CN114952773A - Mobile robot based on motion compensation - Google Patents

Abstract

The invention provides a mobile robot based on motion compensation, comprising: the robot comprises a controller, a movable chassis, a mechanical arm and an end effector; a connecting seat is arranged on the top side surface of the movable chassis; the mechanical arm comprises a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably connected or fixedly connected to the movable chassis through the connecting seat, the top end of the first connecting arm is movably connected with the second connecting arm, and the front end of the second connecting arm is provided with the end effector; the controller is electrically connected with the movable chassis and the mechanical arm, and when the mechanical arm controls the end effector to execute operation actions, the controller controls the movable chassis to perform corresponding matching motion. According to the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the mobile chassis to perform corresponding matching motion, so that the requirement on the degree of freedom of the mechanical arm during the execution of the operation action can be reduced, and the complexity of the mechanical arm on the mobile robot is reduced.

Description

Mobile robot based on motion compensation

Technical Field

The present invention relates to a robot, and more particularly, to a mobile robot based on motion compensation.

Background

An intelligent robot is one of intelligent electrical appliances, and can automatically complete floor cleaning, desktop cleaning, sundries storage, video monitoring and other works in a room by means of certain artificial intelligence. If intelligence robot of sweeping floor can absorb earlier ground debris and get into self rubbish receiver to accomplish the function of ground clearance.

At present, the intelligent robot technology on the market is a single functional main body, if the floor sweeping robot can only clean hair, dust, small-particle garbage and the like, the function is single, and the intelligent robot has few other functions except the basic functions. The function of the intelligent robot is simplified, the function diversification of the intelligent robot is limited, and the intelligent robot is difficult to be suitable for other use scenes.

The intelligent robot in the prior art is high in manufacturing cost, limits the wide application of the intelligent robot, reduces the complexity of the robot, and can reduce the manufacturing cost of the robot, so that the mobile robot based on motion compensation is provided.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a mobile robot based on motion compensation.

The invention provides a mobile robot based on motion compensation, comprising:

moving the chassis;

the connecting seat comprises a first part at least positioned on the moving chassis and a second part which forms a detachable connection or a fixed connection with the first part;

the mechanical arm comprises a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably connected or fixedly connected with a second part of the connecting seat on the movable chassis through a first part of the connecting seat, the top end of the first connecting arm is movably connected with the second connecting arm, and the front end of the second connecting arm is provided with the end effector;

a controller electrically connecting the mobile chassis and the mechanical arm; when the mechanical arm controls the end effector to execute operation actions, the controller controls the mobile chassis to perform corresponding matching motion.

Preferably, when the end effector moves in the orthogonal space in a coupled manner, the controller controls the moving chassis to move simultaneously in the horizontal direction, so as to decouple the movement of the end effector in one direction in the orthogonal space.

Preferably, when the top end of the first connecting arm is connected with the rear end of the second connecting arm through the rotary joint and the end effector is controlled to move in a circular arc track in space, the controller controls the moving chassis to move simultaneously, so that the track of the end effector in space is adjusted to be a straight line or a curved track corresponding to an operation requirement.

Preferably, when the top end of the first connecting arm is connected with the second connecting arm through a linear joint and the end effector is controlled to perform linear motion in a direction in space, the controller controls the moving chassis to perform simultaneous motion so as to adjust the trajectory of the end effector in space to be another linear or curved trajectory corresponding to the operation requirement.

Preferably, when the robot arm controls the end effector to perform an operation motion in the vertical direction, the controller controls the moving chassis to move toward or away from the target object as the end effector moves upward or downward in the vertical direction, so as to realize a motion trajectory for performing the operation motion on the end effector in the vertical direction.

Preferably, when the robot arm controls the end effector to perform an operation motion in a horizontal direction, the controller controls the moving chassis to move while the end effector moves in a direction so as to realize that a motion path of the end effector in a horizontal direction is a superposition of a motion path of the end effector with respect to the moving chassis and a self motion path of the moving chassis.

Preferably, the device further comprises a power supply module;

the power supply module and the controller are arranged on the mobile chassis;

when the mechanical arm is connected to the movable chassis through the connecting seat, the mechanical arm can be electrically connected with the power supply module and/or the controller.

Preferably, the system also comprises a signal receiving module and a remote controller;

the signal receiving module is electrically connected with the controller on one hand and is wirelessly connected with the remote controller on the other hand;

the remote controller is used for sending out a motion control signal and/or an operation control signal;

the controller is used for controlling the movement of the movable chassis according to the movement signal and controlling the mechanical arm to work according to the operation control signal so as to realize the use function.

Preferably, the robot further comprises an information acquisition assembly, wherein the information acquisition assembly is arranged on the mechanical arm;

the information acquisition assembly is used for acquiring information parameters on an article to be operated, and the information parameters comprise type information and/or size information of the article;

the controller is used for outputting an operation instruction according to the received information parameters, wherein the operation instruction comprises a motion instruction for controlling the mechanical arm to be connected with any one of the end effectors and an operation action performed according to the type information of the article.

Preferably, the controller is configured to construct the map and perform positioning through image information or distance information acquired by a sensor located on the mobile floor and/or the functional body;

the sensor includes: any one or more of an optical camera, a millimeter wave radar, an ultrasonic radar, and a laser radar.

Compared with the prior art, the invention has the following beneficial effects:

according to the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the mobile chassis to correspondingly move so as to decouple the spatial motion trail of the end effector, namely, the motion of the mobile chassis is controlled to cooperate with the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm during the execution of the operation action can be reduced, and the complexity of the mechanical arm on the mobile robot is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of a mobile robot based on motion compensation in an embodiment of the present invention;

FIG. 2 is a schematic diagram of the control logic for a mobile robot based on motion compensation according to an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating a first state of the mobile robot performing a first motion compensation according to the embodiment of the present invention;

FIG. 4 is a diagram illustrating a second state of the mobile robot performing a first motion compensation according to an embodiment of the present invention;

FIG. 5 is a diagram illustrating a first state of a mobile robot performing a second motion compensation according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating a second state of the mobile robot performing a second motion compensation according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating a first state of the mobile robot performing a third motion compensation according to the embodiment of the present invention;

FIG. 8 is a diagram illustrating a second state of the mobile robot performing a third motion compensation according to an embodiment of the present invention;

FIG. 9 is an exploded view of a mobile robot based on motion compensation in an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention;

FIG. 11 is a schematic view of a robotic arm in an embodiment of the present invention;

fig. 12 is a schematic view illustrating a first installation angle of a robot arm in the mobile robot according to the embodiment of the present invention;

fig. 13 is a schematic view illustrating a second installation angle of the robot arm in the mobile robot according to the embodiment of the present invention;

FIG. 14 is a schematic diagram of the motion logic of a mobile robot based on motion compensation according to an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a positive and negative pressure control assembly according to an embodiment of the present invention;

FIG. 16 is a schematic view of the configuration of the suction member in the embodiment of the present invention;

fig. 17 is a schematic view of a configuration of a grasping element according to an embodiment of the present invention.

In the figure:

1 is a movable chassis; 2 is a connecting seat; 201 is a mounting groove; 202 is a fixed seat; 203 is a first data connecting port; 204 is an avoidance groove; 205 is a second data connection port; 3 is a mechanical arm; 301 is a first connecting arm; 302 is a second connecting arm; 4 is an end effector; 401 is a suction piece; 402 is a grasping member; 11 is a positive pressure gas source; 12 is a vacuum generator; 13 is a proportional control valve; 14 is a silencer; 15 is a first electromagnetic valve; 16 is a second electromagnetic valve; 17 is a barometer; 18 is a flow meter; and 19 is a total gas path.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The invention provides a mobile robot based on motion compensation, which comprises:

moving the chassis;

the connecting seat comprises a first part at least positioned on the moving chassis and a second part which forms a detachable connection or a fixed connection with the first part;

the mechanical arm comprises a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably connected or fixedly connected with the second part of the connecting seat on the movable chassis through the first part of the connecting seat, the top end of the first connecting arm is rotatably connected with the rear end of the second connecting arm, and the front end of the second connecting arm is provided with the end effector;

a controller electrically connecting the mobile chassis and the mechanical arm; when the mechanical arm controls the end effector to execute operation actions, the controller controls the mobile chassis to perform corresponding matching motion.

In the embodiment of the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the mobile chassis to perform corresponding matching motion, namely the motion of the mobile chassis is controlled to match the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm during the execution of the operation action can be reduced, and the complexity of the mechanical arm on the mobile robot is reduced.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a mobile robot based on motion compensation according to a first embodiment of the present invention, and as shown in fig. 1, the mobile robot based on motion compensation according to the present invention includes a controller, a mobile chassis 1, a robot arm 3, and an end effector 4;

the top side surface of the movable chassis 1 is provided with a first part of a connecting seat 2;

the mechanical arm 3 comprises a first connecting arm 301 and a second connecting arm 302; the bottom end of the first connecting arm 301 is detachably connected or fixedly connected to the first part of the connecting seat 2 of the mobile chassis 1 through the second part of the connecting seat 2, the top end of the first connecting arm 301 is movably connected to the rear end of the second connecting arm 302, and the second connecting arm 302 is provided with the end effector 4;

the controller is electrically connected with the moving chassis 1 and the mechanical arm 3, and when the mechanical arm 3 controls the end effector 4 to execute operation actions, the controller controls the moving chassis 1 to perform corresponding matching motion.

As shown in fig. 1, when the mobile chassis 1 does not perform corresponding motion in cooperation with the motion of the robot arm 3, since the robot arm 3 includes only the first connecting arm 301 and the second connecting arm 302, that is, only one direction of motion can be achieved, when the mobile robot is controlled to perform a wiping work on a wall, the robot arm 3 cannot be attached to the wall due to the upward motion of the end effector 4, and thus corresponding compensation motion is required when the complexity of the robot arm 3 is reduced.

Fig. 2 is a schematic diagram of a control logic of a mobile robot based on motion compensation according to a first embodiment of the present invention, wherein the mobile robot based on motion compensation further includes a voice input module, a power supply module, a signal receiving module and a remote controller;

the signal receiving module is electrically connected with the controller on one hand and is wirelessly connected with the remote controller on the other hand;

the remote controller is used for sending out a motion control signal and/or an operation control signal;

and the controller is used for controlling the movement of the mobile chassis 1 according to the movement signal and controlling the mechanical arm 3 to work according to the operation control signal so as to realize the use function.

The power supply module and the controller are arranged on the mobile chassis 1;

when the mechanical arm 3 is connected to the movable chassis 1 through the connecting seat 2, the mechanical arm 3 can be electrically connected to the power module and the controller.

The voice input module is used for acquiring a voice command, so that the controller can control the movement of the moving chassis and the work of the mechanical arm 3 according to the voice command.

The voice input module can adopt an intelligent sound box, such as a Xiao ai sound box. If the user can put the article in the storage box and then speak the transportation destination command, the controller controls the moving chassis 1 to move to the destination to transport the article.

In an embodiment of the present invention, the controller is configured to construct the map and perform positioning according to image information or distance information acquired by a sensor located on the mobile ground;

the sensor includes: any one or more of an optical camera, a millimeter wave radar, an ultrasonic radar, and a laser radar.

In an embodiment of the present invention, the mobile chassis 1 is mapped and located by SLAM method. When map building and positioning are performed by SLAM, it is possible to implement by providing a laser radar on the mobile chassis 1. The method comprises the following steps of firstly establishing a two-dimensional grid map by carrying out map construction and positioning through a laser radar, setting an initial position of a robot, and setting a target point at the edge of the two-dimensional grid map; collecting three-dimensional point cloud data of a target point, projecting the three-dimensional point cloud data to a two-dimensional grid map plane, and updating the two-dimensional grid map; detecting whether a target point cloud is an object to be modeled; controlling the robot to move to the object to be modeled before modeling the object to be modeled; modeling is carried out on the plurality of objects in sequence until the whole two-dimensional grid map is traversed. In addition, a panoramic camera can be arranged on the mobile platform, and the map can be constructed and positioned through a panoramic image.

In the modification of the present invention, the moving chassis 1 is a sweeping robot.

In the embodiment of the present invention, when the end effector 4 moves in an orthogonal space in a coupled manner, the controller controls the chassis to move simultaneously in the horizontal direction, so as to decouple the movement of the end effector in one direction of the orthogonal space.

For example, when the top end of the first connecting arm 301 is connected to the rear end of the second connecting arm 302 through a rotary joint, and the end effector 4 is controlled to move in a circular arc track in space, the controller controls the moving chassis 1 to move simultaneously, so as to adjust the track of the end effector 4 in space to be a straight line or a curved track corresponding to an operation requirement.

Fig. 3 is a schematic diagram of a first state in which the mobile robot performs a first motion compensation according to an embodiment of the present invention, fig. 4 is a schematic diagram of a second state in which the mobile robot performs the first motion compensation according to an embodiment of the present invention, as shown in fig. 3 and fig. 4,

when the robot arm 3 controls the end effector 4 to perform a wiping motion in the vertical direction, the controller controls the moving chassis 1 to move in a direction approaching or separating from the target object as the end effector moves upward or downward in the vertical direction, so as to realize a motion trajectory for performing the operation motion on the end effector 4 in the vertical direction.

For example, when the robot arm 3 controls the end effector 4 to perform a wiping action of a target object from a bottom-up movement, the controller controls the moving chassis 1 to move in a direction approaching the target object with an upward movement of the end effector 4, so as to implement an upward movement of the end effector 4 to perform a wiping action.

More specifically, when the mechanical arm 3 controls the wiping plate to move from bottom to top to perform the wiping action on the wall, the controller can control the moving chassis 1 to move towards the direction close to the wall along with the upward movement of the wiping plate, so that the wiping plate can be kept close to the wall at any time when moving upwards.

Fig. 5 is a schematic diagram of a first state in which the mobile robot performs a second motion compensation in the embodiment of the present invention, and fig. 6 is a schematic diagram of a second state in which the mobile robot performs the second motion compensation in the embodiment of the present invention, and as shown in fig. 5 and fig. 6, when the robot arm 3 controls the end effector 4 to perform a cleaning action in a horizontal direction, the controller controls the mobile chassis 1 to simultaneously perform a motion along with the end effector 4 moving in one direction, so that a motion path of the end effector 4 in the horizontal direction is a superposition of a motion path of the end effector 4 relative to the mobile chassis 1 and a self motion path of the mobile chassis 1.

For example, when the robot arm 3 controls the end effector 4 to move in one horizontal direction to perform a surface sweeping action on a target object, the controller controls the moving chassis 1 to move in another horizontal direction along with the forward movement of the end effector 4 to realize that the end effector 4 moves in the horizontal direction to perform a sweeping action.

More specifically, when the mechanical arm 3 controls the wiping head to move along a horizontal line of the sofa to perform wiping action on the surface of the sofa, the controller controls the moving chassis 1 to move along the outer side edge of the sofa along with the forward movement of the wiping head, so that the wiping head can move along the horizontal direction to perform wiping action.

Fig. 7 is a schematic diagram of a first state in which the mobile robot performs a second motion compensation in the embodiment of the present invention, and fig. 8 is a schematic diagram of a second state in which the mobile robot performs the second motion compensation in the embodiment of the present invention, and as shown in fig. 7 and fig. 8, when the top end of the first connecting arm 301 is connected to the second connecting arm 302 through a linear joint, and the end effector 4 is controlled to perform a linear motion in a direction in a space to complete a painting operation, the controller controls the mobile chassis 1 to perform a simultaneous motion, so as to adjust a trajectory of the end effector in the space to meet a curved trajectory of an operation requirement.

When the robot arm 3 controls the end effector 4 to move along the curved surface in fig. 7 to perform a painting operation, the controller controls the moving chassis 1 to move backward along with the upward movement of the end effector 4, so that the end effector 4 moves along the curved surface to perform the painting operation.

In an embodiment of the present invention, the detachable connection at least includes any one or more of a magnetic connection, a threaded connection, a pin connection, an elastic deformation connection, a snap connection, and a plug connection.

The above-mentioned detachable connection modes are all exemplified in the present invention, the type of the detachable connection is not critical, and any type of detachable connection mode can be applied to the mobile chassis 1 of the present invention.

Fig. 9 is an exploded schematic view of a mobile robot based on motion compensation according to an embodiment of the present invention, and as shown in fig. 9, the connection socket 2 includes a mounting groove 201 disposed on a top side of the mobile chassis and a fixing seat 202 disposed at a bottom end of the first connection arm 301; namely, the first part is the mounting groove 201, and the second part is the fixing seat 202.

The fixing seat 202 and the mounting groove 201 are matched to realize plug-in detachable connection.

Fig. 10 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention, and as can be clearly shown in fig. 10, an installation slot 201 is formed on a top side surface of the mobile chassis, an opening of the installation slot 201 is rectangular, four sets of first data connection ports 203 are disposed on a slot bottom of the installation slot 201, and each first data connection port 203 corresponds to a side wall surface of one installation slot 201.

Fig. 11 is a schematic structural diagram of a robot arm in an embodiment of the present invention, as shown in fig. 11, the robot arm 3 includes a first connecting arm 301 and a second connecting arm 302, a fixing base 202 is disposed at a bottom end of the first connecting arm 301, and a second data connection port 205 is disposed on the fixing base 202; the second data connection port 205 is used for being matched and connected with the first data connection port 203 so as to realize power supply and communication of the mechanical arm 3.

The power module and the controller are arranged on the mobile chassis, the power module is electrically connected with the power interface of the first data connector 203 to provide electric energy, and the controller is electrically connected with the communication interface of the first data connector 203 to perform communication control.

Be provided with on the fixing base 202 and dodge groove 204, when second data connector 205 with one when first data connector 203 cooperates the connection, all the other three first data connector 203 holds in dodging the groove 204, realize the fixing base 202 the terminal surface with the tank bottom surface of mounting groove 201 closely laminates.

Fig. 12 is a schematic view of a first installation angle of a robot arm in a mobile robot according to an embodiment of the present invention, and fig. 13 is a schematic view of a second installation angle of a robot arm in a mobile robot according to an embodiment of the present invention, as shown in fig. 12 and 13, by setting the fixing base 202 and the mounting groove 201 to be detachably connected in a plug-in manner, when the first connection arm 301 is connected to the mounting groove 201 through the fixing base 202 along the axial direction, the second data connection port 205 is connected to a first data connection port 203 in a matching manner, that is, in the case of fig. 12, at this time, an operation space of the robot arm 3 is within a certain angle range, such as 180 °, directly facing a front side surface of the mobile chassis;

when the first connecting arm 301 rotates 90 degrees along the circumferential direction and then rotates again through the fixing seat 202 and then is connected with the mounting groove 201, the second data connection port 205 is connected with the other first data connection port 203 in a matching manner. I.e. the situation in fig. 13, when the robot arm 3 has an operating space within a certain angular range, such as 180 °, directly facing the left side of the moving chassis.

In an embodiment of the invention, the end effector 4 and the robotic arm 3 form a detachable connection that facilitates quick change.

In the embodiment of the present invention, the mechanical arm 3 and the end effector 4 may be magnetically connected, and the end effector 4 is provided with a first permanent magnet; the tail end of the mechanical arm 3 is provided with a second permanent magnet, and when the tail end of the mechanical arm 3 is butted with the end effector 4, the magnetic connection between the mechanical arm 3 and the end effector 4 can be realized.

In the embodiment of the present invention, the end of the mechanical arm 3 and the end effector 4 may be connected in a plug-in manner, and the end effector 4 is provided with a jack; the tail end of the mechanical arm 3 is provided with the plug-in, when the plug-in is matched with the jack, the tail end of the mechanical arm 3 can be connected with the end effector 4, and connection deviation caused by magnetic connection is avoided.

Fig. 14 is a schematic diagram of a motion logic of a mobile robot based on motion compensation according to a fourth embodiment of the present invention, and as shown in fig. 14, the mobile robot based on motion compensation provided by the present invention further includes an information collecting component;

the information acquisition assembly is used for acquiring information parameters on an article to be operated, and the information parameters comprise type information and/or size information of the article;

and the controller is used for outputting an operation instruction according to the received information parameters, wherein the operation instruction comprises a motion instruction for controlling the mechanical arm 3 to be connected with any one of the end effectors 4 and an operation action performed according to the type information of the article.

The information acquisition component comprises an image acquisition device. The image collector can obtain the image of the current position of the object, the controller can determine the type information of the object from the image information, further determine the picking and placing strategy, namely determine whether the grabbing strategy or the suction strategy is adopted, and output a corresponding instruction to the mechanical arm 3 and the positive and negative pressure control assembly after the determination so as to determine the most suitable picking and placing mode of the object to be grabbed. If the decision is the suction strategy, the positive and negative pressure control component outputs negative pressure, and the mechanical arm 3 is quickly switched to be connected with the sucker and moved to the most appropriate suction position for picking and placing. If the decision is a grabbing strategy, the positive and negative pressure control component outputs positive pressure, the mechanical arm 3 is quickly switched and connected with the flexible claw, and compressed air is filled in a cavity of the flexible claw, so that the flexible claw is deformed to grab an object to be taken and placed.

The image collector can obtain an image of the position of each end effector 4, the controller can determine the type information of the end effectors 4 from the image information, and the mechanical arm 3 is controlled to be connected with the end effectors 4 with corresponding work requirements according to the type information.

In the embodiment of the present invention, when the end effector 4 adopts the grasping part 402 or the sucking part 401, the multifunctional robot further includes an air path component and a positive and negative pressure control component;

the gas path group comprises a main gas path 19 arranged in the mechanical arm 3, an inflation cavity arranged on the grabbing part 402 and a suction hole arranged on the suction part 401, wherein the main gas path 19 is communicated with the suction hole when the grabbing part 402 is connected with the mechanical arm 3, and the main gas path 19 is communicated with the inflation cavity when the suction part 401 is connected with the mechanical arm 3;

and the positive and negative pressure control assembly is used for outputting positive pressure or negative pressure according to an air pressure adjusting instruction sent by the controller.

As shown in fig. 16, the sucking component 401 is a sucking disc component for sucking the article under negative pressure, and as shown in fig. 17, the grasping component 402 is a flexible claw with the inflatable cavity, which can deform to grasp the article under positive pressure and inflated state.

The controller can be according to the information parameter that the information acquisition subassembly gathered, the order of picking of article is waited to snatched in the output adaptation, its information parameter according to current article promptly, steerable mechanical arm 3 is connected with one in grabbing piece 402 and the piece 401 of drawing to control positive negative pressure control assembly output corresponding atmospheric pressure regulation instruction, output negative pressure when specifically adopting the piece 401 of drawing adsorbs the letter sorting with article in order to accomodate to other positions, output positive pressure when adopting the piece 402 of grabbing snatchs article and accomodate to other positions in order to shift.

Fig. 15 is a schematic structural diagram of a positive and negative pressure control assembly according to a fourth embodiment of the present invention, and as shown in fig. 15, the positive and negative pressure control assembly includes a vacuum generator 12, a positive pressure gas source 11, a first solenoid valve 15, and a second solenoid valve 16;

the first electromagnetic valve 15 and the second electromagnetic valve 16 are both two-position three-way valves;

one of the air inlets of the first electromagnetic valve 15 is connected with the positive pressure air source 11 through a first air path, and the air outlet of the first electromagnetic valve 15 is connected with one of the air inlets of the second electromagnetic valve 16;

the other air inlet of the second electromagnetic valve 16 is connected to the vacuum generator 12, and the air outlet of the second electromagnetic valve 16 is connected to the main air passage 19.

In the embodiment of the invention, the quick switching between positive pressure and negative pressure is realized by two-position three-way valves, when the main gas path 19 needs positive pressure, one of the gas inlets of the first electromagnetic valve 15 is controlled to be communicated with the gas outlet, and one of the gas inlets of the second electromagnetic valve 16 is controlled to be communicated with the gas outlet, so that the positive pressure gas source 11 is communicated with the main gas path 19 to provide positive pressure; when negative pressure is needed, one of the air inlets of the first electromagnetic valve 15 is controlled to be disconnected, and the other air inlet of the second electromagnetic valve 16 is controlled to be communicated with the air outlet, so that the vacuum generator 12 is communicated with the main air passage 19 to provide negative pressure.

In an embodiment of the present invention, the positive/negative pressure control component may further provide a normal pressure, the other air inlet of the first electromagnetic valve 15 is connected to the muffler 14, the other air inlet of the first electromagnetic valve 15 is controlled to communicate with the air outlet, one air inlet of the second electromagnetic valve 16 is controlled to communicate with the air outlet, so that the total air path 19 is communicated with the muffler 14, and the total air path 19 is the normal pressure. The normal pressure is switched, so that the object can be placed softly by the sucker on the quick-change system without damaging the surface of the object.

Preferably, in the embodiment of the present invention, the first gas path is provided with the proportional control valve 13, and the main gas path 19 is provided with the flow meter 18 and the air pressure meter 17, so that the adjustment of the positive pressure and the negative pressure can be realized. The embodiment of the invention simultaneously provides the timely monitoring of the pressure and the flow of the positive pressure and the negative pressure, and the proportion regulating valve 13 and the barometer 17 are matched to avoid the damage of the excessive pressure or the flow to the article to be taken, and simultaneously, whether the article falls off or not is judged by detecting whether the flow or the pressure is changed or not in the moving process, so that the reliability of the article transfer is improved.

In the embodiment of the invention, the positive and negative pressure control assembly is arranged in the elbow joint of the mechanical arm 3, one of the positive and negative pressure control assembly does not occupy redundant working space, and the other positive and negative pressure control assembly is convenient for modularized arrangement, so that the positive and negative pressure control assembly can be suitable for different types of mechanical arms 3.

In the embodiment of the present invention, the end effector 4 includes one of the following:

-a gripper 402;

a suction piece 401;

-a vacuum cleaner;

-a scrubbing implement;

-a water lance;

-a wipe plate;

-a wiping head.

In the embodiment of the present invention, the end effector 4 may also be a cleaning tool configured as a watering can, a glass water feeder, a glass scraper, a glass cloth, a mop, a tile cleaner, a toilet brush, a scraper, etc.

When the end effector 4 is a vacuum cleaner, the multi-function robot may perform dust collection on the floor or dust collection on a sofa.

When the end effector 4 is a glass water feeder, a glass scraper and glass cloth, the multifunctional robot can clean the door and window glass and automatically replace the end effector 4 in the door and window cleaning process, for example, the mechanical arm 3 is firstly connected with the glass water feeder to feed water to the door and window glass, then is connected with the glass scraper to scrape and clean, and finally is connected with the glass cloth to wipe off residual water stains, so that the whole door and window glass is cleaned.

The remote controller controls the mechanical arm 3 and the movable chassis to move, and the multifunctional robot is remotely controlled to perform complex and customized operation tasks. For example, when the end effector 4 is a toilet brush, the remote controller can remotely control the multifunctional robot to perform customized cleaning on the parts needing important cleaning.

In the embodiment of the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the mobile chassis to correspondingly move so as to decouple the spatial motion track of the end effector, namely, the motion of the mobile chassis is controlled to cooperate with the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm during the execution of the operation action can be reduced, and the complexity of the mechanical arm on the mobile robot is reduced. .

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims (10)

1. A mobile robot based on motion compensation, comprising:

moving the chassis;

the connecting seat comprises a first part at least positioned on the moving chassis and a second part which forms a detachable connection or a fixed connection with the first part;

the mechanical arm comprises a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably connected or fixedly connected with a second part of the connecting seat on the movable chassis through a first part of the connecting seat, the top end of the first connecting arm is movably connected with the second connecting arm, and the front end of the second connecting arm is provided with an end effector;

a controller electrically connecting the mobile chassis and the mechanical arm; when the mechanical arm controls the end effector to execute operation actions, the controller controls the mobile chassis to perform corresponding matching motion.

2. The motion compensation based mobile robot of claim 1, wherein the controller controls the mobile chassis to move simultaneously in a horizontal direction to decouple motion of the end effector in a direction in orthogonal space when the end effector moves in a coupled manner in orthogonal space.

3. The mobile robot based on motion compensation of claim 2, wherein when the top end of the first connecting arm is connected to the rear end of the second connecting arm through a rotary joint, and the end effector is controlled to move in a circular arc track in space, the controller controls the mobile chassis to move simultaneously, so as to adjust the track of the end effector in space to be a straight line or a curved track corresponding to an operation requirement.

4. The mobile robot based on motion compensation according to claim 2, wherein when the top end of the first connecting arm is connected to the second connecting arm through a linear joint and the end effector is controlled to perform linear motion in one direction in space, the controller controls the mobile chassis to perform simultaneous motion so as to realize adjustment of the trajectory of the end effector in space to another linear or curved trajectory corresponding to an operation requirement.

5. The motion compensation-based mobile robot according to claim 2, wherein when the robot arm controls the end effector to perform an operation motion in a vertical direction, the controller controls the moving chassis to move closer to or farther from a target object as the end effector moves upward or downward in the vertical direction, so as to realize a motion trajectory for performing the operation motion on the end effector in the vertical direction.

6. The motion compensation-based mobile robot of claim 2, wherein when the robotic arm controls the end effector to perform an operational motion in a horizontal direction, the controller controls the mobile chassis to move simultaneously with the end effector moving in a direction to achieve a motion path of the end effector in the horizontal direction that is a superposition of a motion path of the end effector relative to the mobile chassis and a self motion path of the mobile chassis.

7. The mobile robot based on motion compensation of claim 1, wherein the connecting base comprises a mounting groove arranged on the top side surface of the mobile chassis and a fixed base positioned at the bottom end of the first connecting arm;

a plurality of groups of first data connectors are arranged at the bottom of the mounting groove, a fixed seat is arranged at the bottom end of the first connecting arm, and a second data connector is arranged on the fixed seat;

the fixed seat is connected with the mounting groove in a plug-in matching manner;

when the first connecting arm passes through the fixing seat along the axial direction and is connected with the mounting groove in a matched mode, the second data connector is connected with the first data connector in a matched mode, and when the first connecting arm passes through the fixing seat along the circumferential direction and is connected with the mounting groove after rotating, the second data connector is connected with the other first data connector in a matched mode.

8. The motion compensation based mobile robot of claim 1, further comprising a power module;

the power supply module and the controller are arranged on the mobile chassis;

when the mechanical arm is connected to the movable chassis through the connecting seat, the mechanical arm can be electrically connected with the power supply module and/or the controller.

9. The motion compensation based mobile robot according to claim 1, further comprising a signal receiving module and a remote controller;

the signal receiving module is electrically connected with the controller on one hand and is wirelessly connected with the remote controller on the other hand;

the remote controller is used for sending out a motion control signal and/or an operation control signal;

the controller is used for controlling the movement of the movable chassis according to the movement signal and controlling the mechanical arm to work according to the operation control signal so as to realize the use function.

10. The motion compensation based mobile robot of claim 7, further comprising an information acquisition component disposed on the robotic arm;

the information acquisition assembly is used for acquiring information parameters on an article to be operated, and the information parameters comprise type information and/or size information of the article;

the controller is used for outputting an operation instruction according to the received information parameters, wherein the operation instruction comprises a motion instruction for controlling the mechanical arm to be connected with any one of the end effectors and an operation action performed according to the type information of the article.

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