CN107264671B - A kind of multi-function robot chassis suit - Google Patents
A kind of multi-function robot chassis suit Download PDFInfo
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- CN107264671B CN107264671B CN201710481385.1A CN201710481385A CN107264671B CN 107264671 B CN107264671 B CN 107264671B CN 201710481385 A CN201710481385 A CN 201710481385A CN 107264671 B CN107264671 B CN 107264671B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of multi-function robot chassis suits, are related to assembling machine people field, comprising: joint assembly, connection beam assembly, electric machine assembly, vehicle wheel component, control system；Joint assembly includes 90 ° of joint assemblies, 120 ° of joint assemblies, 135 ° of joint assemblies, three-way connection component, the connector combination attachment beam of different model assembles skeleton of different shapes, and vehicle wheel component includes 45 ° of Mecanum wheel assemblies, 90 ° of Mecanum wheel assemblies, rubber wheel assembly, tracked wheel assemblies；The vehicle wheel component of different model combines Skeleton assembly of different shapes to go out chassis of different shapes；Chassis is controlled by control system after being completed and drives chassis；The configuration of the present invention is simple, lower production costs, can degree of exploitation height be suitable for various robot teachings teaching material use.
Description
Technical field
The present invention relates to assembling machine people fields more particularly to a kind of multi-function robot chassis to be set with.
Background technique
With the rapid development of robot, science and technology industry both domestic and external has developed various robots, therewith
The robot teaching come is also increasingly by the attention of major universities and colleges, but existing robot product, and various in style, quality is irregular
Uneven, in order to adapt to building for various configuration, many machines include a large amount of part per capita, to keep its price excessively high
It is expensive, very big economic pressures are brought to the robot teaching cause of school；
A kind of rod piece, the assembly component including the rod piece as disclosed in 105690365 A of Chinese invention patent CN, packet
Include the robot of above-mentioned rod piece.The rod piece has width and thickness, and the width of rod piece is 4 times of thickness, and rod piece is equipped with along bar
The thickness direction of part runs through the connecting hole of rod piece.Using the rod piece constitute splicing component, can satisfy easily realize it is more kinds of
Movement mechanism needs, most a variety of motor functions can be completed.
Not only part is various for foregoing invention, expensive, and is easily lost since volume of part is excessively small and exquisite, also as
Its do not have quality interchangeability, can degree of exploitation it is lower, be not suitable as the teaching material of adult education, be more not suitable as institution of higher learning
Teaching material is universal.
Summary of the invention
One, technical problems to be solved
The purpose of the present invention is for the above problem present in the prior art, provide a kind of volume adequacy not easily cause
Small part is lost, and the assembling machine people of quality interchangeability with higher and exploitability is set with, and is more applicable for it
The robot teaching teaching material of institution of higher learning.
Two, technical solution
In order to solve the above technical problems, it includes: joint assembly, even that the present invention, which provides a kind of multi-function robot chassis suit,
Connect beam assembly, electric machine assembly, vehicle wheel component；Connection beam assembly and joint assembly, which are matched, is combined into skeleton；Vehicle wheel component combination motor
Component, which is installed on skeleton, forms chassis；Attachment beam component is socketed on joint assembly, and electric machine assembly is fixed on connection beam assembly
On；Chassis is controlled by control system after being completed and drives chassis.
Wherein, control system includes: master control borad, motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation system
Plate, hunting plate；The master control borad is by 485 buses with command forms to the motor driving plate, the steering engine control panel, described
Solenoid-driven plate, the electricity regulation making sheet are controlled；By 485 buses to ask between the master control borad and the hunting plate
The mode of answering is communicated；
Wherein, connection beam assembly includes several: long attachment beam, middle attachment beam and short attachment beam, and every attachment beam is
The equal hollow square tube of thickness and width, the surrounding outer surface of attachment beam offer connection through-hole, and connection through-hole is uniformly distributed company
Connect beam surface.
Wherein, joint assembly includes several: 90 ° of joint assemblies, 120 ° of joint assemblies, 135 ° of joint assemblies, three connect
Head assembly；Each connector is made of bending section and fixed part；Fixed part is surrounded by fixation hole, and screw thread, bending are equipped in fixation hole
Portion is greater than fixed part, and the size difference between bending section and fixed part forms backer.
Wherein, electric machine assembly includes axle, motor rack, bearing, bearing block, motor plate and motor；Motor connects motor
Plate；Bearing block is circular shape axis, and both ends are equipped with the bearing hole of concentric position, are equipped with bearing in bearing hole；Axle is inserted into axis
It holds inner ring and is sheathed on motor front output shaft；Bearing block is fixed on motor plate；Motor rack is fixed on bearing block.
Wherein, vehicle wheel component type has rubber wheel assembly, 45 ° of Mecanum wheel assemblies, 90 ° of Mecanum wheel groups respectively
Part, tracked wheel assemblies.
Wherein, attachment beam is sheathed on connector fixed part, and connection beam end is by being set to connector backer, attachment beam first after assembly
A connection through-hole and connector fixation hole cooperate；Attachment beam assembly surface and the smooth surface transition of joint flex portion.
Wherein, connection beam assembly can use attachment beam the combination connector of single kind composition skeleton, can also with two kinds with
Upper attachment beam combination connector forms skeleton.
Wherein, joint assembly can use connector the combination attachment beam of single kind composition skeleton, can also be with two or more
Connector combination attachment beam forms skeleton.
Wherein, different types of attachment beam cooperates different types of connector that can assemble skeleton of different shapes.
Wherein, different types of attachment beam combines different types of connector, cooperates different types of vehicle wheel component being capable of group
Dress up chassis of different shapes.
Wherein, control system further includes remote control panel；Remote control panel carries out data interaction by wireless mode and master control borad.
Wherein, remote control panel passes through the form control master control borad of transmitting order to lower levels, and master control borad is made to control motor driving plate, steering engine control
Making sheet, solenoid-driven plate, electricity regulation making sheet enter working condition, to realize manual control operation.
Wherein, master control borad directly controls motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation by program
Making sheet, hunting plate enter working condition and motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet, hunting
The working condition of plate is sent to remote control panel by wireless mode, and remote control panel is used as monitor terminal at this time.
Three, beneficial effects of the present invention
Compared with prior art, multi-function robot base plate cover harness of the invention has many advantages, such as follows:
(1) structure is simple, and cost is low；
(2) can degree of exploitation it is high, be suitble to higher education apparatus；
(3) firmware uses standard component, and buying is convenient.
Detailed description of the invention
Fig. 1 is electric machine assembly installation diagram of the invention；
Fig. 2 is 90 ° of joint assembly schematic diagrames of the invention；
Fig. 3 is 120 ° of joint assembly schematic diagrames of the invention；
Fig. 4 is 135 ° of joint assembly schematic diagrames of the invention；
Fig. 5 is three-way connection component diagram of the invention；
Fig. 6 is attachment beam component diagram of the invention；
Fig. 7 is that middle beam assembly of the invention combines 90 ° of joint assemblies and three-way connection component to install the signal of rubber wheel assembly
Figure；
Fig. 8 is that middle beam assembly of the invention combines 90 ° of joint assemblies and three-way connection component to install 45 ° of Mecanum wheel groups
Part schematic diagram；
Fig. 9 is that middle beam assembly of the invention combines 90 ° of joint assemblies and three-way connection component to install tracked wheel assemblies signal
Figure；
Figure 10 is that long beam assembly of the invention combines 90 ° of joint assemblies to install 90 ° of Mecanum wheel component diagrams；
Figure 11 is that long beam assembly and short beam component of the invention combine 90 ° of Mecanum wheel groups of 120 ° of joint assemblies and installation
Part schematic diagram；
Figure 12 is that long beam assembly and short beam component of the invention combine 90 ° of Mecanum wheel groups of 135 ° of joint assemblies and installation
Part schematic diagram；
Figure 13 is Athey wheel structural schematic diagram of the invention；
Figure 14 is circuit control relational graph of the invention；
In figure: 11 be axle；12 be motor rack；13 be bearing；14 be bearing block；15 be motor plate；16 be motor；21 are
Fixation hole；22 be fixed part；23 be backer；24 be bending section；31 be bracket；32 be crawler belt；33 be connecting plate；34 be driven
Wheel；35 be driving wheel.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example cannot be used to limit the scope of the invention for illustrating the present invention.
The embodiment of the present invention multi-function robot chassis suit structure include: as shown in Figures 1 to 12 joint assembly,
Connect beam assembly, electric machine assembly, vehicle wheel component；Connection beam assembly and joint assembly, which are matched, is combined into skeleton；Vehicle wheel component combines electricity
Thermomechanical components are installed on skeleton and form chassis；Attachment beam component is socketed on joint assembly, and electric machine assembly is fixed on connection beam assembly；
Chassis is controlled by control system after being completed and drives chassis.
Wherein, control system includes: master control borad, motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation system
Plate, hunting plate；The master control borad is by 485 buses with command forms to the motor driving plate, the steering engine control panel, described
Solenoid-driven plate, the electricity regulation making sheet are controlled；By 485 buses to ask between the master control borad and the hunting plate
The mode of answering is communicated.
Wherein, connection beam assembly includes several: long attachment beam, middle attachment beam and short attachment beam composition；And every connection
Beam is the equal hollow square tube of thickness and width, and the surrounding outer surface of attachment beam offers connection through-hole, and connection through-hole uniformly divides
Cloth attachment beam table.
Wherein, joint assembly includes several: 90 ° of connectors, 120 ° of connectors, 135 ° of connectors and three-way connection composition；Each
Connector is equipped with bending section 24 and fixed part 22；Fixed part 22 is surrounded by fixation hole 21, is equipped with screw thread, bending section in fixation hole 21
Greater than fixed part, the size difference between bending section and fixed part forms backer 23.
Wherein, electric machine assembly includes: axle 11, motor rack 12, bearing 13, bearing block 14, motor plate 15 and motor 16；Electricity
Machine 16 connects motor plate 15；Bearing block 14 is circular shape axis, and both ends are equipped with the bearing hole of concentric position, are equipped in bearing hole
Bearing 13；Axle 11 is inserted into 12 inner ring of bearing and is sheathed on 16 front output shaft of motor；Bearing block 14 is fixed on motor plate 15；
Motor rack 12 is fixed on bearing block 14.
Wherein, vehicle wheel component includes several: rubber wheel assembly, 45 ° of Mecanum wheel assemblies, 90 ° of Mecanum wheel groups
Part, tracked wheel assemblies.
Wherein, tracked wheel assemblies include: bracket 31, connecting plate 33, crawler belt 32, driving wheel 35 and driven wheel 34；Bracket
31 are fixed on 33 both ends of connecting plate, and driven wheel 34 is uniformly mounted on connecting plate 33；Crawler belt 32 connects driving wheel 35 and driven wheel
34。
Wherein, the attachment beam is sheathed on the connector fixed part, and connection beam end is resisted against connector backer, connects after assembly
It connects first connection through-hole of beam and connector fixation hole cooperates；Attachment beam assembly surface and the smooth surface transition of joint flex portion.
Wherein, connection beam assembly can with the attachment beam combination connector of single model composition skeleton, can also with two kinds with
Upper model attachment beam combination connector forms skeleton.
Wherein, joint assembly can use the connector combination attachment beam of single model to form skeleton, can also be with two or more
The connector combination attachment beam of model forms skeleton.
Wherein, different types of attachment beam cooperates different types of connector that can assemble skeleton of different shapes.
Wherein, different types of attachment beam cooperates different types of vehicle wheel component energy in conjunction with different types of connector
Enough it is assembled into chassis of different shapes.
Wherein, control system further includes remote control panel；Remote control panel carries out data interaction by wireless mode and master control borad.
Wherein, remote control panel passes through the form control master control borad of transmitting order to lower levels, and master control borad is made to control motor driving plate, steering engine control
Making sheet, solenoid-driven plate, electricity regulation making sheet enter working condition, to realize manual control operation.
Wherein, master control borad directly controls motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation by program
Making sheet, hunting plate enter working condition and motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet, hunting
The working condition of plate is sent to remote control panel by wireless mode, and remote control panel is used as monitor terminal at this time.
Wherein, remote control panel is mainly by two 2 dimension rocking bars, 4 keys, two toggle switch, wireless communication modules, master control core
Piece etc. is constituted, and main control chip is read out by AD value of the multi-channel A/D to two rocking bars, in conjunction with 4 keys and two toggle switch
State, master control borad is sent to 20 milliseconds of each transmission frequencies, to realize distant control function.
Wherein, master control borad is made of main control chip, wireless communication module, 485 chips, liquid crystal display etc., and master control receives distant
After the corresponding datas such as rocking bar AD value, key-press status, the toggle switch state that control plate sends over, sent out by converting with command mode
Motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet are given, to realize to bobbin movement, upper mechanism
Deng control.
Wherein, motor driving plate is mainly made of main control chip, 485 chips, motor drive ic, toggle switch etc.,
After the motor speed order for receiving master control borad transmission, current motor actual speed is detected by input capture, and leads to
It crosses after PID is calculated and motor drive ic is controlled by PWM duty cycle, to realize the accurate control to motor speed
System.Since trolley there are 4 motors, there are 4 motor driving plates, by the setting of toggle switch, realizes different motor drivens
The setting of plate address.According to existing communication agreement, master control borad can simultaneously be controlled 8 pieces of motor driving plates.
Wherein, steering engine control panel is mainly made of main control chip, 485 chips, toggle switch etc., receives master control borad hair
The corresponding data value sent, can be achieved at the same time to the positions of 4 steering engines revolving speed control.It, can be real simultaneously by the setting of toggle switch
The setting of existing different steering engine control panels address.
Wherein, solenoid-driven plate is mainly made of main control chip, 485 chips, Darlington transistor, toggle switch etc., is connect
The state for receiving the corresponding data position of master control borad transmission, can be achieved at the same time to 8 solenoid valve controls.Pass through toggle switch simultaneously
Setting, it can be achieved that different steering engine control panels address is set.
Wherein, electricity regulation making sheet is mainly made of main control chip, 485 chips, toggle switch etc., receives master control borad hair
The control adjusted to 4 brushless electricity can be achieved at the same time in the corresponding data value sent, and controls to realize the revolving speed of brushless motor.Together
When by the setting of toggle switch, it can be achieved that the setting of different electricity regulation making sheet address.
As shown in fig. 7, there are 7 middle attachment beams to cooperate four 90 ° of connectors and two three-way connection combination rectangularity skeletons,
Then installation rubber wheel forms rectangular rubber wheel chassis；
As shown in figure 8, can also be that 7 middle attachment beams cooperate four 90 ° of connectors and two three-way connection combination growth
Quadrate framework then installs 45 ° of Mecanum wheel group rectangularities, 45 ° of Mecanum wheel chassis；
As shown in figure 9, can also be that 7 middle attachment beams cooperate four 90 ° of connectors and two three-way connection combination growth
Quadrate framework then installs Athey wheel group rectangularity Athey wheel chassis；
As shown in Figure 10, it can also be that 4 root long attachment beams cooperate four 90 ° of splice combinations at square skeleton, then
90 ° of Mecanum wheel assemblies form square 90 ° of Mecanum wheel assembly chassis；
As shown in figure 11, it can also be that 4 root long attachment beams and 3 connection breaking beams cooperate four 120 ° of splice combinations at three
Angular skeleton, then 90 ° of Mecanum wheel assemblies form 90 ° of Mecanum wheel assembly chassis of triangle；
As shown in figure 12, it can also be that 4 root long attachment beams and 4 connection breaking beams cooperate four 135 ° of splice combinations at eight
Angular skeleton, then 90 ° of Mecanum wheel assemblies form 90 ° of Mecanum wheel assembly chassis of octagonal；
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of multi-function robot chassis suit, which is characterized in that the multi-function robot chassis suit includes: connector group
Part, connection beam assembly, electric machine assembly, vehicle wheel component, control system；The connection beam assembly and the joint assembly, which are matched, to be combined into
Skeleton；The vehicle wheel component is installed on the skeleton in conjunction with the electric machine assembly and forms chassis；The attachment beam component is socketed on
The joint assembly, the electric machine assembly are fixed on the connection beam assembly；The chassis be completed after by the control
System control drives the chassis；
The control system includes: master control borad, motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet, seeks
Line plate；The master control borad is by 485 buses with command forms to the motor driving plate, the steering engine control panel, the electromagnetism
Valve driving plate, the electricity regulation making sheet are controlled；By 485 buses with question and answer side between the master control borad and the hunting plate
Formula is communicated；
The connection beam assembly includes several: long attachment beam, middle attachment beam and short attachment beam composition；And the every attachment beam
For the equal hollow square tube of thickness and width, the surrounding outer surface of the attachment beam offers connection through-hole, the connection through-hole
It is uniformly distributed attachment beam surface；
The joint assembly includes several: 90 ° of connectors, 120 ° of connectors, 135 ° of connectors and three-way connection composition；It is described each to connect
Head is equipped with bending section (24) and fixed part (22)；The fixed part (22) is surrounded by fixation hole (21), the fixation hole (21)
Interior to be equipped with screw thread, the bending section is greater than the fixed part, and the size difference formation between the bending section and the fixed part is leaned on
Mountain (23)；
The vehicle wheel component includes several: rubber wheel assembly, 90 ° of Mecanum wheel assemblies, is carried out 45 ° of Mecanum wheel assemblies
Pulley assemblies.
2. multi-function robot chassis suit as described in claim 1, which is characterized in that the electric machine assembly includes: axle
(11), motor rack (12), bearing (13), bearing block (14), motor plate (15) and motor (16)；Described in motor (16) connection
Motor plate (15)；The bearing block (14) is circular shape axis, and both ends are equipped with the bearing hole of concentric position, peace in the bearing hole
Equipped with the bearing (13)；The axle (11) is inserted into bearing (12) inner ring and is sheathed on the motor (16) front output shaft
On；The bearing block (14) is fixed on the motor plate (15)；The motor rack (12) is fixed on the bearing block (14).
3. multi-function robot chassis suit as described in claim 1, which is characterized in that the attachment beam is sheathed on described connect
Head fixed part, the connection beam end are resisted against the connector backer, first connection through-hole of the attachment beam and institute after assembly
State the cooperation of connector fixation hole；The attachment beam assembly surface and the joint flex portion smooth surface transition.
4. multi-function robot chassis suit as described in claim 1, which is characterized in that the connection beam assembly can use list
The attachment beam combination connector of one model forms skeleton, can also form skeleton with two or more model attachment beam combination connectors.
5. multi-function robot chassis as described in claim 1 suit, which is characterized in that the joint assembly can be with single
The connector combination attachment beam of model forms skeleton, can also form skeleton with the connector combination attachment beam of two or more models.
6. multi-function robot chassis suit as described in claim 1, which is characterized in that different types of attachment beam is matched
Skeleton of different shapes can be assembled by closing different types of connector.
7. multi-function robot chassis suit as described in claim 1, which is characterized in that different types of attachment beam knot
Different types of connector is closed, cooperates different types of vehicle wheel component that can be assembled into chassis of different shapes.
8. multi-function robot chassis suit as described in claim 1, which is characterized in that the control system further includes remote control
Plate；The remote control panel carries out data interaction by wireless mode and the master control borad.
9. multi-function robot chassis suit as claimed in claim 8, which is characterized in that the remote control panel passes through transmitting order to lower levels
Form control described in master control borad, make the master control borad control the motor driving plate, steering engine control panel, solenoid-driven plate,
Electricity regulation making sheet enters working condition.
10. multi-function robot chassis suit as claimed in claim 8, which is characterized in that the master control borad is straight by program
Connect the control motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet, hunting plate enter working condition；Institute
State motor driving plate, steering engine control panel, solenoid-driven plate, electricity regulation making sheet, hunting plate working condition pass through wireless mode
It is sent to remote control panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710481385.1A CN107264671B (en) | 2017-06-22 | 2017-06-22 | A kind of multi-function robot chassis suit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710481385.1A CN107264671B (en) | 2017-06-22 | 2017-06-22 | A kind of multi-function robot chassis suit |
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| CN107264671A CN107264671A (en) | 2017-10-20 |
| CN107264671B true CN107264671B (en) | 2019-02-05 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216425A (en) * | 2018-01-26 | 2018-06-29 | 北京启创远景科技有限公司 | A kind of Combined robot dolly chassis |
| CN109823402A (en) * | 2019-03-01 | 2019-05-31 | 达闼科技（北京）有限公司 | A kind of robot chassis skeleton and robot |
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| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
| US8225892B2 (en) * | 2007-05-11 | 2012-07-24 | Pinhas Ben-Tzvi | Hybrid mobile robot |
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| US9033087B2 (en) * | 2007-10-11 | 2015-05-19 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| CN106002911A (en) * | 2016-04-28 | 2016-10-12 | 上海钛米机器人科技有限公司 | Mobile robot universal chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8225892B2 (en) * | 2007-05-11 | 2012-07-24 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| US9033087B2 (en) * | 2007-10-11 | 2015-05-19 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
| CN102806955A (en) * | 2012-08-23 | 2012-12-05 | 公安部上海消防研究所 | Six-wheeled full-drive fire-fighting robot moving carrier |
| CN106002911A (en) * | 2016-04-28 | 2016-10-12 | 上海钛米机器人科技有限公司 | Mobile robot universal chassis |
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