CN107297730A - A kind of support bar and the method for adjusting robot - Google Patents
A kind of support bar and the method for adjusting robot Download PDFInfo
- Publication number
- CN107297730A CN107297730A CN201610232905.0A CN201610232905A CN107297730A CN 107297730 A CN107297730 A CN 107297730A CN 201610232905 A CN201610232905 A CN 201610232905A CN 107297730 A CN107297730 A CN 107297730A
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- CN
- China
- Prior art keywords
- outer tube
- support bar
- expansion link
- motor
- screw mandrel
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
A kind of method the embodiment of the invention discloses support bar and for adjusting robot, the support bar is used for robot system, and the support bar includes：Expansion link, motor and controller；The base connection of the head terminal end connection of one end of the expansion link and the robot system, one end and the robot system；The motor is arranged in the expansion link, and the motor is used to drive the expansion link to stretch；The controller is arranged in the expansion link, the controller and motor electrical connection, and the controller is used to the signal of the regulation expansion link of reception being sent to the motor, so that the motor drives the expansion link to stretch.The support bar can meet the use demand of different scenes user with the height of flexible modulation robot system.
Description
Technical field
The present invention relates to field in intelligent robotics, more particularly to a kind of support bar and the method for adjusting robot.
Background technology
With the development of intelligent robot, its application is more and more extensive.Thus need a kind of diversified support system to carry out auxiliary robot and realize its various functions.
More than existing robot support system by the way of fixed, for example, support bar is fixedly mounted to completion first, then each part of the support bar assembled and robot is attached.In use, once needing to adjust the height of robot, it is necessary to disassemble to come each part of robot, and re-assembly support bar to adapt to current height requirement.
Existing its structure of robot support system is single and not malleable, for needing the usage scenario for being continually changing robot can not meet the use demand of user.
The content of the invention
In order to solve the above technical problems, a kind of method it is an object of the invention to provide support bar and for adjusting robot, its support bar is used for robot system, the use demand of different scenes user can be met with the height of flexible modulation robot system.
To achieve the above object, the present invention provides following technical scheme：
A kind of support bar, the support bar is used for robot system, and the support bar can include：Expansion link, motor and controller；
The base connection of the head terminal end connection of one end of the expansion link and the robot system, one end and the robot system；
The motor is arranged in the expansion link, and the motor is used to drive the expansion link to stretch；
The controller is arranged in the expansion link, the controller and motor electrical connection, and the controller is used to the signal of the regulation expansion link of reception being sent to the motor, so that the motor drives the expansion link to stretch.
It is preferred that, the expansion link can include：First Outer Tube, the second Outer Tube and screw mandrel；
First Outer Tube and second Outer Tube are set-located by the screw mandrel, and first Outer Tube and second Outer Tube can be slided up and down on the screw mandrel respectively.
It is preferred that, sliding block is provided with the screw mandrel, drive first Outer Tube is slided up and down on the screw mandrel by the sliding block and second Outer Tube is slided up and down on the screw mandrel.
It is preferred that, the sliding block and first Outer Tube are respectively arranged with magnetic identical magnetic module close to one end of sliding block and second Outer Tube on one end of sliding block.
It is preferred that, pressure detecting module is additionally provided with the expansion link, the pressure detecting module is used to, when detecting magnetic force arrival preset range suffered by the sliding block, signal is sent to the motor, to control the motor to stop driving.
It is preferred that, plastic spacer, the buffering that the plastic spacer is used between the sliding block and first Outer Tube and second Outer Tube are provided with the contact surface of the sliding block and first Outer Tube and second Outer Tube.
It is preferred that, the controller receives the Regulate signal of the head terminal end by wireless network, and the Regulate signal is used to adjust first Outer Tube and second Outer Tube is slided up and down on the screw mandrel.
It is preferred that, the controller receives the regulating command of remote terminal by the head terminal end, and the regulating command is the second application program on the remote terminal（APP）It is sent to the first application program of the head terminal end（APP）Control instruction, the regulating command is used to adjust first Outer Tube and second Outer Tube is slided up and down on the screw mandrel.
It is preferred that, the first APP and the 2nd APP are communicated by communication protocol.
Further, the present invention also provides following technical scheme：
A kind of method for adjusting robot, methods described can include described support bar, the Regulate signal of the controller receiving terminal, and the Regulate signal is sent to the motor, the motor receives the Regulate signal to control to adjust the height of robot.
The embodiment of the present invention provides a kind of support bar and the method for adjusting robot, and the support bar includes：Expansion link, motor and controller；Regulate signal is received by controller, and the Regulate signal is sent to motor, so that motor driving expansion link stretches；Wherein, Regulate signal is the telescope signal of adjustable telescopic rod.One end and the head terminal end connection of robot system due to expansion link, thus can automatically adjust the head terminal end of machine people to it is suitable highly, with user-friendly.
Brief description of the drawings
The structural representation for the support bar embodiment one that Fig. 1 provides for the present invention；
The structural representation for the support bar embodiment two that Fig. 2 provides for the present invention；
The structural representation for the support bar embodiment three that Fig. 3 provides for the present invention；
The structural representation for the support bar example IV that Fig. 4 provides for the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
The support bar of the present invention is applied to robot system, and be particularly suitable for use in telepresence intelligent robot system, and the telepresence intelligent robot system mainly includes high in the clouds data server, intelligent terminal and telepresence intelligent robot；Intelligent terminal, for when communication data is control class communication data, according to communication data, generating corresponding robot control instruction, and robot control instruction is sent into telepresence intelligent robot；When communication data is reaction type communication data, according to communication data, corresponding feedback information is generated, and feedback information is sent to operation control terminal；Operation control terminal, for sending communication data, and for receiving feedback information；Telepresence intelligent robot, for receiving robot control instruction, and makes corresponding action response；High in the clouds data server, for providing account information for intelligent terminal.
Telepresence intelligent robot, hereinafter referred to as robot, can be by intelligent terminal, i.e. head terminal end in the present invention, and connection cloud server enters row data communication, and control machine human body is operated.Intelligent terminal as robot brain, with fuselage body（The support bar of the present invention）For Split type device, construction cycle and the development cost of developing intellectual resource terminal, the conventional mobile device of intelligent terminal selection, such as smart mobile phone or iPAD can be saved.In addition, if needing to change the use function of robot, it is only necessary to which the application program to intelligent terminal is developed, the global procedures without changing intelligent terminal, this causes the procedure selection of robot and set more flexible.Intelligent terminal can be completely fixed on telepresence intelligent robot, integrated therein；Intelligent terminal can also be detachably arranged on telepresence intelligent robot, facilitate robot to change and update the program of intelligent terminal.
The structural representation for the support bar embodiment one that Fig. 1 provides for the present invention；As shown in figure 1, the support bar can include：Expansion link 200, motor 400 and controller 500；
One end of the expansion link 200 and the head terminal end 300 of the robot system are connected, and the base 100 of one end and the robot system is connected；
The motor 400 is arranged in the expansion link 200, and the motor 400 is used to drive the expansion link 200 to stretch；
The controller 500 is arranged in the expansion link 200, the controller 500 and the motor 400 are electrically connected, the controller 500 is used to the signal of the regulation expansion link 200 of reception being sent to the motor 400, so that the motor 400 drives the expansion link 200 to stretch.
Specifically, motor 400 is internally provided with expansion link 200, wherein, 200 telescopic support bars of the expansion link, it can be by being arranged several sections of support bar groups of connection into and these support bars can be moved up and down by the driving of motor 400, form telescopic bar.Motor 400 is arranged on inside expansion link 200, to control expansion link 200 to stretch.Controller 500 is also disposed on inside expansion link 200, and is electrically connected with motor.Controller 500 can receive the command signal of head terminal end 300, and the instruction is stretched for adjustable telescopic rod 200, and the command signal is sent into motor 400, drive expansion link 200 to be stretched according to the command signal by motor 400.
Head terminal end 300 can be the intelligent terminals such as smart mobile phone or iPAD.Base is the base 100 for being provided with self-balancing, and base 100 includes external wheel, gyroscope and/or accelerometer.
Running gear is provided with base, running gear can be two external wheels, and running gear can be the movable fixture of two-wheeled, even single wheel or other forms.
The structural representation for the support bar embodiment two that Fig. 2 provides for the present invention, as shown in Fig. 2 the expansion link 200 includes：First Outer Tube 210, the second Outer Tube 220 and screw mandrel 230；
First Outer Tube 210 and second Outer Tube 220 are set-located by the screw mandrel 230, and first Outer Tube 210 and second Outer Tube 220 can be slided up and down on the screw mandrel 230 respectively.
Specifically, the expansion link is in order to realize Telescopic, it can be made up of two ends sleeve pipe and a screw mandrel, the sleeve pipe 220 of first sleeve 210 and second is sheathed on screw mandrel 230 respectively, the sleeve pipe 220 of first sleeve 210 and second can be slided up and down on screw mandrel 230 respectively.Wherein, above-mentioned two ends sleeve pipe can be and the supporting screwed sleeve pipe of screw mandrel 230 that under the driving of motor 400, the sleeve pipe 220 of first sleeve 210 and second rotates on screw mandrel 230, so that by the linear motion by convert rotational motion above and below.
The structural representation for the support bar embodiment three that Fig. 3 provides for the present invention, as shown in Figure 3, sliding block 240 is provided with the screw mandrel 230, drive first Outer Tube 210 is slided up and down on the screw mandrel 230 by the sliding block 240 and second Outer Tube 220 is slided up and down on the screw mandrel 230.
Specifically, in order to preferably control the sleeve pipe 220 of first sleeve 210 and second to be slided up and down on screw mandrel 230, sliding block 240 is provided with screw mandrel 230, two sliding blocks are specifically set to, two sliding blocks are connected with the sleeve pipe 220 of first sleeve 210 and second respectively, and the connected mode can be welding；Two sliding blocks have the screw thread matched with screw mandrel 230, thus can be slided up and down on screw mandrel 230；During sliding block is slided, due to two sliding blocks respectively with two sleeve pipe connections, thus two sleeve pipes can be driven to be slided up and down respectively on screw mandrel 230.Meanwhile, above-mentioned two sliding block is connected with motor electricity 400, and under the driving of motor 400, two sliding blocks are slided up and down on screw mandrel 230 respectively, to drive the first Outer Tube 210 and the second Outer Tube 220 to be slided up and down respectively on screw mandrel 230.
It is preferred that, on the support bar shown in Fig. 3, the two ends of screw mandrel 230 are respectively arranged with magnetic identical magnetic module（Fig. 3 is not shown）.
Specifically, in order to prevent that the slip of screw mandrel sliding block comes off inside telescopic rod, breaks down, therefore, magnetic module is set respectively in the inside two ends of expansion link 200 and sliding block 240, the magnetic module is identical with the magnetic of sliding block 240.When sliding block 240 soon slides into 230 two ends of screw mandrel, because same sex magnetic module is repelled each other, therefore, sliding block 240 can be fixed on the home of screw mandrel 230, and anti-limited slip block 240 comes off screw mandrel 230.
The structural representation for the support bar example IV that Fig. 4 provides for the present invention, as shown in Figure 4, pressure detecting module 250 is additionally provided with the expansion link 200, the pressure detecting module 250 is used for when detecting magnetic force arrival preset range suffered by the sliding block 240, signal is sent to the motor 400, to control the motor 400 to stop driving.
Specifically, on the basis of above-described embodiment two, although there is provided magnetic identical magnetic module, but in order to which anti-limited slip block 240 will be when will slide screw mandrel 230, the sleeve pipe being connected respectively with sliding block 240 is damaged by larger magnetic force, therefore one pressure detecting module 250 is set in the inside of expansion link 200, and the pressure detecting module 250 and sliding block 240 and motor 500 are electrically connected, during for detecting that the magnetic force being subject to when sliding block reaches predetermined threshold value, termination signal is sent to motor 400, to control the stop motion of motor 400.Wherein, predetermined threshold value can be set according to system and user's request, be not limited herein.
It is preferred that, on the basis of above-described embodiment, plastic spacer is provided with the contact surface of the sliding block 240 and first Outer Tube 210 and second Outer Tube 220（Not shown in figure）, the buffering that the plastic spacer is used between the sliding block and first Outer Tube and second Outer Tube.
Specifically; in order to which the anti-Outer Tube 210 of limited slip block 240 and first and the second Outer Tube 220 rub in overweight produce of junction stress; so as to damage sliding block 240, the first Outer Tube 210 and the second Outer Tube 220; a plastic spacer is set on the contact surface of the Outer Tube 210 of sliding block 240 and first; plastic spacer similarly is also equipped with the contact surface of the Outer Tube 220 of sliding block 240 and second, plays a part of cushioning effect to protect above-mentioned part.
It is preferred that, the controller 500 receives the Regulate signal of the head terminal end 300 by wireless network, and the Regulate signal is used to adjust first Outer Tube 210 and second Outer Tube 220 is slided up and down on the screw mandrel 230.
Specifically, controller 500 receives the control signal that head terminal end 300 is sent, the mode of reception is to pass through wireless network signal, such as 3G, 4G, WIFI or bluetooth, so as to control support bar oscilaltion, to adjust the position of robot head, suitable observation position is to meet robot head terminal or camera.
It is preferred that, the controller 500 receives the control instruction of remote terminal by the head terminal end 300, the control instruction is sent to the instruction of the first application APP of the head terminal end for the second application APP on the remote terminal, and the control instruction is used to adjust first Outer Tube 210 and second Outer Tube 220 is slided up and down on the screw mandrel 230.
Specifically, controller 500 can also receive the control instruction that remote terminal is sent to APP, the control instruction of reception is sent to head terminal end 300 by APP, head terminal end 300 is received after the control instruction, adjust the first Outer Tube 210 and second Outer Tube 220 is slided up and down on the screw mandrel 230, so as to control expansion link 200 to adjust the height of robot head terminal, so that the people or thing in robot head terminal 300 are in suitable observation position.In above process, remote terminal and head terminal end 300 are both needed to log in APP, and the APP is the application program with log-on message, is instructed so that remote terminal is sent by remote mode to head terminal end 300.
It is preferred that, the first APP and the 2nd APP are communicated by communication protocol.
Specifically, first APP and the 2nd APP are communicated by certain communication protocol, such as QQ, the application programs such as wechat, the input username and password of head terminal end 300 logs in the APP installed in head terminal end, and long-distance user is also inputted the username and password of oneself by remote terminal and logs in the APP installed on remote terminal, needs the head terminal end of remote control to identify by searching, to send communication instruction to the APP for needing to control, so as to realize remote control process.
It is preferred that, the wireless network is：3G, 4G, WIFI or bluetooth.
Here wireless network can be 3G, 4G, any of WIFI or bluetooth, can also be extended in future, add more implementations, be only some modes enumerated herein.
A kind of method for adjusting robot, this method is used for the signal transmission of support bar and used, the Regulate signal of controller receiving terminal, and Regulate signal is sent into motor, motor receives Regulate signal to control expansion link to stretch, and adjusts the height of robot.
A kind of support bar provided by the present invention is described in detail above.Specific case used herein is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help to understand method and its core concept of the invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification is also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. a kind of support bar, the support bar is used for robot system, it is characterised in that the support bar includes：Expansion link, motor and controller；
The base connection of the head terminal end connection of one end of the expansion link and the robot system, one end and the robot system；
The motor is arranged in the expansion link, and the motor is used to drive the expansion link to stretch；
The controller is arranged in the expansion link, the controller and motor electrical connection, and the controller is used to the signal of the regulation expansion link of reception being sent to the motor, so that the motor drives the expansion link to stretch.
2. support bar according to claim 1, it is characterised in that the expansion link includes：First Outer Tube, the second Outer Tube and screw mandrel；
First Outer Tube and second Outer Tube are set-located by the screw mandrel, and first Outer Tube and second Outer Tube can be slided up and down on the screw mandrel respectively.
3. support bar according to claim 2, it is characterised in that be provided with sliding block on the screw mandrel, slides up and down drive first Outer Tube by the sliding block on the screw mandrel and second Outer Tube is slided up and down on the screw mandrel.
4. support bar according to claim 3, it is characterised in that the two ends of the screw mandrel are respectively arranged with magnetic identical magnetic module.
5. support bar according to claim 4, it is characterized in that, pressure detecting module is additionally provided with the expansion link, the pressure detecting module is used for when detecting magnetic force arrival preset range suffered by the sliding block, signal is sent to the motor, to control the motor to stop driving.
6. the support bar according to claim 3 or 4 or 5, it is characterized in that, plastic spacer, the buffering that the plastic spacer is used between the sliding block and first Outer Tube and second Outer Tube are provided with the contact surface of the sliding block and first Outer Tube and second Outer Tube.
7. support bar according to claim 1, it is characterised in that the controller receives the Regulate signal of the head terminal end by wireless network, and the Regulate signal is used to adjust first Outer Tube and second Outer Tube is slided up and down on the screw mandrel.
8. support bar according to claim 1, it is characterized in that, the controller receives the control instruction of remote terminal by the head terminal end, the control instruction is sent to the instruction of the first application program of the head terminal end for the second application program on the remote terminal, and the control instruction is used to adjust first Outer Tube and second Outer Tube is slided up and down on the screw mandrel.
9. support bar according to claim 8, it is characterised in that the first APP and the 2nd APP are communicated by communication protocol.
10. a kind of method for adjusting robot, it is characterized in that, methods described includes any described support bars of claim 1-9, the Regulate signal of the controller receiving terminal, and the Regulate signal is sent to the motor, the motor receives the Regulate signal to control the expansion link to stretch, and adjusts the height of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610232905.0A CN107297730A (en) | 2016-04-15 | 2016-04-15 | A kind of support bar and the method for adjusting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610232905.0A CN107297730A (en) | 2016-04-15 | 2016-04-15 | A kind of support bar and the method for adjusting robot |
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| Publication Number | Publication Date |
|---|---|
| CN107297730A true CN107297730A (en) | 2017-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610232905.0A Pending CN107297730A (en) | 2016-04-15 | 2016-04-15 | A kind of support bar and the method for adjusting robot |
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| CN (1) | CN107297730A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108557680A (en) * | 2018-05-04 | 2018-09-21 | 深圳市精艺佳科技发展有限公司 | More piece helix tube type motor-driven jack control method and its system |
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| US8001909B2 (en) * | 2006-02-10 | 2011-08-23 | Michael Overgaard | Telescopic lifting column for height adjustment of elevatable tables |
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Address after: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant after: Shanghai Ming me information technology Co., Ltd. Address before: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant before: Shanghai Hui Liu cloud computing Science and Technology Ltd. |
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Application publication date: 20171027 |