CN108972621A - A kind of 360 degree rotation holder robot chassis based on conducting slip ring - Google Patents
A kind of 360 degree rotation holder robot chassis based on conducting slip ring Download PDFInfo
- Publication number
- CN108972621A CN108972621A CN201810835523.6A CN201810835523A CN108972621A CN 108972621 A CN108972621 A CN 108972621A CN 201810835523 A CN201810835523 A CN 201810835523A CN 108972621 A CN108972621 A CN 108972621A
- Authority
- CN
- China
- Prior art keywords
- slip ring
- conducting slip
- holder
- degree rotation
- cradle head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of 360 degree rotation holder robot chassis based on conducting slip ring, including chassis portion, the frame part including in the middle part of chassis portion is set and cradle head part, the chassis portion include bottom plate, several Mecanum wheel external members that the bottom edge is arranged in；Conducting slip ring is fixedly installed on the frame part, the conducting slip ring is separately connected each Mecanum wheel external member and cradle head part by route.The present invention realizes robot omnidirectional moving chassis and attached holder respectively realizes 360 degree rotation without wire intertwist, and holder and chassis can be controlled simultaneously by same set of control mechanism, without separately individual control mechanism.
Description
Technical field
The present invention relates to a kind of the robot chassis with holder, especially a kind of 360 degree rotation based on conducting slip ring
Holder robot chassis.
Background technique
In recent years, robot is widely used in our work and life, especially some special
Under environment, robot can complete the work and task that the mankind cannot complete.It is relatively superior that multiple performance has been developed now
Robot chassis with holder, for example, filed in University of Electronic Science and Technology on April 26th, 2017 application No. is
Robot bottom with holder shown in " the shooting robot " of CN201710280564.9, Publication No. CN107009370A
Disk.But the holder freedom in the existing robot chassis with holder socially nevertheless suffers from limitation, does not nowadays still have
It is a kind of can be realized robot omnidirectional moving chassis and attached holder respectively realize 360 degree rotation without wire intertwist,
And holder and chassis can be controlled simultaneously by same set of control mechanism, without separately individual control mechanism.
Summary of the invention
The technical problem to be solved by the present invention is to how realize the freedom of robot bobbin movement and the movement of machine user tripod head
Property the problem of, while its role is to realize the omnidirectional moving on robot chassis allow holder not suspension chassis interference realize from
Main 360 degree rotation, and while chassis and holder move respectively, relevant automatically controlled electric wire group will not be wound therebetween, be realized
The freedom of robot bobbin movement and the movement of machine user tripod head.
The present invention solves technical problem and realizes by the following technical solutions:
A kind of 360 degree rotation holder robot chassis based on conducting slip ring, including chassis portion, setting it is described include chassis
The frame part and cradle head part, the chassis portion at part middle part include bottom plate, several wheats that the bottom edge is arranged in
Ke Namu takes turns external member；Conducting slip ring is fixedly installed on the frame part, the conducting slip ring is separately connected respectively by route
Mecanum wheel external member and cradle head part.
Further, the Mecanum wheel external member includes motor, shaft stool, bolt, shaft coupling, circlip, bearing, method
Blue, Mecanum wheel, the motor are fastened by bolts on shaft stool, and the shaft stool is bolted on the bottom plate
On, described shaft coupling one end connects motor output shaft, other end connecting flange, the inner ring of the bearing and the shaft end mistake of flange
It is full of cooperation, the bearing hole on outer ring and shaft stool is interference fitted, and the shaft end that the flange is arranged in the circlip is played limit and made
With the Mecanum wheel is bolted on flange.
Further, the conducting slip ring is fixed by bolts on conducting slip ring supporting element, the conducting slip ring branch
Support member is fixed by bolts on frame, and the conducting slip ring passes through the first conducting slip ring electric wire group and each Mecanum wheel external member
Circuit connection, by the second conducting slip ring electric wire group and cradle head part circuit connection, the first conducting slip ring electric wire group and
Two conducting slip ring electric wire groups can respectively 360 degree rotation without winding.
Further, the cradle head part include horizontal stage electric machine, horizontal stage electric machine support, holder intermediate supports, holder plate,
Shaft stool, thrust bearing, the horizontal stage electric machine are fixed by bolts in horizontal stage electric machine support bottom, and the holder intermediate supports are logical
It crosses bolt and is fixed on horizontal stage electric machine support top surface, the holder plate is rotatably arranged on branch among the holder by shaft stool
Support, the thrust bearing is clamped respectively by bolt to be set between holder plate and holder intermediate supports, props up among holder
Between support and shaft stool, the output shaft of the horizontal stage electric machine is fixedly connected with shaft stool.
Further, the cradle head part further includes the head bearing for installing other external equipments, the cloud
Platform support is fixed by bolts on holder plate.The effect of head bearing is to provide the function for installing other external equipments
Can, the external equipment used needed for oneself can be loaded into head bearing by user.
Further, the cradle head part further includes the holder PCB protection pipe for protecting conducting slip ring electric wire group, institute
The holder PCB protection pipe stated is fixed by bolts on holder plate.
It is compared to the beneficial effect to the prior art, apparatus of the present invention:
1, the 360 degree rotation of robot chassis holder in Omni-mobile is realized without wire intertwist, it is thus achieved that
Raising to robot chassis holder freedom degree.
2, the present apparatus is simple and reliable for structure, simplifies control section, and implementation is succinct, convenient for promoting.
3, the present apparatus thus part be common part on the market, convenient for buying.
Detailed description of the invention
Fig. 1: present apparatus overall structure diagram.
Fig. 2: present apparatus front view.
Fig. 3: present apparatus top view.
Fig. 4: present apparatus side view.
Fig. 5: chassis portion top view.
Fig. 6: Mecanum wheel external member top view.
Fig. 7: Mecanum wheel external member overall structure diagram.
Fig. 8: Mecanum wheel external member side view.
Fig. 9: frame part overall structure diagram.
Figure 10: cradle head part front view.
Figure 11: conducting slip ring schematic diagram.
Wherein, the first Mecanum wheel of 1- external member；2- cradle head part；3- the first conducting slip ring electric wire group；4- frame part；
5- conducting slip ring；6- conducting slip ring supporting element；7- the second conducting slip ring electric wire group；8- the second Mecanum wheel external member；9- bottom plate；
10- third Mecanum wheel external member；11- motor；12- shaft stool；13- bolt；14- shaft coupling；15- circlip；16- bearing；17-
Flange；18- Mecanum wheel；19- horizontal stage electric machine；The support of 20- horizontal stage electric machine；21- holder intermediate supports；22- holder plate；23-
Head bearing；24- shaft stool；25- thrust bearing；26- holder PCB protection pipe；The 4th Mecanum wheel external member of 27-.
Specific embodiment
For a better understanding of the invention, specific embodiments of the present invention are described further with reference to the accompanying drawing.
As shown in Figures 1 to 5, a kind of 360 degree rotation holder robot chassis based on conducting slip ring, including chassis portion
Point, the frame part 4 including in the middle part of chassis portion is set and cradle head part 2, the chassis portion include bottom plate 9, set
It sets four Mecanum wheel external members at 9 edge of bottom plate: being respectively；First Mecanum wheel external member 1, the second Mecanum
External member 8, third Mecanum wheel external member 10, the 4th Mecanum wheel external member 27 are taken turns, is fixedly installed and leads on the frame part
Electric slip ring 5, the conducting slip ring 5 are separately connected each Mecanum wheel external member and cradle head part 2 by route.
As shown in Figure 6 to 8, the Mecanum wheel external member includes motor 11, shaft stool 12, bolt 13, shaft coupling
14, circlip 15, bearing 16, flange 17, Mecanum wheel 18, the motor 11 are fastened on shaft stool 12 by bolt 13, institute
It states shaft stool 12 to be bolted on the bottom plate 9, described 14 one end of shaft coupling connects 11 output shaft of motor, other end
Connecting flange 17, the inner ring of the bearing 16 and the shaft end of flange 17 are interference fitted, the bearing hole mistake on outer ring and shaft stool 12
It is full of cooperation, position-limiting action is played in the shaft end that the flange 17 is arranged in the circlip 15, and the Mecanum wheel 18 passes through bolt
It is connected on flange 17, it is thus achieved that motor shaft torque reaches the transmittance process of Mecanum wheel.
As shown in figure 9, the conducting slip ring 5 is fixed by bolts on conducting slip ring supporting element 6, the conducting slip ring
Supporting element 6 is fixed by bolts on frame 4, and the conducting slip ring 5 passes through the first conducting slip ring electric wire group 3 and each Mecanum
External member circuit connection is taken turns, the second conducting slip ring electric wire group 7 and cradle head part circuit connection, the first conducting slip ring electric wire are passed through
Group 3 and second conducting slip ring electric wire group 7 can respectively 360 degree rotation without winding.
As shown in Figure 10, the cradle head part includes horizontal stage electric machine 19, horizontal stage electric machine support 20, holder intermediate supports
21, holder plate 22, head bearing 23, shaft stool 24, thrust bearing 25, holder PCB protection pipe 26, the horizontal stage electric machine 19 pass through
Bolt is fixed on horizontal stage electric machine and supports 20 bottoms, and the holder intermediate supports 21 are bolted on the horizontal stage electric machine support
20 top surfaces, the holder plate 22 are rotatably arranged on 21 top of holder intermediate supports, the thrust bearing by shaft stool 24
25 clamped respectively by bolt be set between holder plate 22 and holder intermediate supports 21, holder intermediate supports 21 and shaft stool 24
Between, the output shaft of the horizontal stage electric machine 19 is fixedly connected with shaft stool 24.The head bearing 23 is fixed by bolts in
On holder plate 22.The effect of head bearing 23 is to provide the function of installing other external equipments, the user of the present apparatus
The external equipment used needed for oneself can be loaded into head bearing 23.The holder PCB protection pipe 26 passes through bolt
It is fixed on holder plate 22.For protecting the second conducting slip ring electric wire group 7.
Chassis portion realizes the Omni-mobile of chassis portion by Mecanum wheel external member in the present apparatus, on its wheel rim
Diagonally distribute many small rollers, therefore wheel can be with horizontal sliding.The bus of small roller is very special, when wheel is around fixed wheel
When central axis, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Mecanum wheel 18
Compact-sized, movement is a kind of very successful omni-directional wheel flexibly.It is combined by four Mecanum wheels 18, mechanism can be made real
Existing all-around mobile function.
In conducting slip ring 5, the first conducting slip ring electric wire group 3 is connect with chassis portion, the second conducting slip ring electric wire group 7 with
Cradle head part 2 connects.Conducting slip ring 5 belongs to electrical contact sliding connection applications, it be also known as collector ring or rotary joint,
Rotary electric interface, slip ring, collecting ring, backflow ring, coil, commutator, adapter are the figures for realizing two relative rotation mechanisms
The accurate power transmitting device of picture, data-signal and power transmitting.It is needed particularly suitable for unconfined continuous rotation, while again
From fixed position to rotation position delivering power or the place of data.That is, the first conducting slip ring electric wire group 3 and second is led
Electric slip ring electric wire group 7 can respectively carry out the case where 360 degree rotation is without the winding of live wire group rotating around 5 axis of conducting slip ring
Occur.Then when 3 connecting base plate part of the first conducting slip ring electric wire group, while the second conducting slip ring electric wire group 7 connects holder portion
When points 2, it may be implemented only to pass through route with a control unit while controlling the Omni-mobile and cradle head part 2 of chassis portion
360 degree rotation, and electric wire will not be wound, therefore during the Omni-mobile of chassis, the freedom degree of cradle head part 2 is very big.
Embodiment of the present invention are not limited by the above embodiments, and other any spirit without departing from the present apparatus are real
The changes, modifications, substitutions, combinations, simplifications done under matter and principle, should be equivalent substitute mode, are included in the present apparatus
Protection scope within.
Claims (6)
1. a kind of 360 degree rotation holder robot chassis based on conducting slip ring, it is characterised in that: including chassis portion, setting
In the frame part 4 and cradle head part 2 including in the middle part of chassis portion, the chassis portion includes bottom plate 9, is arranged described
Several Mecanum wheel external members at 9 edge of bottom plate；Conducting slip ring 5, the conducting slip ring 5 are fixedly installed on the frame part
Each Mecanum wheel external member and cradle head part 2 are separately connected by route.
2. the 360 degree rotation holder robot chassis according to claim 1 based on conducting slip ring, it is characterised in that: institute
The Mecanum wheel external member stated includes motor (11), shaft stool (12), bolt (13), shaft coupling (14), circlip (15), bearing
(16), flange (17), Mecanum wheel (18), the motor (11) is fastened on shaft stool (12) by bolt (13), described
Shaft stool (12) is bolted on the bottom plate 9, and described shaft coupling (14) one end connects motor (11) output shaft, in addition
One end connecting flange (17), the inner ring of the bearing (16) and the shaft end of flange (17) are interference fitted, outer ring and shaft stool (12)
On bearing hole interference fit, the circlip (15), which is arranged, plays position-limiting action, the Mike in the shaft end of the flange (17)
Na Mu wheel (18) is bolted on flange (17).
3. the 360 degree rotation holder robot chassis according to claim 1 based on conducting slip ring, it is characterised in that: institute
The conducting slip ring (5) stated is fixed by bolts on conducting slip ring supporting element (6), and the conducting slip ring supporting element (6) passes through spiral shell
Bolt is fixed on frame (4), and the conducting slip ring (5) passes through the first conducting slip ring electric wire group (3) and each Mecanum wheel external member
Circuit connection, by the second conducting slip ring electric wire group (7) and cradle head part circuit connection, the first conducting slip ring electric wire group
(3) and the second conducting slip ring electric wire group (7) can respectively 360 degree rotation without winding.
4. the 360 degree rotation holder robot chassis according to claim 1 based on conducting slip ring, it is characterised in that: institute
The cradle head part stated includes horizontal stage electric machine (19), horizontal stage electric machine support (20), holder intermediate supports (21), holder plate (22), axis
Support (24), thrust bearing (25), the horizontal stage electric machine (19) is fixed by bolts in horizontal stage electric machine support (20) bottom, described
Holder intermediate supports (21) are bolted on the horizontal stage electric machine support (20) top surface, and the holder plate (22) passes through axis branch
Seat (24) is rotatably arranged at the top of the holder intermediate supports (21), and the thrust bearing (25) clamps setting by bolt respectively
Between holder plate (22) and holder intermediate supports (21), between holder intermediate supports (21) and shaft stool (24), the holder
The output shaft of motor (19) is fixedly connected with shaft stool (24).
5. the 360 degree rotation holder robot chassis according to claim 4 based on conducting slip ring, it is characterised in that: institute
The cradle head part stated further includes for installing the head bearing of other external equipments (23), and the head bearing (23) passes through spiral shell
Bolt is fixed on holder plate (22).
6. the 360 degree rotation holder robot chassis according to claim 4 or 5 based on conducting slip ring, it is characterised in that:
The cradle head part further includes the holder PCB protection pipe (26) for protecting conducting slip ring electric wire group, and the holder PCB is protected
Pillar (26) is fixed by bolts on holder plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810835523.6A CN108972621A (en) | 2018-07-26 | 2018-07-26 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810835523.6A CN108972621A (en) | 2018-07-26 | 2018-07-26 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108972621A true CN108972621A (en) | 2018-12-11 |
Family
ID=64551064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810835523.6A Pending CN108972621A (en) | 2018-07-26 | 2018-07-26 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108972621A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN115230544A (en) * | 2022-07-07 | 2022-10-25 | 欧颂德婴童用品(湖北)有限公司 | Electric rotating reclining angle adjusting structure of child safety seat |
| CN117681989A (en) * | 2023-12-29 | 2024-03-12 | 北京理工大学珠海学院 | Automatic inspection robot based on multi-mode technology |
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| CN206679116U (en) * | 2017-04-21 | 2017-11-28 | 宿州学院 | A kind of wireless scout car based on Mecanum wheel |
| CN206719356U (en) * | 2017-03-21 | 2017-12-08 | 西南科技大学 | It is a kind of based on ground can Omni-mobile chassis three axle heads |
| CN208841451U (en) * | 2018-07-26 | 2019-05-10 | 华南理工大学 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
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| CN201995074U (en) * | 2011-01-21 | 2011-09-28 | 天津市技术物理研究所 | Movable video monitoring device in exposure field |
| CN103357534A (en) * | 2012-06-11 | 2013-10-23 | 杭州明珠音乐喷泉有限公司 | 360-degree continuous-rotation synchronous-power-supply two-dimensional waterscape sprayer and rotation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN110755786B (en) * | 2019-12-02 | 2024-03-01 | 华南理工大学广州学院 | Fire-fighting robot |
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| CN115230544B (en) * | 2022-07-07 | 2024-02-20 | 欧颂科技(海南)有限公司 | Electric rotating lying angle adjusting structure of child safety seat |
| CN117681989A (en) * | 2023-12-29 | 2024-03-12 | 北京理工大学珠海学院 | Automatic inspection robot based on multi-mode technology |
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