CN214924365U - Automatic transfer robot device - Google Patents
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- CN214924365U CN214924365U CN202022504644.8U CN202022504644U CN214924365U CN 214924365 U CN214924365 U CN 214924365U CN 202022504644 U CN202022504644 U CN 202022504644U CN 214924365 U CN214924365 U CN 214924365U
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Abstract
The application relates to an automatic transfer robot device, which comprises a vehicle-type base, a six-degree-of-freedom mechanical arm and a controller; the self-stabilizing tripod head is arranged at the bottom of the six-degree-of-freedom mechanical arm and comprises an upper-layer disc, a middle-layer disc, a single-shaft gyro stabilizer and a rotating motor, wherein the single-shaft gyro stabilizer and the rotating motor are arranged between the upper-layer disc and the middle-layer disc; the controller is arranged on the vehicle type base and used for controlling the vehicle type base and the six-degree-of-freedom mechanical arm to work. The carrying of objects is realized by moving the vehicle-shaped base and clamping the mechanical arm, and the mobile phone software is used for controlling, so that the carrying is simple and convenient; adopt unipolar top stabilizer, keep whole device stable in the motion process, do not disturb the removal of motorcycle type base. By adopting the binocular camera and the laser radar, the controller calculates the optimal scheme according to data transmitted by the binocular camera and the laser radar, perfect obstacle avoidance is realized, and intelligent carrying is realized.
Description
Technical Field
The application relates to the field of robots, in particular to an automatic carrying robot device.
Background
The application of the robot has great significance to national defense and society, and in recent years, along with the application of intelligent materials and the development of sensor technology, the development of the robot is more diversified, intelligent and popularized. The main popular robots in the market at present are service robots and entertainment and leisure robots, and functional robots capable of replacing human robots, such as robots for carrying and packaging objects, are in the stages of research and development and trial due to technical and cost reasons, but are not put into mass production, and the common carrying robots are generally only used in customs and large-scale factories. And has less application in other fields.
The function of the transfer robot is very important, the transfer robot can replace manual work to carry materials, labor is saved, the chances that people contact viruses and infect the viruses can be reduced, although the conventional rail type transmission device in a hospital is simple, the rail is single, only simple articles can be transported, the requirement of the conventional hospital cannot be met, and therefore the transfer robot continues to be used.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the application is to provide an automatic transfer robot device and a driving method thereof; the user can control the robot through mobile phone software; the robot can control the mechanical arm to clamp an object through a related control system and move by utilizing the vehicle model module to realize the carrying of the object; utilize binocular camera, laser radar etc. to implement transmission data, realize transporting accurate marcing on the way, especially can be used to complex environment such as hospital.
The technical scheme provided by the application is as follows:
an automatic transfer robot device characterized in that: the robot comprises a vehicle type base, a six-degree-of-freedom mechanical arm and a controller; the six-degree-of-freedom mechanical arm comprises a mechanical big arm, a mechanical small arm, a mechanical wrist and a mechanical clamping hand which are sequentially connected; the self-stabilizing tripod head is arranged at the bottom of the six-degree-of-freedom mechanical arm and comprises an upper-layer disc, a middle-layer disc and a lower-layer disc which are the same in size and are sequentially arranged from top to bottom, a single-shaft gyro stabilizer and a rotating motor are arranged between the upper-layer disc and the middle-layer disc, and the middle-layer disc and the lower-layer disc are supported and fixed by four bolts and nuts; the lower-layer disc is fixedly connected with the vehicle-shaped base; the controller is arranged on the vehicle type base and used for controlling the vehicle type base and the six-degree-of-freedom mechanical arm to work.
Furthermore, the mechanical clamping hand is of a symmetrical scissor hand structure, a first motor frame and a first motor are installed at the bottom of the mechanical clamping hand and used for driving the mechanical clamping hand to open and close, the rear end of the mechanical clamping hand is connected with an output shaft of a first motor fixed above the first motor frame, and the first motor frame is fixed below the mechanical wrist.
Furthermore, a second motor frame and a second motor are fixedly mounted on the upper side of the mechanical wrist, and two sides of the second motor frame are fixedly mounted on the mechanical small arm through screws.
Furthermore, the tail end of the small mechanical arm is connected with an output shaft of a motor III, the left side and the right side of the motor III are fixed at the upper end of the large mechanical arm, and the lower end of the large mechanical arm is fixed with a motor frame IV and a motor IV; the bottom of the motor frame IV is fixedly connected with an upper disc of the self-stabilizing pan-tilt.
Further, the vehicle type base comprises a vehicle bottom layer, a vehicle second layer, a vehicle top layer and wheels; the camera supporting shaft and the binocular camera are fixedly arranged on the top layer of the vehicle, and the periphery of the top layer of the vehicle is fixed above the second layer of the vehicle through connecting pieces; a laser radar is placed in the center of the second layer of the vehicle, and a mechanical arm controller is installed on the rear side of the second layer of the vehicle; the periphery of the second layer of the vehicle is connected with the bottom layer of the vehicle by connecting pieces.
Furthermore, two driving motors are respectively installed on two long edges of the bottom layer of the vehicle, and a wheel is respectively installed on an output shaft of each driving motor.
Further, a control panel and a battery are installed right above the bottom layer of the vehicle.
Further, the tail end of the mechanical clamping hand is adhered with anti-skid rubber by strong glue.
Furthermore, the rotation angle of the upper cloud disk of the self-stabilizing cloud disk and the small arm of the mechanical arm is 360 degrees.
Further, the control board is STM32, and the battery is 12V lithium cell.
Further, the motor is fixed on the motor frame through bolts and nuts;
further, the rotation angle of the large arm of the mechanical arm is 180 degrees;
further, the maximum angle that the mechanical clamping hand can allow to open is 160 degrees;
further, the allowed rotation angle of the binocular camera is-90 degrees to 90 degrees;
furthermore, the position of the manipulator control board is arranged below the manipulator, and the control board is connected with the motors of all parts of the manipulator by leads.
Furthermore, the peripheries of the vehicle bottom plate, the vehicle second layer and the vehicle top layer are designed to be round corners.
Further, a method of controlling the transfer robot according to any one of the above, characterized by: the carrying robot comprises a motor, a lithium battery, a control panel, a mechanical arm control panel, a laser radar, a binocular camera and a single-shaft gyro stabilizer; (1) and turning on a control switch to complete the starting of the robot. The user is on the mobile phone; (2) using mobile phone software to issue commands and inform the robot of the destination, the target object and the specified carrying place; (3) the robot controller receives an instruction from a mobile phone and starts processing, and the STM32 control board controls the electric drive wheels to move forwards; the radar detector detects surrounding and front obstacles and the distance of the obstacles, and transmits data back to the mobile phone cloud and the STM32 controller; the STN32 controller analyzes the obtained data, avoids the barrier according to the self control programming and calculates the best advancing route; when the distance between the vehicle and the obstacle reaches a specified safe distance, the STM32 control board controls the motors of the front two wheels to drive the wheels to rotate by a certain angle and then continue to advance, so that the obstacle is successfully avoided;
(4) the binocular camera shoots surrounding and front pictures, the shot color images are transmitted back to the mobile phone cloud and the STM32 control panel, the STM32 control panel judges whether a front object is an obstacle or not according to the color images, and if the judgment result is negative, the STM32 control panel takes the front object as the obstacle to perform obstacle avoidance; if the judgment result is yes, continuing to move towards the target object, and stopping moving the robot after the robot reaches the safe distance closest to the target object according to the real-time monitoring and data transmission of the laser radar; meanwhile, the STM32 control board gives a signal to the mechanical arm control board;
(5) after the mechanical arm control board receives the signal, the mechanical arm starts to work; the laser radar transmits the distance of the target object to the mechanical arm control panel, and the mechanical arm control panel calculates a mechanical arm tail end coordinate system and a target object coordinate system according to the D-H parameters and the real-time data to obtain joint polynomial variables of the mechanical arm, so that the optimal moving mode of each joint is calculated; the mechanical arm control board controls motors arranged on all joints of the mechanical arm, the motors drive all the joints to rotate by corresponding angles and translation related distances, clamping hands of the mechanical arm are opened and positioned on two sides of a target object, the clamping hands of the mechanical arm are closed, the mechanical arm moves reversely and rotates, and the target object is lifted off the ground; during the movement of each joint of the mechanical arm, the single-shaft gyro stabilizer works constantly and transmits inclination data to the mechanical arm control board, and the mechanical arm control board adjusts the whole position of the mechanical arm according to related data, so that the interference of the mechanical arm on the whole device is reduced;
(6) when the movement of the mechanical arm stops, the STM32 control panel control device replans the route to move towards the appointed place, and after the movement reaches the appointed place;
(7) the mechanical arm control board controls the mechanical arm to put down the target object, and the object carrying is completed.
The 12V lithium battery is used for supplying power to the whole device, and all the related control boards, the battery and the motor are connected with one another through leads.
After the vehicle type base is started, a user can directly transmit an instruction through a mobile phone to inform the robot of the place where the robot needs to arrive and the object which needs to be carried. The robot starts a binocular camera and a laser radar, a route is planned by a control panel, the binocular camera transmits a shot color image to the control panel in real time, the control panel judges whether a front object is a target object or not, if not, the control panel plans the front object as an obstacle, the optimal route is changed in real time to achieve obstacle avoidance, and a destination is continuously searched; if the judgment result is yes, transmitting an instruction to the mechanical arm control panel, controlling the mechanical arm to grab the object by the mechanical arm control panel, and then carrying the object to a destination to be reached to finish the carrying activity.
The working principle of the application is as follows: according to the technical scheme, the control switch is pressed, the 12V lithium battery supplies power to the whole device, the STM32 control panel plans the best route according to the data transmitted by the binocular camera and the laser radar in real time, and the wheels are controlled to operate, so that the whole device moves forwards. The mechanical arm control board controls the relevant motion of each joint of the mechanical arm to realize the clamping and the carrying of the object; and through the self-stabilizing cradle head device, the interference of the movement of the mechanical arm on the whole device is reduced, and the stable operation of the device is maintained.
The beneficial effect that this application reached: this application combines motorcycle type base and arm, through the removal of motorcycle type base and the clamp dress of arm, realizes the transport of object. The mobile phone software is used for controlling, so that the method is simple and convenient; adopt unipolar top stabilizer, keep whole device stable in the motion process, do not disturb the removal of motorcycle type base. By adopting the binocular camera and the laser radar, the controller calculates the optimal scheme according to data transmitted by the binocular camera and the laser radar, perfect obstacle avoidance is realized, and intelligent carrying is realized. The controller adopts the mechanical arm control panel and STM32 control panel to use simultaneously, and control is simple easily to operate. The robot arm has a simple and clear structure, and can be used for deeply researching the mechanical arm and theoretically supporting and practically supporting the hospital transfer robot.
Drawings
Fig. 1 is a view showing the overall apparatus structure of the present application.
Fig. 2 is a layered view of the automated transfer robot apparatus according to the present application.
Fig. 3 is a bottom structure view of the automatic transfer robot apparatus according to the present invention.
Wherein: 1-a vehicle bottom plate; 2-STM32 control panel; 3-turning two layers; 4-vehicle top layer; 5-binocular camera; 6-laser radar; 7-mechanical arm control panel; 8-six degree of freedom mechanical arm; 9-12V lithium batteries; 10-a connector; 11-a wheel; 12-motor.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present application more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1 to 3, an automatic transfer robot apparatus includes a vehicle-type base and a six-degree-of-freedom robot arm 8. The six-degree-of-freedom mechanical arm 8 comprises a mechanical big arm, a mechanical small arm, a mechanical wrist and a mechanical clamping hand. The mechanical clamping hand is of a symmetrical scissor-hand structure and is used for grabbing objects; the bottom is fixedly provided with a motor frame and a motor by bolts and nuts, the motor drives the mechanical clamping hand to open and close, and the maximum allowable opening angle is 160 degrees. The tail end of the mechanical clamping hand is fixed with anti-skid rubber by strong glue for better grabbing a target object. The rear end of the mechanical clamping hand is connected with an output shaft of a motor fixed above a motor frame I, the whole mechanical clamping hand is driven to rotate through the rotation of the motor I, the rotation angle can be allowed to be 360 degrees, and the motor frame I is fixed below a mechanical wrist. And a second motor frame and a second motor are also fixedly arranged on the upper side of the mechanical wrist, and the second motor is used for controlling the movement of the mechanical wrist. Two sides of the second motor frame are fixedly arranged on the mechanical small arm through screws, the tail end of the mechanical small arm is connected with an output shaft of the third motor, and the third motor drives the small arm to turn over, so that the turning-over angle is allowed to be 180 degrees. The left side and the right side of the motor III are fixed at the upper end of the mechanical large arm, the lower end of the mechanical large arm is fixed with the other motor frame IV and the motor IV, the motor IV drives the whole mechanical large arm to turn over, and the turning angle can be allowed to be 180 degrees. The bottom of the motor frame IV is fixedly connected with an upper disc of the self-stabilizing pan-tilt.
The self-stabilizing pan-tilt comprises three layers of disks with the same size, a single-shaft gyro stabilizer and a rotating motor (the single-shaft gyro stabilizer and the rotating motor are omitted in the drawing) are arranged between the upper-layer disk and the middle-layer disk, the rotating motor drives the upper-layer disk to rotate, and the single-shaft gyro stabilizer is used for controlling the balance of the whole device. The upper layer disk and the middle layer disk, and the middle layer disk and the lower layer disk are supported and fixed by four bolts and nuts. The lower disc and the second layer 3 of the vehicle are fixedly connected by a connecting piece 10.
As shown in fig. 1-2, the vehicle type base comprises a vehicle bottom plate 1, a vehicle second layer 3, a vehicle top layer 4 and four wheels 11. The vehicle top layer 4 is fixedly provided with a camera supporting shaft and a binocular camera 5, the camera supporting shaft supports the binocular camera 5, meanwhile, the balance of the binocular camera 5 is maintained, and the situation that the shot picture is too shaken to influence the analysis of a controller is avoided; the camera supporting shaft can support 180-degree rotation, and surrounding scenes can be comprehensively shot. Four connecting pieces 10 are fixed above the second layer 3 of the vehicle around the top layer 4 of the vehicle, the four connecting pieces 10 are connected with the bottom plate 1 of the vehicle around the second layer 3 of the vehicle, and the three layers of the vehicle plates are designed by round corners, so that the safety of the device is improved. And a laser radar 6 is arranged in the center of the second layer 3 of the vehicle, surrounding obstacles are monitored, and the distance between the robot and the obstacles is judged. And a mechanical arm controller is arranged at the rear side of the second layer 3 of the vehicle and is used for controlling each motor arranged on the mechanical arm to work. Two driving motors 12 (shown in fig. 3) are respectively arranged at the bottom of two long sides of the vehicle bottom plate 1, and a wheel 11 is respectively arranged on an output shaft of each motor 12 and used for controlling the advancing direction and the advancing speed of the wheel 11. An STM32 control board 2 and a 12V lithium battery 9 are arranged right above the vehicle bottom board 1. The STM32 control panel 2 controls the movement of the entire apparatus, driving the four motors 12 that control the wheels 11. And meanwhile, data transmitted by the binocular camera 5 and the laser radar 6 are received and processed, the optimal advancing route is analyzed, and whether a front object is a target object or not is judged.
The control method of the transfer robot comprises the following steps: and a control switch (not shown in the figure) is turned on, and the robot is started. A user issues commands on a mobile phone by adopting mobile phone software to inform the robot of a destination, a target object and a specified carrying place. The robot controller receives the instruction from the mobile phone to start processing, and the STM32 control panel 2 controls the motor 12 to drive the wheels 11 to move forward. The radar detector detects surrounding and front obstacles and the distance between the obstacles, transmits data back to the mobile phone cloud and the STM32 controller, and the STN32 controller analyzes the obtained data, avoids the obstacles according to self control programming and calculates the best advancing route. When the distance between the vehicle and the obstacle reaches a specified safe distance, the STM32 control board 2 controls the motors 12 of the front two wheels 11 to drive the wheels 11 to rotate by a certain angle and then to move forward, so that the obstacle is successfully avoided.
The binocular camera 5 shoots surrounding and front pictures, the shot color images are transmitted back to the mobile phone cloud end and the STM32 control panel 2, the STM32 control panel 2 judges whether a front object is an obstacle or not according to the color images, and if the judgment result is negative, the STM32 control panel 2 takes the front object as the obstacle to perform obstacle avoidance; if the judgment result is yes, the robot continues to move towards the target object, and the robot stops moving after reaching the safe distance closest to the target object according to the real-time monitoring and data transmission of the laser radar 6; while STM32 control board 2 gives a signal to the mechanical arm control board 7.
After the mechanical arm control board 7 receives the signal, the mechanical arm starts to work. The laser radar 6 transmits the distance of the target object to the mechanical arm control board 7, and the mechanical arm control board 7 calculates a mechanical arm tail end coordinate system and a target object coordinate system according to the D-H parameters and the real-time data to obtain joint polynomial variables of the mechanical arm, so that the optimal moving mode of each joint is calculated. The mechanical arm control board 7 controls motors arranged on all joints of the mechanical arm, the motors drive all the joints to rotate by corresponding angles and translation related distances, clamping hands of the mechanical arm are opened and positioned on two sides of a target object, then the clamping hands of the mechanical arm are closed, the mechanical arm moves reversely and rotates, and the target object is lifted off the ground. During each joint activity of arm, unipolar top stabilizer works constantly and with slope data transmission to arm control panel 7, and arm control panel 7 adjusts the whole position of arm according to relevant data, reduces the interference of arm to the global device. And when the movement of the mechanical arm stops, the STM32 control panel 2 control device plans the route again to move towards the designated place, and after the mechanical arm reaches the designated place, the mechanical arm control panel 7 controls the mechanical arm to put down the target object to finish the object carrying.
The beneficial effect that this application reached: this application combines motorcycle type base and arm, through the removal of motorcycle type base and the clamp dress of arm, realizes the transport of object. The mobile phone software is used for controlling, so that the method is simple and convenient; adopt unipolar top stabilizer, keep whole device stable in the motion process, do not disturb the removal of motorcycle type base. By adopting the binocular camera and the laser radar, the controller calculates the optimal scheme according to data transmitted by the binocular camera and the laser radar, perfect obstacle avoidance is realized, and intelligent carrying is realized. The controller adopts the mechanical arm control panel and STM32 control panel to use simultaneously, and control is simple easily to operate. The robot arm has a simple and clear structure, and can be used for deeply researching the mechanical arm and theoretically supporting and practically supporting the hospital transfer robot.
The above description is only a specific embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. An automatic transfer robot device characterized in that: the robot comprises a vehicle type base, a six-degree-of-freedom mechanical arm and a controller; the six-degree-of-freedom mechanical arm comprises a mechanical big arm, a mechanical small arm, a mechanical wrist and a mechanical clamping hand which are sequentially connected; the automatic stabilizing platform comprises an upper-layer disc, a middle-layer disc and a lower-layer disc which are the same in size and are sequentially arranged from top to bottom, a single-shaft gyro stabilizer and a rotating motor are arranged between the upper-layer disc and the middle-layer disc, the middle-layer disc is connected with the lower-layer disc, and the lower-layer disc is fixedly connected with the vehicle-type base; the controller is arranged on the vehicle type base and used for controlling the vehicle type base and the six-degree-of-freedom mechanical arm to work.
2. The automated transfer robot apparatus of claim 1, wherein: the mechanical clamping hand is of a symmetrical scissor hand structure, a first motor frame and a first motor are installed at the bottom of the mechanical clamping hand and used for driving the mechanical clamping hand to open and close, the rear end of the mechanical clamping hand is connected with an output shaft of a first motor fixed above the first motor frame, and the first motor frame is fixed below a mechanical wrist.
3. The automated transfer robot apparatus of claim 1, wherein: and a second motor frame and a second motor are also fixedly arranged on the upper side of the mechanical wrist, and two sides of the second motor frame are fixedly arranged on the mechanical small arm by screws.
4. The automated transfer robot apparatus of claim 1, wherein: the tail end of the small mechanical arm is connected with an output shaft of a motor III, the left side and the right side of the motor III are fixed at the upper end of the large mechanical arm, and the lower end of the large mechanical arm is fixed with a motor frame IV and a motor IV; the bottom of the motor frame IV is fixedly connected with an upper disc of the self-stabilizing pan-tilt.
5. The automated transfer robot apparatus of claim 1, wherein: the vehicle type base comprises a vehicle bottom layer, a vehicle second layer, a vehicle top layer and wheels; the camera supporting shaft and the binocular camera are fixedly arranged on the top layer of the vehicle, and the periphery of the top layer of the vehicle is fixed above the second layer of the vehicle through connecting pieces; a laser radar is placed in the center of the second layer of the vehicle, and a mechanical arm controller is installed on the rear side of the second layer of the vehicle; the periphery of the second layer of the vehicle is connected with the bottom layer of the vehicle by connecting pieces.
6. The automated transfer robot apparatus of claim 5, wherein: two driving motors are respectively installed on two long edges of the bottom layer of the vehicle, and a wheel is respectively installed on an output shaft of each driving motor.
7. The automated transfer robot apparatus of claim 5, wherein: and a control panel and a battery are arranged right above the bottom layer of the vehicle.
8. The automated transfer robot apparatus of claim 1, wherein: and adhering anti-skid rubber to the tail end of the mechanical clamping hand by using strong glue.
9. The automated transfer robot apparatus of claim 1, wherein: the rotation angle of the upper cloud disk of the self-stabilizing cloud disk and the small arm of the mechanical arm is 360 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022504644.8U CN214924365U (en) | 2020-11-03 | 2020-11-03 | Automatic transfer robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022504644.8U CN214924365U (en) | 2020-11-03 | 2020-11-03 | Automatic transfer robot device |
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| Publication Number | Publication Date |
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| CN214924365U true CN214924365U (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022504644.8U Active CN214924365U (en) | 2020-11-03 | 2020-11-03 | Automatic transfer robot device |
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| CN (1) | CN214924365U (en) |
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- 2020-11-03 CN CN202022504644.8U patent/CN214924365U/en active Active
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