CN213999458U - Intelligent mobile robot based on teaching training - Google Patents
Intelligent mobile robot based on teaching training Download PDFInfo
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- CN213999458U CN213999458U CN202021540583.4U CN202021540583U CN213999458U CN 213999458 U CN213999458 U CN 213999458U CN 202021540583 U CN202021540583 U CN 202021540583U CN 213999458 U CN213999458 U CN 213999458U
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Abstract
An intelligent mobile robot based on teaching and training comprises a chassis part, a machine body part, a robot assembly and a gas claw assembly, wherein a control panel, a laser ranging module, a motor and an encoder are arranged in the chassis part, the control panel is connected with the motor, the encoder and the laser ranging module, the chassis part comprises a pendulum suspension, a Mecanum wheel and a motor connected with the Mecanum wheel are arranged on the pendulum suspension, and a microcomputer and a wireless charging plate are arranged on the machine body part; according to the structural characteristics of the intelligent mobile robot, the size is reduced according to a certain proportion, and components with small sizes and more accuracy are selected to achieve the purposes of accurate control, compactness and flexibility; enabling the intelligent mobile robot to execute the relative command by sending the control command; the system has advanced significance in the aspects of competition and teaching, and can fully examine the capabilities of players or students on sensor application, motor driving and control, embedded programming capability and the like.
Description
Technical Field
The utility model relates to an electronic teaching equipment field of intelligent mobile robot, especially an intelligent mobile robot based on real standard of teaching.
Background
At present, the industrial robot industry in China develops rapidly, and the requirement on intelligent machine equipment is higher and higher. Intelligent mobile robots, as a representative of the robotic industry, play a particularly critical role in the automotive, logistics, and other transportation industries.
However, in the teaching field, due to the problems of accuracy error, large size and the like of the intelligent mobile robot, there are large gaps in related control strategies and courses related to the structure and the like of the intelligent mobile robot, and there are few intelligent mobile robot devices suitable for training. The utility model discloses instruct real course and the electronic technology project match and an intelligent movement robot that develops to the electron of intelligent movement robot technology.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above shortcoming of the prior art, the utility model aims at providing an intelligent mobile robot based on real standard of teaching.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides an intelligent movement robot based on teaching is instructed real, includes chassis part, fuselage part, robot subassembly and gas claw subassembly, be equipped with control panel, laser rangefinder module, motor and encoder in the chassis part, the control panel is connected with motor, encoder and laser rangefinder module, the chassis part hangs including the pendulum-type, the pendulum-type hangs and is equipped with mecanum wheel and the motor that links to each other with mecanum wheel, be equipped with microcomputer and wireless charging panel in the fuselage part, motor, microcomputer and wireless charging panel connection control panel, the robot subassembly is established on the fuselage part, the gas claw subassembly is established in robot subassembly the place ahead, be equipped with the camera module on the gas claw subassembly, the camera is connected with the microcomputer.
As a further improvement of the utility model: the robot assembly comprises a base, a first swing arm, a second swing arm, a connecting block, a first connecting shaft, a second connecting shaft, a transfer connecting shaft and a third connecting shaft.
As a further improvement of the utility model: be equipped with first servo motor and second servo motor on the base, first servo motor is connected with first swing arm, second servo motor is connected with the second connecting axle, first connecting axle and base fixed connection, first connecting axle rotates with the second connecting axle to be connected, the second connecting axle is established in first swing arm.
As a further improvement of the utility model: the transfer connecting shaft is arranged between the first swing arm and the second swing arm, the first swing arm and the second swing arm are connected in a rotating mode through the transfer connecting shaft, and the transfer connecting shaft is connected with the second connecting shaft and the third connecting shaft in a rotating mode.
As a further improvement of the utility model: the connecting block is arranged at the front end of the second swing arm and is rotatably connected with the second swing arm and the third connecting shaft.
As a further improvement of the utility model: the pneumatic gripper assembly comprises a pneumatic gripper frame, a pneumatic gripper transmission shaft, a pneumatic gripper servo motor and a pneumatic gripper clamp, the camera module is arranged on the pneumatic gripper clamp, the pneumatic gripper servo motor is fixed on the pneumatic gripper clamp, the pneumatic gripper servo motor is connected with the pneumatic gripper transmission shaft, and the pneumatic gripper transmission shaft is connected with the pneumatic gripper clamp.
As a further improvement of the utility model: the pneumatic claw clamp is connected with the connecting block and arranged at the front end of the second swing arm.
As a further improvement of the utility model: the chassis part is internally provided with a storage battery, and the storage battery is connected with the wireless charging plate and the control driving plate.
As a further improvement of the utility model: the STM32F103RCT6 with the control board of 32 bits is a core controller.
As a further improvement of the utility model: the drive board comprises four laser sensor circuits, four motor drive circuits, four encoder circuits and a power management circuit.
As a further improvement of the utility model: the microcomputer comprises a network adapter, the microcomputer is connected with the drive board through a USB-to-serial port, and the microcomputer comprises an integrated Dobot robot SDK.
As a further improvement of the utility model: the system also comprises a control computer, and the control computer is connected with the microcomputer through a wireless network.
As a further improvement of the utility model: the method for controlling the intelligent mobile robot based on the teaching and training comprises the following steps:
(1) the method comprises the steps that a power supply of the intelligent mobile robot is powered on, a power-on self-test program is operated, and the number of a runway where the intelligent mobile robot is located is requested;
(2) starting a microcomputer on the intelligent mobile robot, starting the intelligent mobile robot scheduling software to start automatically, starting a serial port to communicate with an intelligent mobile robot controller, and responding to a communication request of the intelligent mobile robot;
(3) detecting that the intelligent mobile robot controller requests a runway number, popping up a runway setting dialog box, and requesting to confirm the runway number;
(4) the intelligent mobile robot automatically adjusts the pose;
(5) the scheduling software integrates a plurality of communication ports;
(6) feeding back task execution completion information to a third party;
(7) and the scheduling software judges the electric quantity of the intelligent mobile robot and schedules the intelligent mobile robot to go to the charging pile.
As a further improvement of the utility model: and (3) in the step (5), the communication port is a USB-to-serial port communication and Modbus RTU protocol adopted by the intelligent mobile robot controller STM32, a USB-to-serial port or Ethernet communication adopted by the 4-axis robot, a third-party task dispatching communication interface and Modbus RTU/Modbus TCP.
Compared with the prior art, the beneficial effects of the utility model are that: according to the structural characteristics of the intelligent mobile robot, the size is reduced according to a certain proportion, and components with small sizes and more accuracy are selected to achieve the purposes of accurate control, compactness and flexibility; enabling the intelligent mobile robot to execute the relative command by sending the control command; the system has advanced significance in the aspects of competition and teaching, and can fully examine the capabilities of players or students on sensor application, motor driving and control, embedded programming capability and the like.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Figure 4 is a schematic structural view of the robot assembly and the gas claw assembly of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings, in which: as shown in figures 1-4, the intelligent mobile robot based on teaching and practical training comprises a chassis part 1, a machine body part 2, a robot component 3 and a gas claw component 4, the chassis part 1 is internally provided with a control panel, a laser ranging module, a motor 5 and an encoder, the control panel is connected with the motor 5, the encoder and the laser ranging module, the chassis part 1 comprises a pendulum suspension 11, the pendulum suspension 11 is provided with a Mecanum wheel 51 and a motor 5 connected with the Mecanum wheel, the body part 2 is provided with a microcomputer 8 and a wireless charging panel 7, the motor 5, the microcomputer 8 and the wireless charging panel 7 are connected with a control panel, the robot component 3 is arranged on the machine body part 2, the air claw component 4 is arranged in front of the robot component 3, the gas claw component 4 is provided with a camera module 9, and the camera module 9 is connected with the microcomputer 8.
As shown in fig. 3 to 4, the robot assembly 3 includes a base 31, a first swing arm 32, a second swing arm 33, a connecting block 34, a first connecting shaft 301, a second connecting shaft 302, a transferring connecting shaft 35 and a third connecting shaft 303, wherein the base 31 is provided with a first servo motor 304 and a second servo motor 305, the first servo motor 304 is connected with the first swing arm 32, the second servo motor 305 is connected with the second connecting shaft 302, the first connecting shaft 301 is fixedly connected with the base 31, the first connecting shaft 301 is rotatably connected with the second connecting shaft 302, the second connecting shaft 302 is arranged in the first swing arm 32, the transferring connecting shaft 35 is arranged between the first swing arm 32 and the second swing arm 33, the first swing arm 32 is rotatably connected with the second swing arm 33 through the transferring connecting shaft 35, the transferring connecting shaft 35 is rotatably connected with the second connecting shaft 302 and the third connecting shaft 303, the connecting block 34 is arranged at the front end of the second swing arm 33, and the connecting block 34 is rotatably connected with the second swing arm 33 and the third connecting shaft 303; the height of the air gripper assembly 4 is regulated and controlled by the servo motor through the first swing arm 32, the second swing arm 33, the connecting block 34, the first connecting shaft 301, the second connecting shaft 302, the transfer connecting shaft 35 and the third connecting shaft 303.
The pneumatic gripper assembly 4 comprises a pneumatic gripper frame 41, a pneumatic gripper transmission shaft 42, a pneumatic gripper servo motor 43 and a pneumatic gripper clamp 44, the camera module 9 is arranged on the pneumatic gripper clamp 44, the pneumatic gripper servo motor 43 is fixed on the pneumatic gripper clamp 44, the pneumatic gripper servo motor 43 is connected with the pneumatic gripper transmission shaft 42, the pneumatic gripper transmission shaft 42 is connected with the pneumatic gripper clamp 44, the pneumatic gripper clamp 44 is connected with the connecting block 34, and the pneumatic gripper servo motor 43 is used for controlling the pneumatic gripper clamp 44 to open and close the clamp.
The driving board comprises four laser sensor circuits, four motor driving circuits, four encoder circuits and a power management circuit; the four-path laser sensor circuit adopts a laser ranging technology for a laser ranging module and is used for detecting the distance from a locating point to a laser sensor, and the four-path laser sensor can be matched to enable the ranging error to reach +/-1 mm; the four-way motor driving circuit is used for driving and outputting four direct current motors by PWM signals generated by the control board; the four-way encoder circuit detection circuit adopts a pulse detection technology; the power management circuit is used for detecting voltage, providing power for each module and judging the charging and the power-off of the system; the stability of drive control is improved, and accurate control and positioning are provided for the intelligent mobile robot.
The chassis part is internally provided with a storage battery, the storage battery is connected with a wireless charging plate and a control driving plate, and the wireless charging plate is used for rectifying and stabilizing wireless charging voltage and can provide battery charging voltage for the driving plate.
The intelligent mobile robot system comprises a drive board, a control computer and a control board, wherein the control computer is connected with a microcomputer through a wireless network, the microcomputer comprises a network adapter, the microcomputer is connected with the drive board through a USB-to-serial port, the microcomputer comprises an integrated Dobot robot SDK, the control computer and the control board adopt a USB-to-serial port and Modbus RTU protocol, the operation data of the intelligent mobile robot are actively acquired, and a control command is sent to the intelligent mobile robot; the control computer collects the positioning coordinates and error data of the intelligent mobile robot, and the positioning detection is carried out by combining the USB camera so as to correct the positioning error and improve the grabbing precision.
The method for controlling the intelligent mobile robot based on the teaching and training comprises the following steps:
(1) the method comprises the steps that a power supply of the intelligent mobile robot is powered on, a power-on self-test program is operated, and the number of a runway where the intelligent mobile robot is located is requested;
(2) starting a microcomputer on the intelligent mobile robot, starting the intelligent mobile robot scheduling software to start automatically, starting a serial port to communicate with an intelligent mobile robot controller, and responding to a communication request of the intelligent mobile robot;
(3) detecting that the intelligent mobile robot controller requests a runway number, popping up a runway setting dialog box, and requesting to confirm the runway number;
(4) the intelligent mobile robot automatically adjusts the pose;
(5) the scheduling software integrates a plurality of communication ports;
(6) feeding back task execution completion information to a third party;
(7) and the scheduling software judges the electric quantity of the intelligent mobile robot and schedules the intelligent mobile robot to go to the charging pile.
The intelligent mobile robot scheduling software in the step (2) comprises commands of sending to a control board, sending execution fixed point, circle winding and position calibration commands; in the step (5), the communication port is a USB-to-serial port communication and Modbus RTU protocol adopted by the intelligent mobile robot controller STM32, a USB-to-serial port or Ethernet communication adopted by the 4-axis robot, a third-party task dispatching communication interface and a Modbus RTU/Modbus TCP; and (7) judging the electric quantity of the intelligent mobile robot and the low-electric-quantity state of the battery of the intelligent mobile robot by using scheduling software, scheduling the intelligent mobile robot to go to a charging pile, and switching to a low-power-consumption mode.
The microcomputer is internally provided with vehicle-mounted scheduling software, a power supply of the intelligent mobile robot is powered on, a power-on self-checking program is run, and the runway number where the intelligent mobile robot is located is requested; and starting the microcomputer, automatically starting the dispatching software, starting the communication between the serial port and the intelligent mobile robot controller, responding to the communication request of the intelligent mobile robot, popping up a runway setting dialog box if detecting that the intelligent mobile robot controller requests the runway number, requesting to confirm the runway number, and automatically adjusting the pose of the intelligent mobile robot after completion.
The control method of the intelligent mobile robot based on the teaching and training comprises a debugging method, wherein the debugging method comprises the steps that scheduling software sends a control command to an intelligent mobile robot controller, and commands such as fixed point, winding and position calibration are executed; and switching a page to a robot teaching page, wherein the teaching page integrates the functions of robot control, manual operation, state monitoring, point location storage, command scheduling and the like.
When the intelligent mobile robot is in joint operation, the scheduling software receives a third party distribution task, analyzes a task target point position and a robot execution program number, sends a positioning instruction to an intelligent mobile robot control board, waits for the intelligent mobile robot to complete positioning, sends the execution program number to the intelligent mobile robot, the intelligent mobile robot executes a specified action, waits for the intelligent mobile robot to complete execution, and feeds back task execution completion information to the third party after the scheduling software judges that all operations are completed; and when the battery of the intelligent mobile robot is low in electric quantity, the intelligent mobile robot is dispatched to a charging pile, and the intelligent mobile robot is switched to a low power consumption mode to execute charging.
The utility model discloses a main function: according to the structural characteristics of the intelligent mobile robot, the size is reduced according to a certain proportion, and components with small sizes and more accuracy are selected to achieve the purposes of accurate control, compactness and flexibility; enabling the intelligent mobile robot to execute the relative command by sending the control command; the system has advanced significance in the aspects of competition and teaching, and can fully examine the capabilities of players or students on sensor application, motor driving and control, embedded programming capability and the like.
In conclusion, after the ordinary skilled in the art reads the document of the present invention, according to the present invention, the technical solution and technical concept of the present invention do not need creative mental labor to make other various corresponding transformation schemes, which all belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides an intelligent movement robot based on real standard of teaching, its characterized in that, includes chassis part, fuselage part, robot subassembly and gas claw subassembly, be equipped with control panel, laser rangefinder module, motor and encoder in the chassis part, the control panel is connected with motor, encoder and laser rangefinder module, the chassis part hangs including the pendulum-type, the pendulum-type hangs and is equipped with mecanum wheel and the motor that links to each other with mecanum wheel, be equipped with microcomputer and wireless charging panel on the fuselage part, motor, microcomputer and wireless charging panel connection control panel, the robot subassembly is established on the fuselage part, the gas claw subassembly is established in robot subassembly the place ahead, be equipped with the camera module on the gas claw subassembly, the camera module is connected with the microcomputer.
2. The intelligent mobile robot based on teaching and practical training of claim 1, wherein the robot assembly comprises a base, a first swing arm, a second swing arm, a connecting block, a first connecting shaft, a second connecting shaft, a transfer connecting shaft and a third connecting shaft.
3. The intelligent mobile robot based on teaching and practical training of claim 2, characterized in that a first servo motor and a second servo motor are arranged on the base, the first servo motor is connected with the first swing arm, the second servo motor is connected with the second connecting shaft, the first connecting shaft is fixedly connected with the base, the first connecting shaft is rotatably connected with the second connecting shaft, and the second connecting shaft is arranged in the first swing arm.
4. The intelligent mobile robot based on teaching and practical training of claim 3, wherein the transfer connecting shaft is arranged between the first swing arm and the second swing arm, the first swing arm and the second swing arm are rotatably connected through the transfer connecting shaft, and the transfer connecting shaft is rotatably connected with the second connecting shaft and the third connecting shaft.
5. The intelligent mobile robot based on teaching and practical training of claim 4, wherein the connecting block is arranged at the front end of the second swing arm, and the connecting block is rotatably connected with the second swing arm and the third connecting shaft.
6. The intelligent mobile robot based on teaching and practical training of claim 5, wherein the pneumatic gripper assembly comprises a pneumatic gripper frame, a pneumatic gripper transmission shaft, a pneumatic gripper servo motor and a pneumatic gripper clamp, the camera module is arranged on the pneumatic gripper clamp, the pneumatic gripper servo motor is fixed on the pneumatic gripper clamp, the pneumatic gripper servo motor is connected with the pneumatic gripper transmission shaft, and the pneumatic gripper transmission shaft is connected with the pneumatic gripper clamp.
7. The intelligent mobile robot based on teaching and training of claim 1, further comprising a control computer, wherein the control computer is connected with the microcomputer through a wireless network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021540583.4U CN213999458U (en) | 2020-07-30 | 2020-07-30 | Intelligent mobile robot based on teaching training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021540583.4U CN213999458U (en) | 2020-07-30 | 2020-07-30 | Intelligent mobile robot based on teaching training |
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| CN213999458U true CN213999458U (en) | 2021-08-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114536300A (en) * | 2022-03-28 | 2022-05-27 | 三峡大学 | Indoor rail type electric power inspection robot and fire extinguishing method |
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2020
- 2020-07-30 CN CN202021540583.4U patent/CN213999458U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114536300A (en) * | 2022-03-28 | 2022-05-27 | 三峡大学 | Indoor rail type electric power inspection robot and fire extinguishing method |
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