CN114952774A

CN114952774A - Mobile robot based on mobile chassis

Info

Publication number: CN114952774A
Application number: CN202210620399.8A
Authority: CN
Inventors: 周佳骥; 许青
Original assignee: Star Ape Philosophy Technology Shanghai Co ltd
Current assignee: Star Ape Philosophy Technology Shanghai Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-08-30

Abstract

The invention provides a mobile robot based on a mobile chassis, which comprises the mobile chassis, a controller, a connecting seat and a mechanical arm, wherein the controller is arranged on the mobile chassis; the connecting seat is arranged on the movable chassis; the mechanical arms are detachably connected to the movable chassis through the connecting seats and used for executing operation functions; the mobile chassis is used for moving and positioning according to a pre-constructed map and moving to a position on the map according to a motion signal sent by the controller; and the controller is used for controlling the movement of the movable chassis and controlling the mechanical arm to execute an operation function. According to the invention, the multiple mechanical arms are detachably arranged on the movable chassis, and the movable chassis drives the mechanical arms to move and position on a pre-constructed map, so that the working range and the application scene of the mechanical arms are expanded, and the mechanical arms can conveniently execute multiple operation functions.

Description

Mobile robot based on mobile chassis

Technical Field

The invention relates to a robot, in particular to a mobile robot based on a mobile chassis.

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 the intelligent floor sweeping robot can absorb and enter the garbage storage box of the robot with the sundries on the ground firstly, the function of cleaning the ground is achieved.

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 single, 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 needs to break through not only in functions such as sweeping and storage, but also in field application, so that a mobile robot based on a mobile chassis is provided.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a mobile robot based on a mobile chassis.

The mobile robot based on the mobile chassis comprises the mobile chassis, a controller, a connecting seat and a mechanical arm;

the connecting seat is arranged on the movable chassis;

the mechanical arms are detachably connected to the movable chassis through the connecting seats and used for executing operation functions;

the mobile chassis is used for moving and positioning according to a pre-constructed map and moving to a position on the map according to a motion signal sent by the controller;

the controller is used for controlling the movement of the mobile chassis and/or controlling the mechanical arm to execute operation functions.

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.

Preferably, the detachable connection comprises at least any one or any plurality of a magnetic connection, a threaded connection, a pinned connection, an elastically deformable connection, a snap-fit connection and a bayonet connection.

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 connecting seat comprises a mounting groove arranged on the top side surface of the movable chassis and a fixed seat 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 fixing seat is connected with the mounting groove in a plug-in matching mode, and when the fixing seat is plugged into the mounting groove, the second data connector is connected with the first data connector in a matching mode.

Preferably, when the first connecting arm is connected with the mounting groove through the fixing seat in a matching manner along the axial direction, the second data connector is connected with one of the first data connectors in a matching manner, and when the first connecting arm rotates around the axial direction and then is connected with the mounting groove through the fixing seat, the second data connector is connected with the other first data connector in a matching manner.

Preferably, the mobile chassis is mapped and positioned by a SLAM method.

Preferably, the moving chassis adopts a sweeping robot.

Preferably, the mobile chassis comprises a base, a lifting mechanism and a connecting plate;

the connecting plate is connected with the base through the lifting mechanism;

the connecting seat is arranged on the connecting plate;

and the lifting mechanism is used for driving the functional body on the connecting seat to lift.

Preferably, the robotic arm comprises a robotic arm and a plurality of different types of end effectors;

the end effector and the mechanical arm form detachable connection convenient for quick replacement.

Preferably, the system further comprises an information acquisition 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;

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, when the end effector adopts a grabbing piece or a sucking piece, the mobile robot further comprises an air path assembly and a positive and negative pressure control assembly;

the air path group comprises a main air path arranged in the mechanical arm, an inflation cavity arranged on the grabbing piece and an absorption hole arranged on the absorption piece, wherein the main air path is communicated with the absorption hole when the grabbing piece is connected with the mechanical arm, and the main air path is communicated with the inflation cavity when the absorption piece is connected with the mechanical arm;

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.

Preferably, the positive and negative pressure control assembly comprises a vacuum generator, a positive pressure air source, a first solenoid valve and a second solenoid valve;

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

one air inlet of the first electromagnetic valve is connected with a positive pressure air source through a first air passage, and an air outlet of the first electromagnetic valve is connected with one air inlet of the second electromagnetic valve;

and the other air inlet of the second electromagnetic valve is connected with the vacuum generator, and the air outlet of the second electromagnetic valve is connected with the main air passage.

Preferably, the end effector comprises one of:

-a grasping element;

-a suction piece;

-a vacuum cleaner;

-a scrubbing implement;

-a water lance.

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

according to the invention, the mobile chassis is detachably provided with a plurality of mechanical arms, and the mobile chassis drives the mechanical arms to move and position on the pre-constructed map, so that the working range and the application scene of the mechanical arms are expanded, and the mechanical arms can conveniently execute a plurality of operation works;

when the mechanical arm is loaded on the movable chassis, the working range and the application scene of the mechanical arm can be conveniently expanded, when the mechanical arm is unloaded on the movable chassis, the movable chassis can be ensured to independently execute the operation function, and when the movable chassis is a sweeper and executes the cleaning function, the cleaning area which can be entered cannot be influenced by the height of the mechanical arm.

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 a mobile chassis according to an embodiment of the present invention;

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

FIG. 3 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention;

FIG. 6 is an exploded view of a mobile robot based on a mobile chassis according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention;

FIG. 8 is a schematic view of a robotic arm according to an embodiment of the present invention;

fig. 9 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. 10 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. 11 is a schematic view of a first state of a lifting mechanism in the mobile robot according to the embodiment of the invention;

fig. 12 is a schematic diagram illustrating a second state of the lifting mechanism in the mobile robot according to the embodiment of the present invention;

FIG. 13(a) is a schematic view of a robot arm of a mobile robot in a first state according to an embodiment of the present invention;

FIG. 13(b) is a diagram illustrating a second state of the robot arm of the mobile robot in accordance with the exemplary embodiment of the present invention;

FIG. 13(c) is a schematic view of a robot arm in a mobile robot in a third state according to an embodiment of the present invention;

FIG. 13(d) is a diagram illustrating a fourth state of the robot arm of the mobile robot according to the embodiment of the present invention;

fig. 13(e) is a schematic view illustrating a state of an auto-loading/unloading display in the mobile robot according to the embodiment of the present invention;

FIG. 14 is a schematic diagram of several end effectors according to an embodiment of the invention;

FIG. 15 is a schematic diagram of the motion logic of a mobile robot based on a mobile chassis according to an embodiment of the present invention;

FIG. 16 is a schematic diagram of a positive and negative pressure control assembly according to an embodiment of the present invention;

FIG. 17 is a schematic view of the configuration of the suction member in the embodiment of the present invention;

fig. 18 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; 101 is a base; 102 is a lifting mechanism; 103 is a connecting plate; 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; a storage tray is 3; 4 is a suction piece; 5 is a mechanical arm; 501 is a first connecting arm; 502 is a second link arm; 6 is an end effector; 7 is a grasping member; 8 is a bracket; 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 concept 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 fixing 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 a mobile chassis, which comprises the mobile chassis, a controller, a connecting seat and a mechanical arm;

the connecting seat is arranged on the movable chassis;

the mechanical arm is detachably connected to the movable chassis through the connecting seat and is used for executing an operation function;

and the controller is used for controlling the movement of the movable chassis and controlling the mechanical arm to execute an operation function.

In the embodiment of the invention, the mobile chassis is detachably provided with the multiple mechanical arms, and the mobile chassis drives the mechanical arms to move and position on the pre-constructed map, so that the working range and the application scene of the mechanical arms are expanded, and the mechanical arms can conveniently execute multiple operation functions.

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 a mobile chassis according to an embodiment of the present invention, and as shown in fig. 1, the mobile robot based on a mobile chassis provided by the present invention includes a mobile chassis 1, a controller, a connecting seat 2, and a robot arm 5;

the connecting seat 2 is arranged on the movable chassis 1;

the mechanical arm 5 is detachably connected to the movable chassis 1 through the connecting seat 2 and is used for executing an operation function;

the mobile chassis 1 is used for moving and positioning according to a pre-constructed map and moving to a position on the map according to a motion signal sent by the controller;

the controller is used for controlling the movement of the mobile chassis 1 and/or controlling the mechanical arm 5 to execute operation functions.

In an embodiment of the present invention, the detachable connection at least includes any one or any 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. 2 is a schematic diagram of a control logic of a mobile robot based on a mobile chassis according to an embodiment of the present invention, where the mobile robot based on a mobile chassis 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;

and the controller is used for controlling the movement of the mobile chassis 1 according to the movement signal and controlling the mechanical arm 5 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;

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 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 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 the embodiment of the present invention, the mobile chassis 1 is mapped and located by the 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 map construction and positioning can be carried out through panoramic images.

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

Fig. 3 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention, which can be understood by those skilled in the art as a modification of the embodiment, as shown in fig. 3, in the embodiment of the present invention, the connecting seat 2 is a box supporting structure, the upper end of the connecting seat 2 is a storage tray 3, an object can be placed on the storage tray, and the object is moved to a target position by the mobile chassis 1.

In a modification of the present invention, the storage tray may be replaced with a storage shelf.

Fig. 4 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention, which can be understood by those skilled in the art as a modification to the embodiment, as shown in fig. 4, in the embodiment of the present invention, the connecting seat 2 is a box supporting structure, and a floor washing machine may be disposed at the end of the robot arm 5, and the floor washing machine is driven to move along with the movement of the mobile chassis 1 to realize automatic floor washing.

In this embodiment, the lidar may be located on the docking station 2, already mapped and located.

Fig. 5 is a schematic structural diagram of a mobile robot based on a mobile chassis according to an embodiment of the present invention, and as shown in fig. 5, the mobile robot based on a mobile chassis provided in the present invention further includes a plurality of end effectors 6 of different types;

the end effector 6 forms a detachable connection with the robot arm 5 that facilitates quick change.

In the embodiment of the present invention, the mechanical arm 5 and the end effector 6 may be magnetically connected, and the end effector 6 is provided with a first permanent magnet; the tail end of the mechanical arm 5 is provided with a second permanent magnet, and when the tail end of the mechanical arm 5 is butted with the end effector 6, the magnetic connection between the mechanical arm 5 and the end effector 6 can be realized.

In the embodiment of the present invention, the end of the mechanical arm 5 and the end effector 6 may be connected in a plug-in manner, and the end effector 6 is provided with a jack; the tail end of the mechanical arm 5 is provided with the plug-in, when the plug-in is matched with the jack, the tail end of the mechanical arm 5 can be connected with the end effector 6, and connection deviation caused by magnetic connection is avoided.

In the present embodiment, the robot arm 5 includes a first connecting arm 501 and a second connecting arm 502; the bottom end of the first connecting arm 301 is detachably connected or fixedly connected to the first portion of the connecting seat 2 of the mobile chassis 1 through the second portion of the connecting seat 2, the top end of the first connecting arm 501 is rotatably connected to the rear end of the second connecting arm 502, and the second connecting arm 502 is provided with the end effector 4.

Fig. 6 is an exploded schematic view of a mobile robot based on a mobile chassis according to an embodiment of the present invention, and as shown in fig. 6, the connection socket 2 includes a mounting slot 201 disposed on a top side of the mobile chassis and a fixing socket 202 disposed at a bottom end of the first connection arm 501, that is, a first portion is the mounting slot 201, and a second portion is the fixing socket 202.

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

Fig. 7 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention, and can be clearly shown in fig. 7, an opening of the mounting groove 201 is rectangular, four sets of first data connection ports 203 are disposed at a bottom of the mounting groove 201, and each first data connection port 203 corresponds to a side wall surface of one mounting groove 201.

Fig. 8 is a schematic structural view of a robot arm in an embodiment of the present invention, as shown in fig. 8, the robot arm 5 includes a first connecting arm 501 and a second connecting arm 502, a fixing base 202 is disposed at a bottom end of the first connecting arm 501, 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 5.

The first data connector 203 and the second data connector 205 comprise a power interface and a communication interface;

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. 9 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. 10 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. 9 and fig. 10, 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 501 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. 10, at this time, an operation space of the robot arm 5 is within a certain angle range, such as 180 °, directly facing a front side surface of the mobile chassis;

when the first connecting arm 501 rotates 90 degrees around the axial direction and then is connected to the mounting groove 201 through the fixing seat 202 again, the second data connection port 205 is connected to another first data connection port 203 in a matching manner. I.e. the situation in fig. 10, when the robot arm 5 has an operating space within a certain angular range, such as 180 °, directly facing the left side of the moving chassis.

Fig. 11 is a schematic diagram of a first state of a lifting mechanism in a mobile robot according to a fourth embodiment of the present invention, and fig. 12 is a schematic diagram of a second state of the lifting mechanism in the mobile robot according to the fourth embodiment of the present invention, as shown in fig. 11 and 12, the mobile chassis 1 includes a base 101, a lifting mechanism 102, and a connecting plate 103;

the connecting plate 103 is connected with the base 101 through the lifting mechanism 102;

the connecting seat 2 is arranged on the connecting plate 103;

the lifting mechanism 102 is configured to drive the functional body 3 on the connection seat 2 to lift.

In this embodiment, the lifting mechanism 102 adopts any one of a hydraulic lifting, a pneumatic lifting, a lead screw lifting, a scissor lifting, a chain lifting, and a screw lifting.

Fig. 13(a) to 13(e) are schematic diagrams illustrating various states of an automatic loading and unloading robot arm and a schematic diagram illustrating a state of an automatic loading and unloading display in a mobile robot according to an embodiment of the present invention, as shown in fig. 13, a functional body may be automatically loaded or unloaded by a mobile chassis by using a characteristic that the mobile chassis is capable of being lifted, specifically:

as shown in fig. 13(a), when the robot 5 needs to be loaded, the moving chassis 1 travels to a rack area, and the robot 5 and a display or other functional body are placed on the rack 8;

as shown in fig. 13(b), the moving chassis 1 moves to below the robot arm 5, and the connecting base is lifted by the lifting mechanism to be connected with the robot arm 5 in a matching manner, so as to realize mechanical and electrical connection with the robot arm 5;

as shown in fig. 13(c), after the robot arm 5 is loaded, the moving chassis 1 moves away from the support 8, so that the robot arm 5 can be removed from the support 8;

as shown in fig. 13(d), when the robot arm 5 needs to be unloaded, the mobile chassis 1 travels to a corresponding idle slot on the support area, the assembly height of the robot arm 5 is adjusted by the lifting mechanism and then moves in a direction approaching the support 8, so that the robot arm 5 can be loaded into the idle slot on the support 8, and then the height of the mobile chassis 1 is reduced to complete the unloading operation.

As shown in fig. 13(e), it is also possible to select the matching direction of the functional body by controlling different orientations of the mobile chassis 1, so as to realize that the functional body, such as the display, the robot arm 5, etc., has different orientations on the mobile chassis 1, so as to meet the work requirements of the mobile robot.

Fig. 15 is a schematic view of a motion logic of a mobile robot based on a mobile chassis according to an embodiment of the present invention, and as shown in fig. 15, the mobile robot based on a mobile chassis provided by the present invention further includes an information collecting component;

and the controller is used for outputting operation instructions according to the received information parameters, wherein the operation instructions comprise a motion instruction for controlling the mechanical arm 5 to be connected with any one of the end effectors 6 and operation actions 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 5 and the positive and negative pressure control component 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 5 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 5 is quickly switched and connected with the flexible claw, and compressed air is filled in the 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 the image of the position of each end effector 6, the controller can determine the type information of the end effectors 6 from the image information, and the mechanical arm 5 is controlled to be connected with the end effectors 6 with corresponding work requirements according to the type information.

In the embodiment of the invention, when the end effector 6 adopts the grabbing part 7 or the sucking part 4, the mobile robot further comprises 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 5, an inflation cavity arranged on the grabbing part 7 and a suction hole arranged on the suction part 4, wherein the main gas path 19 is communicated with the suction hole when the grabbing part 7 is connected with the mechanical arm 5, and the main gas path 19 is communicated with the inflation cavity when the suction part 4 is connected with the mechanical arm 5;

As shown in fig. 17, the suction member 4 is a suction disc member for sucking the article under negative pressure, and as shown in fig. 18, the grasping member 7 is a flexible paw with the inflatable cavity, which can deform the flexible paw to grasp the article under positive pressure inflation.

The controller can be according to the information parameter that the information acquisition subassembly gathered, the order of choosing of article is waited to snatched in the output adaptation, its information parameter according to current article promptly, steerable arm 5 is connected with one in grabbing 7 and the piece 4 of drawing to control positive negative pressure control assembly output corresponding atmospheric pressure regulation instruction, specifically for output negative pressure when adopting the piece 4 of drawing adsorbs the letter sorting with article in order to accomodate to other positions, output positive pressure when adopting the piece 7 of grabbing snatchs article and accomodate to other positions in order to shift.

Fig. 16 is a schematic structural diagram of a schematic diagram of a positive-negative pressure control assembly in an embodiment of the present invention, and as shown in fig. 16, the positive-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 air inlet 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 air inlet of the second electromagnetic valve 16;

the other air inlet of the second electromagnetic valve 16 is connected with the vacuum generator 12, and the air outlet of the second electromagnetic valve 16 is connected with 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 air inlet 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 5, 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 5.

In the present embodiment, the end effector 6 includes one of the following:

-a gripper 7;

-a suction piece 4;

-a vacuum cleaner;

-a scrubbing implement;

-a water lance.

In the embodiment of the present invention, the end effector 6 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 6 is a vacuum cleaner, the mobile robot can perform dust collection on the floor or dust collection on a couch.

When the end effector 6 is a glass water feeder, a glass scraper and glass cloth, the mobile robot can clean the door and window glass and automatically replace the end effector 6 in the door and window cleaning process, for example, the mechanical arm 5 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 is used for controlling the mechanical arm 5 to move, so that the mobile robot can be remotely controlled to perform complex and customized tasks. For example, when the robot arm 5 links the end effector 6 to a toilet brush, the mobile robot can be manually controlled to clean a local area of a toilet deeply.

In the present specification, the embodiments 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

1. A mobile robot based on a mobile chassis is characterized by comprising the mobile chassis, a controller, a connecting seat and a mechanical arm;

the connecting seat is arranged on the movable chassis;

2. The mobile chassis-based mobile robot of claim 1, wherein the detachable connection comprises at least any one or more of a magnetic connection, a threaded connection, a pinned connection, an elastically deformable connection, a snap-fit connection, and a bayonet connection.

3. The mobile chassis-based mobile robot of claim 1, further comprising a power module;

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

4. The mobile chassis-based mobile robot of claim 1, further comprising a signal receiving module and a remote controller;

5. The mobile robot based on mobile chassis according to claim 1, wherein the connecting base comprises a mounting groove arranged on the top side surface of the mobile chassis and a fixing base positioned at the bottom end of the first connecting arm;

6. The mobile robot based on mobile chassis of claim 5, wherein when the first connection arm is connected with the mounting groove through the fixing seat along the axial direction, the second data connection port is connected with one of the first data connection ports in a matching manner, and when the first connection arm is connected with the mounting groove through the fixing seat after rotating around the axial direction, the second data connection port is connected with the other first data connection port in a matching manner.

7. The mobile chassis-based mobile robot of claim 1, wherein the mobile chassis comprises a base, a lifting mechanism, and a connecting plate;

the connecting plate is connected with the base through the lifting mechanism;

the connecting seat is arranged on the connecting plate;

8. The mobile chassis-based mobile robot of claim 1, further comprising a plurality of different types of end effectors;

the end effector and the mechanical arm form detachable connection convenient for quick change.

9. The mobile chassis-based mobile robot of claim 8, further comprising an information acquisition component;

10. The mobile chassis-based mobile robot of claim 8, wherein when the end effector employs a gripper or a suction, the mobile robot further comprises an air path assembly and a positive and negative pressure control assembly;