CN102380866A - Transport security robot based on omnidirectional moving platform - Google Patents
Transport security robot based on omnidirectional moving platform Download PDFInfo
- Publication number
- CN102380866A CN102380866A CN2011102688953A CN201110268895A CN102380866A CN 102380866 A CN102380866 A CN 102380866A CN 2011102688953 A CN2011102688953 A CN 2011102688953A CN 201110268895 A CN201110268895 A CN 201110268895A CN 102380866 A CN102380866 A CN 102380866A
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- China
- Prior art keywords
- shoulder
- paw
- moving platform
- arm
- base
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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
Abstract
The invention aims to provide a transport security robot based on an omnidirectional moving platform. Driving wheels and driven wheels are mounted below a base plate, a first drive motor is mounted on each driving wheel, a fixed base is mounted on the base plate, an arm base is mounted on the fixed base, a first speed reducing motor is mounted in the fixed base and connected with the arm base, a big arm plate is mounted on the arm base and connected with a forearm shell through a shoulder rotating shaft and a shoulder rear cover, a shoulder joint speed reducing motor is mounted at the position of the shoulder rotating shaft, a second speed reducing motor is mounted in the shoulder rear cover and connected with the forearm shell, a linear motor is mounted in the forearm shell and connected with a telescopic forearm, a paw is connected with the telescopic forearm through a paw base, and a miniature camera is mounted on the shoulder rear cover. The transport security robot provided with the moving platform capable of moving omnidirectionally adapts to complex situations of storage space, narrow working space, complex ground conditions and the like effectively, and can be used for cargo storage and transport flexibly.
Description
Technical field
What the present invention relates to is a kind of robot that is used to transport.
Background technology
Transportation robot and security protection equipment are widely used in places such as factories and miness, warehouse, station, harbour, airport, goods yard, logistics center, can load and unload goods, operations such as short distance carrying and safety inspection, and be imperative equipment in the logistics accumulating.
Patent " automated storage and retrieval system servo method and system ", " automatic loading, unloading and transferring system for container wharf " are the transmission equipment than the simple fixation position, very flexible.Partly adopt automatically guiding trolley to carry out the accumulating of goods in more advanced factory, but its motion there is the dead angle turning dumb.The safety guarantee in warehouse is many by fixing camera shooting and send the Control Room staff in addition, at these equipment of some emergency situation and can't dispose, and considers also can't dispose from personal safety some dangerous situation staff.
Summary of the invention
But the object of the present invention is to provide the transportation security protection robot based on the omnidirectional moving platform of a kind of omnidirectional running, little spatial movement.
The objective of the invention is to realize like this:
The present invention is based on the transportation security protection robot of omnidirectional moving platform, it is characterized in that: comprise driving wheel, driven pulley, chassis, firm banking, arm base, big arm plate, shoulder rotating shaft, flexible forearm, hold in hand, motor that described motor comprises drive motors, reducing motor, linear electric motors; Driving wheel and driven pulley are installed in the below, chassis, and first drive motors is installed on the driving wheel, and firm banking is installed on the chassis; The arm base is installed on the firm banking, and first reducing motor is installed in the firm banking, and first reducing motor connects the arm base; Big arm plate is installed on the arm base, and big arm plate is connected little arm housing through the shoulder rotating shaft with the shoulder bonnet, and the shoulder joint reducing motor is installed in shoulder rotating shaft place; Second reducing motor is installed in the shoulder bonnet; Second reducing motor connects little arm housing, in the forearm housing linear electric motors is installed, and described linear electric motors connect flexible forearm; Paw connects flexible forearm through the paw base, on the shoulder bonnet minisize pick-up head is installed.
The present invention can also comprise:
1, described paw comprises finger, gear connecting rod, paw upper shell, paw lower house, drive motors; The paw upper shell connects the paw lower house; Second drive motors is installed in paw upper shell and the consitutional inside of paw lower house, and second drive motors connects finger through gear connecting rod.
2, between described driven pulley and the chassis buffer spring is installed.
3, described driving wheel and driven pulley have two respectively, and two driven pulleys and two driving wheel across are distributed on the chassis.
4, comprise hierarchic structure on the described arm base, described big arm plate is installed on the ladder of arm base.
Advantage of the present invention is: the present invention has the motion platform of ability omnidirectional moving, and it is complicated well to have adapted to storage space situation, and working space is narrow and small, and situation such as state of ground complicacy can be carried out the accumulating of goods flexibly.This robot can flow to remote control terminal through the first scene image information of network shooting in addition, has realized the flexible monitoring of security situation and the timely disposal of unsafe condition.Its manipulator can carry out the carrying and the disposal of goods or dangerous goods flexibly in bigger space.
Description of drawings
Fig. 1 is an assembling sketch map of the present invention;
Fig. 2 is a paw sketch map of the present invention;
Fig. 3 is a three-dimensional structure sketch map of the present invention.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, the technical scheme that the present invention adopted is: the bottom motion platform adopts two driving wheels, and two universal wheels serve as driven pulley, and two reducing motors respectively are installed on each driving wheel.One of them reducing motor can wheels rotate, and the required power that advances is provided.Another reducing motor is connected on the chassis of car body, and the input of output shaft and wheel support body links together through key and pin, thereby realizes 360 ° of rotations of support body.Adopt the method for closed-loop control to make two driving wheels rotate identical angles simultaneously, thereby make the space of platform not have the problem at dead point.This motion platform can be accomplished the motion of different tracks under the situation of not adjusting attitude.On the driven pulley buffer gear has been installed respectively simultaneously, and then has been solved the four-wheel device because the unsettled problem of skidding of driving wheel that the ground injustice causes.
The manipulator of a four-degree-of-freedom is housed on the motion platform.Its four frees degree are three rotary motion pairs and a moving movement pair; Three rotary joints have guaranteed arm freely-movable in spatial dimension; And linear joint is according to the custom-designed activity space that strengthened of the characteristics of this robot, makes things convenient for manipulator in certain space, to carry out various tasks.
Innovation part of the present invention: the platform of the motion platform of foundation two-wheeled difference structure different from the past; There is not nonholonomic constraint; It can do rectilinear motion and the transition turning that do not need to rotate in advance to any direction; And in the process that arrives impact point with rectilinear motion, can do the attitude of adjustment robot that self rotatablely moves simultaneously, thereby reach the required attitude angle of final state.Like this, just make robot show the motion fast and flexible, be easy to advantages such as control.And on the other hand; Be equipped with on the omnidirectional chassis flexibly; The four-degree-of-freedom mechanical arm that range of movement is big, it is big at the front end of mechanical arm visual range to be installed, and the micronet camera of advantages of small volume can be through the computer remote monitoring; Cooperate mobile chassis and mechanical arm, can accomplish the function of security monitoring and identification and conveyance target item.
The present invention mainly is made up of relatively independent and complementary two large divisions on mechanical architecture: the mechanical arm of omnidirectional moving platform and four-degree-of-freedom.Both are this transportation security protection robot through monitoring and control systems incorporate.
1. driven pulleys among the figure, 2. buffer spring, 3. chassis, 4. firm banking, 5. arm base, 6. big arm plate; 7. shoulder rotating shaft, 8. shoulder joint reducing motor, 9. joint bonnet, 10. minisize pick-up head, 11. little arm housings, 12. flexible forearms; 13. flange, 14. paw bases, 15. paws, 16. directions control motor, 17. drive motors, 18. driving wheels; 19. finger, 20 nuts, 21. bolts, 22. gear connecting rods, 23. paw upper shells, 24 paw lower houses.
As shown in Figure 1, from bottom to top, both direction control motor 16 is connected on the chassis 3 through motor cabinet, through the direction of motion of control system control regulation and control wheel; Adopt key to be connected with pin between the output of direction control motor 16 and the vehicle wheel frame, with 3 centres, chassis buffer spring 2 is being housed at two driven universal wheels 1, it is more steady that motion platform is moved, and the effect with buffering; Vehicle wheel frame adopts thrust ball bearing to contact with chassis 3, guarantees vehicle wheel frame rotation normally in 360 ° plane; Wheel 1 links together through axletree and vehicle wheel frame; The two ends of axletree are connected with vehicle wheel frame through deep groove ball bearing, and input is connected with the reducing motor 17 that is fixed on through motor cabinet on the vehicle wheel frame, and the other end is spacing with baffle plate, assurance driving wheel 18 positions.Two driven universal wheels 1 and two adhesion wheel 18 across are distributed on the chassis 3.3 center fixed has the firm banking 4 of installation manipulator arm on the chassis, in fixed underpan 4 inside reducing motor is arranged, and being connected arm base 5. arm bases 5 both sides with bearing through flange has two ladders; With the big arm plate 6 of screw attachment, the shoulder rotating shaft 7 that the front end of big arm plate 6 is equipped with manipulator, shoulder rotating shaft 7 inner primary structures comprise: the shoulder shaft housing; Flange; Bearing, shaft coupling, multidiameter etc.The shoulder joint drives through the shoulder joint reducing motor 8 that is installed in shoulder axle one end.Shoulder bonnet 9 and minisize pick-up head 10 are housed respectively on the shoulder housing.Shoulder bonnet 9 inside are equipped with the reducing motor 8 that drives the ancon joint motions, are fixed on the shoulder enclosure interior, and it is outside to adopt flange and bearing to be connected the housing 11 of forearm at motor shaft end, makes this joint have the function of rotation.And in the internal fixation of forearm housing 11 linear electric motors, linear electric motors front end axle and flexible forearm 12 connect firmly together, the flexible forearm of motor-driven 12 is flexible.End at flexible forearm 12 is equipped with flange 13, and its first line of a couplet catcher pawl base 14 is installed paw 15 on the paw base 14.
Fig. 2 is the enlarged drawing of mechanical paw.The housing of adpting flange is divided into upper shell 23 lower houses 24 two parts, and through screw attachment, enclosure interior is equipped with drive motors between the last lower house; Motor shaft connection gear connecting rod 22; Gear connecting rod 22 connects finger 19 through bolt 21, nut 20, thereby drives two meshing gears, and then the motion of control four-bar mechanism; Make terminal finger 19 realize on-off action, realize grasping function.
Motion scheme: two reducing motors 16 above the omnidirectional moving platform of bottom are under the situation of all not having corner, and the reducing motor 17 that links to each other with vehicle wheel frame drives car body along straight-line travelling through the identical speed of control system input.When car body need change route, the reducing motor 16 of top, chassis was through the identical corner of control system input, and two motors turn over identical angle, and robot is promptly along this direction running like this.When the reducing motor 16 of top, chassis is imported 90 ° corner through the control system; Driving through the reducing motor 17 that links to each other with vehicle wheel frame; Robot can transversely go under the situation that need not turn vehicle body; Need not the radius of turn of traditional wheeled mobile robot, this is a big innovative point of this robot.
On the basis of bottom omnidirectional platform, this robot is furnished with the four-degree-of-freedom mechanical arm and accomplishes periphery than the short-distance transport of article in the large space or pick and place.
The minisize pick-up head 10 that is installed in the arm top in the robot moving process can be monitored surrounding enviroment; And image is sent to network through IP Camera 10 and warehouse WLAN, thereby the user all can carry out safety monitoring to local condition through network anywhere.When running into the situation that needs disposal, can control the motion and the terminal finger 19 gripping target objects of mechanical arm of mechanical arm through the corner in each joint of Long-distance Control, carry or handle.
In actual application; There is not nonholonomic constraint in the motion platform of this omnidirectional's cart system; Can be under the situation that need not turn vehicle body the motion of 360 ° of space any directions of Rapid Realization, well adapt to the compound movement space, the environment of especially little job space.The mode of the function security monitoring different from the past of its monitoring, more flexible, the user can monitor through the arbitrary network end.The manipulator part can well be accomplished than the carrying of wisp and the disposal of some emergency situation.
Omnidirectional moving of the present invention in general, network monitoring, functions such as carrying and emergency action function all can well be served actual demand, have fine novelty and practical significance.
Claims (9)
1. based on the transportation security protection robot of omnidirectional moving platform, it is characterized in that: comprise driving wheel, driven pulley, chassis, firm banking, arm base, big arm plate, shoulder rotating shaft, flexible forearm, hold in hand, motor that described motor comprises drive motors, reducing motor, linear electric motors; Driving wheel and driven pulley are installed in the below, chassis, and first drive motors is installed on the driving wheel, and firm banking is installed on the chassis; The arm base is installed on the firm banking, and first reducing motor is installed in the firm banking, and first reducing motor connects the arm base; Big arm plate is installed on the arm base, and big arm plate is connected little arm housing through the shoulder rotating shaft with the shoulder bonnet, and the shoulder joint reducing motor is installed in shoulder rotating shaft place; Second reducing motor is installed in the shoulder bonnet; Second reducing motor connects little arm housing, in the forearm housing linear electric motors is installed, and described linear electric motors connect flexible forearm; Paw connects flexible forearm through the paw base, on the shoulder bonnet minisize pick-up head is installed.
2. the transportation security protection robot based on the omnidirectional moving platform according to claim 1; It is characterized in that: described paw comprises finger, gear connecting rod, paw upper shell, paw lower house, drive motors; The paw upper shell connects the paw lower house; Second drive motors is installed in paw upper shell and the consitutional inside of paw lower house, and second drive motors connects finger through gear connecting rod.
3. the transportation security protection robot based on the omnidirectional moving platform according to claim 1 and 2 is characterized in that: between described driven pulley and the chassis buffer spring is installed.
4. the transportation security protection robot based on the omnidirectional moving platform according to claim 1 and 2, it is characterized in that: described driving wheel and driven pulley have two respectively, and two driven pulleys and two driving wheel across are distributed on the chassis.
5. the transportation security protection robot based on the omnidirectional moving platform according to claim 3, it is characterized in that: described driving wheel and driven pulley have two respectively, and two driven pulleys and two driving wheel across are distributed on the chassis.
6. the transportation security protection robot based on the omnidirectional moving platform according to claim 1 and 2 is characterized in that: comprise hierarchic structure on the described arm base, described big arm plate is installed on the ladder of arm base.
7. the transportation security protection robot based on the omnidirectional moving platform according to claim 3 is characterized in that: comprise hierarchic structure on the described arm base, described big arm plate is installed on the ladder of arm base.
8. the transportation security protection robot based on the omnidirectional moving platform according to claim 4 is characterized in that: comprise hierarchic structure on the described arm base, described big arm plate is installed on the ladder of arm base.
9. the transportation security protection robot based on the omnidirectional moving platform according to claim 5 is characterized in that: comprise hierarchic structure on the described arm base, described big arm plate is installed on the ladder of arm base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102688953A CN102380866A (en) | 2011-09-13 | 2011-09-13 | Transport security robot based on omnidirectional moving platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011102688953A CN102380866A (en) | 2011-09-13 | 2011-09-13 | Transport security robot based on omnidirectional moving platform |
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| CN102380866A true CN102380866A (en) | 2012-03-21 |
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| CN2011102688953A Pending CN102380866A (en) | 2011-09-13 | 2011-09-13 | Transport security robot based on omnidirectional moving platform |
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Cited By (9)
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|---|---|---|---|---|
| CN104493829A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Visual supermarket robot |
| CN105500330A (en) * | 2015-12-01 | 2016-04-20 | 岳睿 | Unmanned electromechanical integration transport vehicle |
| CN105881554A (en) * | 2016-05-27 | 2016-08-24 | 广东工业大学 | Intelligent express delivery package collection robot |
| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
| CN106927250A (en) * | 2017-02-27 | 2017-07-07 | 西安交通大学 | A kind of commodity carrying damping captures robot automatically |
| CN107322565A (en) * | 2017-08-04 | 2017-11-07 | 厦门理工学院 | Transfer robot |
| US10052764B2 (en) | 2016-06-16 | 2018-08-21 | Toyota Motor Engineering & Manufacutring North America, Inc. | Automated and adjustable platform surface |
| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| EP3712102A1 (en) * | 2019-03-20 | 2020-09-23 | Asti Mobile Robotics, S.A.U. | Omnidirectional autonomous vehicle |
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| CN107322565A (en) * | 2017-08-04 | 2017-11-07 | 厦门理工学院 | Transfer robot |
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| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| CN108656124B (en) * | 2018-04-08 | 2021-11-02 | 谢娟 | Robot |
| EP3712102A1 (en) * | 2019-03-20 | 2020-09-23 | Asti Mobile Robotics, S.A.U. | Omnidirectional autonomous vehicle |
| WO2020187457A1 (en) | 2019-03-20 | 2020-09-24 | Asti Mobile Robotics, S.A.U | Autonomous omnidirectional drive unit |
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Application publication date: 20120321 |