Multi-mode mobile robot with multi-degree-of-freedom operation arm

Abstract

The invention belongs to the technical field of mobile robots, and particularly relates to a multi-mode mobile robot with a multi-degree-of-freedom operation arm. The moving part is arranged at the bottom of the moving bottom plate and is used for moving the moving bottom plate; the aerodynamic force assembly is arranged at the top of the movable bottom plate and used for enabling the movable bottom plate to move in the air; the fixed end of the operation arm assembly is connected with the middle of the top face of the movable bottom plate, and the movable end of the operation arm assembly is used for inserting and pulling workpieces. The device has multiple moving modes, multi-mode moving tasks such as ground-wall climbing-unstable landing can be achieved, switching of the multiple moving modes can be executed under the condition that few transmission parts are used, and therefore the quality of the whole machine is reduced, and the trafficability under the complex task environment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile robots, and particularly relates to a multi-mode mobile robot with a multi-degree-of-freedom manipulator. Background Art

[0002] With the development of science and technology, mobile robots have become a research hotspot in the field of robots and have been successfully applied to various industrial fields. According to the operating space, mobile robots can be divided into land mobile robots, underwater mobile robots, and unmanned aerial vehicle robots.

[0003] A mobile robot with a manipulator is a new type of intelligent mobile robot system with active operation ability, which is composed of a number of manipulators equipped on a mobile robot platform. For mobile robots that need to perform complex tasks, equipping with a manipulator can greatly expand their functions, enabling them to perform operations such as grasping, assembling, and handling. By combining the manipulator and the mobile robot, the advantages of both can be combined to achieve complementary and enhanced functions. Compared with traditional fixed-base manipulators, with its wide-reachable working space and physical interaction ability, a mobile robot with a manipulator can replace humans to perform tasks in dangerous or inaccessible areas.

[0004] In the design of a mobile robot with a manipulator, the wheeled or tracked method is relatively simple, but usually only the ground movement mode can be achieved, and the passability in the face of complex environments such as vertical walls or stairs is poor or even impossible to pass. While using a rotary-wing unmanned aerial vehicle has better passability in complex environments, but its endurance time is short and its load capacity is poor, and it cannot effectively adapt to diverse task requirements.

[0005] Since most current mobile robots only have a single action modality and lack a multi-modal combination form of mobile robot, therefore, there is an urgent need for a multi-mode mobile robot with a multi-degree-of-freedom manipulator to solve this problem. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-mode mobile robot with a multi-degree-of-freedom manipulator to solve the above problems.

[0007] To achieve the above purpose, the present invention provides the following solution:

[0008] A multi-mode mobile robot with a multi-degree-of-freedom manipulator, comprising:

[0009] A mobile baseplate;

[0010] A moving part, arranged at the bottom of the mobile baseplate, and the moving part is used to move the mobile baseplate;

[0011] An aerodynamic component is provided on the top of the moving base plate, and the aerodynamic component is used to move the moving base plate in the air;

[0012] A manipulator arm component, the fixed end of which is connected to the middle of the top surface of the moving base plate, and the movable end of the manipulator arm component is used for inserting and removing workpieces.

[0013] Optionally, the aerodynamic component includes:

[0014] Two rotor steering mechanisms, the two rotor steering mechanisms are symmetrically arranged at the center on the top of the moving base plate, and the rotor steering mechanisms are rotatably connected to the moving base plate; the manipulator arm component is located between the two rotor steering mechanisms, and one of the rotor steering mechanisms is drivingly connected to a front-end aerodynamic vector direction control servo, and the other rotor steering mechanism is drivingly connected to a rear-end aerodynamic vector direction control servo;

[0015] A rotor part, which is installed on the rotor steering mechanism.

[0016] Optionally, the rotor part includes:

[0017] Two symmetrically arranged rotors, the rotor is axially connected to the output shaft of a model airplane motor, and the fixed end of the model airplane motor is fixedly connected to the rotor steering mechanism.

[0018] Optionally, the rotor steering mechanism includes:

[0019] A steering bracket one and a steering bracket two, the steering bracket one and the steering bracket two are fixedly connected; the steering bracket one and the steering bracket two are rotatably connected to the moving base plate through deep groove ball bearings, and one of the model airplane motors is fixedly connected to the steering bracket two, and the other model airplane motor is fixedly connected to the steering bracket one;

[0020] A driving shaft, one end of which is axially connected to the end of the steering bracket one, the other end of the driving shaft is axially connected to one end of a steering wheel, and the other end of the steering wheel is axially connected to the output shaft of the front-end aerodynamic vector direction control servo / the rear-end aerodynamic vector direction control servo, and the fixed end of the front-end aerodynamic vector direction control servo is fixedly connected to the moving base plate;

[0021] The steering bracket one, the steering bracket two and the end of the driving shaft away from the front-end aerodynamic vector direction control servo / the rear-end aerodynamic vector direction control servo are all set as rectangular shafts, and the steering bracket one, the steering bracket two and the end of the driving shaft close to the front-end aerodynamic vector direction control servo / the rear-end aerodynamic vector direction control servo are all set as rectangular grooves;

[0022] The driving shaft and the steering bracket one (201) are limited and matched through a rectangular shaft and a rectangular groove;

[0023] The first steering bracket and the second steering bracket are limited and cooperated through a rectangular shaft and a rectangular groove.

[0024] Optionally, the moving part includes:

[0025] Wheels. There are four wheels, and the wheels are rotatably arranged at the four corners of the bottom of the moving base plate.

[0026] Optionally, the operating arm assembly includes:

[0027] A horizontal moving part, the fixed end of which is connected to the moving base plate;

[0028] An operating arm, the fixed end of which is connected to the movable end of the horizontal moving part, and the movable end of the operating arm is used for inserting and removing workpieces.

[0029] Optionally, the horizontal moving part includes:

[0030] A lead screw mechanism, the fixed end of which is fixedly connected to the moving base plate;

[0031] A platform, which is fixedly connected to the movable end of the lead screw mechanism, and the fixed end of the operating arm is installed on the platform.

[0032] Optionally, the operating arm includes:

[0033] A large arm part, the bottom end of which is connected to the platform;

[0034] A small arm part, which is connected to the top of the large arm part;

[0035] A large arm driving structure, the fixed end of which is arranged on the platform, the output end of the large arm driving structure is in transmission connection with the large arm part, and the large arm driving structure is used to adjust the inclination angle of the large arm part;

[0036] A small arm driving structure, the fixed end of which is arranged on the platform, the output end of the small arm driving structure is in transmission connection with the small arm part, and the small arm driving structure is used to adjust the inclination angle of the small arm part;

[0037] The workpiece to be inserted and removed is arranged at one end of the small arm part away from the large arm part.

[0038] Optionally, the large arm driving structure includes:

[0039] A large arm joint driving servo, the fixed end of which is fixedly connected to the platform;

[0040] A main support seat, which is fixed on the platform, the bottom end of the large arm is hinged to the main support seat, the output shaft of the large arm joint driving servo passes through the main support seat and is fixedly connected to the bottom end of the large arm, and the large arm joint driving servo is used to adjust the inclination angle of the large arm.

[0041] Optionally, the forearm drive structure includes:

[0042] A forearm joint drive servo, the fixed end of which is fixedly connected to the platform;

[0043] A secondary support seat, which is fixed on the platform. The bottom end of the large arm is hinged to the secondary support seat. The output shaft of the forearm joint drive servo passes through the secondary support seat and is axially connected with a synchronous pulley driving wheel, and the synchronous pulley driving wheel is rotatably arranged at the bottom end of the large arm;

[0044] A synchronous pulley driven wheel, which is rotatably arranged at the top end of the large arm. The synchronous pulley driven wheel is drivingly connected with the synchronous pulley driving wheel through a synchronous toothed belt; one end of the forearm is fixed to the synchronous pulley driven wheel;

[0045] A synchronous belt tensioning mechanism is arranged in contact with the outer side of the synchronous toothed belt. The synchronous belt tensioning mechanism is used to make the synchronous toothed belt taut, and the synchronous belt tensioning mechanism is fixed on the large arm.

[0046] Compared with the prior art, the present invention has the following advantages and technical effects:

[0047] During use, the workpiece is horizontally inserted and pulled out through the operating arm assembly, and the moving base plate is driven by the moving part to move. When aerial operation is required, the moving base plate is driven by the pneumatic power assembly to move vertically. When wall climbing operation is required, the pneumatic power assembly and the moving part can be cooperated to make the moving base plate adsorb on the wall and move vertically on the wall. Even if it accidentally falls, the pneumatic power assembly can play a role in buffering the landing. Through the above settings, the device has multiple moving modes and can realize multi-mode moving tasks such as ground - wall climbing - unstable landing, etc. It can switch between multiple moving modes with fewer transmission components, thereby reducing the overall machine mass and improving the passability in complex task environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings:

[0049] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0050] Figure 2 It is a left view of the structure of the present invention;

[0051] Figure 3 It is a right view of the structure of the present invention;

[0052] Figure 4 It is the top view of the structure of the present invention;

[0053] Figure 5 It is the schematic structural diagram of the rotor steering mechanism of the present invention;

[0054] Figure 6 It is the schematic structural diagram of the operating arm mechanism of the present invention;

[0055] Figure 7 It is the schematic structural diagram of the operating arm mechanism of the present invention;

[0056] Figure 8 It is the schematic structural diagram of the large arm joint part in the operating arm of the present invention;

[0057] Figure 9 It is the schematic structural diagram of the small arm joint part in the operating arm of the present invention;

[0058] Figure 10 It is the schematic structural diagram of the synchronous belt tensioning mechanism in the operating arm of the present invention;

[0059] Figure 11 It is the schematic structural diagram of the steering bracket 1 in the rotor steering mechanism of the present invention;

[0060] Figure 12 It is the schematic structural diagram of the steering bracket 2 in the rotor steering mechanism of the present invention;

[0061] Figure 13 It is the schematic structural diagram of the platform in the operating arm of the present invention;

[0062] Figure 14 It is the schematic structural diagram of the large arm in the operating arm of the present invention;

[0063] Figure 15 It is the schematic structural diagram of the small arm in the operating arm of the present invention;

[0064] Figure 16 It is the schematic structural diagram of the large arm driven rod in the operating arm of the present invention;

[0065] Figure 17 It is the schematic structural diagram of the small arm driven rod in the operating arm of the present invention;

[0066] Figure 18 It is the schematic diagram of the non-working folded state of the operating arm of the present invention;

[0067] Figure 19 It is the schematic structural diagram of the connecting piece of the present invention;

[0068] Figure 20 It is the schematic diagram of the connection relationship of the connecting piece of the present invention;

[0069] Figure 21Schematic diagram of the connection relationship of another angle of the connecting piece of the present invention;

[0070] Figure 22 Top view of the connection relationship of the connecting piece of the present invention;

[0071] Figure 23 Schematic diagram of the expected plugging and unplugging working space of the operating arm of the present invention and the expected trajectory of the optimization design;

[0072] Figure 24 Schematic diagram of the optimization result of the operating arm rod length gradient descent method of the present invention;

[0073] Figure 25 Schematic diagram of the distribution of joint driving forces in the expected plugging and unplugging working space after the optimization of the operating arm rod length of the present invention;

[0074] Figure 26 Snapshot diagram of the pose of the expected trajectory after the optimization of the operating arm rod length of the present invention.

[0075] Among them, 1. Moving bottom plate; 2. Rotor steering mechanism; 3. Rotor; 4. Rear-end aerodynamic vector direction control servo; 5. Operating arm; 6. Front-end aerodynamic vector direction control servo; 7. Big arm joint drive servo; 8. Small arm joint drive servo; 9. Lead screw mechanism; 10. Platform; 11. Model aircraft motor; 12. Workpiece to be plugged and unplugged; 13. Synchronous belt tensioning mechanism; 201. Steering bracket one; 202. Steering bracket two; 203. Steering wheel; 204. Driving shaft; 205. Deep groove ball bearing; 206. Sleeve; 207. Driven shaft; 208. Shaft retaining ring for shaft; 501. Big arm; 502. Small arm; 503. Big arm driven rod; 504. Small arm driven rod; 505. Connecting piece; 506. Workpiece fixing mechanism; 507. Synchronous toothed belt; 508. Auxiliary support seat; 509. Main support seat; 510. Operating arm steering wheel; 511. Big arm steering shaft; 512. Small arm steering shaft; 513. Synchronous wheel driving wheel; 514. Synchronous wheel driven wheel; 515. Steel rod; 516. Driven wheel support shaft; 517. Big arm driven rod connecting shaft; 518. Small arm driven rod connecting shaft; 519. Big arm driven rod support shaft; 1301. Tensioning bracket; 1302. Tensioning bracket shaft; 1303. Shaft retaining ring for tensioning mechanism; 1304. Tensioning wheel shaft; 1305. Tensioning wheel; 1306. Tensioning mechanism sleeve; 1307. E-type retaining ring. Detailed implementation manners

[0076] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0077] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0078] Reference Figures 1 to 26 , the present invention discloses,

[0079] A multi-mode mobile robot with a multi-degree-of-freedom manipulator, comprising:

[0080] Move the bottom plate 1;

[0081] The moving part is arranged at the bottom of the moving base plate 1 and is used to move the moving base plate 1;

[0082] The pneumatic component is arranged on the top of the movable base plate 1 and is used to move the movable base plate 1 in the air;

[0083] The operating arm assembly has a fixed end connected to the middle of the top surface of the movable base plate 1, and the movable end of the operating arm assembly is used for inserting and removing workpieces.

[0084] During use, the workpiece is horizontally plugged and unplugged through the operating arm assembly, and the moving base plate 1 is driven to move by the moving part. When a lift operation is required, the moving base plate 1 is driven to rise and fall vertically through the pneumatic assembly. When a wall climbing operation is required, the pneumatic assembly and the moving part can be used to make the moving base plate 1 adsorbed on the wall to achieve vertical movement on the wall. Even if it falls accidentally, the pneumatic assembly can play a role in cushioning the landing. Through the above settings, the device has multiple movement modes, which can realize multi-mode movement tasks such as ground-climbing-instability landing, etc., and can perform switching between multiple movement modes under the condition of using fewer transmission components, thereby reducing the weight of the whole machine and improving the passability in complex task environments.

[0085] As an optional embodiment, the pneumatic component includes:

[0086] Two rotor steering mechanisms 2 are centrally symmetrically arranged on top of the movable base plate 1, and are rotatably connected to the movable base plate 1; an operating arm assembly is located between the two rotor steering mechanisms 2, one of the rotor steering mechanisms 2 is transmission-connected to a front-end aerodynamic force vector direction control servo 6, and the other rotor steering mechanism 2 is transmission-connected to a rear-end aerodynamic force vector direction control servo 4;

[0087] The rotor part is installed on the rotor steering mechanism 2.

[0088] As an optional embodiment, the rotor portion includes:

[0089] Two symmetrically arranged rotors 3, the axes of the rotors 3 are connected to the output shafts of the model aircraft motors 11, and the fixed ends of the model aircraft motors 11 are fixedly connected to the rotor steering mechanism 2.

[0090] As an optional implementation manner, the rotor steering mechanism 2 includes:

[0091] A steering bracket one 201 and a steering bracket two 202, the steering bracket one 201 and the steering bracket two 202 are fixedly connected; the steering bracket one 201 and the steering bracket two 202 are rotatably connected to the moving base plate 1 through deep groove ball bearings 205, one of the model aircraft motors 11 is fixedly connected to the steering bracket two 202, and the other model aircraft motor 11 is fixedly connected to the steering bracket one 201;

[0092] A driving shaft 204, one end of which is axially connected to the end of the steering bracket one 201, the other end of the driving shaft 204 is axially connected to one end of a steering wheel 203, the other end of the steering wheel 203 is axially connected to the output shaft of the front-end aerodynamic vector direction control servo 6 / the rear-end aerodynamic vector direction control servo 4, and the fixed end of the front-end aerodynamic vector direction control servo 6 is fixedly connected to the moving base plate 1;

[0093] The steering bracket one 201, the steering bracket two 202 and the end of the driving shaft 204 away from the front-end aerodynamic vector direction control servo 6 / the rear-end aerodynamic vector direction control servo 4 are all set as rectangular shafts, and the steering bracket one 201, the steering bracket two 202 and the end of the driving shaft 204 close to the front-end aerodynamic vector direction control servo 6 / the rear-end aerodynamic vector direction control servo 4 are all set as rectangular grooves;

[0094] The driving shaft 204 and the steering bracket one 201 are limited and matched through a rectangular shaft and a rectangular groove;

[0095] The steering bracket one 201 and the steering bracket two 202 are limited and matched through a rectangular shaft and a rectangular groove.

[0096] As an additional implementation manner, an interference fit is provided between the rectangular shaft at the end of the steering bracket two 202 away from the front-end aerodynamic vector direction control servo 6 / the rear-end aerodynamic vector direction control servo 4 and a driven shaft 207. The driven shaft 207 is fixed to the inner ring of the deep groove ball bearing 205 through a sleeve 206. The outer ring of the deep groove ball bearing 205 is fixedly connected to the moving base plate 1. A shaft retaining ring 208 is provided on one side of the deep groove ball bearing 205. The shaft retaining ring 208 is clamped on the driven shaft 207, and the shaft retaining ring 208 is used to prevent the displacement of the deep groove ball bearing 205;

[0097] Another deep groove ball bearing 205 is provided between the steering bracket one 201 and the steering bracket two 202, and the steering bracket one 201 and the steering bracket two 202 are rotatably connected to the moving base plate 1 through the deep groove ball bearing 205;

[0098] The driving shaft 204 is rotationally connected to the moving bottom plate 1 through another deep groove ball bearing 205.

[0099] As an alternative embodiment, the moving part includes:

[0100] Wheels, there are four wheels, and the wheels are rotationally arranged at the four corners of the bottom of the moving bottom plate 1.

[0101] Furthermore, the wheels are driven wheels without motor drive, and the pneumatic power assembly drives the moving bottom plate 1 to move through pneumatic drive and the wheels follow.

[0102] Furthermore, two driven wheels located at the front end in the moving direction are connected with a steering gear, and the steering angle of the front driven wheels is controlled by the steering gear.

[0103] As an alternative embodiment, the operating arm assembly includes:

[0104] A horizontal moving part, the fixed end is connected to the moving bottom plate 1;

[0105] An operating arm 5, the fixed end is connected to the moving end of the horizontal moving part, and the moving end of the operating arm 5 is used for horizontal plugging and unplugging.

[0106] As an alternative embodiment, the horizontal moving part includes:

[0107] A lead screw mechanism 9, the fixed end is fixedly connected to the moving bottom plate 1;

[0108] A platform 10, fixedly connected to the moving end of the lead screw mechanism 9, and the fixed end of the operating arm 5 is installed on the platform 10.

[0109] As an alternative embodiment, the operating arm 5 includes:

[0110] A large arm part, the bottom end of the large arm part is connected to the platform 10;

[0111] A small arm part, connected to the top of the large arm part;

[0112] A large arm driving structure, the fixed end is arranged on the platform 10, the output end of the large arm driving structure is in transmission connection with the large arm part, and the large arm driving structure is used to adjust the inclination angle of the large arm part;

[0113] A small arm driving structure, the fixed end is arranged on the platform 10, the output end of the small arm driving structure is in transmission connection with the small arm part, and the small arm driving structure is used to adjust the inclination angle of the small arm part;

[0114] The workpiece 12 to be plugged and unplugged is arranged at one end of the small arm part far from the large arm part.

[0115] As an additional embodiment, the large arm part includes:

[0116] The boom 501 has a main support seat 509 and a secondary support seat 508 hinged at its bottom end. The main support seat 509 and the secondary support seat 508 are fixedly connected to the platform 10. The output end of the boom drive structure passes through the main support seat 509 and is drivingly connected to the bottom end of the boom 501.

[0117] The connecting member 505 has a triangular structure and has three hinge points. The first hinge point of the connecting member 505 is coaxially arranged with the boom 501 and the forearm 502, and the first hinge point of the connecting member 505 is hinged to the boom 501 and the forearm 502.

[0118] The bottom end of the boom follower rod 503 is hinged to the main support seat 509 through a boom follower rod support shaft 519. The top end of the boom follower rod 503 is hinged to the second hinge point of the connecting member 505 through a boom follower rod connecting shaft 517. The boom 501, the main support seat 509, the boom follower rod 503, and the connecting member 505 form a parallelogram structure.

[0119] As an additional implementation, the forearm part includes:

[0120] The forearm 502 has one end hinged to the top end of the boom 501. The output end of the forearm drive structure passes through the secondary support seat 508 and is drivingly connected to the end of the forearm 502 close to the boom 501.

[0121] One end of the forearm follower rod 504 is hinged to the third hinge point of the connecting member 505 through a forearm follower rod connecting shaft 518. The forearm follower rod 504 is arranged parallel to the forearm 502. Both ends of a workpiece fixing mechanism 506 are hinged between the end of the forearm 502 far from the boom 501 and the end of the forearm follower rod 504 far from the boom 501. The forearm follower rod 504, the forearm 502, the workpiece fixing mechanism 506, and the connecting member 505 form a parallelogram structure.

[0122] The workpiece 12 to be inserted and removed is fixed to the workpiece fixing mechanism 506.

[0123] As an alternative implementation, the boom drive structure includes:

[0124] The boom joint drive servo 7 has a fixed end fixedly connected to the platform 10.

[0125] The main support seat 509 is fixed on the platform 10. The bottom end of the boom 501 is hinged to the main support seat 509. The output shaft of the boom joint drive servo 7 passes through the main support seat 509 and is fixedly connected to the bottom end of the boom 501. The boom joint drive servo 7 is used to adjust the inclination angle of the boom 501.

[0126] As an additional implementation method, the output shaft of the boom joint driving servo 7 is connected to one end of the operating arm steering wheel 510, and the other end of the operating arm steering wheel 510 is connected to one end of the boom steering shaft 511, and the other end of the boom steering shaft 511 passes through the main support seat 509 and is fixed to the bottom end of the boom 501.

[0127] As an optional embodiment, the small arm driving structure includes:

[0128] The forearm joint drives the servo 8, and the fixed end is fixedly connected to the platform 10;

[0129] The auxiliary support base 508 is fixed on the platform 10. The bottom end of the arm 501 is hinged to the auxiliary support base 508. The output shaft of the arm joint driving the servo 8 passes through the auxiliary support base 508 and the rear shaft is connected to the synchronous wheel driving wheel 513. The synchronous wheel driving wheel 513 is rotatably set at the bottom end of the arm 501.

[0130] The synchronous wheel driven wheel 514 is rotatably arranged at the top of the large arm 501. The synchronous wheel driven wheel 514 is connected to the synchronous wheel driving wheel 513 through a synchronous toothed belt 507. One end of the small arm 502 is fixed to the synchronous wheel driven wheel 514.

[0131] A synchronous belt tensioning mechanism 13 is provided on the outer side of the synchronous toothed belt 507 . The synchronous belt tensioning mechanism 13 is used to tighten the synchronous toothed belt 507 . The synchronous belt tensioning mechanism 13 is fixed on the upper arm 501 .

[0132] As an additional embodiment, the output shaft of the forearm joint driving servo 8 is axially connected to one end of another operating arm steering disc 510, the other end of the operating arm steering disc 510 is axially connected to one end of the forearm steering shaft 512, and the other end of the forearm steering shaft 512 passes through the secondary support seat 508 and is axially connected to the synchronous wheel driving wheel 513;

[0133] One end of several steel rods 515 arranged at equal intervals in the circumference are fixedly connected to the side wall of the synchronous wheel driven wheel 514, and the other end of the steel rod 515 is fixedly connected to the small arm 502. The driven wheel support shaft 516 is fixedly connected to the small arm 502, and the driven wheel support shaft 516 is rotatably connected to the large arm 501.

[0134] As an additional embodiment, the synchronous belt tensioning mechanism 13 includes:

[0135] The tensioning bracket 1301 has its top end hinged to the upper arm 501 via a tensioning bracket shaft 1302 and a tensioning mechanism shaft retaining ring 1303;

[0136] The tensioning pulley 1305 is located at the bottom end of the tensioning bracket 1301. The tensioning pulley 1305 is axially connected to the middle of the tensioning pulley shaft 1304. Tensioning mechanism sleeves 1306 are respectively and rotatably arranged at both ends of the tensioning pulley shaft 1304. The tensioning mechanism sleeves 1306 are fixed to the tensioning bracket 1301. The end of the tensioning pulley shaft 1304 is in limit fit with the tensioning bracket 1301 through an E-ring 1307. The tensioning pulley 1305 is in contact with the synchronous toothed belt 507.

[0137] When tensioning the synchronous toothed belt 507, by adjusting the included angle between the tensioning bracket 1301 and the boom 501, the tensioning pulley 1305 is supported on the outer side of the synchronous toothed belt 507. After the synchronous toothed belt 507 is tightened, the angle between the tensioning bracket 1301 and the boom 501 is fixed through a locking bolt.

[0138] The present invention provides a multi-mode mobile robot with a multi-degree-of-freedom operating arm, including a mobile base plate 1, a pair of rotor steering mechanisms 2, 4 rotors 3, 4 model airplane motors 11, a front-end aerodynamic vector direction control servo 6, a rear-end aerodynamic vector direction control servo 4, a lead screw mechanism 9, a platform 10, an operating arm 5, a boom joint drive servo 7, a forearm joint drive servo 8, a workpiece to be inserted and removed 12, and a synchronous belt tensioning mechanism 13.

[0139] The rotor steering mechanism 2 includes a steering bracket one 201, a steering bracket two 202, a steering wheel 203, a driving shaft 204, a deep groove ball bearing 205, a sleeve 206, a driven shaft 207, and a shaft retaining ring 208. Among them, the end of the steering wheel 203 is a rectangular shaft, which is matched with the rectangular groove of the driving shaft 204, so as to drive the driving shaft 204 to rotate.

[0140] The driving shaft 204 is installed on the mobile base plate 1 through a deep groove ball bearing 205 to play a supporting role. The end of the driving shaft 204 is a rectangular shaft, which is matched with the rectangular groove of the steering bracket one 201, so as to drive the steering bracket one 201 to rotate.

[0141] The steering bracket one 201 is installed on the mobile base plate 1 through a deep groove ball bearing 205 to play a supporting role. The end of the steering bracket one 201 is a rectangular shaft, which is matched with the rectangular groove of the steering bracket two 202, so as to drive the steering bracket two 202 to rotate.

[0142] The through hole at the end of the steering bracket two 202 is in interference fit with the driven shaft 207. The driven shaft 207 is installed on the mobile base plate 1 through a deep groove ball bearing 205, a sleeve 206, and a shaft retaining ring 208 to play a supporting and axial fixing role.

[0143] The manipulator 5 includes a large arm 501, a small arm 502, a large-arm driven rod 503, a small-arm driven rod 504, a connecting member 505, a workpiece fixing mechanism 506, a synchronous toothed belt 507, a secondary support seat 508, a main support seat 509, a pair of manipulator steering wheels 510, a large-arm steering shaft 511, a small-arm steering shaft 512, a synchronous wheel driving wheel 513, a synchronous wheel driven wheel 514, a steel bar 515, a driven-wheel support shaft 516, a large-arm driven-rod connecting shaft 517, a small-arm driven-rod connecting shaft 518, and a large-arm driven-rod support shaft 519.

[0144] Wherein, the ends of a pair of manipulator steering wheels 510 are rectangular shafts, which are respectively matched with the rectangular grooves of the large-arm steering shaft 511 and the small-arm steering shaft 512, so as to drive the large-arm steering shaft 511 and the small-arm steering shaft 512 to rotate respectively.

[0145] The large-arm steering shaft 511 is supported by the main support seat 509, and its end is a rectangular shaft, which is matched with the rectangular groove of the large arm 501, so as to drive the large arm 501 to rotate, realizing the control of the rotational degree of freedom of the large-arm joint.

[0146] The small-arm steering shaft 512 is supported by the secondary support seat 508. The end shaft section thereof has a keyway, which is keyed to the keyway of the central hole of the synchronous wheel driving wheel 513 through a flat key, so as to drive the synchronous wheel driving wheel 513 to rotate. The synchronous wheel driving wheel 513 drives the synchronous wheel driven wheel 514 to rotate through the synchronous toothed belt and the synchronous belt tensioning mechanism 13. The synchronous wheel driven wheel 514 is connected to the small arm 502 through the circumferentially arranged steel bars 515 and the driven-wheel support shaft 516, so as to drive the small arm 502 to rotate, realizing the control of the rotational degree of freedom of the small-arm joint.

[0147] The large-arm driven rod 503 is installed in the main support seat 509 through the large-arm driven-rod support shaft 519, and its end is connected to the connecting member 505 through the large-arm driven-rod connecting shaft 517. The small-arm driven rod 504 is connected to the connecting member 505 through the small-arm driven-rod connecting shaft 518, and its end is connected to the workpiece fixing mechanism 506. The large arm 501, the small arm 502, the large-arm driven rod 503, the small-arm driven rod 504, the connecting member 505, and the workpiece fixing mechanism 506 together form a double parallelogram mechanism, realizing the decoupling of the position and posture of the workpiece to be inserted and removed at the end, and can always keep the horizontal posture of the workpiece to be inserted and removed, achieving the position and posture control effect with the least number of servos.

[0148] The connections of the large arm 501, the large-arm driven rod 503, and the small-arm driven rod 504 in the connecting member 505 do not coincide, which can ensure avoiding the dead points of each parallelogram mechanism during the process from the folded state to the working state.

[0149] The boom 501, the forearm 502, the boom follower rod 503, and the forearm follower rod 504 all adopt an offset joint design, that is, the connection point and the rod body are not collinear, which is beneficial to avoid interference between components during the process of being stored in the non-working folded state and during the process of inserting and removing workpieces.

[0150] The lengths of the boom 501 and the forearm 502 are optimized by the gradient descent method. Taking the weighted sum of the position error objective function and the joint driving force error objective function as the objective function, four expected trajectories for optimization design are selected in the expected insertion and removal working space to globally analyze the performance of force and position. The constraint conditions of meeting the expected insertion and removal working space and the boom being slightly longer than the forearm are set. After optimization, the rounded length of the boom is 190 mm, and the length of the forearm is 170 mm. After optimization, the joint driving force can be significantly reduced, and it can meet the expected trajectories within the expected insertion and removal working space.

[0151] The synchronous belt tensioning mechanism 13 includes a tensioning bracket 1301, a tensioning bracket shaft 1302, a retaining ring for the tensioning mechanism shaft 1303, a tensioning pulley shaft 1304, a tensioning pulley 1305, a tensioning mechanism sleeve 1306, and an E-ring 1307. Among them, the tensioning bracket 1301 is installed on the boom 501 through the tensioning bracket shaft 1302 and the retaining ring for the tensioning mechanism shaft 1303. When the tensioning bracket 1301 rotates to the tensioned position, it is locked with bolts. The position of the bolts does not coincide with the tensioning bracket shaft 1302, which is beneficial to avoid bolt loosening.

[0152] The tensioning pulley 1305 is installed on the tensioning bracket 1301 through the tensioning pulley shaft 1304, the tensioning mechanism sleeve 1306, and the E-ring 1307.

[0153] Most components of the present invention adopt a hollow design and a ribbed design. Some supporting parts subjected to large loads are made of high-strength and lightweight aviation aluminum alloy, and other main parts are all processed by 3D printing using resin or nylon materials. This design not only improves the lightweight degree of the overall structure but also ensures the stiffness requirements of the whole.

[0154] Compared with the prior art, the present application also has the following advantages:

[0155] The present invention proposes a multi-degree-of-freedom workpiece inserting and removing manipulator that adopts a double parallelogram mechanism to decouple the position and attitude of the workpiece to be inserted and removed at the end, and can always maintain the horizontal attitude of the workpiece to be inserted and removed, achieving the position and attitude control effect with the fewest servos. That is, the position and attitude control of the workpiece to be inserted and removed at the end of the manipulator is realized by using a lead screw mechanism, a boom joint driving servo, and a forearm joint driving servo, that is, the position control of three degrees of freedom of the manipulator base translation, boom joint rotation, and forearm joint rotation, as well as the horizontal attitude control of the workpiece to be inserted and removed.

[0156] Most of the joints of the transmission parts of the present invention adopt the connection method of rectangular shaft matching with rectangular groove or circumferentially arranged steel bars, which improves the assembly efficiency and transmission reliability, reduces the number of connecting parts, and further reduces the mass and cost of the whole machine.

[0157] Most parts of the present invention adopt the hollow design and rib design. Some supporting parts subjected to large loads adopt high-strength and lightweight aviation aluminum alloy, and other main parts are all processed by resin or nylon materials through 3D printing processing method. This design not only improves the lightweight degree of the overall structure, but also can ensure the stiffness requirement of the whole.

[0158] The control of the rotational degree of freedom of the forearm joint of the present invention adopts the design scheme of synchronous toothed belt drive. The forearm joint driving servo is installed on the platform of the operating arm base, and the operating arm can be folded and retracted into the mobile bottom plate when it is in the non-working state, and can extend out of the mobile bottom plate to perform the task of inserting and removing workpieces when it is in the working state, which is beneficial to balancing the center of gravity of the prototype.

[0159] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0160] The embodiments described above are only descriptions of the preferred modes of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-mode mobile robot with a multi-degree-of-freedom manipulator, characterized in that, Comprising: A moving base plate (1); A moving part, arranged at the bottom of the moving base plate (1), and the moving part is used to move the moving base plate (1); An aerodynamic component, arranged at the top of the moving base plate (1), and the aerodynamic component is used to move the moving base plate (1) in the air; An operating arm assembly, the fixed end of which is connected to the middle part of the top surface of the moving base plate (1), and the movable end of the operating arm assembly is used for inserting and removing workpieces.

2. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 1, wherein The aerodynamic component includes: Two rotor steering mechanisms (2), the two rotor steering mechanisms (2) are symmetrically arranged at the center on the top of the moving base plate (1), and the rotor steering mechanisms (2) are rotatably connected to the moving base plate (1); the operating arm assembly is located between the two rotor steering mechanisms (2), and one of the rotor steering mechanisms (2) is drivingly connected to a front-end aerodynamic vector direction control servo (6), and the other rotor steering mechanism (2) is drivingly connected to a rear-end aerodynamic vector direction control servo (4); A rotor part, installed on the rotor steering mechanism (2).

3. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 2, wherein, The rotor part includes: Two symmetrically arranged rotors (3), the rotors (3) are axially connected to the output shaft of a model aircraft motor (11), and the fixed end of the model aircraft motor (11) is fixedly connected to the rotor steering mechanism (2).

4. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 3, characterized in that, The rotor steering mechanism (2) includes: A steering bracket one (201) and a steering bracket two (202), the steering bracket one (201) and the steering bracket two (202) are fixedly connected; the steering bracket one (201) and the steering bracket two (202) are rotatably connected to the moving base plate (1) through deep groove ball bearings (205), and one of the model aircraft motors (11) is fixedly connected to the steering bracket two (202), and the other model aircraft motor (11) is fixedly connected to the steering bracket one (201); A driving shaft (204), one end of which is axially connected to the end of the steering bracket one (201), the other end of the driving shaft (204) is axially connected to one end of a steering wheel (203), the other end of the steering wheel (203) is axially connected to the output shaft of the front-end aerodynamic vector direction control servo (6) / the rear-end aerodynamic vector direction control servo (4), and the fixed end of the front-end aerodynamic vector direction control servo (6) is fixedly connected to the moving base plate (1); One end of the steering bracket one (201), the steering bracket two (202) and the driving shaft (204) far from the front-end aerodynamic vector direction control servo (6) / the rear-end aerodynamic vector direction control servo (4) are all set as rectangular shafts, and one end of the steering bracket one (201), the steering bracket two (202) and the driving shaft (204) close to the front-end aerodynamic vector direction control servo (6) / the rear-end aerodynamic vector direction control servo (4) are all set as rectangular grooves; The driving shaft (204) and the steering bracket one (201) are limited and matched through a rectangular shaft and a rectangular groove; The steering bracket one (201) and the steering bracket two (202) are limited and matched through a rectangular shaft and a rectangular groove.

5. A multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 1, characterized in that, The moving part includes: Wheels, there are four of said wheels, and the wheels are rotatably arranged at the four corners of the bottom of the moving base plate (1).

6. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 1, characterized in that, The operating arm assembly includes: A horizontal moving part, the fixed end of which is connected to the moving base plate (1); An operating arm (5), the fixed end of which is connected to the movable end of the horizontal moving part, and the movable end of the operating arm (5) is used for inserting and removing workpieces.

7. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 6, characterized in that, The horizontal moving part includes: A lead screw mechanism (9), the fixed end of which is fixedly connected to the moving base plate (1); A platform (10), which is fixedly connected to the movable end of the lead screw mechanism (9), and the fixed end of the operating arm (5) is installed on the platform (10).

8. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 7, characterized in that, The operating arm (5) includes: A large arm part, the bottom end of which is connected to the platform (10); A small arm part, which is connected to the top of the large arm part; A large arm driving structure, the fixed end of which is arranged on the platform (10), and the output end of the large arm driving structure is in transmission connection with the large arm part, and the large arm driving structure is used for adjusting the inclination angle of the large arm part; A small arm driving structure, the fixed end of which is arranged on the platform (10), and the output end of the small arm driving structure is in transmission connection with the small arm part, and the small arm driving structure is used for adjusting the inclination angle of the small arm part; The workpiece to be inserted and removed (12) is arranged at one end of the small arm part away from the large arm part.

9. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 8, characterized in that, The large arm driving structure includes: A large arm joint driving servo (7), the fixed end of which is fixedly connected to the platform (10); A main support seat (509), which is fixed on the platform (10), the bottom end of the large arm (501) is hinged to the main support seat (509), and the output shaft of the large arm joint driving servo (7) penetrates through the main support seat (509) and is fixedly connected to the bottom end of the large arm (501), and the large arm joint driving servo (7) is used for adjusting the inclination angle of the large arm (501).

10. The multi-mode mobile robot with a multi-degree-of-freedom manipulator according to claim 8, characterized in that, The small arm driving structure includes: A small arm joint driving servo (8), the fixed end of which is fixedly connected to the platform (10); A secondary support seat (508), which is fixed on the platform (10), the bottom end of the large arm (501) is hinged to the secondary support seat (508), and the output shaft of the small arm joint driving servo (8) penetrates through the secondary support seat (508) and is axially connected with a synchronous pulley driving wheel (513), and the synchronous pulley driving wheel (513) is rotatably arranged at the bottom end of the large arm (501); A synchronous pulley driven wheel (514), which is rotatably arranged at the top end of the large arm (501), and the synchronous pulley driven wheel (514) is in transmission connection with the synchronous pulley driving wheel (513) through a synchronous toothed belt (507); one end of the small arm (502) is fixed to the synchronous pulley driven wheel (514); A synchronous belt tensioning mechanism (13) is arranged in contact with the outside of the synchronous toothed belt (507), and the synchronous belt tensioning mechanism (13) is used for making the synchronous toothed belt (507) taut, and the synchronous belt tensioning mechanism (13) is fixed on the large arm (501).

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