CN109333560A - A kind of self-balancing type mobile robot - Google Patents
A kind of self-balancing type mobile robot Download PDFInfo
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- CN109333560A CN109333560A CN201811372724.3A CN201811372724A CN109333560A CN 109333560 A CN109333560 A CN 109333560A CN 201811372724 A CN201811372724 A CN 201811372724A CN 109333560 A CN109333560 A CN 109333560A
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- fixedly installed
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- self
- body 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
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of self-balancing type mobile robots, including main body shell and charging pile, a left side for main body shell, right side wall fixing assembling has both arms executing agency, end rotation mechanism is fixedly installed at the upper surface center of main body shell, the front surface of main body shell, it is fixedly installed with middle control and state display device, and the rear surface of main body shell is fixedly installed with charging interface and charging induction in place and power device, machine human body posture is fed back with built-in accurate solid-state gyroscope, as a source of power using servo deceleration motor, make robot in the process of movement and can achieve control precision height, the advantages that fast response time, simultaneously can the place of pavement roughness carry out using, and the space occupied is smaller during turning, the present invention can assist and the mobile monitor instead of manually carrying out factory, environment Realtime Alerts, the explanation of exhibition room, with the tool of person speech interaction.
Description
Technical field
The present invention relates to balanced type robotic technology field, specially a kind of self-balancing type mobile robot.
Background technique
It is most of to use brushless reducer motor as power source in the application field of the robot of present market, pass through nothing
Brush decelerating motor is poor as power source control precision, and response speed is also very slow, and most of robot is most
Intermediate setting power source surrounding is used above in dynamic structure design, auxiliary device is set, by this setting to robot
The requirement of the flatness on walking road surface is very high, and this structure requires the spatial area of turning greatly, to pass through road
Face injustice and the lesser space in space, on the other hand existing robot is functionally relatively simple, without environmental monitoring and report
Alert function, does not monitor in real time and warning function, does not have cell phone application manipulation function in motor performance mode.Machine cannot be embodied
Device people's is multi-functional, more yards, the advantage of artificial intelligence feature.For this purpose, it is proposed that a kind of self-balancing type mobile robot.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of self-balancing type mobile robot
Problem.
To achieve the above object, the invention provides the following technical scheme: a kind of self-balancing type mobile robot, including main body
Shell and charging pile, the left and right side walls fixing assembling of the main body shell have both arms executing agency, the upper table of the main body shell
End rotation mechanism is fixedly installed at the center of face, and the upper surface of end rotation mechanism is fixedly installed with head shell, it is described
The front surface of main body shell is fixedly installed with middle control and state display device, and the rear surface of main body shell is fixedly installed with and fills
Electrical interface and charging induction in place and power device, the left side wall upper end of the main body shell are fixedly installed with APP cell phone software
Manipulate receiver, and the lower wall of main body shell is fixedly installed with self-balancing mechanism, the APP cell phone software manipulation receiver and
Charging interface is electrically connected with middle control and state display device.
Preferably, the both arms executing agency includes internal executing agency, and the internal executing agency is fixedly mounted on master
The inner cavity of body shell body, and the left and right both ends of internal executing agency lean out the left and right side walls of main body shell respectively, the inside is held
The left and right both ends of row mechanism are fixedly installed with double executing agencies, and the front end of double executing agencies is fixedly installed with intermediate execution machine
Structure, the front end of the middle actuator are fixedly installed with end effector mechanism, the internal executing agency, double executing agencies,
Middle actuator and end effector mechanism are electrically connected with middle control and state display device.
Preferably, the upper surface of the head shell is fixedly installed with heat source and cigarette sense warning device, and head shell
Left and right both ends are symmetrically fixedly installed with loudspeaker, and the right side wall of the head shell is fixedly installed with voice input mechanism device,
The front side wall of the head shell is successively fixedly installed with visual mechanisms and device and Detection of Air Quality sensor from top to bottom,
The heat source and cigarette sense warning device, loudspeaker, visual mechanisms and device and Detection of Air Quality sensor with middle control and shape
The electrical connection of state display device.
Preferably, the front side wall of the main body shell is located at middle control and the lower section of state display device is successively solid from top to bottom
Dingan County is kept away equipped with radar to be hindered device and laser to be kept away to hinder device, the radar keep away hinder device and laser keep away hinder device and with middle control and status display
Device electrical connection.
Preferably, the self-balancing mechanism includes self-balancing mechanism shell, in the upper surface of the self-balancing mechanism shell
It is mutually fixedly connected at the heart with main body shell, and the rear wall of self-balancing mechanism shell is fixedly installed with back obstacle detection sensing
Device offers installation cavity at the lumen centers of the self-balancing mechanism shell, and is fixedly installed in installation cavity by fixed frame
The left and right both ends of accurate solid-state gyroscope, the balance mechanism shell symmetrically offer mounting groove, and pass through fixation in mounting groove
Frame is fixedly installed with servo deceleration motor, and the lateral wall of the servo deceleration motor output end is welded with one end of connecting shaft, and
The other end of connecting shaft is fixedly installed with wheel, and the lateral wall of the wheel is connected with capping, the inner sidewall center of the capping
Place is fixedly installed with fixed link, and fixed link and the output end of servo deceleration motor are mutually clamped, and the inner sidewall of the capping is fixed
It is installed on walking display lamp, the walking display lamp, servo deceleration motor and accurate solid-state gyroscope are aobvious with middle control and state
Showing device electrical connection.
Preferably, the charging pile includes pedestal, and the front side wall of the pedestal is symmetrically fixedly installed with fixing axle, two institutes
It states and is fixedly installed with charging plug between fixing axle, and the front side wall of charging plug is equipped with charge port.
Compared with prior art, the beneficial effects of the present invention are: a kind of self-balancing type mobile robot, possesses self-balancing certainly
Movement and hand-held cell phone application manipulation function, real time monitoring and warning function, environment measuring and warning function, multiple safety protection
Function, executing agency's interworking function of multiple freedom degrees, intelligent human-machine interaction function, by the way that self-balancing mechanism is arranged, with
Built-in accurate solid-state gyroscope feeds back machine human body posture, as a source of power using servo deceleration motor, makes machine
The advantages that device people can achieve in the process of movement controls precision height, fast response time, while can be in pavement roughness
Place is carried out using and the space occupied is smaller during turning, and the present invention can assist and replace manually to carry out work
The Realtime Alerts of the mobile monitor of factory, environment, the explanation of exhibition room, the tool with person speech interaction.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is back schematic diagram of the invention.
Fig. 3 is self-balancing mechanism structural schematic diagram of the invention.
Fig. 4 is charging pile structural schematic diagram of the invention.
In figure: 1, main body shell, 2, both arms executing agency, 2-1, internal executing agency, 2-2, double executing agencies, 2-3, in
Between executing agency, 2-4, end effector mechanism, 3, laser keep away and hinder device, 4, middle control and state display device, 5, end rotation mechanism,
6, head shell, 7, loudspeaker, 8, heat source and cigarette sense warning device, 9, visual mechanisms and device, 10, Detection of Air Quality sensing
Device, 11, voice input mechanism device, 12, self-balancing mechanism, 12-1, self-balancing mechanism shell, 12-2, installation cavity, 12-3, essence
Close solid-state gyroscope, 12-4, mounting groove, 12-5, servo deceleration motor, 12-6, connecting shaft, 12-7, wheel, 12-8, capping,
12-9, fixed link, 12-10, walking display lamp, 13, APP cell phone software manipulation receiver, 14, charging interface, 15, back obstacle
Sensor, 16, charging pile, 16-1, charging plug, 16-2, charging hole, 16-3, fixing axle, 16-4, pedestal, 17, radar keeps away and hinder
Device, 18, charging induction in place and power device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are please referred to, the present invention provides a kind of technical solution: a kind of self-balancing type mobile robot,
Including main body shell 1 and charging pile 16, the left and right side walls fixing assembling of main body shell 1 has both arms executing agency 2, main body shell 1
Upper surface center at be fixedly installed with end rotation mechanism 5, and the upper surface of end rotation mechanism 5 is fixedly installed with head shell
Body 6；
The rotating mechanism that end rotation mechanism 5 is 360 °, is driven using servo motor, and the kind of drive is that synchronous pulley passes
It is dynamic, it is mounted on the top position of main body shell 1, mounting means uses metal plate flange form, and fixed form is bolt locking mechanism；
The front surface of main body shell 1 is fixedly installed with middle control and state display device 4, and the rear surface of main body shell 1 is solid
Dingan County is equipped with charging interface 14 and charging induction in place and power device 18；
Charging pile 16 includes pedestal 16-1, and the front side wall of pedestal 16-1 is symmetrically fixedly installed with fixing axle 16-3, and two solid
Charging plug 16-1 is fixedly installed between dead axle 16-3, and the front side wall of charging plug 16-1 is equipped with charge port 16-2；
Charging interface 14 and charging plug 16-1 can smoothly be charged with charge port 16-2 centering using cone mechanism, and charging is just
Position induction and power device 18 are charge inductive pick-up and power source in place, and power source uses plumbic acid or lithium battery, and charging is just
Position inductor, which is mounted on, rushes cone mechanism lower part, and can be to charging inductor in place and current situation judgement by system control
No charging in place, if not meeting charge condition, robot meeting adjust automatically charge position, repeatedly for three times in place.If in place three times
All unqualified robot can send out audible and visible alarm and photos and sending messages and report charge fault to people's mobile phone terminal APP；
Each group parts such as main body shell 1, both arms executing agency 2, head shell 6 are independent at module, using concealed hidden discount
Mode connects molding, and the composition of each mechanism is all made of standard modular design, facilitates installation and debugging；
Middle control and state display device 4 in the technical program are passed through by the way of independent control with host computer
Profibus-DP or Ethernet ICP/IP protocol networking model, control program are compiled using general SIMATIC Manager
Journey environment facilitates operation interface, program management, operation information, the secondary development and modification of failure logging and system configuration.It supports
The communications protocol such as NC, IO, IPC support intelligent network cloud, facilitate remote supervisory, meanwhile, support 127 (synchronous/asynchronous) of control
Motor supports control bus extension iO points 65536, supports motion control, wireless aps P cell phone software is supported remotely to control, prop up
Hold robot scheduling team control；
Middle control and state display device 4 include the control chip and be fixedly mounted on master that 1 inner cavity of main body shell is fixedly mounted
The display of 1 front side wall of body shell body may be implemented pair by the middle control and state display device 4 of control chip and display composition
The control of the total tune of robot and the information material being shown required for robot is shown, main body shell 1
Left side wall upper end be fixedly installed with APP cell phone software manipulation receiver 13, and the lower wall of main body shell 1 be fixedly installed with from
Balance mechanism 12, APP cell phone software manipulation receiver 13 and charging interface 14 are electrically connected with middle control and state display device 4,
APP cell phone software manipulation receiver 13 with mobile phone terminal for carrying out data transmission.
Both arms executing agency 2 mainly uses servo motor, mechanical arm, mounting flange, shell and corresponding accessory structure
It is assembled；
The principle that both arms executing agency 2 cooperates according to human body both arms, both arms executing agency 2 can compare in a way
The both arms for making human body work, inside executing agency 2-1, double executing agency 2-2, the intermediate execution machine of both arms executing agency 2
There is dependences between structure 2-3 and end effector mechanism 2-4, share application method by middle control and state display device 4
And corresponding data, enable an executing agency to make corresponding movement, logic rule to the reaction of another executing agency
Draw and execute decision；Both arms executing agency 2 include internal executing agency 2-1, internal executing agency 2-1, double executing agency 2-2,
Middle actuator 2-3 and end effector mechanism 2-4 uses control system, sensory perceptual system, electronic apparatus system, executes end system
The fusion of the optimum match method and control algolithm of system, can meet both arms executing agency 2 simultaneously can be along two dimension, three-dimensional motion rail
Mark is moved；
Internal executing agency 2-1 is fixedly mounted on the inner cavity of main body shell 1, and the left and right both ends of inside executing agency 2-1
The left and right side walls of main body shell 1 are leant out respectively, and the left and right both ends of internal executing agency 2-1 are fixedly installed with double executing agency 2-
2, and the front end of double executing agency 2-2 is fixedly installed with middle actuator 2-3, the fixed peace in the front end of middle actuator 2-3
Equipped with end effector mechanism 2-4, internal executing agency 2-1, double executing agency 2-2, middle actuator 2-3 and end execute machine
Structure 2-4 is electrically connected with middle control and state display device 4；
Internal executing agency 2-1, double executing agency 2-2 and middle actuator 2-3 are all made of private and take decelerating motor driving,
Connection type is fastenedly connected using flange, and shell is that ABS engineering plastics are made；End effector mechanism 2-4 uses common flange
It is formed by connecting, is provided with signal and power jack, different end effectors can be replaced according to different work requirements.
Specifically, the upper surface of head shell 6 is fixedly installed with heat source and cigarette sense warning device 8, and head shell 6
Left and right both ends are symmetrically fixedly installed with loudspeaker 7, and the right side wall of head shell 6 is fixedly installed with voice input mechanism device 11；
Voice input mechanism 11 is mounted on head shell 6, using microphones pick up speech source, then passes through middle control and shape
The processing of state display device 4 is transferred to loudspeaker 7 and carries out human-computer interaction dialogue；
The front side wall of head shell 6 is successively fixedly installed with visual mechanisms and device 9 and Detection of Air Quality from top to bottom
Sensor 10, heat source and cigarette sense warning device 8, loudspeaker 7, visual mechanisms and device 9 and Detection of Air Quality sensor 10 are equal
It is electrically connected with middle control and state display device 4；
Visual mechanisms and device 9 are industry camera, are mounted on the eye of robot head moulding, pass through industry camera
Then the image of pickup is transferred to 7 carry out state casting of loudspeaker by middle control and the processing of state display device 4；
Detection of Air Quality sensor 10 is mounted on robot moulding oral area, can then be passed through by sensor parameters
Middle control and state display device 7, are transferred to display or push to mobile phone terminal and show；
Then the overhead that heat source and cigarette sense warning device 8 are mounted on robot is passed through by electrical appliance module parameter sensing
Middle control and state display device 4, are transferred to display or push to mobile phone terminal and show, or alarm.
Specifically, the front side wall of main body shell 1 is located at middle control and the lower section of state display device 4 is successively solid from top to bottom
Dingan County is kept away equipped with radar to be hindered device 17 and laser to be kept away to hinder device 3, radar keep away hinder device 17 and laser keep away hinder device 3 with middle control and status display
Device 4 is electrically connected, and radar, which is kept away, hinders device 17 and laser to keep away the front for hindering device 3 to be mounted on main body from top to bottom, and the structure of use is modeling
Expect fastener mechanism, working principle be barrier appear in inductor regional scope inner machine people can be with emergency shutdown, laser and thunder
Hinder the laser of device 3 or radar to be kept away the radar scanning of device 17 is hindered to be walked space up to being kept away by laser for two kinds of detection safety measures,
Global localization is carried out, sensor carries out space orientation to robot, and (space orientation is that sensor passes through scanning mode detection arrangement
The position of orientation of known active landmark in the environment, according to these position of orientation and its orientation position of corresponding active landmark
Set, calculate position and direction of the robot under reference frame), by sensor self-navigation, and use laser scanning
Radar is monitored surrounding objects, monitored results is sent to middle control and state display device 4, when scanning discovery has object meeting
Into within the scope of robot security, the movement velocity of scanning object is judged, and avoidance is carried out according to the result of judgement；If
The movement velocity of object is greater than the setting upper limit, then in control and state display device 4 control robot and report an error and whistle and stop, directly
Safety zone is left to object, if the movement velocity of object is less than or equal to the setting upper limit, robot speed is regulated and controled, so that
Object or robot are apart equal to set distance when reaching intersection, then pass around object；If object is that static barrier is kept off
On the travel route of robot, and without other barriers, then trolley enters circumvent mode, passes through at this time in line range
The control system of middle control and state display device 4 records the direction of trolley offset track when leaving magnetic orbital, when this sensor
It is adjusted in setting running track again, into normal running mode, when detour, by scanning laser radar, so that object one
Directly outside the safe distance of robot,.
Specifically, self-balancing mechanism 12 includes self-balancing mechanism shell 12-1, self-balancing mechanism shell 12-1, body shell
Body 1 and head shell 6 are all made of mold as shaping carrier, are heated into for 260 ° using engineering plastics ABS molding powder thermoplastic；Good toughness
Intensity is high, and surface can be according to design one-pass molding smooth surface；
It is fixedly connected at the upper surface center of self-balancing mechanism shell 12-1 with 1 phase of main body shell, and self-balancing mechanism shell
The rear wall of body 12-1 is fixedly installed with back obstacle detecting sensor 15, is mounted on the use of the self-balancing mechanism back shell 12-1
Structure be fastener mechanism, working principle be barrier appear in sensing scope inner machine people can be with emergency shutdown, self-balancing machine
Installation cavity 12-2 is offered at the lumen centers of structure shell 12-1, and precision is fixedly installed with by fixed frame in installation cavity 12-2
Solid-state gyroscope 12-3, the left and right both ends of balance mechanism shell 12-1 symmetrically offer mounting groove 12-4, and in mounting groove 12-4
It is fixedly installed with servo deceleration motor 12-5 by fixed frame, the lateral wall of servo deceleration motor 12-5 output end is welded with connection
One end of axis 12-6, and the other end of connecting shaft 12-6 is fixedly installed with wheel 12-7, the lateral wall of wheel 12-7 is connected with envelope
12-8 is covered, covers and is fixedly installed with fixed link 12-9 at the inner sidewall center of 12-8, and fixed link 12-9 and servo deceleration motor
The output end of 12-5 is mutually clamped, and the inner sidewall for covering 12-8 is fixedly installed in walking display lamp 12-10, the display lamp 12-10 that walks,
Servo deceleration motor 12-5 and accurate solid-state gyroscope 12-3 are electrically connected with middle control and state display device 7；
Self-balancing mechanism 12 is by symmetrical servo deceleration motor 12-5 as power source, servo deceleration motor 12-5
With band-type brake function, wheel 12-7 is formed using aluminum wheel hub and solid tire, is passed through connecting shaft 12-6 in structure and is watched
The output end for taking decelerating motor 12-5 is mutually permanently connected, and walking display lamp 12-10 uses sheet metal component and self-balancing mechanism
Shell 12-1 connection molding, by Wiring structure inside hollow shaft aperture, until middle control and state display device 4 carry out concentric wiring
And control.All cablings are respectively provided with the fixation that saddle clip carries out route, guarantee that route cabling is clear；
Using the differential drive control method of symmetrical two groups of wheel 12-7, to control the advance, retrogressing and turning of robot
Function, in addition two groups of servo deceleration motor 12-5 passes through the data algorithm of middle control and state display device 4 and passes equipped with horizontal
The location information of sense guarantees the stable operating status of robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of self-balancing type mobile robot, including main body shell (1) and charging pile (16), which is characterized in that the main body
The left and right side walls fixing assembling of shell (1) has both arms executing agency (2), fixes at the upper surface center of the main body shell (1)
It is equipped with end rotation mechanism (5), and the upper surface of end rotation mechanism (5) is fixedly installed with head shell (6), the main body
The front surface of shell (1) is fixedly installed with middle control and state display device (4), and the rear surface of main body shell (1) is fixedly mounted
There are charging interface (14) and charging induction in place and power device (18), the fixed peace in the left side wall upper end of the main body shell (1)
Receiver (13) are manipulated equipped with APP cell phone software, and the lower wall of main body shell (1) is fixedly installed with self-balancing mechanism (12),
APP cell phone software manipulation receiver (13) and charging interface (14) are electrically connected with middle control and state display device (4).
2. a kind of self-balancing type mobile robot according to claim 1, it is characterised in that: the both arms executing agency
It (2) include internal executing agency (2-1), the internal executing agency (2-1) is fixedly mounted on the inner cavity of main body shell (1), and
The left and right both ends of internal executing agency (2-1) lean out the left and right side walls of main body shell (1), the internal executing agency respectively
The left and right both ends of (2-1) are fixedly installed with double executing agencies (2-2), and during the front end of double executing agencies (2-2) is fixedly installed with
Between executing agency (2-3), the front end of the middle actuator (2-3) is fixedly installed with end effector mechanism (2-4), it is described in
Executing agency of portion (2-1), double executing agencies (2-2), middle actuator (2-3) and end effector mechanism (2-4) with middle control
And state display device (4) electrical connection.
3. a kind of self-balancing type mobile robot according to claim 1, it is characterised in that: the head shell (6)
Upper surface is fixedly installed with heat source and cigarette sense warning device (8), and the left and right both ends of head shell (6) are symmetrically fixedly installed with
The right side wall of loudspeaker (7), the head shell (6) is fixedly installed with voice input mechanism device (11), the head shell
(6) front side wall is successively fixedly installed with visual mechanisms and device (9) and Detection of Air Quality sensor (10), institute from top to bottom
It states heat source and cigarette sense warning device (8), loudspeaker (7), visual mechanisms and device (9) and Detection of Air Quality sensor (10) is equal
It is electrically connected with middle control and state display device (4).
4. the mobile machine of a kind of self-balancing type according to claim 1 enters, it is characterised in that: the main body shell (1)
The lower section that front side wall is located at middle control and state display device (4), which is successively fixedly installed with radar from top to bottom and keeps away, hinders device (17) and sharp
Light, which is kept away, to be hindered device (3), the radar keep away hinder device (17) and laser keep away hinder device (3) with it is middle control and state display device (4) be electrically connected.
5. a kind of self-balancing type mobile robot according to claim 1, it is characterised in that: the self-balancing mechanism (12)
Rear wall including self-balancing mechanism shell (12-1), and self-balancing mechanism shell (12-1) is fixedly installed with back obstacle detection
Sensor (15) is mutually fixedly connected at the upper surface center of the self-balancing mechanism shell (12-1) with main body shell (1), described
It is offered at the lumen centers of self-balancing mechanism shell (12-1) installation cavity (12-2), and passes through fixed frame in installation cavity (12-2)
It is fixedly installed with accurate solid-state gyroscope (12-3), the left and right both ends of the balance mechanism shell (12-1) symmetrically offer peace
Tankage (12-4), and servo deceleration motor (12-5) is fixedly installed with by fixed frame in mounting groove (12-4), the servo subtracts
The lateral wall of speed motor (12-5) output end is welded with one end of connecting shaft (12-6), and the other end of connecting shaft (12-6) is fixed
It is equipped with wheel (12-7), the lateral wall of the wheel (12-7) is connected with capping (12-8), the inside of the capping (12-8)
It is fixedly installed at wall center fixed link (12-9), and fixed link (12-9) and the output end of servo deceleration motor (12-5) mutually block
It connects, the inner sidewall of the capping (12-8) is fixedly installed in walking display lamp (12-10), and the walking display lamp (12-10) is watched
It takes decelerating motor (12-5) and accurate solid-state gyroscope (12-3) is electrically connected with middle control and state display device (4).
6. a kind of self-balancing type mobile robot according to claim 1, it is characterised in that: the charging pile (16) includes
The front side wall of pedestal (16-1), the pedestal (16-1) is symmetrically fixedly installed with fixing axle (16-3), two fixing axles
It is fixedly installed between (16-3) charging plug (16-1), and the front side wall of charging plug (16-1) is equipped with charge port (16-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811372724.3A CN109333560A (en) | 2018-11-19 | 2018-11-19 | A kind of self-balancing type mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811372724.3A CN109333560A (en) | 2018-11-19 | 2018-11-19 | A kind of self-balancing type mobile robot |
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| CN109333560A true CN109333560A (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811372724.3A Pending CN109333560A (en) | 2018-11-19 | 2018-11-19 | A kind of self-balancing type mobile robot |
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