Layered and regional plate type mechanical structure for medium-sized robot

Abstract

The utility model relates to the technical field of robots, in particular to a layered and regional plate type mechanical structure for a medium-sized robot, which comprises an upper layer structure, a middle layer structure and a lower layer structure. The mechanical structure of the robot is divided into the upper layer functional area, the middle layer functional area and the lower layer functional area, and an electric control part is modularly arranged according to functions, so that the modularization degree, the maintainability and the performance stability of the robot are improved; the design of a visual sensor and a microcomputer host ensures that the robot can obtain environment information in real time and make a processing decision, the power management mechanism ensures the stability and safety of power supply, the ball control mechanism is used for controlling the movement of a football, and the ball hitting mechanism is designed in an overturning mode and can apply elastic force to the football and hit the football out. The moving mechanism is used for controlling the robot to move.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a layered regional board type mechanical structure for medium -sized robot. BACKGROUND

[0002] RoboCup soccer robot medium -sized group's robot needs to have high flexibility, fast response ability and stability. The traditional robot mechanical structure design usually arranges the electric control part centrally, leads to complex wiring, poor heat dissipation, maintenance difficulty, and is easily interfered with electromagnetism. In addition, the traditional design is difficult to balance between the rigidity and light weight of mechanical structure, which influences the motion performance of robot. SUMMARY

[0003] The utility model provides the following technical scheme in view of the deficiency of prior art:

[0004] A layered regional board type mechanical structure for medium -sized robot, comprising: upper structure, middle layer structure and lower layer structure;

[0005] The upper structure includes a top plate and a vision sensor, the top plate is arranged above the middle layer structure, and the vision sensor is fixedly arranged on the upper surface of the top plate.

[0006] The middle layer structure includes a middle plate, a ball control mechanism, a ball hitting mechanism, a control mechanism and a power management mechanism, the ball control mechanism and the ball hitting mechanism, the control mechanism and the power management mechanism are arranged on the surface of the middle plate, and the middle plate is arranged above the lower layer structure.

[0007] The lower layer structure includes a bottom plate, three groups of moving mechanisms, two groups of power supplies and a motion control module, the three groups of moving mechanisms and the two groups of power supplies are arranged on the surface of the bottom plate, and the motion control module is arranged on the upper surface of the moving mechanism.

[0008] As an improvement of the above technical scheme, a microcomputer host is arranged above the vision sensor, and the vision sensor is in communication connection with the microcomputer host.

[0009] As an improvement of the above technical scheme, a main control unit and a communication module are arranged in the control mechanism, and the control mechanism is in communication connection with the microcomputer host.

[0010] As an improvement of the above technical scheme, the control mechanism and the power supply are provided with quick plug-in interfaces, and are electrically connected through the quick plug-in interfaces, and the control mechanism and the power management mechanism are electrically connected.

[0011] As the improvement of the above technical scheme, the three groups of the moving mechanism are composed of a DC servo motor, a speed reducer and a moving wheel, the speed reducer is fixedly arranged at the output end of the DC servo motor, the output shaft of the DC servo motor is fixedly connected with the moving wheel through the speed reducer, and the motion control module is located on the upper surface of the speed reducer.

[0012] As the improvement of the above technical scheme, the upper layer structure, the middle layer structure and the lower layer structure are connected through standardized interfaces.

[0013] The robot has the advantages that:

[0014] The robot is divided into three functional areas of upper, middle and lower layers, and the electric control parts are arranged in a functional modular manner, so that the modular degree, maintainability and performance stability of the robot are improved, the visual sensor and the microcomputer host are designed to ensure that the robot can obtain environmental information in real time and make processing decisions, the power management mechanism ensures the stability and safety of power supply, the ball control mechanism is used for controlling the movement of the football, the ball hitting mechanism is designed in a turnover type, can apply elastic force to the football, and the moving mechanism is used for controlling the movement of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole structure plan view of the utility model;

[0016] Figure 2 It is a structure schematic view of the middle layer structure of the utility model;

[0017] Figure 3 It is a structure schematic view of the lower layer structure of the utility model.

[0018] Reference signs: 1, upper layer structure; 101, top plate; 102, visual sensor; 103, microcomputer host; 2, middle layer structure; 201, middle plate; 202, ball control mechanism; 203, ball hitting mechanism; 204, control mechanism; 205, power management mechanism; 3, lower layer structure; 301, bottom plate; 302, moving mechanism; 3021, DC servo motor; 3022, speed reducer; 3023, moving wheel; 303, power supply; 304, motion control module. DETAILED DESCRIPTION

[0019] The embodiments of the utility model are described below through specific examples, and the person skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied through different specific embodiments, and the details in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.

[0020] Traditional robot mechanical structure design usually arranges the electrical control part centrally, resulting in complex wiring, poor heat dissipation, difficult maintenance, and being easily affected by electromagnetic interference. In addition, the traditional design is difficult to balance between the rigidity and lightweight of the mechanical structure, affecting the motion performance of the robot.

[0021] To solve this problem, please refer to Figures 1-3 A layered and regional plate type mechanical structure for medium-sized robots, comprising: an upper structure 1, a middle structure 2, and a lower structure 3;

[0022] The upper structure 1 comprises a top plate 101 and a visual sensor 102, the top plate 101 is arranged above the middle structure 2, and the visual sensor 102 is fixedly arranged on the upper surface of the top plate 101;

[0023] The middle structure 2 comprises a middle plate 201, a ball control mechanism 202, a ball hitting mechanism 203, a control mechanism 204, and a power management mechanism 205, the ball control mechanism 202 and the ball hitting mechanism 203, the control mechanism 204 and the power management mechanism 205 are arranged on the surface of the middle plate 201, and the middle plate 201 is arranged above the lower structure 3;

[0024] The lower structure 3 comprises a bottom plate 301, three groups of moving mechanisms 302, two groups of power supplies 303, and a motion control module 304, three groups of moving mechanisms 302 and two groups of power supplies 303 are arranged on the surface of the bottom plate 301, and the motion control module 304 is arranged on the upper surface of the moving mechanism 302.

[0025] In use, the visual sensor 102 of the upper structure 1 is a panoramic camera, which collects real-time images of the environment of the site through a wide-angle lens, and identifies the ball, teammates, opponents and the boundary of the site through image processing algorithms. After receiving the image data, the microcomputer host 103 generates movement instructions through a path planning algorithm, and transmits the instructions to the movement control module 304 of the lower structure 3 through the RS485 bus. The visual module built-in the visual sensor 102 provides environmental input for the decision-making core. After the host completes the calculation, the movement control module 304 is triggered to execute the action, forming a "perception-decision-execution" closed loop. The integrated inertia detection unit and infrared distance measurement module built-in the control mechanism 204 of the middle structure 2 upload the attitude and distance data to the host through the IIC protocol. The host fuses multi-sensor data to correct the movement trajectory deviation. Through the hardware interrupt signal of the emergency stop switch, the power supply circuit of the DC servo motor 3021 of the lower structure 3 is directly cut off, ensuring that the robot stops immediately in an emergency. At the same time, an interrupt signal is sent to the microcomputer host 103 to pause the current task and enter the safety mode. After receiving the instructions from the microcomputer host 103, the movement control module 304 of the lower structure 3 controls the DC servo motor 3021 through the Canopen signal to drive the DC servo motor 3021 to realize wheeled movement. The encoder feedbacks the speed of the DC servo motor 3021 to the driver to form a closed loop control. The battery pack is controlled for charging and discharging by the power management mechanism 205. The BMS chip built-in the power management mechanism 205 provides 12V / 5V / 3.3V voltage for each component of the upper, middle and lower structures. The module monitors the current and voltage state in real time and feeds back an alarm signal to the host through the I2C protocol when an abnormality occurs.

[0026] In one embodiment, please refer to Figure 1 , the microcomputer host 103 is arranged above the visual sensor 102, and the visual sensor 102 is in communication connection with the microcomputer host 103.

[0027] In use, the visual sensor 102 and the microcomputer host 103 can ensure that the robot can obtain environmental information in real time and make processing decisions.

[0028] In one embodiment, please refer to Figures 1-2 , the control mechanism 204 is built-in with a master control unit and a communication module, and is in communication connection with the microcomputer host 103.

[0029] In use, the master control unit and the communication module built-in the control mechanism 204 can reduce signal transmission delay.

[0030] In one embodiment, please refer to Figures 2-3The control mechanism 204 and the power supply 303 have a quick plug interface and are electrically connected through the quick plug interface, and the control mechanism 204 is electrically connected with the power management mechanism 205.

[0031] In use, the power management mechanism 205 can ensure the stability and safety of the power supply of the power supply 303.

[0032] In one embodiment, referring to Figure 3 The three groups of movement mechanisms 302 are composed of a DC servo motor 3021, a speed reducer 3022 and a moving wheel 3023, the speed reducer 3022 is fixedly arranged at the output end of the DC servo motor 3021, the output shaft of the DC servo motor 3021 is fixedly connected with the moving wheel 3023 through the speed reducer 3022, and the motion control module 304 is located on the upper surface of the speed reducer 3022.

[0033] In use, the movement mechanism 302 is used for controlling the movement of the robot, and the direct connection of the motion control module 304 and the movement mechanism 302 can ensure the motion precision.

[0034] In one embodiment, referring to Figures 1-3 The upper structure 1, the middle structure 2 and the lower structure 3 are connected through a standardized interface.

[0035] In use, the upper structure, the middle structure and the lower structure are connected through a standardized interface, which is convenient for quick disassembly and maintenance.

[0036] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. A layered, segmented, plate-type mechanical structure for a medium-sized robot, characterized in that, include: Upper structure (1), middle structure (2) and lower structure (3); The upper structure (1) includes a top plate (101) and a vision sensor (102). The top plate (101) is disposed above the middle structure (2), and the vision sensor (102) is fixedly disposed on the upper surface of the top plate (101). The middle layer structure (2) includes a middle plate (201), a ball control mechanism (202), a ball striking mechanism (203), a control mechanism (204), and a power management mechanism (205). The ball control mechanism (202), the ball striking mechanism (203), the control mechanism (204), and the power management mechanism (205) are all disposed on the surface of the middle plate (201). The middle plate (201) is disposed above the lower layer structure (3). The lower structure (3) includes a base plate (301), three sets of moving mechanisms (302), two sets of power supplies (303) and a motion control module (304). The three sets of moving mechanisms (302) and the two sets of power supplies (303) are all disposed on the surface of the base plate (301), and the motion control module (304) is disposed on the upper surface of the moving mechanisms (302).

2. The layered, segmented, plate-type mechanical structure for a medium-sized robot according to claim 1, characterized in that: A microcomputer host (103) is disposed above the vision sensor (102), and the vision sensor (102) is communicatively connected to the microcomputer host (103).

3. A layered, segmented, plate-type mechanical structure for a medium-sized robot according to claim 2, characterized in that: The control mechanism (204) has a built-in main control unit and communication module, and is connected to the microcomputer host (103) for communication.

4. A layered, segmented, plate-type mechanical structure for a medium-sized robot according to claim 3, characterized in that: The control mechanism (204) and the power supply (303) both have quick-plug interfaces and are electrically connected through the quick-plug interfaces. The control mechanism (204) is electrically connected to the power management mechanism (205).

5. A layered, segmented, plate-type mechanical structure for a medium-sized robot according to claim 1, characterized in that: The three sets of moving mechanisms (302) are all composed of a DC servo motor (3021), a reducer (3022) and a moving wheel (3023). The reducer (3022) is fixedly installed at the output end of the DC servo motor (3021). The output shaft of the DC servo motor (3021) passes through the reducer (3022) and is fixedly connected to the moving wheel (3023). The motion control module (304) is located on the upper surface of the reducer (3022).

6. A layered, segmented, plate-type mechanical structure for a medium-sized robot according to claim 1, characterized in that: The upper structure (1), the middle structure (2), and the lower structure (3) are connected through a standardized interface.

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