CN210189765U - Intelligent mobile robot - Google Patents
Intelligent mobile robot Download PDFInfo
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- CN210189765U CN210189765U CN201920965663.5U CN201920965663U CN210189765U CN 210189765 U CN210189765 U CN 210189765U CN 201920965663 U CN201920965663 U CN 201920965663U CN 210189765 U CN210189765 U CN 210189765U
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Abstract
The utility model relates to an intelligent mobile robot, which comprises a three-wheel drive walking unit, a paw execution unit, a sensor unit and a control unit; the three-wheel driving walking unit is installed at the bottom of the robot body, the paw execution unit is installed at the side of the robot body, the sensor unit collects the surrounding environment information of the robot, and the three-wheel driving walking unit, the paw execution unit and the sensor unit are all connected with the control unit. The utility model discloses a flexible and efficient motion control of tricycle drive can realize the linear motion of arbitrary angle, has combined the swift snatching of objects such as hand claw execution unit, whole automobile body's unique structural design realization ball, piece, combines overall arrangement methods such as intelligent camera, sensor to realize the all direction movement of robot, and no dead angle snatchs. The structure is reasonable, the device has the characteristics of small volume, light weight, flexible control, convenient disassembly and assembly, stability and reliability, and can be widely popularized and applied.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to an intelligent movement robot.
Background
Mobile robots have been widely used in various fields, and particularly, in modern production and logistics services, mobile robots play an increasingly important role. However, with the development of technology and the complexity of environment, a mobile robot is required to have more flexible motion control and efficient carrying capacity, and the traditional conveying robot is difficult to adapt to the requirements due to the reasons of heavy weight, inflexible operation, high maintenance cost and the like. Therefore, modern industrial production and service have put demands on intelligent mobile robots capable of realizing flexible motion control and efficiently realizing carrying tasks.
Disclosure of Invention
In view of this, the utility model aims at providing an intelligent mobile robot can realize the nimble motion control of mobile robot and efficient handling capacity in modern production, logistics service and some special environment.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
the utility model provides an intelligent movement robot, includes the robot body, still includes tricycle drive walking unit, hand claw execution unit, sensor unit and the control unit, tricycle drive walking unit, hand claw execution unit, the equal connection control unit of sensor unit, tricycle drive walking unit installs in robot body bottom for the drive robot walks, hand claw execution unit installs at the robot body lateral part for realize snatching, sensor unit gathers robot surrounding environment information, and the information feedback host computer that the control unit will gather, host computer issue the instruction to the control unit, control tricycle drive walking unit, hand claw execution unit carry out corresponding action.
Furthermore, the three-wheel drive walking unit comprises a chassis, three drive motors which are arranged in a 120-degree diagonal mode are arranged on the chassis and used for driving wheels, a gyroscope and a lifting motor are further arranged on the chassis, a QTI sensor is arranged at the bottom of the chassis and used for detecting the posture of the mobile robot in real time, and the QTI sensor is used for detecting and setting the edge position.
Further, the wheel is an omni-directional wheel.
Further, the hand claw execution unit comprises a hand claw clamping piece, a hand claw support, a steering engine fixing support, a first hand claw connecting piece, a guide rail connecting piece, a sliding block, a guide rail, a second hand claw connecting piece, a rack and a gear, wherein the hand claw clamping piece, the first hand claw connecting piece, the second hand claw connecting piece are connected with the hand claw support, the first hand claw connecting piece, the second hand claw connecting piece are connected with the guide rail connecting piece, the sliding block is connected with the guide rail connecting piece in a matched mode, the steering engine fixing support is used for fixing a hand claw steering engine, the steering engine fixing support is connected with the guide rail connecting piece, the gear is fixed to the hand claw steering engine, the sliding block and the guide rail are connected with the rack, and the rack is.
Further, the sensor unit includes intelligent camera, gyroscope, ultrasonic sensor, infrared distance measuring sensor and QTI sensor, the intelligent camera sets up in hand claw execution unit upper portion for discernment environmental information and target object, the gyroscope sets up in chassis upper portion for detect the mobile robot position appearance, ultrasonic sensor, infrared distance measuring sensor set up in robot body both sides for detect the robot apart from the distance of barrier, the QTI sensor sets up in chassis front end bottom, is used for detecting and sets for border position.
Furthermore, the control unit comprises a main controller and two driving plates connected with the main controller, and the main controller and the driving plates are hung on one side of the robot body.
Furthermore, the control unit adopts an embedded controller based on a Xilinx Zynq chip and ARM Cortex-A9.
Further, the robot body is of a square structure with a lifting mechanism, wherein the lifting mechanism adopts a synchronous belt lifting mode.
Compared with the prior art, an intelligent mobile robot has following advantage: the utility model realizes flexible and efficient motion control of three-wheel drive, can realize linear motion at any angle, combines the structural design of a paw execution unit and an integral vehicle body to realize rapid grabbing of objects such as balls and blocks, and combines the layout of an intelligent camera, a sensor and the like to realize all-round movement of a robot without dead angle grabbing; the utility model discloses rational in infrastructure, have small, the quality is light, nimble control, the dismouting of being convenient for, reliable and stable characteristics, can carry out extensive popularization and application.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a schematic structural diagram of an intelligent robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a three-wheel drive walking unit according to an embodiment of the present invention;
fig. 3 is a schematic view of a gripper execution unit according to an embodiment of the present invention.
Description of reference numerals:
1-a gripper execution unit; 2-a sensor unit; 3-a control unit; 4-three-wheel drive walking unit; 21-a chassis; 22-a wheel; 23-a hoisting motor; 24-a gyroscope; 25-QTI sensor; 31-gripper jaw grip; 32-paw holder; 33-a steering engine fixing support; 34-a first gripper connection; 35-guide rail connectors; 36-a slide block; 37-a guide rail; 38-second gripper attachment; 39-a rack; 310-gears.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, the utility model comprises a three-wheel drive walking unit 4, a paw execution unit 1, a sensor unit 2 and a control unit 3;
as shown in fig. 2, the three-wheel-drive walking unit 4 comprises a chassis 21, which is provided with three drive motors arranged at opposite angles of 120 degrees, and the wheels are omni-directional wheels 22; a gyroscope 24 and a lifting motor 23 are arranged on the chassis; the bottom of the chassis is provided with a QTI sensor 25, the gyroscope 24 detects the posture of the mobile robot in real time, and the QTI sensor 25 detects the set edge position.
As shown in fig. 3, the gripper execution unit 1 is composed of a gripper clamp 31, a gripper bracket 32, a steering engine fixing bracket 33, a first gripper connector 34, a guide rail connector 35, a slider 36, a guide rail 37, a second gripper connector 38, a rack 39 and a gear 310; the gripper comprises a gripper clamping piece 31, a first gripper connecting piece 34, a second gripper connecting piece 38 and a gripper 32, wherein the first gripper connecting piece 34 and the second gripper connecting piece 38 are connected with a guide rail connecting piece 35, a sliding block 36 and a guide rail 37 are connected onto the guide rail connecting piece 35 in a matching manner, and a steering engine fixing support 33 is used for fixing a gripper steering engine and is connected with the guide rail connecting piece 35; the gear 310 is fixed on the paw steering engine; the slide block 36 and the guide rail 37 are connected with the rack 39; wherein rack 39 meshes with gear 310, and when hand claw execution unit 1 received the instruction, hand claw steering wheel drove gear 310 and rotates, converts rotary motion into linear motion, and the guide hand claw holder 31 opens and closes, realizes snatching the function.
The sensor unit comprises an intelligent camera, a gyroscope, an ultrasonic sensor, an infrared distance measuring sensor and a QTI sensor. The intelligent camera is used for recognizing environmental information and target objects and is arranged on the upper portion of the paw execution unit, the gyroscope detects the posture of the mobile robot in real time and is arranged on one side of the upper portion of the chassis, the ultrasonic sensor and the infrared distance measuring sensor are used for detecting the distance information between the robot and the obstacle and are arranged on two sides of the robot body respectively, the QTI sensor is a sensor used for detecting the line patrol and is arranged on the bottom of the front end of the chassis for detecting and setting the edge position, and the set edge can be interpreted as the designated position which needs to be reached by the executed task of the robot.
The control unit comprises two driving plates and is connected with a main controller, and the main controller and the driving plates are hung on one side of the robot body.
The working process of the utility model is as follows: an intelligent mobile robot is placed in a working area in the working process, a control program is downloaded to a control unit, the intelligent mobile robot starts to work, required object information is identified through an intelligent camera, data are successfully identified and sent to a next instruction, collected information is fed back to an upper computer through a gyroscope, an encoder, an ultrasonic ranging sensor and an infrared ranging sensor, the upper computer is processed and transmitted back to the control unit, and the control unit makes correct actions, so that the automatic running of the mobile robot is realized and an obstacle is avoided; when the intelligent camera reaches the required position, the acquired information is sent to the control unit, and a next instruction is transmitted out to complete the specified task function. The object recognition device can recognize the object, realize autonomous movement and simultaneously realize the transportation of the target object, and is widely applied to the logistics industry.
The utility model discloses a flexible and efficient motion control of tricycle drive can realize the linear motion of arbitrary angle, has combined the swift snatching of objects such as hand claw execution unit, whole automobile body's unique structural design realization ball, piece, combines overall arrangement methods such as intelligent camera, sensor to realize the all direction movement of robot, and no dead angle snatchs. The structure is reasonable, the device has the characteristics of small volume, light weight, flexible control, convenient disassembly and assembly, stability and reliability, and can be widely popularized and applied.
It should be noted that, the present invention uses all the components of the sensor unit and the control unit as the existing products, and the connection relationship between the components is also the connection relationship commonly used by the technicians in the field, belonging to the prior art, and not the innovation point of the present application. The utility model discloses a control program among the control unit belongs to prior art, is the control program that the technical staff in the field is commonly used, is not the innovation point of this application.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an intelligent mobile robot, includes the robot body, its characterized in that: still include tricycle drive walking unit, hand claw execution unit, sensor unit and the control unit, tricycle drive walking unit, hand claw execution unit, the equal connection control unit of sensor unit, tricycle drive walking unit installs in robot bottom for the drive robot walks, hand claw execution unit installs at robot lateral part, is used for realizing snatching, sensor unit gathers robot surrounding environment information, and the information feedback host computer that the control unit will gather, host computer issue the instruction to the control unit, control tricycle drive walking unit, hand claw execution unit carry out corresponding action.
2. The intelligent mobile robot of claim 1, wherein: the three-wheel drive walking unit comprises a chassis, three drive motors which are arranged in a 120-degree diagonal mode are arranged on the chassis and used for driving wheels, a gyroscope and a lifting motor are further arranged on the chassis, a QTI sensor is arranged at the bottom of the chassis and used for detecting the posture of the mobile robot in real time, and the QTI sensor is used for detecting and setting the edge position.
3. The intelligent mobile robot of claim 2, wherein: the wheels are omni-directional wheels.
4. The intelligent mobile robot of claim 1, wherein: the gripper execution unit comprises a gripper clamping piece, a gripper support, a steering engine fixing support, a first gripper connecting piece, a guide rail connecting piece, a sliding block, a guide rail, a second gripper connecting piece, a rack and a gear, wherein the gripper clamping piece, the first gripper connecting piece, the second gripper connecting piece and the gripper support are connected, the first gripper connecting piece, the second gripper connecting piece and the guide rail connecting piece are connected, the sliding block and the guide rail are connected in a matched mode and are connected onto the guide rail connecting piece, the steering engine fixing support is used for fixing a gripper steering engine, the steering engine fixing support is connected with the guide rail connecting piece, the gear is fixed onto the gripper steering engine, the sliding block and the guide rail are connected with the rack, and the rack is meshed with the gear.
5. The intelligent mobile robot of claim 1, wherein: the sensor unit comprises an intelligent camera, a gyroscope, an ultrasonic sensor, an infrared distance measuring sensor and a QTI sensor, wherein the intelligent camera is arranged on the upper portion of the paw execution unit and used for identifying environmental information and a target object, the gyroscope is arranged on the upper portion of the chassis and used for detecting the pose of the mobile robot, the ultrasonic sensor and the infrared distance measuring sensor are arranged on two sides of the robot body and used for detecting the distance between the robot and an obstacle, and the QTI sensor is arranged at the bottom of the front end of the chassis and used for detecting and setting the edge position.
6. The intelligent mobile robot of claim 1, wherein: the control unit comprises a main controller and two driving plates connected with the main controller, and the main controller and the driving plates are hung on one side of the robot body.
7. The intelligent mobile robot of claim 1, wherein: the control unit adopts an embedded controller based on a Xilinx Zynq chip and ARM Cortex-A9.
8. The intelligent mobile robot of claim 1, wherein: the robot body is a square structure with a lifting mechanism, wherein the lifting mechanism adopts a synchronous belt lifting mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920965663.5U CN210189765U (en) | 2019-06-26 | 2019-06-26 | Intelligent mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920965663.5U CN210189765U (en) | 2019-06-26 | 2019-06-26 | Intelligent mobile robot |
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| CN210189765U true CN210189765U (en) | 2020-03-27 |
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| CN201920965663.5U Active CN210189765U (en) | 2019-06-26 | 2019-06-26 | Intelligent mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157644A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
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2019
- 2019-06-26 CN CN201920965663.5U patent/CN210189765U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157644A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
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