environment, and negative pressure is transmitted to the sucker through the air pipe; the vacuum pump motor is connected with the terminal control unit and controls the operation of the vacuum pump motor through the terminal control unit.
Furthermore, the terminal control unit comprises a microcomputer host, a wireless transmission module, a storage module and a shell, wherein the microcomputer host, the wireless transmission module and the storage module are integrated in the shell, the microcomputer host controls the operation of respective motors of the mobile chassis unit, the mechanical arm unit and the vacuum pump unit, and collects and processes data transmitted by the scanning unit; the wireless transmission module is used for wireless connection between the microcomputer host and the remote monitoring unit to realize signal communication and data interaction; the storage module is used for storing data generated by the microcomputer host.
Furthermore, the remote control unit comprises an intelligent terminal, a wireless router and a monitoring display, wherein the intelligent terminal is respectively connected with the wireless router and the monitoring display, the intelligent terminal is wirelessly connected with the terminal control unit through the wireless router, the terminal control unit transmits the operation data of the displacement chassis unit and the mechanical arm unit, the scanning data of the scanning unit and the operation state data of the vacuum pump unit to the intelligent terminal, and the data are checked and monitored through the monitoring display; the intelligent terminal can send instructions to the terminal control unit to remotely control the operation of the system.
Furthermore, the visual detection unit comprises a camera, the camera is connected with the remote monitoring unit and installed at the top of the material platform, the camera obtains direction information by scanning two-dimensional codes on the surface of the calibration square block, position information of the forearm is obtained by triangulation, and the position information is sent to the remote monitoring unit.
The utility model discloses a mechanical arm autonomous navigation mobile system, ① encapsulates the entire system into different modules, then carry out detailed planning design and design to each module, make things convenient for the subsequent extension of management and control system, upgrade and development, ② focuses on the information of each unit to the remote monitoring unit and monitors and control, let the clear presentation in the monitor display of mechanical arm autonomous navigation system's real-time conditions, make things convenient for the control personnel to make the decision, ③ has realized that the mechanical arm autonomous navigation removes, the home range of arm has been enlarged, the application field of mechanical arm has been expanded, ④ can handle and record data, provide data support for the optimization construction of follow-up mechanical arm autonomous navigation mobile system.
Drawings
Fig. 1 is a schematic view of a local structure of an autonomous navigation mobile system of a mechanical arm according to the present invention;
fig. 2 is a schematic view of a local structure of an autonomous navigation mobile system of a robot arm according to the present invention;
fig. 3 is an information interaction block diagram of the autonomous navigation mobile system of the robot arm of the present invention;
fig. 4 is the utility model relates to a robotic arm autonomous navigation mobile system work flow chart.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The present invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
For ease of description, spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 4, the utility model relates to an arm autonomous navigation mobile system, including removing chassis unit 1, arm unit 2, scanning unit 3, vacuum pump unit 4, terminal control unit 5, remote monitoring unit 6 and visual detection unit 7, arm unit 2 is installed on the top of removing chassis unit 1, scanning unit 3, vacuum pump unit 4, terminal control unit 5 are installed on removing chassis unit 1, wherein, remove chassis unit 1, arm unit 2, scanning unit 3, vacuum pump unit 4 and be connected with terminal control unit 5 respectively, terminal control unit 5 controls the operation that removes chassis unit 1, arm unit 2 and vacuum pump unit 4; the remote monitoring unit 6 is in wireless connection with the terminal control unit 5, data can be interacted between the remote monitoring unit 6 and the terminal control unit 5 in a two-way mode, and the remote monitoring unit 6 can issue instructions to the terminal control unit 5 to control the operation of the mobile chassis unit 1, the mechanical arm unit 2 and the vacuum pump unit 4; the visual detection unit 7 is connected with the remote monitoring unit 6 and feeds back the detected condition of the whole system to the remote monitoring unit 6.
The mobile chassis unit 1 comprises a base, casters, a driving motor and a gyroscope, wherein the base comprises three plates, namely a top plate, a middle plate and a bottom plate, which are parallel to each other, and a plurality of supporting columns which are arranged among the three plates, and in practical application, the supporting columns are arranged at the edges of the three plates in order to leave more space for other components; the truckle is installed at the end of the driving shaft of the driving motor, and the driving motor is installed on the lower surface of the bottom plate, the utility model discloses a driving motor drives the truckle to move, so that the mobile chassis unit 1 realizes the movement, in the embodiment, there are four driving motors and four truckles matched with the driving motors, the four driving motor installation angles are parallel in pairs and are located at four corners of the lower surface of the bottom plate, the driving motors are connected with the terminal control unit 5, and the rotation of the driving motors is controlled by the terminal control unit 5; the gyroscope is installed on the upper surface of the bottom plate, collects angle information of the base, and transmits the information to the terminal control unit 5.
The mechanical arm unit 2 comprises a mechanical arm and a mechanical arm base, the mechanical arm base is installed on the upper surface of a top plate of the base, and the mechanical arm is installed on the mechanical arm base, wherein the mechanical arm comprises a large arm, a large arm motor, a small arm motor, a sucker and a calibration square block; the small arm driving motor and the large arm driving motor are respectively connected with the terminal control unit 5, and the rotation of the motors is controlled through the terminal control unit 5; the sucking disc is used for snatching the material, marks the two-dimensional code that is provided with positional information on the surface of square, shows the positional information who marks the square for the visual detection unit, and the camera of visual detection unit obtains direction information through scanning the two-dimensional code, obtains the positional information of forearm through triangulation.
The scanning unit 3 is arranged on the upper surface of the middle plate and comprises a laser radar sensor and a data processing module, wherein the laser radar sensor transmits a detection signal to a target and then receives a signal reflected from the target; and the data processing module is used for carrying out operation processing on signals sent and received by the laser radar sensor and finally transmitting the data to the terminal control unit 5.
The vacuum pump unit 4 is arranged on the upper surface of the bottom plate of the base and comprises a vacuum pump motor and an air pipe, one end of the air pipe is connected with the vacuum pump motor, the other end of the air pipe is connected with a sucker of the mechanical arm unit 2, the vacuum pump motor pumps air through rotation to form a negative pressure environment, and negative pressure is transmitted to the sucker through the air pipe; the vacuum pump motor is connected with the terminal control unit 5, and the operation of the vacuum pump motor is controlled through the terminal control unit 5.
The terminal control unit 5 is arranged on the upper surface of the bottom plate of the base and comprises a microcomputer host, a wireless transmission module, a storage module and a shell, wherein the microcomputer host, the wireless transmission module and the storage module are integrally arranged in the shell, the microcomputer host controls the running of motors of the mobile chassis unit 1, the mechanical arm unit 2 and the vacuum pump unit 4 respectively and collects and processes data transmitted by the scanning unit 3; the wireless transmission module is used for wireless connection between the microcomputer host and the remote monitoring unit 6, and signal communication and data interaction are realized; the storage module is used for storing data generated by the microcomputer host.
The remote monitoring unit 6 comprises an intelligent terminal, a wireless router and a monitoring display, the intelligent terminal is respectively connected with the wireless router and the monitoring display, the intelligent terminal is wirelessly connected with the terminal control unit 5 through the wireless router, namely, the wireless router is wirelessly connected with the wireless transmission module, the terminal control unit 5 transmits data such as the displacement chassis unit 1, the operation data of the mechanical arm unit 2, the scanning data of the scanning unit 3 and the operation state of the vacuum pump unit 4 to the intelligent terminal, the data are checked more visually through the monitoring display, a next step instruction is determined according to the data, and the instruction is transmitted to the terminal control unit 5 through the intelligent terminal so as to control the next step action of the displacement chassis unit 1, the mechanical arm unit 2 and the vacuum pump unit 4. In this embodiment, intelligent terminal is desktop computer, and in practical application, intelligent terminal can also be notebook computer, panel computer, smart mobile phone, intelligent wrist-watch etc. so that the utility model discloses the system uses more in a flexible way.
The visual detection unit 7 comprises a camera, the camera is connected with the remote monitoring unit 6 (both wired connection and wireless connection), is installed at the top of the material platform, reads the position information of the calibration block according to the principle of triangulation, and sends the position information to the remote monitoring unit 6. The material platform comprises supporting legs and a material storage platform, the material storage platform is installed on the supporting legs, and the material storage platform is used for storing materials to be grabbed.
The utility model relates to an arm autonomous navigation mobile system still includes the power, including portable power source and fixed power supply, wherein, portable power source installs on mobile chassis unit 1, provides the electric energy for mobile chassis unit 1, arm unit 2, scanning unit 3, vacuum pump unit 4 and terminal control unit 5, in this embodiment, portable power source is lithium ion battery, and portable power source is not limited to lithium ion battery in the practical application; the fixed power supply supplies electric energy for the remote monitoring unit 6 and the visual detection unit 7, and can be a storage battery, a lithium battery and the like, and also can be an alternating current power supply.
It should be noted that the positions of the robot arm unit, the scanning unit, the vacuum pump unit, and the terminal control unit on the mobile chassis unit are not limited to the above positions, and suitable positions may be selected according to actual situations.
In practical applications, the remote monitoring unit may be incorporated into the terminal control unit, where the visual monitoring unit is wirelessly connected to the terminal control unit.
The utility model relates to an arm autonomous navigation mobile system, its use step is as follows:
(1) the remote monitoring unit sends position information of the material platform to the terminal control unit, and the terminal control unit controls the mobile chassis unit to reach the front end of the material platform;
(2) after the mechanical arm unit enters a shooting range of the camera, determining the position information of the mechanical arm through a calibration square block, and transmitting the position information to a remote monitoring unit;
(3) after the remote monitoring unit acquires the position information of the mechanical arm, whether a deviation exists between the position of the mechanical arm and the material is checked in real time through a camera, if the deviation exists, the position of the mechanical arm is compensated, namely the remote monitoring unit is in two-way communication with the terminal control unit, the terminal control unit controls the mechanical arm to move, the position error is compensated, and after no error exists, the material is picked up through a vacuum pump unit by using a sucker;
(4) after the materials are picked up, the remote monitoring unit controls the mobile chassis unit to move to the position coordinates of the target point, when the scanning unit finds an obstacle in the advancing process, the obstacle information is sent to the terminal control unit, the terminal control unit controls the mobile chassis unit to move according to the information to avoid the obstacle, and the mechanical arm reaches the designated coordinates to place the materials into the material tray.
In the steps (2) and (3), the camera acquires the position of the two-dimensional code of the calibration square block in a camera coordinate system; when the mechanical arm reaches the position near the grabbing target position, the coordinate in the global coordinate system of the grabbed object is converted into the coordinate where the mechanical arm is located through matrix conversion, and therefore the grabbing of the object is achieved.
In the step (4), the scanning unit needs two cost maps to store the position information of the obstacle, namely a global cost map and a local cost map, wherein the global cost map is used for long-term path planning, and the local cost map is used for planning and avoiding a local path.
The utility model discloses a mechanical arm autonomous navigation mobile system, ① encapsulates the entire system into different modules, then carry out detailed planning design and design to each module, make things convenient for the subsequent extension of management and control system, upgrade and development, ② focuses on the information of each unit to the remote monitoring unit and monitors and control, let the clear presentation in the monitor display of mechanical arm autonomous navigation system's real-time conditions, make things convenient for the control personnel to make the decision, ③ has realized that the mechanical arm autonomous navigation removes, the home range of arm has been enlarged, the application field of mechanical arm has been expanded, ④ can handle and record data, provide data support for the optimization construction of follow-up mechanical arm autonomous navigation mobile system.
Claims (8)
1. The mechanical arm autonomous navigation moving system is characterized by comprising a moving chassis unit, a mechanical arm unit, a scanning unit, a terminal control unit, a remote monitoring unit and a visual detection unit, wherein the moving chassis unit, the mechanical arm unit and the scanning unit are respectively connected with the terminal control unit, and the mechanical arm unit and the scanning unit are arranged on the moving chassis unit; the remote monitoring unit is in wireless connection with the terminal control unit; and at the appointed working position, the visual detection unit detects the real-time working condition information of the mechanical arm unit and transmits the working condition information to the remote monitoring unit in real time, and the remote monitoring unit issues an instruction to the terminal control unit so that the terminal control unit controls the mechanical arm unit to carry out effective operation.
2. The robot arm autonomous navigation moving system of claim 1, wherein the moving chassis unit comprises a base, casters, a driving motor, and a gyroscope, wherein the base comprises three plates parallel to each other, a top plate, a middle plate, and a bottom plate, and a plurality of support columns installed between the three plates; the trundles are arranged at the tail ends of the driving shafts of the driving motors, the driving motors are arranged on the lower surfaces of the bottom plates, and the driving motors drive the trundles to move so that the movable chassis unit can move; the gyroscope is arranged on the upper surface of the bottom plate and used for collecting the angle information of the base.
3. The autonomous navigation moving system of mechanical arms of claim 1, wherein the mechanical arm unit comprises a mechanical arm and a mechanical arm base, the mechanical arm base is mounted on the top of the moving chassis unit, and the mechanical arm is mounted on the mechanical arm base, wherein the mechanical arm comprises a large arm, a large arm motor, a small arm motor, a sucker and a calibration block, the sucker is connected with the calibration block, the calibration block is mounted at the tail end of the small arm, the small arm is mounted at the tail end of the large arm, the small arm motor is mounted at the joint of the small arm and the large arm, so that the small arm can rotate around the large arm, the large arm is mounted at the top of the mechanical arm base, and the large arm can rotate around the mechanical arm base; the sucking disc is used for snatching the material, is provided with position information's two-dimensional code on the surface of demarcation square, shows the position information of demarcating the square for the visual detection unit.
4. The system of claim 1, wherein the scanning unit comprises a lidar sensor and a data processing module, the lidar sensor transmits a detection signal to the target and then receives a signal reflected from the target.
5. The autonomous navigation moving system of mechanical arm of claim 3, further comprising a vacuum pump unit, wherein the vacuum pump unit comprises a vacuum pump motor and an air pipe, one end of the air pipe is connected with the vacuum pump motor, the other end of the air pipe is connected with the suction cup of the mechanical arm unit, the vacuum pump motor sucks air through rotation to form a negative pressure environment, and negative pressure is transmitted to the suction cup through the air pipe.
6. The system of claim 1, wherein the terminal control unit comprises a microcomputer host, a wireless transmission module, a storage module and a housing, the microcomputer host, the wireless transmission module and the storage module are integrated in the housing, the microcomputer host controls the operation of motors of the mobile chassis unit, the mechanical arm unit and the vacuum pump unit, and collects and processes data transmitted by the scanning unit; the wireless transmission module is used for wireless connection between the microcomputer host and the remote monitoring unit to realize signal communication and data interaction; the storage module is used for storing data generated by the microcomputer host.
7. The system of claim 1, wherein the remote monitoring unit comprises an intelligent terminal, a wireless router and a monitoring display, and the intelligent terminal is connected to the wireless router and the monitoring display respectively.
8. The system of claim 3, wherein the vision inspection unit comprises a camera, the camera is connected with the remote monitoring unit and mounted on the top of the material platform, the camera obtains direction information by scanning a two-dimensional code on the surface of the calibration block, obtains position information of the forearm by triangulation, and sends the position information to the remote monitoring unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063897.0U CN210819526U (en) | 2019-01-15 | 2019-01-15 | Mechanical arm autonomous navigation moving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063897.0U CN210819526U (en) | 2019-01-15 | 2019-01-15 | Mechanical arm autonomous navigation moving system |
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| CN210819526U true CN210819526U (en) | 2020-06-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571412A (en) * | 2019-01-15 | 2019-04-05 | 北京华晟经世信息技术有限公司 | A kind of mechanical arm independent navigation mobile system and method |
| CN112728341A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
-
2019
- 2019-01-15 CN CN201920063897.0U patent/CN210819526U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571412A (en) * | 2019-01-15 | 2019-04-05 | 北京华晟经世信息技术有限公司 | A kind of mechanical arm independent navigation mobile system and method |
| CN112728341A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
| CN112728341B (en) * | 2020-12-18 | 2022-05-10 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
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Address after: 101111 6-101, 3 / F, building 15, courtyard 3, jinghaiwu Road, Tongzhou District, Beijing Patentee after: Beijing Huasheng Jingshi Information Technology Co.,Ltd. Address before: 100176 6-101, 2-5 / F, building 15, yard 3, jinghaiwu Road, Tongzhou District, Beijing Patentee before: BEIJING HUATEC INFORMATION TECHNOLOGY Co.,Ltd. |
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