CN216479833U - Multi-autonomous mobile robot formation control device - Google Patents
Multi-autonomous mobile robot formation control device Download PDFInfo
- Publication number
- CN216479833U CN216479833U CN202122930933.9U CN202122930933U CN216479833U CN 216479833 U CN216479833 U CN 216479833U CN 202122930933 U CN202122930933 U CN 202122930933U CN 216479833 U CN216479833 U CN 216479833U
- Authority
- CN
- China
- Prior art keywords
- mounting
- groove
- control computer
- robot
- autonomous mobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a multi-autonomous mobile robot formation control device, which relates to the field of robot control programming and comprises a robot body, wherein a control computer is fixedly installed on the robot body and used for controlling the robot formation to run, two installation bases are symmetrically and fixedly installed at the top of the robot body, installation sliding grooves are formed in the two installation bases, installation sliding rods are installed in the two installation sliding grooves in a sliding mode, the same abutting rod is fixedly installed on the two installation sliding rods and is in contact with the control computer, and two limiting sliding holes are formed in the inner wall of each installation sliding groove. According to the robot control system, the abutting rods and other structures are arranged, so that the robot cannot directly drop the control computer to the ground even if the robot moves violently, the placing stability of the control computer is guaranteed, the function of protecting the control computer is achieved, the debugging of the robot by experimenters is facilitated, and the problem that the control computer is damaged and needs to be debugged again is solved.
Description
Technical Field
The utility model relates to the technical field of robot control programming, in particular to a multi-autonomous mobile robot formation control device.
Background
With the accelerated development of robotization in the industrial field, a multi-robot system is timely and has received wide attention of researchers in the industry, in order to quickly find out a method for controlling formation of stacked robots, an experiment team builds a multi-autonomous mobile robot platform based on an ROS system, and aims to design formation and control a real scene experiment, wherein a control computer for inputting a control program for a robot is used for controlling the formation of the robot.
Among the prior art, at the in-process that carries out the experiment, the experimenter is regular will be used for programming control's control computer directly to glue at the top of the head of robot to adjust the inside procedure of robot at any time, but the robot very easily will control the computer and fall ground and lead to the computer to damage in the motion, cause great loss, also can lead to the condition that the robot needs debugging again simultaneously, waste time and energy, consequently need many autonomous mobile robot formation controlling means to satisfy people's demand.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a multi-autonomous mobile robot formation control device, which solves the problems that the robot proposed in the background art is very easy to fall a control computer off the ground during movement, so that the computer is damaged, great loss is caused, and the robot needs to be debugged again, so that time and labor are wasted.
In order to achieve the purpose, the utility model provides the following technical scheme: a multi-autonomous mobile robot formation control device comprises a robot body, wherein a control computer is fixedly installed on the robot body and used for controlling the robot formation to run, two installation bases are symmetrically and fixedly installed at the top of the robot body, installation sliding grooves are formed in the two installation bases, installation sliding rods are installed in the two installation sliding grooves in a sliding mode, one abutting rod is fixedly installed on the two installation sliding rods and is in contact with the control computer, two limiting sliding holes are formed in the inner wall of each installation sliding groove, limiting sliding blocks are installed in the two limiting sliding holes in a sliding mode, the two limiting sliding blocks are fixedly installed on the installation sliding rods, a positioning sliding rod is fixedly installed on the inner wall of one side of each installation sliding groove, a positioning sliding groove is formed in each installation sliding rod, the positioning sliding rods are sleeved in the positioning sliding grooves in a sliding mode, and an experimenter can perform the control before an experiment, the control computer is placed at the top of the robot body, the pushing rod is pulled to place the control computer on the mounting base, then under the action of the tension spring, the mounting sliding rod slides towards the mounting sliding groove, the pushing rod is pulled to act on the control computer, and the placing stability of the control computer is guaranteed.
Preferably, two all seted up on the installation base and connected the turn trough, two connect the turn trough in all rotate and install the connection pivot, two connect the equal fixed mounting in one side that the pivot was kept away from each other have the trace, connect the turn trough and guaranteed the stability of rotation of connecting pivot and trace, fixed mounting has same fixed bolster between two traces, and fixed mounting has the support fixture block on the installation base, supports the fixture block and contacts with the trace, has guaranteed the installation stability of fixed bolster.
Preferably, fixed mounting has two location bases on the fixed bolster, has all seted up the type spread groove of protruding on two location bases, and equal slidable mounting has the U type inverted buckle in two type spread grooves, and the U type inverted buckle contacts with the control computer, and the installation stability of U type inverted buckle has been guaranteed to the type spread groove of protruding, and the opening stability of control computer has been guaranteed to the U type inverted buckle.
Preferably, connect and seted up the font on the one side inner wall of revolving groove and rotated the groove, the font rotates the inslot internal rotation and installs spacing revolving ring, and spacing revolving ring is fixed to be cup jointed on connecting the pivot, and the font rotates the groove and is used for preventing to connect the pivot and fall out from connecting the revolving groove with spacing revolving ring, has guaranteed the installation stability of connecting the pivot.
Preferably, the connecting rotating shaft is fixedly sleeved with a torsion spring, one end of the torsion spring is fixedly connected to the connecting rotating shaft, the other end of the torsion spring is fixedly connected to the inner wall of the connecting rotating groove, and the torsion spring is used for driving the connecting rotating shaft and the linkage rod to overturn and expand, so that the fixed support drives the control computer to overturn and expand.
Preferably, slidable mounting has the location cardboard in the type of protruding spread groove, and location cardboard fixed mounting has cup jointed reset spring in the bottom of U type back-off board in the type of protruding spread groove, and reset spring's one end contacts with the location cardboard, and reset spring's the other end contacts with the inner wall of type of protruding spread groove, and reset spring has guaranteed U type back-off board fixed stability with location cardboard interact.
Preferably, the positioning slide rod is sleeved with a tension spring in a sliding mode, the tension spring is used for pulling the installation slide rod and then driving the abutting rod to enable the abutting rod to act on a control computer, one end of the tension spring is fixedly connected to the inner wall of the installation sliding groove, and the other end of the tension spring is fixedly connected to the installation slide rod.
The utility model has the beneficial effects that:
according to the robot control system, due to the arrangement of the structures such as the supporting rods, the robot cannot directly drop the control computer to the ground even if the robot moves violently, the placing stability of the control computer is guaranteed, the function of protecting the control computer is achieved, the debugging of the robot by experimenters is facilitated, and the problem that the control computer is damaged and needs to be debugged again is solved.
According to the utility model, through the arrangement of the structures such as the fixed support, the control computer can be fixed by the fixed support in the movement process of the robot, the situation that the control computer shakes to open and close due to the violent movement of the robot is avoided, and the function of protecting the control computer is further achieved.
Drawings
Fig. 1 is a schematic view of an overall structure of a multi-autonomous mobile robot formation control device according to the present invention;
fig. 2 is a schematic view of a connection structure of a mounting base and a fixed bracket in the multi-autonomous mobile robot formation control device according to the present invention;
fig. 3 is a schematic cross-sectional structural view of a fixing bracket in the multi-autonomous mobile robot formation control device according to the present invention;
fig. 4 is a schematic cross-sectional structural diagram of a mounting base in the multi-autonomous mobile robot formation control device according to the present invention.
In the figure: 1. a robot body; 2. a control computer; 3. installing a base; 4. installing a chute; 5. installing a sliding rod; 6. a support rod; 7. a limiting slide hole; 8. a limiting slide block; 9. positioning the slide bar; 10. a tension spring; 11. positioning the chute; 12. connecting the rotary groove; 13. connecting the rotating shaft; 14. a linkage rod; 15. fixing a bracket; 16. positioning a base; 17. a convex connecting groove; 18. positioning a clamping plate; 19. a U-shaped inverted buckle plate; 20. a return spring; 21. a convex-shaped rotating groove; 22. a limiting rotating ring; 23. a torsion spring; 24. and supporting the clamping block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-4, the multi-autonomous mobile robot formation control device comprises a robot body 1, a control computer 2 is fixedly installed on the robot body 1, the control computer 2 is used for controlling the robot formation operation, two installation bases 3 are symmetrically and fixedly installed at the top of the robot body 1, installation sliding grooves 4 are formed in the two installation bases 3, installation sliding rods 5 are respectively installed in the two installation sliding grooves 4 in a sliding manner, a same abutting rod 6 is fixedly installed on the two installation sliding rods 5, the abutting rod 6 is in contact with the control computer 2, two limiting sliding holes 7 are formed in the inner wall of the installation sliding groove 4, limiting sliding blocks 8 are respectively installed in the two limiting sliding holes 7 in a sliding manner, the two limiting sliding blocks 8 are respectively and fixedly installed on the installation sliding rods 5, a positioning sliding rod 9 is fixedly installed on the inner wall of one side of the installation sliding groove 4, and a positioning sliding groove 11 is formed in the installation sliding rod 5, the positioning slide rod 9 is sleeved in the positioning slide groove 11 in a sliding mode, an experimenter places the control computer 2 at the top of the robot body 1 before an experiment starts, the pulling abutting rod 6 is used for placing the control computer 2 on the installation base 3, then under the action of the tension spring 10, the installation slide rod 5 slides towards the installation slide groove 4, the pulling abutting rod 6 acts on the control computer 2, and the placing stability of the control computer 2 is guaranteed.
Referring to fig. 2-4, the two mounting bases 3 are respectively provided with a connecting rotary groove 12, the two connecting rotary grooves 12 are respectively rotatably provided with a connecting rotary shaft 13, the sides of the two connecting rotary shafts 13 away from each other are respectively fixedly provided with a linkage rod 14, the connecting rotary grooves 12 ensure the rotational stability of the connecting rotary shafts 13 and the linkage rods 14, the same fixed support 15 is fixedly arranged between the two linkage rods 14, the mounting bases 3 are respectively fixedly provided with a supporting fixture block 24, and the supporting fixture blocks 24 are in contact with the linkage rods 14, so that the mounting stability of the fixed support 15 is ensured.
Referring to fig. 2-3, two positioning bases 16 are fixedly mounted on a fixed support 15, convex connecting grooves 17 are formed in the two positioning bases 16, U-shaped inverted buckle plates 19 are slidably mounted in the two convex connecting grooves 17, the U-shaped inverted buckle plates 19 are in contact with a control computer 2, the U-shaped inverted buckle plates 19 ensure the mounting stability of the U-shaped inverted buckle plates 19, and the U-shaped inverted buckle plates 19 ensure the opening stability of the control computer 2.
Referring to fig. 4, a convex-shaped rotating groove 21 is formed in the inner wall of one side of the connecting rotating groove 12, a limiting rotating ring 22 is rotatably mounted in the convex-shaped rotating groove 21, the limiting rotating ring 22 is fixedly sleeved on the connecting rotating shaft 13, and the convex-shaped rotating groove 21 and the limiting rotating ring 22 are used for preventing the connecting rotating shaft 13 from falling out of the connecting rotating groove 12, so that the mounting stability of the connecting rotating shaft 13 is ensured.
Referring to fig. 4, the connecting rotating shaft 13 is fixedly sleeved with a torsion spring 23, one end of the torsion spring 23 is fixedly connected to the connecting rotating shaft 13, the other end of the torsion spring 23 is fixedly connected to the inner wall of the connecting rotating groove 12, and the torsion spring 23 is used for driving the connecting rotating shaft 13 and the linkage rod 14 to turn over and unfold, so that the fixed support 15 drives the control computer 2 to turn over and unfold.
Referring to fig. 3, a positioning clamping plate 18 is slidably mounted in a convex connecting groove 17, the positioning clamping plate 18 is fixedly mounted at the bottom of a U-shaped inverted buckle plate 19, a return spring 20 is slidably sleeved in the convex connecting groove 17, one end of the return spring 20 is in contact with the positioning clamping plate 18, the other end of the return spring 20 is in contact with the inner wall of the convex connecting groove 17, and the return spring 20 and the positioning clamping plate 18 interact to ensure the fixing stability of the U-shaped inverted buckle plate 19.
Referring to fig. 4, a tension spring 10 is sleeved on a positioning slide rod 9 in a sliding manner, the tension spring 10 is used for pulling a mounting slide rod 5 so as to drive a resisting rod 6 to act on a control computer 2, one end of the tension spring 10 is fixedly connected to the inner wall of a mounting slide groove 4, and the other end of the tension spring 10 is fixedly connected to the mounting slide rod 5.
The working principle of the utility model is as follows:
before an experiment begins, an experimenter places a control computer 2 at the top of a robot body 1, pulls a resisting rod 6, places the control computer 2 on a mounting base 3, then, under the action of a tension spring 10, a mounting slide rod 5 slides towards a mounting slide groove 4, the pulling resisting rod 6 acts on the control computer 2 to ensure the placement stability of the control computer 2, then, the control computer 2 is opened to be attached to a fixing support 15, pulls a U-shaped inverted buckle plate 19 to enable the U-shaped inverted buckle plate 19 to be buckled at the top of the control computer 2, the protection of the control computer 2 is completed, wherein the mounting slide groove 4 is used for ensuring the sliding stability of the mounting slide rod 5, a limiting slide hole 7 and a limiting slide block 8 interact to ensure the mounting stability of the mounting slide rod 5, the situation that the mounting slide rod 5 falls out of the mounting slide groove 4 is avoided, the tension spring 10 is used for pulling the mounting slide rod 5 to further drive the resisting rod 6 to act on the control computer 2, guarantee the stability of control computer 2, connect the stability of having guaranteed connection pivot 13 and trace 14 of rotor groove 12, and then guaranteed the installation stability of fixed bolster 15, torsional spring 23 is used for driving and connects pivot 13 and trace 14 upset expansion, and then make fixed bolster 15 drive control computer 2 upset expansion, support fixture block 24 is used for preventing that fixed bolster 15 upset excessively leads to driving control computer 2 impaired, type of protruding rotating groove 21 and spacing change 22 are used for preventing to connect pivot 13 and fall out from connecting the rotor groove 12, the installation stability of connecting pivot 13 has been guaranteed, the type of protruding spread groove 17 has guaranteed the installation stability of U type back-off board 19, reset spring 20 has guaranteed U type back-off board 19 fixed stability with location cardboard 18 interact.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (7)
1. Many autonomous mobile robot formation controlling means, including robot body (1), fixed mounting has control computer (2), its characterized in that on robot body (1): the top of the robot body (1) is symmetrically and fixedly provided with two mounting bases (3), mounting chutes (4) are respectively arranged on the two mounting bases (3), mounting slide bars (5) are respectively and slidably mounted in the two mounting chutes (4), the two mounting slide bars (5) are fixedly provided with the same abutting rod (6), the abutting rod (6) is contacted with the control computer (2), two limiting slide holes (7) are arranged on the inner wall of the mounting chute (4), limiting slide blocks (8) are respectively arranged in the two limiting slide holes (7) in a sliding way, the two limiting slide blocks (8) are respectively fixedly arranged on the mounting slide bar (5), a positioning sliding rod (9) is fixedly mounted on the inner wall of one side of the mounting sliding groove (4), a positioning sliding groove (11) is formed in the mounting sliding rod (5), and the positioning sliding rod (9) is sleeved in the positioning sliding groove (11) in a sliding mode.
2. The multi-autonomous mobile robot formation control device according to claim 1, characterized in that: two connect the turn trough (12) all seted up on installation base (3), all rotate in two connect turn troughs (12) and install and connect pivot (13), two connect equal fixed mounting in one side that pivot (13) kept away from each other has trace (14), fixed mounting has same fixed bolster (15) between two trace (14), and fixed mounting has support fixture block (24) on installation base (3), supports fixture block (24) and contacts with trace (14).
3. The multi-autonomous mobile robot formation control device according to claim 2, characterized in that: fixed mounting has two location bases (16) on fixed bolster (15), has all seted up on two location bases (16) protruding font spread groove (17), and equal slidable mounting has U type inverted buckle (19) in two protruding font spread grooves (17), and U type inverted buckle (19) contact with control computer (2).
4. The multi-autonomous mobile robot formation control device according to claim 2, characterized in that: a convex rotating groove (21) is formed in the inner wall of one side of the connecting rotating groove (12), a limiting rotating ring (22) is rotatably mounted in the convex rotating groove (21), and the limiting rotating ring (22) is fixedly sleeved on the connecting rotating shaft (13).
5. The multi-autonomous mobile robot formation control device according to claim 2, characterized in that: the connecting rotating shaft (13) is fixedly sleeved with a torsion spring (23), one end of the torsion spring (23) is fixedly connected to the connecting rotating shaft (13), and the other end of the torsion spring (23) is fixedly connected to the inner wall of the connecting rotating groove (12).
6. The multi-autonomous mobile robot formation control device according to claim 3, characterized in that: there are location cardboard (18) in type-protruding spread groove (17), and location cardboard (18) fixed mounting has set reset spring (20) in type-protruding spread groove (17) sliding sleeve, and the one end of reset spring (20) contacts with location cardboard (18), and the other end of reset spring (20) contacts with the inner wall of type-protruding spread groove (17) in type-protruding spread groove (19).
7. The multi-autonomous mobile robot formation control device according to claim 1, characterized in that: the positioning sliding rod (9) is sleeved with a tension spring (10) in a sliding mode, one end of the tension spring (10) is fixedly connected to the inner wall of the installation sliding groove (4), and the other end of the tension spring (10) is fixedly connected to the installation sliding rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122930933.9U CN216479833U (en) | 2021-11-26 | 2021-11-26 | Multi-autonomous mobile robot formation control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122930933.9U CN216479833U (en) | 2021-11-26 | 2021-11-26 | Multi-autonomous mobile robot formation control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216479833U true CN216479833U (en) | 2022-05-10 |
Family
ID=81400018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122930933.9U Active CN216479833U (en) | 2021-11-26 | 2021-11-26 | Multi-autonomous mobile robot formation control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216479833U (en) |
-
2021
- 2021-11-26 CN CN202122930933.9U patent/CN216479833U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105922251A (en) | Six-axis robot with manipulator assemblies arranged on small arms | |
| CN105881529B (en) | A kind of mechanical arm assembly of industrial robot | |
| CA2442379A1 (en) | Automated pipe racking process and apparatus | |
| CN205969113U (en) | Simple manipulator | |
| CN105936043A (en) | Six-axis robot used for grasping materials | |
| CN105922281A (en) | Universal manipulator assembly of light-weight six-axis robot | |
| JPS6374581A (en) | Electric robot | |
| CN216479833U (en) | Multi-autonomous mobile robot formation control device | |
| CN110508740B (en) | Umbrella rib riveting and assembling machine | |
| CN103851315A (en) | Parallel connection fast direction pointing mechanism with virtual rotating center characteristic | |
| CN102031940B (en) | Method for allowing downhole tool to pass through water distributors back and forth and execution device | |
| CN208729830U (en) | A kind of foldable telescopic mechanical arm | |
| CN201507258U (en) | Executing device for underground tool passing through water distributor in reciprocating manner | |
| CN207433677U (en) | A kind of ball shape robot and its driving device | |
| CN208019756U (en) | A kind of automobile engine cylinder-body tightening device | |
| CN216034136U (en) | Lifting device of hidden roof laser radar, radar integration box and vehicle | |
| CN206625038U (en) | Washing machine | |
| CN210240077U (en) | Knob stepless speed regulating fan | |
| CN212146498U (en) | Robot joint structure | |
| CN201109504Y (en) | Lower back-clip mechanism of toothbrush packaging machine | |
| CN209170126U (en) | A kind of fired power generating unit adjustment and installation device | |
| CN107200080A (en) | A kind of sufficient formula walking robot | |
| CN109849009A (en) | A kind of spray robot extension spring-type Anti-explosion cover-opening gripper | |
| CN218905404U (en) | Multifunctional manipulator | |
| CN209676800U (en) | Plant protection unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |