CN107380298A - A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm - Google Patents
A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm Download PDFInfo
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- CN107380298A CN107380298A CN201710607286.3A CN201710607286A CN107380298A CN 107380298 A CN107380298 A CN 107380298A CN 201710607286 A CN201710607286 A CN 201710607286A CN 107380298 A CN107380298 A CN 107380298A
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- double
- degree
- mechanical arm
- wheel self
- balancing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm, the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm includes double-wheel self-balancing base, the universal bearing being arranged on double-wheel self-balancing base, the four-degree-of-freedom mechanical arm being arranged on universal bearing and control system, and control system includes identification of lines module, double-core control module, ultrasonic scanning module, material recognition module, camera.Present invention saves substantial amounts of production space.And double-wheel self-balancing car has the advantages that flexible in operation, is swift in motion, can adapt to extraneous different changes.Most prominent be exactly it have utilize the characteristic that bulky goods is deacclimatized the advantages of itself, universal bearing passes through the drive mechanism rotation installed in balance base, because drive mechanism is 360 degree of rotary devices, it is thus possible to changes to comprehensive no dead angle the direction of mechanical arm.
Description
Technical field
The present invention relates to balance car technical field, more particularly, to a kind of Double-wheel self-balancing intelligence of four-degree-of-freedom mechanical arm
Haulage equipment.
Background technology
Industrially, it is traditionally most of if necessary to which product is transported to another workspace from a workspace
It is to be fixed against manually to participate in realize, not only operating efficiency is low but also is carrying high-risk goods and is being harmful in carrying for traditional mode
Huge injury can be caused during material to human body.When some goods need machine to carry, in order to tackle some heavier goods
Thing, the general volume of machine traditionally is larger, and not only space-consuming, efficiency are low, and complex operation, and energy loss is more.
Therefore, it is necessary to a kind of new technical scheme is provided to overcome drawbacks described above.
The content of the invention
It is an object of the invention to provide a kind of two-wheel for the four-degree-of-freedom mechanical arm that can effectively solve above-mentioned technical problem
Self-balancing intelligence haulage equipment.
To reach the purpose of the present invention, adopt the following technical scheme that：
The Double-wheel self-balancing intelligence haulage equipment of the four-degree-of-freedom mechanical arm includes double-wheel self-balancing base, is arranged at institute
The four-degree-of-freedom mechanical arm and control system for state the universal bearing on double-wheel self-balancing base, being arranged on the universal bearing,
The control system includes identification of lines module, double-core control module, ultrasonic scanning module, material recognition module, camera.
The double-wheel self-balancing base is two-wheeled balance car.
Described four are connected by degree mechanical arm with universal bearing.
The identification of lines module is arranged on the double-wheel self-balancing car, the identification of lines module and the double-core control
Molding block connects.
The ultrasonic scanning module is arranged on the two-wheeled balance car, and the ultrasonic scanning module controls with double-core
Module connects.
The material recognition module is arranged on the four-degree-of-freedom mechanical arm, the material recognition module and the double-core
Control module connects.
The camera is connected with double-core control module, and the camera is arranged on the four-degree-of-freedom mechanical arm.
The control system is additionally provided with a power supply, the identification of lines module, double-core control module, ultrasonic scanning mould
Block, material recognition module, camera are electrically connected with the power supply.
Compared with prior art, the present invention has the advantages that：The two-wheel of four-degree-of-freedom mechanical arm of the present invention is certainly flat
The intelligent haulage equipment that weighs saves substantial amounts of production space, and double-wheel self-balancing car has flexible in operation, is swift in motion, energy
Enough the advantages that adapting to extraneous different changes, most prominent is exactly it with utilizing the spy that bulky goods is deacclimatized the advantages of itself
Property, universal bearing passes through the drive mechanism rotation installed in balance base, because drive mechanism is 360 degree of rotary devices, thus
It can change to comprehensive no dead angle the direction of mechanical arm, the mechanical arm of four-degree-of-freedom is arranged on above universal bearing, due to gathering around
There are four joints, its scope of activities and space have obtained greatly extending, can not only be in limited space
Perfectly shrink and be adapted to space complicated and changeable.
Embodiment
The Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm of the present invention includes double-wheel self-balancing base, is arranged at
Universal bearing on the double-wheel self-balancing base, the four-degree-of-freedom mechanical arm being arranged on the universal bearing and control system
System.
The double-wheel self-balancing base is two-wheeled balance car common on the market, and it has two wheels and can realized certainly
By moving, it belongs to prior art, therefore will not be repeated here.The universal bearing is arranged on the double-wheel self-balancing base,
The universal bearing is provided with drive mechanism, and it can realize the rotation of everything bearing, and the drive mechanism is prior art, therefore
It will not be repeated here.Described four are connected by degree mechanical arm with universal bearing, and the universal bearing can realize four-degree-of-freedom machinery
The rotation of arm, the four-degree-of-freedom mechanical arm have four frees degree, and it belongs to prior art, therefore will not be repeated here.
The control system includes identification of lines module, double-core control module, ultrasonic scanning module, material recognition mould
Block, camera.The identification of lines module is arranged on the double-wheel self-balancing car, and the identification of lines module can be used for knowing
Other route, so that two-wheeled balance car can be moved to the position of needs, and the walking that can follow the prescribed course.It is described
Double-core control module can be handled data, and the identification of lines module is connected with the double-core control module so that institute
The data that stating double-core control module can send to identification of lines module are handled.The ultrasonic scanning module is arranged at institute
State on two-wheeled balance car, the ultrasonic scanning module is connected with double-core control module, and the double-core control module can be to super
The data that ultra sonic scanner module is sent are handled, and instruction can be sent to ultrasonic scanning module, and the ultrasonic wave is swept
Retouching module has accurately positioning function, can recognize that target position.The material recognition module is arranged at described four
On degree-of-freedom manipulator, material can be identified for the material recognition module, the material recognition module and the double-core
Control module connects.The camera is connected with double-core control module, so as to handle the data that it sends, and
Instruction can be sent to the camera, the camera is arranged on the four-degree-of-freedom mechanical arm.The control system is also
Provided with a power supply (not shown), the identification of lines module, double-core control module, ultrasonic scanning module, material recognition mould
Block, camera are electrically connected with the power supply, and electric energy is provided for it.
The key problem in technology of the present invention is as follows：
1st, equalization point is found between the heavy burden of mechanical arm and the balance of fuselage, allows the robot to smoothly run, when
The center of gravity of the robotic gripper rear body of weight is changed, and bottom balance two-wheel carries out a series of algorithm, adjusts again
Center of gravity, this way are that transfer robot traditionally does not reach much.
2nd, the structure of two-wheel largely saves ground space during carrying, and can flexibly turn
To even if without adjustment direction of going to war when running into obstacle, only needing the balance two-wheel of bottom to change angle can complete to keep away
The action such as allow.
3rd, wherein one big characteristic of the mechanical arm of multi-angle various dimensions as the robot, can not only adapt to the more of environment
Become to reach by changing the position in joint and avoid other goods and disturb precisely to clamp the purpose of target goods, various dimensions are also
The placed angle of mechanical arm can flexibly be changed, comprehensive work can be accomplished, the clamping limb of itself is adjusted by rotating horizontally
Orientation, carry out precisely clamping and precisely launch.
4th, stabilization is allowed the robot to by a series of advanced algorithms such as PID, binary channels filtering, Kalman filterings
Operation, and Dinuclear Systems are utilized, by the cooperation of algorithm, the accurate processing of data so that whole operation process can be efficient
Precisely operation.
Application of the present invention is wide：
1st, industrially, it is also that we go to overturn the aspect of tradition carrying in a hurry as our idea source, can incites somebody to action
This robot, which makes, to be carried and arranges for the orientation of a factory products, and can be completely disengaged people and be kept, and is only needed among this
Regularly machine maintenance maintenance fine setting is carried out, reaches full automation during work, the working time is unrestricted.Save work
People labour, also play the purpose of protection worker.On the other hand can also accomplish more accurately to throw than the mankind when carrying material
Put, such as in terms of express delivery sorting, in terms of freight classification, the mankind can increase with the working time, pay attention to scattered, it is impossible to accomplish
Absolutely successfully launch, and robot is that have sensing device identification, the situation that mechanical arm enforcement action does not have fatigue goes out
It is existing, reach and absolutely launch rate of precision.
2nd, agriculturally, automation sowing fertigation integration machine can be made by changing the construction of mechanical arm
People, because the native face of agricultural seeder is complicated and changeable, now complex equilibrium base and its balance two-wheel make the overall energy of machine
Enough flexible and stable operation, mechanical arm can transform the sowing apparatus of seed as, and the balance base of bottom can also be equipped with a set of
Intelligent excavating system, can be to broadcast because the universal bearing of mechanical arm bottom can make mechanical arm be located at different directions
Kind machine provides optimal angle sowing, though seeding integrated machine at present agriculturally is more, is analogous to such with stabilizer
As mobile vehicle and its not yet occur, often agricultural machinery is all more large-scale, and our robot can accomplish it is small
Ingeniously, make seeding process more accurate, make full use of land resource.
3rd, in the detection of land resource, there are the place that some mankind can not reach, or place with a varied topography, I
Robot can mechanical arm front end be equipped with camera and its scan module, reach the detection purpose to landform, can do
Terrestrial information is identified to full-automation, the complicated situation on ground can be also resisted, accomplish to be swept under conditions of homeostasis
Retouch observation geography information.Also it is not excluded for can apply in the detection of marine resources in the future.
4th, there is bigger open market in our following two-wheel balance transfer robot, can militarily be converted into complete
Landform makees battlebus, and home services formula robot can be converted into present smart home field, because of domestic such product
Market or suitable vacancy, therefore we have huge development prospect.On the other hand, we will develop our in the recent period
Generation works, and debugged and tested, adjust to optimal state.And contact company in need and carry out adaptability
Practice, verify feasibility, when demand reaches it is a certain amount of when our can be assisted to manufacture to connecting some companies, strive for allowing me
Double-wheel self-balancing Intelligent transfer robot can create bigger social value.
Claims (8)
- A kind of 1. Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm, it is characterised in that：The four-degree-of-freedom machinery The Double-wheel self-balancing intelligence haulage equipment of arm include double-wheel self-balancing base, be arranged at it is universal on the double-wheel self-balancing base Bearing, the four-degree-of-freedom mechanical arm being arranged on the universal bearing and control system, the control system include identification of lines Module, double-core control module, ultrasonic scanning module, material recognition module, camera.
- 2. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 1, it is characterised in that：It is described Double-wheel self-balancing base is two-wheeled balance car.
- 3. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 2, it is characterised in that：It is described Four are connected by degree mechanical arm with universal bearing.
- 4. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 3, it is characterised in that：It is described Identification of lines module is arranged on the double-wheel self-balancing car, and the identification of lines module is connected with the double-core control module.
- 5. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 4, it is characterised in that：It is described Ultrasonic scanning module is arranged on the two-wheeled balance car, and the ultrasonic scanning module is connected with double-core control module.
- 6. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 5, it is characterised in that：It is described Material recognition module is arranged on the four-degree-of-freedom mechanical arm, and the material recognition module connects with the double-core control module Connect.
- 7. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 6, it is characterised in that：It is described Camera is connected with double-core control module, and the camera is arranged on the four-degree-of-freedom mechanical arm.
- 8. the Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm as claimed in claim 7, it is characterised in that：It is described Control system is additionally provided with a power supply, the identification of lines module, double-core control module, ultrasonic scanning module, material recognition mould Block, camera are electrically connected with the power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607286.3A CN107380298A (en) | 2017-07-24 | 2017-07-24 | A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607286.3A CN107380298A (en) | 2017-07-24 | 2017-07-24 | A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN107380298A true CN107380298A (en) | 2017-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710607286.3A Pending CN107380298A (en) | 2017-07-24 | 2017-07-24 | A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN105424404A (en) * | 2015-12-16 | 2016-03-23 | 西安建筑科技大学 | Four-DOF (degree-of-freedom) coal sampling vehicle capable of independently turning |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| JP2016209971A (en) * | 2015-05-12 | 2016-12-15 | ライフロボティクス株式会社 | Robot system |
| CN106426076A (en) * | 2016-08-18 | 2017-02-22 | 无锡百禾工业机器人有限公司 | Convenient assistance manipulator |
| CN205972607U (en) * | 2016-07-20 | 2017-02-22 | 苏州小喇叭信息科技有限公司 | Letter sorting transport AGV car |
-
2017
- 2017-07-24 CN CN201710607286.3A patent/CN107380298A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| JP2016209971A (en) * | 2015-05-12 | 2016-12-15 | ライフロボティクス株式会社 | Robot system |
| CN105424404A (en) * | 2015-12-16 | 2016-03-23 | 西安建筑科技大学 | Four-DOF (degree-of-freedom) coal sampling vehicle capable of independently turning |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN205972607U (en) * | 2016-07-20 | 2017-02-22 | 苏州小喇叭信息科技有限公司 | Letter sorting transport AGV car |
| CN106426076A (en) * | 2016-08-18 | 2017-02-22 | 无锡百禾工业机器人有限公司 | Convenient assistance manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20171124 |