CN110153985A - A kind of multi-functional robot, omnidirectional - Google Patents
A kind of multi-functional robot, omnidirectional Download PDFInfo
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- CN110153985A CN110153985A CN201810194714.9A CN201810194714A CN110153985A CN 110153985 A CN110153985 A CN 110153985A CN 201810194714 A CN201810194714 A CN 201810194714A CN 110153985 A CN110153985 A CN 110153985A
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- robot
- chassis
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- wheel
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention relates to a kind of multi-functional robots, omnidirectional, belong to intelligent appliance field.The robot includes chassis, driving wheel, Retractive leg, self-balancing system, jacking system, suspension, manipulator, steering engine and fluid storage storehouse；Chassis is driven by 4 motor-driven driving wheels, and it is mobile towards any direction under the premise of not turning round to make robot, while can also be rotated as needed around the chassis center of circle in original place；Infrared distance measuring device is equipped with around chassis, for hiding obstacle；Retractive leg is driven by direct current generator, and is equipped with self-balancing system, realizes that robot smoothly increases operation by jacking system, eminence of taking article；After robot is to step side, the rotation of chassis original place adjusts direction, regulates rear lifting wheel and constantly extends until contacting to earth, so that chassis and manipulator are completely increased to the pre- height set；Manipulator, which using grabbing clamping structure, by two handgrips clamps body surface and passes through the contraction of steering engine again, is dragged to article on parcel shelf.
Description
Technical field
The invention belongs to intelligent appliance fields, are related to a kind of multi-functional robot, omnidirectional.
Background technique
(1) rhythm of life is increasingly accelerated
One research of Britain claims, and the world is all entering " fast life ", and people from global urban averagely adds before walking speed than 10 years
Fast 10%, and the several countries wherein to rank among the best are all the Asian countries quickly grown.Sojourn in Chinese scholar heptan of Japan
Glad theory, nervous fast life are the unavoidable destiny of Chinese this generation people.With the industrial age is entered, especially into information
The change epoch will more focus on team spirit, more focus on the cooperation between team, and in industrial production, information industry it is during upgrading, greatly
The technological know-how of amount is emerged in large numbers, under limited resource, the human world within the unit time, between team, between intercompany or even country
It will necessarily reinforce competing, it will necessarily be to improve efficiency the atmosphere that will necessarily build a kind of fast pace life for own duty at this
It is based oneself upon in a big atmosphere, must just adapt to this fast pace life.People have to reduction by every means not in the case
Necessary thing is to leave oneself more time for, especially in everyday home affairs.
(2) aging of population aggravates
(3) development of current robot
Current era, robot have been deep into the every aspect of human lives.Even if current science and technology is also talked not
On as so extremely miraculous in certain robot films, but according to the speed of nowadays development in science and technology, it is reason to believe that when Gao Zhineng
The arrival in generation will not be too far.The manufacture and application level of robot represent a national manufacturing industry level, develop robot
Industry should rise to national strategy height.Robot is widely utilized that China moves towards the weight that manufacturing industry is made the country prosperous from manufacturing powerhouse
Want means and approach.
(4) small-sized household device people applicable cases
As people's lives rhythm is getting faster, aging of population situation is more serious, and domestic affairs become people
Very big burden in life, this provides opportunity for domestic appliance man-based development.Many specially nursing work is done if be capable of providing
The domestic robot of work, to take care of the daily life of the elderly and the disabled, this quality that can not only make them live is obtained
It improves, the pressure of current state and society can also be alleviated.Oneself is studied through there are decades to domestic robot in the world
History also has developed miscellaneous model machine or product, but current model machine or product is not able to satisfy before not turning round
It puts towards any direction movement, the narrow landform of various complexity can not be adapted to.
Summary of the invention
In view of this, chassis is driven using four motors the purpose of the present invention is to provide a kind of multi-functional robot, omnidirectional
The driving method of dynamic Mecanum wheel keeps robot mobile towards any direction under the premise of not turning round, while can also basis
It needs to rotate in place；Chassis also uses independent suspension structure convenient for up/down steps and ramp, adapts to various landform.Robot is equipped with
The Retractive leg of direct current generator driving, and it is equipped with self-balancing system, realize that robot smoothly increases operation, eminence of taking article；
Robot section is mounted on after-poppet corresponding with parcel shelf, grabs clamping structure using tradition, two handgrips clamp body surface
Article is dragged on parcel shelf by the contraction of steering engine simultaneously；High-definition camera is also equipped on mechanical wrist, camera uses
Machine recognition technology connects 2.4G wireless network and identifies object, while arm uses the structure of holder for aerial photographing, makes mechanical arm can
With 360 ° of rotations and detachably.Infrared distance measuring device is installed for hiding obstacle around chassis, fluid storage is housed on parcel shelf
Storehouse, lower section are equipped with tool installing tache, and fluid storage storehouse is used to use one when tool for storing various solution, tool installing tache
Serial cleaning-nursing work.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of multi-functional robot, omnidirectional, including chassis, driving wheel, Retractive leg, self-balancing system, jacking system, suspension
System, manipulator, steering engine and fluid storage storehouse；
The chassis is driven by 4 motor-driven driving wheels, and driving wheel is Mecanum wheel, and robot is made to exist
It is mobile towards any direction under the premise of not turning round, while can also be rotated as needed around the chassis center of circle in original place；It is equipped with around chassis
Infrared distance measuring device, for hiding obstacle；Chassis is equipped with nine axle acceleration sensor of MPU6050 for accelerating simultaneously；
The Retractive leg is driven by direct current generator, and is equipped with self-balancing system, realizes that robot is steady by jacking system
Ground increases operation, eminence of taking article；After robot is to step side, the rotation of chassis original place adjusts direction, goes up and down after regulating
Constantly elongation is until contacting to earth for wheel, so that chassis and manipulator are completely increased to the pre- height set；On each Retractive leg all
Equipped with pressure sensor, single-chip microcontroller reads the data of pressure sensor and adjusts motor encoder in real time by pid algorithm
So that the power that every leg is born equally guarantees the balance of robot；Lifting leg is driven by direct current generator, passes through STM32F103 monolithic
Machine is adjusted, for adjusting the balance of robot in real time；
The manipulator is mounted on the after-poppet of the parcel shelf on chassis, using clamping structure is grabbed, is pressed from both sides by two handgrips
Article is dragged on parcel shelf by the contraction that firmly body surface passes through steering engine again；It is installed with fluid storage storehouse on parcel shelf, is used for
Various solution are stored, lower section is equipped with tool installing tache, is used for cleaning-nursing tool；Flow rate of liquid flow is controlled by steering engine and is gone out
Show time interval, has separation in tank, for separating different liquids；
It is additionally provided with high-definition camera in the wrist of the manipulator, is known using machine recognition technology connection 2.4G wireless network
Other object；
The operating mode of the robot includes placing object and cleaning ambient；
The placement object operating mode are as follows: robot is mobile with lower speed, passes through the real-time figure of high-definition camera
As searching object, obstacle is hidden by infrared distance measuring device, main control singlechip is transmitted information back to by serial ports and carries out calculating control
Robotic movement, recognizes rear manipulator close to object and quickly adjustment arm makes handgrip clamp cargo cargo, mechanical later
Hand starts to move, and being moved to stretches out the most stable of position of entire robot at this moment by Retractive leg and constantly extend, so that machine
People chassis and robot section completely increase, and to after the height set in advance, article is put into designated place by mechanical arm, and mechanical arm is received
It returns；Self-balancing system avoid mechanical arm extending action and machinery hand down weight during to avoid robot from being raised to higher
The case where height leads to robot unstability；After putting down weight, manipulator is withdrawn, and Retractive leg shortens and withdraws, and robot carries out down
One work；
The cleaning ambient operating mode are as follows: burnisher, including cleaning modes, scouring mould are installed on tool installing tache
Formula and waxing mode；Under cleaning modes, robot all standing is cleaned；In a cleaning mode, robotic liquid storage warehouse according to
Cleaning liquid all standing cleaning needed for the sprinkling of default time.
Further, the chassis uses independent suspension structure, is convenient for up/down steps and ramp, adapts to various landform.
Further, the pedestal of the manipulator arm is cradle head structure, is equipped with one piece of 24V rechargeable battery, uses holder electricity
Machine close-loop driven, make yaw axis can 360 ° of rotations, and it is detachable；Mechanical arm elbow joint using servo driving make 120 ° of pitch axis and
It is rotated up and down above, identifies the camera of gripper to each face of object；The folding for grabbing clamping structure is controlled using steering engine,
It is directly proportional to steering engine strength to grab folder weight of object.
Further, it is expansible to integrate 3 axis MEMS gyroscopes, 3 axis mems accelerometers and one for the suspension
Digital moving processor (Digital Motion Processor, DMP) connects a third-party number with I2C interface and passes
Sensor exports the signal of 9 axis by I2C or SPI interface；The measurement range of sensor be all it is user controllable, for
Track is quickly and movement at a slow speed；
The suspension is independent suspension, and axle is divided into two sections, and every wheel is independently mounted at vehicle frame by helical spring
In the following, another sidecar wheel is unaffected when a sidecar wheel is beated, the wheel self-movement on both sides.
The beneficial effects of the present invention are:
(1) robot is using grabbing the robot manipulator structure of clip, 360 ° of omnidirections rotations of mechanical arm tripod head base and detachable,
Convenient for comprehensive stable crawl object.
(2) intelligence of robot is substantially increased to realize identification function equipped with camera at robot arm wrist
Change degree.
(3) chassis of robot direction movement is, it can be achieved that the translation of 360 ° of any angles, rotary motion in plane, direction is cut
It changes rapidly；The positioning accuracy height of space allocation, posture adjustment high resolution；It is compact-sized, load capacity is big, maintenance cost is low.
(4) mechanical elevating leg of the robot using direct current generator driving PID closed-loop control, compact-sized, reliable operation；It rises
Pressure sensor is housed on contracting wheel, and every leg motor encoder numerical value is controlled by pid algorithm, to realize the flat of robot
Steady lifting, further realizes stair activity function.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is chassis structure schematic diagram of the present invention；
Fig. 2 is that serial double PID regulate and control schematic diagram；
Fig. 3 is robot manipulator structure schematic diagram of the present invention；
Fig. 4 is manipulator gripping portion structural schematic diagram of the present invention；
Fig. 5 is direction movement structural schematic diagram in chassis of the present invention；
Fig. 6 is Mecanum wheel schematic diagram in chassis of the present invention；
Fig. 7 is jacking system structural schematic diagram of the present invention；
Fig. 8 is suspension structure schematic diagram of the present invention；
Fig. 9 is suspension fractionation structural representation of the present invention.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in Figure 1, robot is made using rectangle chassis using the driving method of four motor driven Mecanum wheels
Obtaining robot can move while can also be rotated as needed with original place towards any direction under the premise of not turning round, and be suitble to various
Aisle, chassis are conducive to up/down steps and ramp using independent suspension structure, adapt to various landform；Robot is equipped with direct current
The Retractive leg of machine driving, and it is equipped with self-balancing system, robot can smoothly be increased and implement operation, eminence of taking object
Product；Manipulator uses tradition and grabs clamping structure, and two handgrips clamp body surface, and article is dragged in the contraction of mistake steering engine all simultaneously
It is pulled on parcel shelf；High-definition camera is housed simultaneously, camera connects 2.4G wireless network using machine recognition technology on manipulator
Network identifies object, while arm segment uses the structure of holder for aerial photographing, so that mechanical arm can be with 360 ° of rotations and detachable.?
It is mounted with infrared distance measuring device to hide obstacle around chassis.Fluid storage storehouse is housed, lower section is equipped with work on green parcel shelf
Has installing tache, fluid storage storehouse is used to store various solution, and fluid storage storehouse is installed on parcel shelf, various molten for storing
Liquid, lower section are equipped with tool installing tache, are used for cleaning-nursing tool；
The robot course of work:
Operating mode is selected on a display screen by the button pressed on single-chip microcontroller.
1, object is placed
Robot is mobile with lower speed in complex environment by powerful locomotive function, passes through the real-time of camera
Image searching object hides obstacle by infrared distance measuring device, transmits information back to main control singlechip by serial ports and carries out calculating control
Robotic movement processed, close to this object and quickly adjustment arm makes handgrip clamp cargo cargo to manipulator after recognizing,
Manipulator starts to move later, and being moved to stretches out the most stable of position of entire robot at this moment by expanding pulley and constantly extend,
So that robot chassis and robot section completely increase, to after the height set in advance, article is put into designated place by mechanical arm,
Mechanical arm is withdrawn.Mechanical arm extending action and machinery hand down during weight due to robot is raised to higher height may
It will lead to robot unstability, therefore need the work of balancing device just in this process to have adjusted.It is mechanical after putting down weight
Hand is withdrawn, and lifting leg shortens and withdraws, and robot carries out the next item down work.
2, cleaning ambient
Burnisher, settable cleaning modes, erasure pattern, waxing mode etc. are installed on tool installing tache.
Robot is cleaned according to internal processes all standing under cleaning modes.
Cleaning liquid all standing cleaning needed for robotic liquid storage warehouse is sprayed according to the default time under cleaning model.
Each part introduction
(1) serial double PID regulations
As shown in Fig. 2, PID is that a kind of most common control mode, PID regulation meter are also Industry Control in industrial production
In one of most common instrument, PID is applicable to the system for carrying out high-acruracy survey control, can be drilled automatically according to controlled device
Calculate best pid control parameter.Serial double PID regulation can more accurately control parameter.PID (ratio (proportion), integral
(integral), derivative (derivative)) controller as earliest practical controller appearance has nearly 70 year calendar so far
History is currently still most widely used industrial control unit (ICU).PID controller is easily understood, and accurate system mould is not required in use
The prerequisites such as type, thus become the controller being most widely used.It is simple with its structure, stability is good, reliable operation, tune
Perfect square is just and as one of Industry Control major technique.
(2) introduction of robot section
As shown in figure 3, the structure that the structure of manipulator arm pedestal is holder makes yaw using horizontal stage electric machine close-loop driven
Axis can 360 ° of rotations, mechanical arm elbow joint can make 120 ° of pitch axis or more to be rotated up and down using servo driving, so that gripper
Camera can carry out each face of object identifying that mechanical arm section uses motor driven, and robot is accurately completed
Task, and whole system only needs one piece of 24V rechargeable battery, is saved greatly resource, reduces robot
Cost is conducive to the popularization and promotion of robot.
The folding of gripper as shown in Figure 4 is controlled using steering engine, and strength is at low cost to grab the object for pressing from both sides general weight, and is made
It is related with steering engine strength.
(3) chassis direction movement principle
As seen in figs. 5-6, chassis uses 4 wheel rectangle chassis, and it is complete that 360 deg may be implemented in installation Mecanum wheel
Direction is mobile, and can be rotated with original place around the chassis center of circle, and direction switching is rapid.The positioning accuracy of this structure space adjustment,
Posture adjustment high resolution makes robot movement not need very big aisle space, can greatly reduce the width in aisle.Meanwhile it tying
Structure is compact, load capacity is big, maintenance cost is low；Operate nimble, labor intensity is small, saves manpower.It is equipped on chassis simultaneously
Nine axle acceleration sensor Mecanum wheel of MPU6050 is compact-sized, and movement is a kind of very successful omni-directional wheel flexibly.Have
4 this novel wheels are combined, can be with more flexible convenient realization all-around mobile function.Based on Mecanum wheel technology
Omnibearing movable equipment may be implemented to move ahead, traversing, diagonal, the motion modes such as rotation and combinations thereof.It develops on this basis
Omni-directional forklift and comprehensive shipping platform be very suitable to transhipment space is limited, operation path is narrow ships environment, mentioning
High naval vessel ensures efficiency, increases naval vessel space utilization rate and have a significant effect in terms of reducing human cost.
(4) jacking system
As shown in fig. 7, the rotation of chassis original place adjusts direction after beside robot to step, it is continuous to regulate rear lifting wheel
Elongation is until contacting to earth, so that robot chassis and robot section completely increase, to the height set in advance.On each leg all
Equipped with pressure sensor, single-chip microcontroller reads the data of pressure sensor and adjusts motor encoder in real time by pid algorithm
So that the power that every leg is born equally guarantees the balance of robot.Lifting leg is driven by direct current generator, passes through STM32F103 monolithic
Machine is adjusted, and is conducive to the balance for adjusting robot in real time in this way.
(5) image identification system
There is a high-definition camera to pass through 2.4G by Machine Vision Recognition to object identification at manipulator palm of the hand position
Wireless network collects information.
(6) suspension
As Figure 8-9, MPU-600X (6050) is the whole world 6 axis motion process component of the first conformability, compared to multiple groups
Part scheme eliminates the problem of combination gyroscope between centers difference when accelerator, reduces a large amount of encapsulated space.
It is integrated with 3 axis MEMS gyroscopes, 3 axis mems accelerometers and an expansible digital moving processor
DMP (DigitalMotion Processor) can connect a third-party digital sensor, such as magnetic force with I2C interface
Meter.Can be exported by its I2C or SPI interface after extension 9 axis signal (SPI interface only MPU-6000 can
With).MPU-60X0 can also connect non-inertial digital sensor, such as pressure sensor by its I2C interface.MPU-
60X0 has used respectively gyroscope and accelerometer three 16 ADC, and the analog quantity measured is converted into exportable number
Word amount.In order to accurately track quickly and movement at a slow speed, the measurement range of sensor be all it is user controllable,
Prevent drift from carrying out that chassis traveling is surely made more to be stable and easy to control certainly using module control chassis direction.
In general, the suspension of automobile is divided into dependent suspension and two kinds of independent suspension, the wheel of dependent suspension
Mounted in the both ends of a whole axle, when one side wheel hop, other side wheel is also accordingly beated, make entire body vibrations or
Inclination；The axle of independent suspension is divided into two sections, and every wheel is independently mounted at vehicle frame in the following, when a sidecar wheel is sent out by helical spring
When raw bounce, another sidecar wheel is unaffected, and the wheel on both sides with self-movement, can improve the stationarity of automobile and comfortable
Property.
Robot of the present invention selects independent suspension.
(7) fluid storage storehouse
Flow rate of liquid flow and time of occurrence interval are controlled by steering engine, has separation in tank, for separating different liquid
Body.
(8) selection of robotic material
Robot largely uses 6061 aluminum alloy materials.6061 aluminium alloys are the Gao Pin of thermally treated prestretching stretching process production
Matter alloy product, though intensity cannot be compared with 2XXX system or 7XXX system, its magnesium, silicon alloy characteristic are more, have processability
Indeformable, the fine and close nothing of material after splendid, the excellent weld characteristics of energy and plating resistance, good corrosion resistance, toughness height and processing
It defect and is easily polished, the good characteristics such as film of painting is easy, oxidation effectiveness is splendid.
It is learnt according to market survey, the price of 6061 aluminum alloy materials is moderate, generally finished product 28/kg, waste product 13/kg.
For making machine people, it had both been able to satisfy basic mechanics demand, it also can greatly save the cost, while but also robot
It is more beautiful in appearance, possess fabulous cost performance, in addition 6061 aluminum alloy materials rich choice of products, that sells in the market has plate to have
Bar provides convenience for design processing, is also beneficial to reduce cost, so selecting the material for the main components of robot
Material.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (4)
1. a kind of multi-functional robot, omnidirectional, it is characterised in that: including chassis, driving wheel, Retractive leg, self-balancing system, lifting
System, suspension, manipulator, steering engine and fluid storage storehouse；
The chassis is driven by 4 motor-driven driving wheels, and driving wheel is Mecanum wheel, is turning robot not
It is mobile towards any direction under the premise of body, while can also be rotated as needed around the chassis center of circle in original place；It is equipped with around chassis infrared
Range unit, for hiding obstacle；Chassis is equipped with nine axle acceleration sensor of MPU6050 for accelerating simultaneously；
The Retractive leg is driven by direct current generator, and is equipped with self-balancing system, realizes that robot smoothly rises by jacking system
High operation, eminence of taking article；After robot is to step side, the rotation of chassis original place adjusts direction, regulates rear lifting wheel not
Disconnected elongation is until contacting to earth, so that chassis and manipulator are completely increased to the pre- height set；It is equipped on each Retractive leg
Pressure sensor, single-chip microcontroller, which reads the data of pressure sensor and adjusts motor encoder in real time by pid algorithm, to be made
The power that every leg is born equally guarantees the balance of robot；Lifting leg is driven by direct current generator, passes through STM32F103 single-chip microcontroller tune
Section, for adjusting the balance of robot in real time；
The manipulator is mounted on the after-poppet of the parcel shelf on chassis, using clamping structure is grabbed, clamps object by two handgrips
Article is dragged on parcel shelf by the contraction that body surface face passes through steering engine again；Fluid storage storehouse is installed on parcel shelf, for storing
Various solution, lower section are equipped with tool installing tache, are used for cleaning-nursing tool；When controlling flow rate of liquid flow by steering engine and occur
Between be spaced, have separation in tank, for separating different liquids；
It is additionally provided with high-definition camera in the wrist of the manipulator, object is identified using machine recognition technology connection 2.4G wireless network
Body；
The operating mode of the robot includes placing object and cleaning ambient；
The placement object operating mode are as follows: robot is mobile with lower speed, is sought by the realtime graphic of high-definition camera
Object is looked for, obstacle is hidden by infrared distance measuring device, main control singlechip is transmitted information back to by serial ports and carries out calculating control machine
Human action, recognizes rear manipulator close to object and quickly adjustment arm makes handgrip clamp cargo cargo, and manipulator is opened later
Begin to move, being moved to stretches out the most stable of position of entire robot at this moment by Retractive leg and constantly extend, so that robot bottom
Disk and robot section completely increase, and to after the height set in advance, article is put into designated place by mechanical arm, and mechanical arm is withdrawn；
Self-balancing system avoid mechanical arm extending action and machinery hand down weight during avoid robot from being raised to higher height
The case where degree leads to robot unstability；After putting down weight, manipulator is withdrawn, and Retractive leg shortens and withdraws, and robot carries out next
Item work；
The cleaning ambient operating mode are as follows: burnisher is installed on tool installing tache, including cleaning modes, erasure pattern and
Waxing mode；Under cleaning modes, robot all standing is cleaned；In a cleaning mode, robotic liquid storage warehouse is according to system
Cleaning liquid all standing cleaning needed for setting time sprinkling.
2. a kind of multi-functional robot, omnidirectional according to claim 1, it is characterised in that: the chassis uses independent suspension
Structure is convenient for up/down steps and ramp, adapts to various landform.
3. a kind of multi-functional robot, omnidirectional according to claim 1, it is characterised in that: the pedestal of the manipulator arm
For cradle head structure, be equipped with one piece of 24V rechargeable battery, using horizontal stage electric machine close-loop driven, make yaw axis can 360 ° of rotations, and it is removable
It unloads；Mechanical arm elbow joint makes 120 ° of pitch axis or more to be rotated up and down using servo driving, makes the camera of gripper to object
Each face is identified；The folding for grabbing clamping structure is controlled using steering engine, and it is directly proportional to steering engine strength to grab folder weight of object.
4. a kind of multi-functional robot, omnidirectional according to claim 1, it is characterised in that: the suspension integrates 3 axis
MEMS gyroscope, 3 axis mems accelerometers and an expansible digital moving processor (Digital Motion
Processor, DMP), a third-party digital sensor is connected with I2C interface, exports one 9 by I2C or SPI interface
The signal of axis；The measurement range of sensor be all it is user controllable, for tracking quickly and movement at a slow speed；
The suspension is independent suspension, and axle is divided into two sections, every wheel vehicle frame is independently mounted at by helical spring in the following,
When a sidecar wheel is beated, another sidecar wheel is unaffected, the wheel self-movement on both sides.
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| CN201810194714.9A CN110153985A (en) | 2018-03-09 | 2018-03-09 | A kind of multi-functional robot, omnidirectional |
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| CN201810194714.9A CN110153985A (en) | 2018-03-09 | 2018-03-09 | A kind of multi-functional robot, omnidirectional |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN111290264A (en) * | 2020-03-31 | 2020-06-16 | 五邑大学 | PID control method and device of laundry detergent spraying robot |
| CN111391938A (en) * | 2020-03-09 | 2020-07-10 | 西安理工大学 | AGV (automatic guided vehicle) for conveying copper foil spools |
| CN111638720A (en) * | 2020-05-27 | 2020-09-08 | 北京海益同展信息科技有限公司 | Control method, device, equipment, medium and distribution robot for lifting platform |
-
2018
- 2018-03-09 CN CN201810194714.9A patent/CN110153985A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN111085446B (en) * | 2020-01-03 | 2023-07-18 | 华南理工大学 | Logistics robot with quick response balance and regulation and control method thereof |
| CN111391938A (en) * | 2020-03-09 | 2020-07-10 | 西安理工大学 | AGV (automatic guided vehicle) for conveying copper foil spools |
| CN111290264A (en) * | 2020-03-31 | 2020-06-16 | 五邑大学 | PID control method and device of laundry detergent spraying robot |
| CN111638720A (en) * | 2020-05-27 | 2020-09-08 | 北京海益同展信息科技有限公司 | Control method, device, equipment, medium and distribution robot for lifting platform |
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