CN107053133B - Light high-load-ratio robot body frame - Google Patents
Light high-load-ratio robot body frame Download PDFInfo
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- CN107053133B CN107053133B CN201710078946.3A CN201710078946A CN107053133B CN 107053133 B CN107053133 B CN 107053133B CN 201710078946 A CN201710078946 A CN 201710078946A CN 107053133 B CN107053133 B CN 107053133B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A body frame of a light high-load-ratio robot comprises a battery mounting layer, a butterfly-shaped bearing plate and a load mounting layer which are sequentially connected from bottom to top. The battery mounting layer is located in the middle of the bottom surface of the butterfly-shaped bearing plate, the sensor mounting positions corresponding to each other are respectively mounted on the left side and the right side of the battery mounting layer, a battery mounting frame is arranged between the two sensor mounting positions, and an electric wiring hole and a heat dissipation hole are formed in the battery mounting frame. The butterfly-shaped bearing plate comprises a central plate, wherein the front end of the central plate is provided with a left front support plate, a front support plate and a right front support plate which are integrally formed with the central plate, and the rear end of the central plate is provided with a left rear support plate, a rear support plate and a right rear support plate which are integrally formed with the central plate. The robot body frame solves the problems that the gravity center of the robot body is low and the dead weight of the robot body is light; the machine body has strong bearing capacity, small deformation in the long-term use process and good toughness; the sensor and the bridge are accommodated more, and the load ratio of the load to the machine body is high; easy assembly and disassembly and better maintainability.
Description
Technical Field
The invention is applied to the field of four-wheel drive robot bearing body frame application, and particularly relates to a light high-load-ratio robot body frame.
Background
The chassis in the Chinese patent document CN103963870A 'driving device of robot chassis' is composed of two-stage chassis panels, wherein the first-stage chassis panel is directly connected with the driving wheel and the two driven wheels, so that the purpose of direct bearing is achieved.
The second-stage chassis panel is arranged on the first-stage chassis panel through a connecting mechanism, a guide mechanism with 3 wheels is arranged between the second-stage chassis panel and the first-stage chassis panel, the second-stage chassis panel also has a transmission function, and power is transmitted to the driven wheel through a gear and the driven wheel. The scheme is more smart on the three-wheeled small-sized robot, but the scheme has insufficient structural compactness and stability when applied to the robot with more sensors and larger loads.
Both of the Chinese patent invention patent document CN103661669A, a wheel leg type robot chassis suspension device, and the Chinese patent invention patent document CN104085266A, a suspension for a four-wheel mobile robot chassis, exist
The gravity center of the body is higher, and the body is heavier; the bearing capacity of the machine body is not strong, and the machine body is deformed in the long-term use process.
Disclosure of Invention
According to the defects of the prior art, a light high-load-ratio robot body frame is provided, and the robot body frame solves the problems that the gravity center of a body is low and the self weight of the body is light; the machine body has strong bearing capacity, small deformation in the long-term use process and good toughness; the sensor and the bridge are accommodated more, and the load ratio of the load to the machine body is high; easy assembly and disassembly and better maintainability.
The invention is realized according to the following technical scheme:
a body frame of a light high-load-ratio robot comprises a battery mounting layer, a butterfly-shaped bearing plate and a load mounting layer which are sequentially connected from bottom to top.
Preferably, the battery mounting layer is located in the middle of the bottom surface of the butterfly-shaped bearing plate, the sensor mounting positions corresponding to each other are respectively mounted on the left side and the right side of the battery mounting layer, a battery mounting frame is arranged between the two sensor mounting positions, and an electric wiring hole and a heat dissipation hole are formed in the battery mounting frame.
Preferably, the butterfly bearing plate comprises a central plate, wherein the front end of the central plate is provided with a left front support plate, a front support plate and a right front support plate which are integrally formed with the central plate, and the rear end of the central plate is provided with a left rear support plate, a rear support plate and a right rear support plate which are integrally formed with the central plate.
Preferably, a thickened bearing strip is arranged between the left front support plate and the right front support plate, a thickened bearing strip is arranged between the left rear support plate and the right rear support plate, and the two bearing strips form an X-shaped bearing structure.
Preferably, the load mounting layer comprises four axle mounting points for mounting the wheelset driver and the detection part, each axle mounting point being located at a respective one of the corners of the butterfly-shaped carrier plate.
Preferably, the wheel axle mounting point is U-shaped groove, the bottom of the wheel axle mounting point is provided with a motor driver, and the two side walls are provided with speed measuring and temperature detecting components.
Preferably, the load mounting layer further comprises a front baffle mounted on the front support plate and a rear baffle mounted on the rear support plate; a trapezoid front mounting position for mounting the barrier detector and the front protective shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left front support plate, the U-shaped groove-shaped wheel axle mounting point on the right front support plate and the front baffle plate; a trapezoid rear mounting position for mounting the safety distance detector and the rear protective shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left rear support plate, the U-shaped groove-shaped wheel axle mounting point on the right rear support plate and the rear baffle plate.
Preferably, the load mounting layer further includes an intermediate mounting location mounted between the front mounting location and the rear mounting location for mounting the main controller.
Preferably, the left side and the right side of the middle installation position are respectively provided with a side baffle plate corresponding to each other, and the two side baffle plates, the four U-shaped groove-shaped wheel axle installation points, the front baffle plate and the rear baffle plate are connected end to form a stable octagonal frame.
The invention has the beneficial effects that:
1. the higher density of components is distributed in the lower layer, lowering the centre of the fuselage. The main body of the machine body is convenient for integrated processing and flexible material selection, thereby reducing dead weight and ensuring strength and toughness.
2. The machine body has obvious structural hierarchy and reasonable load point distribution, so that the machine body has better load rate.
3. More sensors can be installed, the capacity of the machine body is large, and the assembly, detection and maintenance are convenient.
Drawings
FIG. 1 is a bottom plan view of a fuselage frame of the present invention;
FIG. 2 is a side view of the fuselage frame of the present invention;
100-battery mounting layer, 101-sensor mounting position, 102-battery mounting frame, 103-electric wiring hole, 104-heat dissipation hole, 200-butterfly-shaped bearing plate, 201-left front support plate, 202-front support plate, 203-right front support plate, 204-center plate, 205-left rear support plate, 206-rear support plate, 207-right rear support plate, 300-load mounting layer, 301-wheel axle mounting point, 302-front baffle, 303-front mounting position, 304-rear baffle, 305-rear mounting position, 306-middle mounting position, 307-side baffle.
Detailed Description
The invention is further illustrated by the following examples, in conjunction with the accompanying drawings.
As shown in fig. 1 and 2, a lightweight high-load-ratio robot body frame includes a battery mounting layer 100, a butterfly-shaped carrier plate 200 and a load mounting layer 300, which are sequentially connected from bottom to top. The whole robot chassis adopts a block design, and the battery with larger volume is arranged at the gaps among the four wheels, so that the space is effectively utilized, and the gravity center of the robot body is reduced.
The battery mounting layer 100 is located in the middle of the bottom surface of the butterfly-shaped bearing plate 200, the sensor mounting positions 101 corresponding to each other are respectively mounted on the left side and the right side of the battery mounting layer 100, a battery mounting frame 102 is arranged between the two sensor mounting positions 101, an electric wiring hole 103 and a heat dissipation hole 104 are formed in the battery mounting frame 102, and a power supply and a sensor wire are upwards connected from the electric wiring hole 103.
The butterfly-shaped bearing plate 200 comprises a central plate 204, wherein the front end of the central plate 204 is provided with a left front support plate 201 integrally formed with the central plate, a front support plate 202 and a right front support plate 203, and the rear end of the central plate 204 is provided with a left rear support plate 205 integrally formed with the central plate, a rear support plate 206 and a right rear support plate 207. A thickened bearing strip is arranged between the left front support plate 201 and the right front support plate 203, a thickened bearing strip is arranged between the left rear support plate 205 and the right rear support plate 207, and the two bearing strips form an X-shaped bearing structure.
The sensor mounting position 101 is arranged in the central area of the bottom of the bearing plate, and the mounting positions of the sensor and the bridging plate are arranged on the X-shaped structure and the periphery of the bearing plate, so that the whole fuselage has larger capacity.
The load-mounting layer 300 includes four axle mounting points 301 for mounting the wheelset driver and sensing components, each axle mounting point 301 being located at a respective one of the corners of the butterfly load plate 200. The axle mounting point 301 is U-shaped groove-shaped, the bottom of the axle mounting point is provided with a motor driver, and two side walls are provided with speed measuring and temperature detecting components. The load-mounting layer 300 also includes a front baffle 302 mounted on the front support plate 202 and a rear baffle 304 mounted on the rear support plate 206; a trapezoid front mounting position 303 for mounting the barrier detector and the front protective shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left front support plate 201, the U-shaped groove-shaped wheel axle mounting point on the right front support plate 203 and the front baffle 302; a trapezoid rear mounting position 305 for mounting the safety distance detector and the rear protection shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left rear support plate 205, the U-shaped groove-shaped wheel axle mounting point on the right rear support plate 207 and the rear baffle 304.
The load mount layer 300 also includes an intermediate mount location 306 for mounting the host controller, mounted between the front mount location 303 and the rear mount location 305. The left and right sides of the middle mounting location 306 are respectively provided with side baffles 307 corresponding to each other, and the two side baffles 307, the four U-shaped groove-shaped wheel axle mounting points 301, the front baffle 302 and the rear baffle 304 are connected end to form a stable octagonal frame.
The whole frame of the machine body is processed by adopting a light alloy material, the design of a bearing framework is simple, and the problem that the gravity center of the machine body is lower and the self weight of the machine body is light is solved; the machine body has strong bearing capacity, small deformation in the long-term use process and good toughness; the sensor and the bridge are accommodated more, and the load ratio of the load to the machine body is high; easy assembly and disassembly and better maintainability.
While the invention has been particularly shown and described with reference to a preferred embodiment thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as set forth in the appended claims. The foregoing description of specific embodiments of the invention has been presented in a particular context, but is not intended to be a limitation upon the invention. Any simple modification of the above embodiments according to the technical substance of the present invention still falls within the scope of the technical solution of the present invention.
Claims (1)
1. A light high-load-ratio robot body frame is characterized in that: comprises a battery mounting layer (100), a butterfly-shaped bearing plate (200) and a load mounting layer (300) which are sequentially connected from bottom to top;
the battery mounting layer (100) is positioned in the middle of the bottom surface of the butterfly-shaped bearing plate (200), the left side and the right side of the battery mounting layer (100) are respectively provided with a sensor mounting position (101) corresponding to each other, a battery mounting frame (102) is arranged between the two sensor mounting positions (101), and the battery mounting frame (102) is provided with an electric wiring hole (103) and a radiating hole (104);
the butterfly-shaped bearing plate (200) comprises a central plate (204), wherein the front end of the central plate (204) is provided with a left front support plate (201) integrally formed with the central plate, a front support plate (202), a right front support plate (203), and the rear end of the central plate (204) is provided with a left rear support plate (205), a rear support plate (206) and a right rear support plate (207) integrally formed with the central plate;
a thickened bearing strip is arranged between the left front support plate (201) and the right front support plate (203), a thickened bearing strip is arranged between the left rear support plate (205) and the right rear support plate (207), and the two bearing strips form an X-shaped bearing structure;
the load mounting layer (300) comprises four wheel axle mounting points (301) for mounting wheel group drivers and detection components, each wheel axle mounting point (301) being located at one corner of the butterfly-shaped bearing plate (200);
the wheel axle mounting point (301) is U-shaped, a motor driver is arranged at the bottom of the wheel axle mounting point, and speed measuring and temperature detecting components are arranged on two side walls of the wheel axle mounting point;
the load mounting layer (300) further includes a front baffle (302) mounted on the front support plate (202) and a rear baffle (304) mounted on the rear support plate (206);
a trapezoid front mounting position (303) for mounting the barrier detector and the front protective shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left front support plate (201), the U-shaped groove-shaped wheel axle mounting point on the right front support plate (203) and the front baffle plate (302);
a trapezoid rear mounting position (305) for mounting the safety distance detector and the rear protective shell is formed among the U-shaped groove-shaped wheel axle mounting point on the left rear support plate (205), the U-shaped groove-shaped wheel axle mounting point on the right rear support plate (207) and the rear baffle plate (304);
the load installation layer (300) further comprises an intermediate installation position (306) which is installed between the front installation position (303) and the rear installation position (305) and is used for installing the main controller;
the left side and the right side of the middle installation position (306) are respectively provided with a side baffle plate (307) which corresponds to each other, and the two side baffle plates (307), the four U-shaped groove-shaped wheel axle installation points (301), the front baffle plate (302) and the rear baffle plate (304) are connected end to form a stable octagonal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078946.3A CN107053133B (en) | 2017-02-14 | 2017-02-14 | Light high-load-ratio robot body frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078946.3A CN107053133B (en) | 2017-02-14 | 2017-02-14 | Light high-load-ratio robot body frame |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053133A CN107053133A (en) | 2017-08-18 |
| CN107053133B true CN107053133B (en) | 2023-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710078946.3A Active CN107053133B (en) | 2017-02-14 | 2017-02-14 | Light high-load-ratio robot body frame |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201194139Y (en) * | 2007-08-20 | 2009-02-11 | 上海慧烁信息科技发展有限公司 | Intellectualized robot platform with teaching and intelligent function |
| AT507947B1 (en) * | 2009-02-20 | 2011-06-15 | Univ Graz Tech | MODULAR ROBOTIC DRIVE |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN203332262U (en) * | 2013-07-08 | 2013-12-11 | 上海工程技术大学 | Extensible robot chassis |
| CN204496834U (en) * | 2015-04-03 | 2015-07-22 | 南京紫光科教仪器有限公司 | A kind of triangle educational robot |
| CN204736919U (en) * | 2015-06-16 | 2015-11-04 | 吴春华 | Be used for automobile body can universal pivoted device |
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- 2017-02-14 CN CN201710078946.3A patent/CN107053133B/en active Active
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| CN107053133A (en) | 2017-08-18 |
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