CN105563453A - A two-wheeled autonomous mobile platform with a spring-driven robotic arm - Google Patents

Abstract

The present invention discloses a two-wheeled autonomous mobile platform with a spring-driven mechanical arm. The mechanical arm mainly includes a plurality of sub-mechanical arms movably connected by joints, and the plurality of sub-mechanical arms form a mechanical arm that can be telescoped in the vertical direction; a torsion spring is arranged inside the joint; two adjacent sub-mechanical arms are respectively provided with suction parts arranged opposite to each other; in the folded state: the suction part works, and the two adjacent sub-mechanical arms fit together under the action of the suction part to complete the folding of the mechanical arm; in the unfolded state: the suction part stops working, and the two adjacent sub-mechanical arms unfold to form an angle under the action of the torsion spring elastic force. The two-wheeled autonomous mobile platform includes a vehicle body and a rotating base above the vehicle body, and the rotating base is connected to a posture adjustment motor at the lower end of the spring-driven mechanical arm; the two sides of the vehicle body are respectively connected to electric wheels driven by a hub motor through connecting rods.

Description

A two-wheeled autonomous mobile platform with a spring-driven robotic arm

technical field

The invention relates to a two-wheel autonomous mobile platform with a spring-driven mechanical arm. Involving patent classification number B25 hand tools; portable motor tools; handles of hand instruments; workshop equipment; manipulator B25J manipulator; container with manipulation device.

Background technique

In recent years, as the research on wheeled intelligent vehicles (wheeled mobile robots) continues to deepen, its application fields continue to expand, and this type of unmanned autonomous detection vehicles often encounters narrow working areas and frequent turning , climbing and other extreme conditions. For this reason, people have proposed a two-wheeled mobile robot or a two-wheeled autonomous mobile platform. The two-wheeled mobile robot has the characteristics of compact structure, flexible steering, low energy consumption, and high efficiency. It is suitable for complex and changeable unstructured environments. (such as earthquake ruins, the surface of planets set in nuclear radiation areas, etc.) to perform autonomous detection tasks. The robotic arm is an automated device widely used in industrial manufacturing, medical treatment, military and space exploration and other fields. Although they each have different shapes and characteristics and play different roles, they all have one thing in common, that is, they can accept instructions and precisely locate a certain point in a three-dimensional or two-dimensional space for operation. The robotic arms in the prior art are mainly customized according to the needs of factories or specific occasions. Their spatial positions are fixed, and the actions they complete are fixed. They are of high mass and are rarely used in vehicles or have mobility. At the same time, the traditional mechanical arm is driven by a motor, and the mechanism has a large mass and high cost.

Contents of the invention

In response to the above problems, the present invention develops a two-wheel autonomous mobile platform with a spring-driven mechanical arm, which includes a plurality of sub-mechanical arms movably connected by joints and a car body carrying the mechanical arms; The mechanical arm is composed of a mechanical arm that expands and contracts in the vertical direction;

A torsion spring is arranged inside the joint;

The adjacent two sub-mechanical arms are respectively provided with opposite suction parts;

In the folded state: the suction part works, and the two adjacent sub-mechanical arms are fitted together under the action of the suction part to complete the folding of the mechanical arms;

In the unfolded state: the suction part stops working, and the two adjacent sub-mechanical arms are unfolded to a preset angle under the force of the torsion spring.

As a preferred embodiment, when the mechanical arm is in the folded state, the suction force Fp of the suction part and the elastic force Fe of the torsion spring satisfy the following relationship:

F _p +mg≥F _e

Among them, m is the mass of the upper sub-manipulator.

As a preferred implementation, when the robotic arm is in the unfolded state, the adjacent sub-mechanical arms satisfy the following relationship:

in, For the torsion spring 26 at the rotation angle , l represents the distance from the center of mass of the upper sub-manipulator to the center of rotation of the joint, and θ is half of the opening angle of the two adjacent sub-manipulators.

As a preferred embodiment, the engaging part is an electromagnet.

Furthermore, the uppermost part of the mechanical arm is provided with a coupling driven by a motor to rotate; the lowermost end of the mechanical arm is connected with an attitude adjustment motor for extending the mechanical arm to a set direction.

Furthermore, a rotating base is provided above the car body, and the attitude adjustment motor at the lower end of the spring-driven mechanical arm described in the rotating base is movably connected;

Both sides of the car body are respectively connected to electric wheels driven by hub motors through connecting rods.

As a preferred embodiment, the two electric wheels are arranged symmetrically on both sides of the vehicle body.

Due to the adoption of the above-mentioned technical solution, the spring-driven mechanical arm and the two-wheel autonomous mobile platform on which the mechanical arm is installed in the present invention have the following advantages.

1. The present invention combines the two-wheel autonomous mobile platform with the mechanical arm, which can fully utilize the characteristics of the two-wheel mobile robot, such as flexible steering, low energy consumption, and high efficiency, so that the operating range of the mechanical arm is not restricted by the space position , to better play the role of the mechanical arm.

2. The present invention uses a torsion spring to drive the mechanical arm, so that the mechanical arm has the characteristics of simple structure, small mass, small load impact, and small volume.

3. The two-wheel mobile platform with the spring-driven mechanical arm designed by the present invention is suitable for detection in unstructured environments (earthquake ruins, planetary surfaces, etc.), and has high reliability.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

Fig. 1 is a structural representation of the present invention

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

Embodiment 1, as shown in FIG. 1 , in order to intuitively reflect the structure of the mobile platform, the robotic arm only includes two sub-robotic arms, represented by robotic arm 1 and robotic arm 2.

The present invention includes a two-wheel autonomous mobile platform 1 and a base 2 arranged on the upper surface of the mobile platform 1, the two-wheel autonomous mobile platform is driven by a left wheel 11 and a right wheel 12, and the left wheel 11 and the right wheel 12 are respectively driven by a left wheel located in the hub. The hub motor 13 and the right hub motor 14 are independently driven, and the left wheel 11 and the right wheel 12 are connected to the vehicle body 17 through a connecting rod 15 and a connecting rod 16 respectively.

The base 21 can rotate on the upper surface of the car body 17, and the upper end is connected with the first mechanical arm 25 through the joint one 23; 211 is connected with coupler 212.

The joint one 23 is driven by the attitude adjustment motor 22, and the angle of the mechanical arm one 25 is adjusted by the attitude adjustment motor 22. A torsion spring 26 is housed in the joint two 28, and the torsion spring 26 is enclosed within on the shaft 27, and one end of the mechanical arm 25 and the second 29 of the mechanical arm is connected with the shaft 27 at the same time, and the two arms of the torsion spring 26 are lapped on the mechanical arm 25 and the mechanical arm. On the second arm 29, the second mechanical arm 29 is driven by the elastic force of the torsion spring 26. The attitude adjustment motor 2 213 adjusts the angle of the coupling 212 through the joint 3 211 .

Due to the use of torsion springs, when performing operations with high vibration and impact such as drilling tasks, the force received by the drill bit is transmitted to the body through the mechanical arm, which may cause vibration of some mechanical parts during the process. A long time will affect the motion accuracy of the parts, and in severe cases, it will cause damage to the parts. Due to its own structural characteristics, the torsion spring has a strong energy-absorbing effect, which greatly reduces the load impact on the mechanical arm when performing such operations, and enhances the working life of the mechanical arm.

Electromagnet one 24 and electromagnet two 210 are respectively housed on the mechanical arm one 25 and the mechanical arm two 29. In the non-working state, the electromagnet 1 24 and the electromagnet 2 210 attract each other due to the current passing through them. Let the attraction force between the electromagnet 1 24 and the electromagnet 2 210 be F _p , and the elastic force F _e of the torsion spring 26 , in order to prevent mechanical arm 1 25 and mechanical arm 2 29 from springing apart under the action of electromagnet 1 24 and electromagnet 2 210, the following inequality should be guaranteed:

F _p +mg≥F _e

Among them, m is the mass of the mechanical arm 29 and its accessories. In this way, the centers of gravity of the first robot arm 25 and the second robot arm 29 are lowered, and the overall height of the mechanism is reduced, so that the two-wheeled autonomous mobile platform can carry out detection activities through narrow spaces in an unstructured environment.

Under the working state, electromagnet one 24 and electromagnet two 210 have no attraction due to internal power failure, and an angle is opened between the mechanical arm one 25 and the mechanical arm two 29 by the elastic force of the torsion spring 26. The relational expression of force to be satisfied in the process:

in, For the torsion spring 26 at the rotation angle , l represents the distance from the center of mass of the second mechanical arm 29 to the center of the second joint 28, and θ represents half of the opening angle between the first mechanical arm 25 and the second mechanical arm 29.

Instruments needed for detection (such as probes, manipulators, drills, etc.) can be installed on the coupling 212 to realize functions such as grasping and inspection of the manipulator.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (7)

1. A two-wheeled autonomous mobile platform with spring-driven mechanical arms is characterized by comprising a plurality of sub mechanical arms and a vehicle body, wherein the sub mechanical arms are movably connected by joints; the plurality of sub-mechanical arms form a mechanical arm which stretches in the vertical direction;

a torsion spring is arranged in the joint;

two adjacent sub-mechanical arms are respectively provided with oppositely arranged attraction parts;

in the folded state: the suction part works, two adjacent sub mechanical arms are attached under the action of the suction part, and the folding of the mechanical arms is finished;

in the unfolded state: the suction portion stops working, and the two adjacent sub-mechanical arms are unfolded to a preset angle under the action of the elastic force of the torsion spring.

2. The two-wheeled autonomous mobile platform with spring-driven robotic arm of claim 1, further characterized in that when the robotic arm is in a folded state, the suction force F of the suction portion is_pWith the spring force F of said torsion spring_eSatisfies the following relation:

F_p≤mg≥F_e

wherein m is the mass of the sub-robot arm above.

3. The two-wheeled autonomous mobile platform with spring-driven robotic arms of claim 1, further characterized in that when the robotic arms are in the deployed state, adjacent sub-robotic arms satisfy the following relationship:

wherein,for the torsion spring 26 at a rotation angleThe torque l represents the distance from the center of mass of the sub-mechanical arm positioned at the upper part to the rotation center of the joint, and theta is half of the opening angle of the two adjacent sub-mechanical arms.

4. The two-wheeled autonomous mobile platform with spring-driven robotic arms of claim 1, further characterized in that the attraction portion is an electromagnet.

5. The two-wheeled autonomous mobile platform with spring-driven robotic arms of any of claims 1-4, further characterized in that a coupling driven by a motor to rotate is provided at the uppermost of the robotic arms; the tail end of the mechanical arm at the lowest position is connected with a posture adjusting motor which extends towards the set direction.

6. The two-wheeled autonomous mobile platform with spring-driven robotic arm of claim 5, further characterized in that a rotating base is provided above the cart body, said rotating base said spring-driven robotic arm lower end attitude adjustment motor being movably connected;

the two sides of the vehicle body are respectively connected with an electric wheel driven by a hub motor through a connecting rod.

7. The two-wheeled autonomous mobile platform with spring-powered robotic arms of claim 1, further characterized in that the two motorized wheels are symmetrically disposed on opposite sides of the vehicle body.