Comprehensive moving robot

An all-round mobile and robotic technology, applied in the field of robotics, can solve problems such as the gap between multi-system robots to cooperate with each other to complete tasks, and achieve the effects of narrow steering range, compact structure, and high transmission efficiency

Pending Publication Date: 2019-08-30
民政部一零一研究所 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in the above-mentioned existing technologies, all are single-system robots with perfect individual capabilities, but there is a gap in the mutual cooperation with multi-system robots to complete tasks; use multiple robots with uncomplicated structures to exchange information or cooperate with each other indirectly or directly , make up for the lack of individual ability with the advantages of the group

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] see Figure 1-11 , an all-round mobile robot, including a drive mechanism and a mechanical frame; the drive mechanism provides multiple groups, each group includes a motor 2 and a reduction mechanism 3 connected with the motor 2, and the reduction mechanism 3 is connected with a universal wheel 1 The motor 2 of the drive mechanism is connected to the controller 4 through wires; the mechanical frame includes a circular chassis 6 at the bottom, and the chassis 6 is provided with a plurality of through holes, and the edge of the chassis 6 is connected with an annular baffle 7, the A retaining ring 8 is connected above the annular baffle 7; the multiple groups of driving mechanisms are connected by a plurality of driving baffles 9, and the driving baffle 9 is snapped with the retaining ring 8; the driving baffle 9 is vertically in the middle A battery holder 10 is connected, and a battery 5 is arranged inside the battery holder 10; a controller 4 is connected to the battery...

Embodiment 2

[0076] The difference from Embodiment 1 is that the reduction mechanism 3 is a transmission system composed of a motor 2, a planetary transmission gear, and a synchronous belt 19; the input power of the 2 shafts of the motor is P (unit: watt W); the speed of the motor 2 n (unit rpm); torque is T (unit is N / cm); then described P, n, T satisfy the following relational formula:

[0077] P=α*(n / T);

[0078] The above expression α is a relationship factor, and its value range is 0.036-6.761.

[0079] The transmission power range is controlled by the above expression, the transmission efficiency is improved, the transmission power range is large, and the axial dimension is small. The synchronous belt 19 has accurate transmission ratio, small force on the shaft, compact structure, good wear resistance and aging resistance.

[0080] Preferably, the universal wheel 1 runs through the through hole provided by the chassis 6; the drive mechanism is arranged in three groups, including th...

Embodiment 3

[0086] The difference from Embodiments 1 and 2 is that the robot uses a video acquisition system and a distance detection sensor to cooperate together; the video acquisition system identifies the track line and another robot identifies the color card; the identification process is controlled by a program and automatically Plan your walking route.

[0087] The main logical relationship of the program is to calculate the rotation speed of the controller 4 by calling the sensor identification module and importing the memory for analysis and processing, and to change the direction by adjusting the different rotation speeds of the three motors 2 . Cooperate with the distance sensor to define the distance between the two robots; thus, the robot can walk in queue by identifying the color card and track line.

[0088] In the program of identifying trajectory lines, the video module of the mobile robot is called first, and the video module is output to the line type recognition module ...

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Abstract

The invention discloses a comprehensive moving robot. The comprehensive moving robot comprises driving mechanisms and a mechanical frame; multiple sets of driving mechanisms are provided; each set comprises a motor, and a speed reducer connected with the motor; universal wheels are connected to the speed reducers; the motors of the driving mechanisms are connected with controllers through leads; the mechanical frame comprises a circular chassis at the bottom; multiple through holes are formed in the chassis; the edge of the chassis is connected with an annular baffle plate; a retainer ring isconnected above the annular baffle plate; the multiple sets of driving mechanisms are connected through multiple driving baffle plates; the driving baffle plates are clamped with the retainer ring; battery fixing frames are connected to the vertical middles of the driving baffle plates; batteries are arranged on the inner sides of the battery fixing frames; the controllers are connected above thebatteries through battery brackets; cameras are arranged on the side surfaces of the controllers; and grabbing mechanisms are arranged on the driving baffle plates opposite to the controllers. The comprehensive moving robot determines the optimal cooperating mode, robot moving speed range and cooperating distance range.

Description

technical field [0001] The invention belongs to the field of robots, in particular to an omnidirectional mobile robot. Background technique [0002] With the rapid development of information technology, artificial intelligence, computer science and technology, and signal processing theories and methods, the robots participating in the RoboCup football robot competition, which is becoming more and more popular in China, are also becoming more intelligent, and more attention has been paid to the mutual interaction between two robots. Work together; the mechanical structure of the mobile robot is the basis of its good maneuverability, and the design of the control system is the core of the robot's precise control and intelligent movement [4]. In the competition, an excellent motion control system is required to control the trajectory, posture and corresponding actuators of the robot. Its decision-making system needs to judge the edge of the field in real time according to the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 黄风光曹建树王玮李伯森
Owner 民政部一零一研究所
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