Robot moving platform for carrying operation tools

Abstract

The utility model discloses a robot moving platform for carrying operation tools. The hollow case is provided with a controller used for controlling the overall movement of the robot moving platform, a radiator used for cooling the controller, a tool mounting plate used for carrying and mounting operation tools, an emergency stop button used for controlling the emergency stop of the robot moving platform, and a laser radar used for navigating the robot moving platform to avoid obstacles. A display module of the controller is exposed out of the machine box, an inner cavity used for containing standby operation tools is formed in the machine box, and a cabinet door movably covers an opening of the inner cavity. The chassis is fixed at the bottom of the case, and four Mecanum wheels driven by mutually independent servo motors are rotationally mounted on the chassis. A large storage space is formed in the device, various standby operation tools can be stored, the loading capacity is high, manual carrying and carrying are not needed, manpower is saved, and under cooperation of the laser radar and the four-wheel-drive Mecanum wheels, the robot moving platform can horizontally move, advance, retreat and turn, and the maneuvering performance is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially a kind of robot mobile platform for carrying work tool. BACKGROUND

[0002] Mobile robot is a kind of intelligent equipment with autonomous movement and operation ability, which can navigate and operate efficiently and accurately in various environments. Mobile robot can perceive the surrounding environment in real time and autonomously plan the movement path and powerful operation ability. It can carry various tools and equipment, such as mechanical arm, camera, sensor, etc., and customize the configuration according to specific task requirements. This enables mobile robot to perform various complex tasks, such as material handling, equipment inspection, environmental monitoring, etc. In addition, mobile robot can also make autonomous decisions and respond to unexpected situations, such as obstacle avoidance, adjustment of movement speed, etc. Through collaborative work with humans or other devices, mobile robot can improve work efficiency, reduce labor costs, and bring a safer and more reliable working environment.

[0003] However, the current common mobile robot usually has single function, and single type of mobile robot only has single operation ability, which is difficult to perform more complex multiple operations, and the application scene is limited. Moreover, mobile robot lacks loading function and cannot carry multiple operation tools for switching during operation. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a robot mobile platform for carrying work tools, which can better solve the shortcomings of the prior art, provide more adequate loading space, and select multiple work tools for more complex operations.

[0005] The utility model is realized by the following technical solutions:

[0006] A robot mobile platform for carrying work tools, characterized by: a hollow case is provided with a controller for controlling the overall movement of the robot mobile platform, a radiator for cooling the controller, and a tool mounting plate for carrying and installing work tools. The display module of the controller is exposed outside the case. The case is provided with an inner cavity for placing spare work tools. The inner cavity opening is movably covered with a cabinet door. The controller is connected to the radiator through a control circuit.

[0007] The chassis is fixed to the bottom of the case. Four Mecanum wheels driven by independent servo motors are installed on the chassis. The controller is connected to each servo motor through a control circuit.

[0008] The robot mobile platform is further provided with an emergency stop button for controlling the robot mobile platform to stop suddenly, and a laser radar for guiding the robot mobile platform to avoid obstacles.

[0009] The controller receives the navigation signal of the laser radar, controls the servo motor to work, and makes the robot mobile platform move as a whole; the controller receives the emergency stop signal of the emergency stop button, and controls the servo motor to stop; and the controller controls the radiator to start and stop according to its own temperature.

[0010] The inner cavity of the case is used for storing various standby operation tools, which can be selected and used on site when needed; the selected operation tools are installed on the robot mobile platform through the tool mounting plate, so as to realize the switching of the operation function of the robot mobile platform; the Mecanum wheels on the chassis can translate and rotate, improving the overall flexibility of the robot mobile platform; the laser radar is used for sensing the environment to ensure the navigation accuracy of the robot mobile platform; in an emergency, the robot mobile platform can also be manually stopped by operating the emergency stop button; and the controller is used for controlling the overall movement of the robot mobile platform.

[0011] Further, the robot mobile platform further comprises a six-axis mechanical arm installed on the case, and the controller is connected with the six-axis mechanical arm through a control line to control the six-axis mechanical arm to make complex operation actions with multiple degrees of freedom.

[0012] Further, the robot mobile platform further comprises a six-axis mechanical arm installed on the case, and the controller is connected with the six-axis mechanical arm through a control line to control the six-axis mechanical arm to make complex operation actions with multiple degrees of freedom.

[0013] Further, the robot mobile platform is further provided with a push rod for manually pushing the robot mobile platform to move as a whole, which can be selected when necessary.

[0014] Further, the robot mobile platform is further provided with an anti-collision frame for preventing the case and the chassis from colliding with the outside during movement, which is installed at the front and rear ends of the robot chassis, and the outer edge thereof is located outside the case and the chassis. In case of accidental collision, the anti-collision frame can protect the robot mobile platform inside it, ensuring the safety of the equipment, and the anti-collision frame is easy to realize and has strong operability.

[0015] Furthermore, a force sensor and / or a visual sensor is provided on the anti-collision frame, and the force sensor and / or the visual sensor is connected to the controller through a signal line. The controller receives the obstacle avoidance signal of the force sensor and / or the visual sensor, controls the operation of the servo motor, and moves the robot mobile platform as a whole, thereby increasing the protection mechanism.

[0016] Furthermore, the tool mounting plate's mounting structure includes one or more of threaded mounting holes, mounting slots, and expansion tool plates, in one or more groups. To accommodate a greater number and type of work tools, a variety of mounting structures, including threaded mounting holes and mounting slots, can be flexibly selected. An expansion tool plate can even be added to the tool mounting plate to further expand the number of mounting positions.

[0017] Furthermore, the robot platform also includes editable function buttons for expanding its functionality. The editable function buttons are connected to the controller via signal lines, and the controller is connected to the expanded function components via control lines. The editable function buttons can be temporarily edited to shortcut functions based on on-site needs, thereby facilitating better operation of the robot platform.

[0018] Furthermore, the editable function buttons include one or more of a lighting button, an alarm sound / light button, and a camera button, and the extended function components include one or more of a lighting source, an sound / light alarm, and a camera, so as to better ensure the safety and efficiency of on-site operations.

[0019] Furthermore, the working tools include welding working tools, electrical working tools and / or cutting working tools, which can be selected according to actual needs.

[0020] The beneficial effects of the present invention are:

[0021] 1. The robot mobile platform has a large storage space inside, which can be used to store a variety of spare working tools. It has a strong loading capacity and does not require manual carrying and transportation, saving manpower.

[0022] 2. The tool installation board is highly scalable and can independently design and install various types of work tools required on site. It is also easy to expand and highly operational.

[0023] 3. An anti-collision frame is installed on the robot's mobile platform to prevent the body from colliding and ensure the safety of the equipment. At the same time, the anti-collision frame is easy to implement, and force sensors and / or visual sensors can be installed on it to increase the protection mechanism.

[0024] 4. With the collaboration of laser radar and four-wheel drive Mecanum wheels, the robot mobile platform can move horizontally, move forward and backward, and turn, with strong maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a preferred solution of this device

[0026] Figure 2 for Figure 1 Front view

[0027] Figure 3 for Figure 1 Right view

[0028] Figures 1 to 3 Middle: 1 is the six-axis robotic arm, 2 is the chassis, 3 is the chassis, 4 is the controller, 5 is the editable function button, 6 is the radiator, 7 is the Mecanum wheel, 8 is the servo motor, 9 is the push rod, 10 is the emergency stop button, 11 is the anti-collision frame, 12 is the laser radar, 13 is the tool mounting plate, 1301 is the threaded mounting hole, 1302 is the mounting slot, 14 is the cabinet door, and 15 is the heat dissipation hole. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] like Figures 1 to 3 The robot mobile platform shown in the figure is used to carry working tools. The hollow chassis 2 is provided with a controller 4 for controlling the overall movement of the robot mobile platform, editable function buttons 5 for expanding the functions of the robot mobile platform, a radiator 6 for dissipating heat to the controller 4, a push rod 9 for manually pushing the overall movement of the robot mobile platform, an anti-collision frame 11 for preventing the chassis 2 and chassis 3 from colliding with the outside during movement, and a tool mounting plate 13 for carrying and installing working tools.

[0031] The display module of the controller 4 is exposed outside the chassis 2, and the other parts are protectively installed inside the chassis 2. The controller 4 is connected to the radiator 6 through a control line; an inner cavity for placing spare working tools is provided in the chassis 2, and a cabinet door 14 is movable to cover the opening of the inner cavity, and a heat dissipation hole 15 is provided on the cabinet door 14.

[0032] A six-axis robotic arm 1 is installed on the top of the chassis 2, and the controller 4 is connected to the six-axis robotic arm 1 through a control line.

[0033] The anti-collision frame 11 is installed at the front and rear ends of the mobile robot chassis 3, and its outer edge is located outside the chassis 2 and the chassis 3. A force sensor and / or a visual sensor is set on the anti-collision frame 11, and the force sensor and / or the visual sensor is connected to the controller 4 through a signal line.

[0034] In this embodiment, the mounting structure of the tool mounting plate 13 includes six threaded mounting holes 1301 and two mounting grooves 1302 , and an expansion tool plate may be added according to on-site requirements.

[0035] The editable function buttons 5 are connected to the controller 4 via signal lines, and the controller 4 is connected to the added extended function components via control lines. The editable function buttons 5 include one or more of a lighting button, an alarm sound / light button, and a camera button. The extended function components include one or more of a lighting source, an audible / visual alarm, and a camera, thereby enabling the mobile platform to perform tasks such as lighting and warning functions.

[0036] The working tools include one or more of welding working tools, electrical working tools and / or cutting working tools, and can complete functions such as welding, electrical testing, circuit maintenance, and material cutting according to the needs of on-site operations.

[0037] The mobile platform also includes an independently detached industrial computer, which is connected to the controller 4, the six-axis robot arm 1 and the working tool via a USB data cable, a network cable or other wired / wireless methods.

[0038] The chassis 3 is fixed to the bottom of the chassis 2. Four Mecanum wheels 7 driven by independent servo motors 8 are rotatably mounted on the chassis 3. The controller 4 is connected to each servo motor 8 through a control line.

[0039] The robot mobile platform is also provided with an emergency stop button 10 for controlling the emergency stop of the robot mobile platform and a laser radar 12 for navigating and avoiding obstacles for the robot mobile platform. The emergency stop button 10 and the laser radar 12 are respectively connected to the controller 4 through signal lines.

[0040] The controller 4 receives the navigation signal of the laser radar 12 and the obstacle avoidance signal of the force sensor and / or the visual sensor, controls the servo motor 8 to operate, and moves the robot mobile platform as a whole; the controller 4 receives the emergency stop signal of the emergency stop button 10, controls the servo motor 8 to stop, and makes the robot mobile platform stay in place; the controller 4 controls the start and stop of the radiator 6 according to its own temperature to dissipate heat for the controller 4 and the inside of the chassis 2.

[0041] In addition, engineers complete algorithm development on an industrial computer, and the data obtained by the algorithm (such as the linear velocity or angular velocity of each servo motor 8 on the chassis 3, the speed of each joint of the six-axis robotic arm 1, etc.) is sent to the controller 4, which specifically controls the movement posture of the robot mobile platform and the changes in the working posture of the six-axis robotic arm 1.

[0042] The industrial computer is also used to operate the working tools, that is, the various added working tools do not share the same system with the robot, and the two are controlled separately.

Claims

1. A robot mobile platform for carrying a working tool, characterized by: A controller (4) for controlling the overall movement of the robot mobile platform, a radiator (6) for dissipating heat from the controller (4), and a tool mounting plate (13) for mounting working tools are provided on the hollow chassis (2); a display module of the controller (4) is exposed outside the chassis (2); an inner cavity for accommodating spare working tools is provided inside the chassis (2); a cabinet door (14) is movable to cover the opening of the inner cavity; the controller (4) is connected to the radiator (6) via a control circuit; The chassis (3) is fixed to the bottom of the chassis (2), and four Mecanum wheels (7) driven by independent servo motors (8) are rotatably mounted on the chassis (3). The controller (4) is connected to each servo motor (8) through a control circuit. The robot mobile platform is also provided with an emergency stop button (10) for controlling the emergency stop of the robot mobile platform and a laser radar (12) for navigating and avoiding obstacles for the robot mobile platform. The emergency stop button (10) and the laser radar (12) are respectively connected to the controller (4) via signal lines. The controller (4) receives the navigation signal of the laser radar (12), controls the servo motor (8) to work, and moves the robot mobile platform as a whole; the controller (4) receives the emergency stop signal of the emergency stop button (10), and controls the servo motor (8) to stop; the controller (4) controls the start and stop of the radiator (6) according to its own temperature.

2. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: It also includes a six-axis robotic arm (1) installed on the chassis (2), and a controller (4) is connected to the six-axis robotic arm (1) via a control line.

3. The robot mobile platform for carrying a working tool according to claim 2, characterized in that: It also includes an independently detached industrial computer, an industrial computer wired / wireless connection controller (4), a six-axis robotic arm (1) and an operating tool.

4. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: The robot moving platform is also provided with a push rod (9) for manually pushing the robot moving platform to move as a whole.

5. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: The robot mobile platform is also provided with an anti-collision frame (11) for preventing the chassis (2) and the chassis (3) from colliding with the outside during movement. The anti-collision frame (11) is installed at the front and rear ends of the mobile robot chassis (3), and its outer edge is located outside the chassis (2) and the chassis (3).

6. The robot mobile platform for carrying a working tool according to claim 5, characterized in that: A force sensor and / or a visual sensor is provided on the anti-collision frame (11), and the force sensor and / or the visual sensor is connected to a controller (4) via a signal line. The controller (4) receives obstacle avoidance signals from the force sensor and / or the visual sensor, controls the servo motor (8) to operate, and moves the robot mobile platform as a whole.

7. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: The installation structure of the tool installation plate (13) includes one or more of a threaded installation hole (1301), a installation slot (1302), and an extended tool plate, or one or more groups.

8. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: It also includes an editable function button (5) for expanding the function of the robot mobile platform. The editable function button (5) is connected to the controller (4) through a signal line, and the controller (4) is connected to the expanded function component through a control line.

9. The robot mobile platform for carrying a working tool according to claim 8, characterized in that: The editable function button (5) includes one or more of a lighting button, an alarm sound / light button and a camera button, and the extended function component includes one or more of a lighting source, an audio / light alarm and a camera.

10. The robot mobile platform for carrying a working tool according to claim 1, characterized in that: The working tools include welding working tools, electrical working tools and / or cutting working tools.

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