CN206536475U - A kind of wheeled service mobile robot platform - Google Patents

Abstract

The utility model belongs to the technical field of automatic control, and discloses a wheeled service mobile robot platform, which comprises a movable base and a multi-layer platform arranged on the base, and the base and the platform are used to carry a main control module and One or more slave control modules are connected between adjacent two-layer platforms and between the base and the bottom platform through multiple adjustment mechanisms, and the adjustment mechanisms are used to adjust between adjacent two-layer platforms and between the base and the bottom The distance between the platforms; the main control module and one or more slave control modules are connected through a UART bus, and the input and output modules are connected to the main control module. The utility model can carry a variety of circuit modules with different functions by means of a multi-layer platform, so as to realize the diversification of functions of the mobile robot. Users can use the adjustment mechanism to adjust the height of the mobile robot according to their own needs, increasing the comfort of use. At the same time, the structure is simple. The cost is low, and it is convenient to popularize and apply.

Description

A wheeled service mobile robot platform

technical field

The utility model belongs to the field of automatic control, in particular to a wheeled service mobile robot platform.

Background technique

A household service robot is a special robot serving human beings, a robot that can replace people to complete household service work, and it includes a traveling device, a sensing device, a receiving device, a sending device, a control device, an executing device, a storage device, an interactive device, etc.; The sensing device transmits the information sensed in the home living environment to the control device, and the control device instructs the execution device to respond, and performs work such as anti-theft monitoring and safety inspection.

With the accelerated development of advanced technologies such as artificial intelligence, robots have rapidly penetrated from the industrial field to the service industry, and service robots have shown a broader market space than industrial robots. Household service robots can gradually free people from boring, mechanical single work, and they play an important role in human life. Home service robots will become the third product to enter the home at a super-scale speed after home appliances and personal computers. According to IFR (International Federation of Robotics) statistics, in 2014, a total of 4.7 million personal/household service robots were sold in the global market, an increase of 28% over 2013, and the total sales reached 2.2 billion US dollars. IFR predicts that sales of personal/domestic service robots will reach 35 million units during 2015-2018. At present, the most widely used household service robots are cleaning robots and mowing robots. With the development of robot technology, the market share of anthropomorphic intelligent household robots [7] used for nursing, companionship, entertainment, and multi-functional housework will gradually increase. Most high-end intelligent household robots have relatively complete functions, but they are very expensive. General household cleaners have relatively single functions and cannot meet the diversified functional requirements of users.

Utility model content

The utility model provides a wheeled service mobile robot platform, which solves the problems that the existing robots have single functions, high application costs and are difficult to be widely used.

The utility model can be realized through the following technical solutions:

A wheeled service mobile robot platform, including a movable base, a multi-layer platform arranged on the base, the base and the platform are used to carry a master control module and one or more slave control modules, adjacent The two-layer platforms and the base and the bottom platform are connected through a plurality of adjustment mechanisms, and the adjustment mechanisms are used to adjust the distance between the adjacent two-layer platforms and between the base and the bottom platform; the main control The module is connected to one or more slave control modules through a UART bus, and the input and output modules are connected to the main control module.

Further, the base and the platform adopt a box structure with an opening, and inside the base and the platform are provided with a plurality of chutes that cross each other vertically, and a limit baffle is vertically provided at both ends of the chutes in the same direction, Each of the limit baffles straddles one or more chute in the same direction and is arranged on the chute through a limit pin, and two driving wheels and a follower wheel are arranged in an isosceles triangle under the base , the follower wheel is located on the top corner of the isosceles triangle, the side wall of the base is provided with a plurality of obstacle avoidance sensor installation holes, the bottom wall of the base and the platform is provided with a plurality of wire through holes, the platform A plurality of gaps are opened around the side wall, and a sensor mounting boss is arranged facing the gaps.

Further, a first coupling and a second coupling are arranged inside the two driving wheels, one end of the first coupling is connected with a driving wheel, and the other end is connected with the output shaft of the first motor, so One end of the second shaft coupling is connected with the other driving wheel, and the other end is connected with the output shaft of the second motor.

Further, two wire through holes are arranged on the base, and one wire through hole is arranged on the platform.

Further, the adjustment mechanism includes a fixed seat and a support rod, the fixed seat is arranged on the base or on the platform at the middle and lower part of the adjacent two-story platform, one end of the support rod is nested inside the fixed seat, and the other end Connect the upper platform of the adjacent two-layer platform or the platform closest to the base, the fixed seat and the support rod are connected by a height adjustment knob, and the height adjustment knob is arranged outside the fixed seat for adjusting the support The height the rod sticks out.

Further, three adjustment mechanisms are arranged between the base and the nearest platform, and two adjustment mechanisms are arranged between the platforms.

Further, it also includes a rotation mechanism arranged on the base, and the rotation mechanism is used for supporting and adjusting the input-output module.

Further, the rotating mechanism includes a threaded rod, the entire outside of the threaded rod is provided with external threads, one end of the threaded rod passes through multiple platforms and is fixed with the threaded rod fixing seat provided on the base, and the threaded rod fixing seat An internal thread cooperating with the threaded rod is provided, the other end of the threaded rod is provided with a bracket, the bracket is provided with an internal thread cooperating with the threaded rod, and the bracket is connected to the display screen through two sets of mutually perpendicular rotation axes, The support, the rotating shaft and the display screen are connected to each other through the support arm.

Further, the main control module includes a main controller, a WiFi module connected to the main controller, a GPS module, a main power supply module, a camera module, a touch screen module, a storage module, a bluetooth module and a USB module; the slave control module includes a slave A controller, a sensor module connected to the slave controller, a JTAG debugging interface, a slave power module and/or a motor module.

Further, the base is provided with a slave control module, the slave control module includes a motor module and an obstacle avoidance sensor module, the motor module is used to drive two driving wheels arranged under the base, and the obstacle avoidance sensor module is set Around the side wall of the base, it is used to test the distance between the surrounding obstacles and the mobile robot.

The beneficial technical effects of the utility model are:

The utility model can carry a variety of circuit modules with different functions by means of a multi-layer platform, so as to realize the diversification of functions of the mobile robot. Users can use the adjustment mechanism to adjust the height of the mobile robot according to their own needs, increasing the comfort of use. At the same time, the structure is simple. The cost is low, and it is convenient to popularize and apply.

Description of drawings

Fig. 1 is the mechanical structure schematic diagram of the present utility model;

Fig. 2 is the top view of the base of the utility model;

Fig. 3 is a circuit connection block diagram of the present utility model;

Fig. 4 is the program functional block diagram of the present utility model;

Among them: 1-base, 2-platform, 3-chute, 4-limit baffle, 5-limit pin, 6-drive wheel, 7-follower wheel, 8-obstacle avoidance sensor installation hole, 9-sensor installation Boss, 10-first coupling, 11-second coupling, 12-first motor, 13-second motor, 14-platform holder, 15-support rod, 16-height adjustment knob, 17- Threaded rod, 18-threaded rod holder, 19-support, 20-vertical pin, 21-horizontal pin, 22-support arm, 23-touch screen.

detailed description

The specific implementation of the utility model will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

Referring to accompanying drawing 1, the utility model provides a kind of wheel type service mobile robot platform, comprises movable base 1, the rotation mechanism that is arranged on base 1 and multilayer platform 2, and this base 1 and platform 2 are used for carrying main The control module and one or more slave control modules, the rotating mechanism is used to support and adjust the input and output module 23, and the adjacent two-layer platforms and the base 1 and the bottom platform are connected by a plurality of adjustment mechanisms. It is used to adjust the distance between adjacent two-layer platforms and between the base and the bottom platform. The main control module is connected to one or more slave control modules through a UART bus, and the input and output modules are connected to the main control module.

The base 1 and the platform 2 adopt a box structure with an opening. The base 1 and the platform 2 are provided with a plurality of chutes 3 that cross each other vertically, and a limit baffle is vertically provided at both ends of the chute 3 in the same direction. 4. Each limit baffle 4 spans one or more chute 3 in the same direction and is set on the chute 3 through a limit pin 5, and two driving wheels 5 are arranged in an isosceles triangle under the base 1 and a follower wheel 6, the follower wheel 6 is located on the top angle of the isosceles triangle, and the two driving wheels 5 are respectively located on the two bottom angles of the isosceles triangle, and the side walls of the base 1 are provided with a plurality of obstacle avoidance sensors The mounting holes 7, the base 1 and the bottom wall of the platform 2 are provided with a plurality of wire through holes 8, and the side walls of the platform 2 are provided with a plurality of gaps around, and a sensor mounting boss 9 is arranged facing the gaps.

A first shaft coupling 10 and a second shaft coupling 11 are arranged inside the two driving wheels 5, one end of the first shaft coupling 10 is connected with a driving wheel 5, and the other end is connected with the output shaft of the first motor 12. One end of the two couplings 11 is connected with the other driving wheel 5 , and the other end is connected with the output shaft of the second motor 13 .

The adjustment mechanism includes a fixed seat 14 and a support rod 15. The fixed seat 14 is arranged on the base 1 or on the platform at the middle and lower part of the adjacent two-layer platform 2. One end of the support rod 15 is nested inside the fixed seat 14, and the other end is connected to the The platform on the upper part of the adjacent two-layer platform 2 or the platform closest to the base 1, the fixed seat 14 and the support rod 15 are connected by a height adjustment knob 16, and the height adjustment knob 16 is arranged on the outside of the fixed seat 14 for adjusting The height that the support rod 15 protrudes.

The rotating mechanism includes a threaded rod 17, the entire outside of which is provided with an external thread, and one end of the threaded rod 17 passes through a plurality of platforms 2 and is fixed in cooperation with a threaded rod holder 18 arranged on the base 1, and the threaded rod holder 18 The internal thread that cooperates with the threaded rod 17 is provided, and the other end of the threaded rod 17 is provided with a support 19, and the support 19 is provided with an internal thread that cooperates with the threaded rod 17. The support 19 is connected to the display by two sets of mutually perpendicular rotation axes The screen 23 is connected, and the mutually perpendicular rotation shafts include a vertical pin shaft 20 and a horizontal pin shaft 21 , and the bracket 19 , the rotation shaft and the display screen 23 are connected to each other through a support arm 22 .

The main control module includes a main controller, a WiFi module connected to the main controller, a main power supply module, an input and output module, a camera module and a storage module, and may also include a GPS module connected thereto, a Bluetooth module and a USB module, etc.; The modules include a slave controller, a sensor module connected to the slave controller, a JTAG debug interface, a slave power module and/or a motor control module.

The main controller can adopt ARM9, ARM11 or cortex-A9 processor, etc., and the slave controller can adopt 51 single-chip microcomputer, STM32 or CORTEX-M3 series processor, etc.

We have made a mobile robot with two platforms. Three adjustment mechanisms are arranged between the base 1 and the platform 2 of the mobile robot. The three adjustment mechanisms are respectively located above the two driving wheels and one follower wheel. Two adjustment mechanisms are arranged between the first-floor platform and the second-floor platform. The two adjustment mechanisms are located on the central axis of the first-floor platform, and two mechanical obstacle avoidance switches and five electronic obstacle avoidance sensors are arranged around the base 1. , inside the base 1, two pairs of four chute 3 perpendicular to each other are set, and a limit baffle 4 is set at each two ends of the chute 3 in the same direction, there are four pieces in total, and two Wire through hole 8.

Two chutes 3 perpendicular to each other are arranged inside the platform 2 on the first floor, and a limit baffle 4 is respectively arranged at both ends of each chute 3, and there are four pieces in total.

Inside the base 1, a circuit board with a cortex-A9 processor as the main controller is arranged, and the circuit board is fixed within the range limited by four limit baffles 4, and the limit baffle 4 is fixed by a limit pin 5 On the chute 3, five electronic obstacle avoidance sensors and two mechanical obstacle avoidance switches are arranged around the side wall of the base 1. A circuit board with the STM32F103 processor as the slave controller is arranged inside the platform 2 on the first floor. A temperature and humidity sensor, an ultrasonic distance measuring sensor and an infrared distance measuring sensor are arranged, a camera is arranged on the platform 2 on the second floor, and a touch screen 23 is arranged on the rotating mechanism.

The mobile robot uses the circuit board of the cortex-A9 processor as the main controller as the control core, and communicates with the mobile phone through the WiFi module to connect the home LAN to realize the functions of sending data to the mobile phone and receiving mobile phone instructions. At the same time, it is connected to the STM32F103 The processor is the circuit board of the slave controller, which controls the movement of the mobile robot such as forward, backward, stop, turn left or turn right by reading the data of the electronic obstacle avoidance sensor and the distance measuring sensor, and displays relevant information on the touch screen 23 At the same time, the user can also send instructions to the circuit board with the cortex-A9 processor as the main controller through the touch screen 23 to control the mobile robot.

The utility model can carry a variety of circuit modules with different functions by means of a multi-layer platform, so as to realize the diversification of functions of the mobile robot. Users can use the adjustment mechanism to adjust the height of the mobile robot according to their own needs, increasing the comfort of use. At the same time, the structure is simple. The cost is low, and it is convenient to popularize and apply.

Although the specific embodiments of the present utility model have been described above, those skilled in the art should understand that these are only examples, and various changes can be made to these embodiments without departing from the essence of the present utility model. Or modification, therefore, the protection scope of the utility model is defined by the appended claims.

Claims (10)

1. a kind of wheeled service mobile robot platform, it is characterised in that：Including moveable base, it is arranged on the base Multilayer platform, the base and platform be used for carry main control module and one or more from control module, adjacent two It is connected between layer platform and between base and the platform of bottom by multiple governor motions, the governor motion is used to adjust adjacent Two layers of platform between and base and bottom the distance between platform；The main control module and it is one or more from control mould It is connected between block by UART buses, input/output module is connected with main control module.

2. wheeled service mobile robot platform according to claim 1, it is characterised in that：The base and platform are used Box body structure with opening, the base and platform are internally provided with a plurality of chute perpendicularly crossed each other, equidirectional Chute two ends are respectively vertically installed with a postive stop baffle, and each postive stop baffle is across the cunning of one or more equidirectional Groove and be arranged on by spacer pin on chute, be provided with below the base in isosceles triangle two driving wheels and one with Driving wheel, the supporting roller is located on the drift angle of isosceles triangle, and the side wall surrounding of the base is provided with multiple avoidance sensors Mounting hole, the bottom wall of the base and platform is provided with multiple wire through-holes, and the side wall surrounding of the platform offers multiple lack Mouthful, Sensor mounting boss just is provided with to the breach.

3. wheeled service mobile robot platform according to claim 2, it is characterised in that：On the inside of two driving wheels First shaft coupling and second shaft coupling are provided with, one end of the first shaft coupling is connected with a driving wheel, the other end and The output shaft of one motor is connected, and one end of the second shaft coupling is connected with another driving wheel, the other end and the second motor Output shaft is connected.

4. wheeled service mobile robot platform according to claim 2, it is characterised in that：Two are provided with the base A wire through-hole is provided with individual wire through-hole, the platform.

5. wheeled service mobile robot platform according to claim 1, it is characterised in that：The governor motion includes solid Reservation and support bar, the fixed seat are arranged on base or on the platform of two layers adjacent of platform middle and lower part, the support Bar one end is nested in inside the fixed seat, and the other end connects the platform or nearest with base of two layers adjacent of platform middle and upper part One layer of platform, the fixed seat and support bar connected by height adjustment knob, and the height adjustment knob is arranged on described On the outside of fixed seat, the height for adjusting support bar stretching.

6. wheeled service mobile robot platform according to claim 5, it is characterised in that：The base is put down with nearest It is provided between platform between three governor motions, the platform and is provided with two governor motions.

7. wheeled service mobile robot platform according to claim 1, it is characterised in that：Also include being arranged on base Rotating mechanism, the rotating mechanism be used for support and adjust input/output module.

8. wheeled service mobile robot platform according to claim 7, it is characterised in that：The rotating mechanism includes spiral shell Rasp bar, the overall outside of the threaded rod is provided with external screw thread, and one end of the threaded rod passes through multiple platforms and is arranged on base Threaded rod fixed seat coordinate and fix, the threaded rod fixed seat is provided with the internal thread with shaft, the threaded rod The other end be provided with support, the support is provided with the internal thread with shaft, and the support is mutually hung down by two sets Straight rotary shaft is connected with display screen, the support, rotary shaft be connected between display screen by support arm.

9. wheeled service mobile robot platform according to claim 1, it is characterised in that：The main control module includes Master controller, the WiFi module being connected with master controller, GPS module, main power source module, camera module, touch screen module, is deposited Store up module, bluetooth module and USB module；It is described from control module include from controller, with the sensing being connected from controller Device module, JTAG debugging interfaces, from power module and/or motor module.

10. wheeled service mobile robot platform according to claim 9, it is characterised in that：It is provided with the base Described to include motor module and avoidance sensor assembly from control module from control module, the motor module is set for driving Two driving wheels below base are put, the avoidance sensor assembly is arranged on the surrounding of base side wall, around testing Barrier from mobile robot with a distance from.