CN110116688A - Mobile chassis and robot - Google Patents
Mobile chassis and robot Download PDFInfo
- Publication number
- CN110116688A CN110116688A CN201910364034.1A CN201910364034A CN110116688A CN 110116688 A CN110116688 A CN 110116688A CN 201910364034 A CN201910364034 A CN 201910364034A CN 110116688 A CN110116688 A CN 110116688A
- Authority
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- China
- Prior art keywords
- mould group
- mobile chassis
- bracket
- group
- interface module
- 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
Links
- 238000004891 communication Methods 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
Abstract
This application discloses a kind of mobile chassis and robots.The mobile chassis includes bottom plate, bracket, multiple device mould groups and the interface module for electrically connecting with the foundation of robot body device；Bracket is fixed on bottom plate, interface module is arranged in pedestal upper end, the front-end and back-end of bracket are equipped with multiple side cavities, and the side of each side cavity exposes bracket in multiple side cavities, each side cavity corresponds to a device mould group in multiple device mould groups in multiple side cavities, and device mould group is detachably connected in corresponding side cavity, each device mould group is electrically connected with interface module.Present application addresses the technical problems that device stack in mobile chassis in the related technology leads to later period demolition and maintenance inconvenience.
Description
Technical field
This application involves field of mechanical technique, in particular to a kind of mobile chassis and robot.
Background technique
In the related technology, the mobile chassis internal components of robot are laid out due to narrow space and device is more, so whole
Body device layout is limited by space causes each device and control panel heap poststack the inconvenience of disassembly and later maintenance occur.
The problem for leading to later period demolition and maintenance inconvenience for device stack in mobile chassis in the related technology, not yet mentions at present
Effective solution scheme out.
Summary of the invention
The main purpose of the application is to provide a kind of mobile chassis and robot, to solve mobile chassis in the related technology
Interior device stack leads to the problem of later period demolition and maintenance inconvenience.
To achieve the goals above, in a first aspect, this application provides a kind of mobile chassis.
Mobile chassis according to the application includes: bottom plate, bracket, multiple device mould groups and is used for and robot body device
Establish the interface module electrically connected；
Bracket is fixed on bottom plate, and interface module is arranged in pedestal upper end, and the front-end and back-end of bracket are equipped with multiple sides
Chamber, and the side of each side cavity exposes bracket in multiple side cavities, each side cavity is corresponding in multiple side cavities
A device mould group in multiple device mould groups, and device mould group is detachably connected in corresponding side cavity, each device mould
Group is electrically connected with interface module.
It optionally, include power supply mould group and charging module in multiple device mould groups, power supply mould group and charging module are divided into position
In the rear and front end of bracket in the side cavity of bottom, power supply mould group and charging module are electrically connected with interface module.
It optionally, further include CAD (Controller Area Network, controller LAN in multiple device mould groups
Network) mould group, radio communication mold group, divergent die group, power management modules and motor control mould group；
CAD mould group, radio communication mold group and divergent die group are located at the same side of bracket, and CAD mould group with power supply mould group
Positioned at the top of power supply mould group, radio communication mold group is located at the top of CAD mould group, and divergent die group is located at the upper of radio communication mold group
Side；
Power management modules and motor control mould group are located at the same side of bracket, and power management modules with charging module
Positioned at the top of charging module, motor control mould group is located at the top of power management modules；
Radio communication mold group, divergent die group, power management modules and motor control mould group are electrically connected with CAD mould group, CAD
Mould group is electrically connected with interface module.
Optionally, which further includes industrial control host and laser sensor；
The upper end of bracket is set there are two chamber is pushed up, and the upper end of each top chamber exposes bracket, industrial control host and laser
Sensor is located in two top chambers.
Optionally, which further includes two hub motors and multiple universal wheels, and multiple universal wheels are installed in bottom
On plate, two hub motors are separately mounted to the two sides of bracket, and hub motor is electrically connected with motor control mould group.
Optionally, which further includes shell；
Shell lower end is connect with bottom plate, and shell upper is sleeved on bracket,
Laser sensor and charging module expose shell.
Optionally, which further includes depth camera and at least one ultrasonic sensor, ultrasonic sensor and depth
Degree camera is installed on the housing, and, ultrasonic sensor and depth camera are electrically connected with CAD mould group.
Optionally, which further includes top plate；Top plate is fixed on bracket, and top plate is located at the upper end of shell, top plate
Upper end is equipped with opening, and interface module exposes opening.
Optionally, which further includes light bar, and light bar is mounted on top plate, and light bar is located at the top of shell.
Second aspect, the application also provide a kind of robot, including robot body and above-mentioned mobile chassis, robot
Ontology is connected on mobile chassis.
In the embodiment of the present application, a kind of mobile chassis is provided, setting: bottom plate, bracket, multiple device mould groups and use is passed through
In the interface module electrically connected with the foundation of robot body device；Bracket is fixed on bottom plate, and interface module is arranged on bracket
End, the front-end and back-end of bracket are equipped with multiple side cavities, and the side of each side cavity exposes branch in multiple side cavities
Frame, each side cavity corresponds to a device mould group in multiple device mould groups in multiple side cavities, and device mould group is detachable
It is connected in corresponding side cavity, each device mould group is electrically connected with interface module.In this way, may be implemented by interface module
It is communicatively coupled between this mobile chassis and robot body, and since each device mould group corresponds to a side cavity, make
Obtaining the device layout inside this mobile chassis no longer is to stack, but make full use of the solid space inside this mobile chassis, will
The layout of each device carries out three-dimensional setting, guarantees that each device can be in the case where other motionless devices from chassis
On disassemble.To solve the problems, such as that device stack causes later period demolition and maintenance inconvenient in mobile chassis in the related technology.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is according to a kind of structural schematic diagram of mobile chassis provided by the embodiments of the present application；
Fig. 2 is according to a kind of schematic diagram of internal structure at the first visual angle of mobile chassis provided by the embodiments of the present application；
Fig. 3 is according to a kind of schematic diagram of internal structure at the second visual angle of mobile chassis provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of internal structure according to a kind of mobile chassis third visual angle provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being slidably connected ", " fixation ", " clamping ", " suit "
It shall be understood in a broad sense.For example, " connection " may be a fixed connection, it is detachably connected or monolithic construction；It can be mechanical connect
It connects, or electrical connection；Can be directly connected, or indirectly connected through an intermediary, or be two devices, element or
Internal connection between component part.For those of ordinary skills, above-mentioned art can be understood as the case may be
The concrete meaning of language in this application.
In addition, the meaning of term " multiple " should be two and two or more.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 to 4, the invention relates to a kind of mobile chassis, comprising: bottom plate 1, bracket 2, multiple devices
Mould group and for establishing the interface module 3 that electrically connects with robot body device；
Bracket 2 is fixed on bottom plate 1, and interface module 3 is arranged in 2 upper end of bracket, and the front-end and back-end of bracket 2 are equipped with more
A side cavity, and the side of each side cavity exposes bracket 2 in multiple side cavities, each side cavity is equal in multiple side cavities
A device mould group in corresponding multiple device mould groups, and device mould group is detachably connected in corresponding side cavity, Mei Geqi
Part mould group is electrically connected with interface module 3.
In the present embodiment, it may be implemented to be communicated between this mobile chassis and robot body by interface module 3
Connection, and since each device mould group corresponds to a side cavity, so that the device layout inside this mobile chassis is no longer heap
It is folded, but the solid space inside this mobile chassis is made full use of, the layout of each device is subjected to three-dimensional setting, is guaranteed every
One device can be disassembled from chassis in the case where other motionless devices.
It optionally, include power supply mould group 4 and charging module 5 in multiple device mould groups, power supply mould group 4 and charging module 5 are divided
For in the rear and front end of bracket 2 in the side cavity of bottom, power supply mould group 4 and charging module 5 with 3 Electricity Federation of interface module
It connects.
In the present embodiment, the maximum power supply mould group 4 of weight and the setting of charging module 5 charged for power supply mould group 4 are existed
The bottom can be effectively reduced the center of gravity of this mobile chassis, so that the movement of this mobile chassis is more stable.
It optionally, further include CAD mould group 6, radio communication mold group 7, divergent die group 8, power management in multiple device mould groups
Mould group 9 and motor control mould group 10；
CAD mould group 6, radio communication mold group 7 and divergent die group 8 are located at the same side of bracket 2, and CAD with power supply mould group 4
Mould group 6 is located at the top of power supply mould group 4, and radio communication mold group 7 is located at the top of CAD mould group 6, and divergent die group 8 is located at channel radio
Believe the top of mould group 7；
Power management modules 9 and motor control mould group 10 are located at the same side of bracket 2, and power supply pipe with charging module 5
Reason mould group 9 is located at the top of charging module 5, and motor control mould group 10 is located at the top of power management modules 9；
Radio communication mold group 7, divergent die group 8, power management modules 9 and motor control mould group 10 with 6 Electricity Federation of CAD mould group
It connects, CAD mould group 6 is electrically connected with interface module 3.
In embodiment, using the above structure, this mobile chassis region before and after bracket 2 can be allowed to use collection
The form of middle cabling avoids chaotic cable wiring.
Optionally, which further includes industrial control host 11 and laser sensor 12；It is pushed up there are two setting the upper end of bracket 2
The upper end of chamber, each top chamber exposes bracket 2, and industrial control host 11 and laser sensor 12 are located at two top chambers
In.Optionally, which further includes two hub motors 13 and multiple universal wheels 14, and multiple universal wheels 14 are installed in bottom
On plate 1, two hub motors 13 are separately mounted to the two sides of bracket 2, and hub motor 13 is electrically connected with motor control mould group 10.It can
Selection of land, the mobile chassis further include shell 15；15 lower end of shell is connect with bottom plate 1, and 15 top of shell is sleeved on bracket 2, is swashed
Optical sensor 12 and charging module 5 expose shell 15.Optionally, which further includes depth camera 16 and at least
One ultrasonic sensor 17, ultrasonic sensor 17 and depth camera 16 are installed on shell 15, and, 17 He of ultrasonic sensor
Depth camera 16 is electrically connected with CAD mould group 6.Optionally, which further includes top plate 18；Top plate 18 is fixed on bracket
On 2, top plate 18 is located at the upper end of shell 15, and 18 upper end of top plate is equipped with opening, and interface module 3 exposes opening.Optionally, the shifting
Dynamic chassis further includes light bar 19, and light bar 19 is mounted on top plate 18, and light bar 19 is located at the top of shell 15.Optionally, the shifting
Dynamic chassis further includes the infrared sensor 20 for detecting charging jack, which is mounted in charging module 5, should
Infrared sensor is electrically connected with CAD mould group 6.
In the embodiment of the present application, a kind of mobile chassis is provided, passes through setting: bottom plate 1, bracket 2, multiple device mould groups and
For establishing the interface module 3 electrically connected with robot body device；Bracket 2 is fixed on bottom plate 1, and the setting of interface module 3 exists
2 upper end of bracket, the front-end and back-end of bracket 2 are equipped with multiple side cavities, and in multiple side cavities each side cavity side it is equal
Bracket 2 is exposed, each side cavity corresponds to a device mould group in multiple device mould groups, and device mould in multiple side cavities
Group is detachably connected in corresponding side cavity, and each device mould group is electrically connected with interface module 3.In this way, passing through interface mould
Group 3 may be implemented to be communicatively coupled between this mobile chassis and robot body, and due to each device mould group corresponding one
A side cavity, so that the device layout inside this mobile chassis is no longer to stack, but make full use of inside this mobile chassis
The layout of each device is carried out three-dimensional setting, guarantees that each device can be in other motionless devices by solid space
In the case of disassembled from chassis.Lead to later period demolition and maintenance not to solve device stack in mobile chassis in the related technology
Just the problem of.
Based on the same technical idea, the embodiment of the present application also provides a kind of robot, including robot body and above-mentioned
Mobile chassis, robot body is connected on mobile chassis.
In robot provided by the embodiments of the present application, by using above-mentioned mobile chassis, convenient for the later period to robot
Carry out demolition and maintenance.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of mobile chassis, which is characterized in that the mobile chassis includes: bottom plate, bracket, multiple device mould groups and is used for and machine
Device human body's device establishes the interface module electrically connected；
The bracket is fixed on the bottom plate, and interface module setting is held on the bracket, the front end of the bracket and
Rear end is equipped with multiple side cavities, and the side of each side cavity exposes the bracket in the multiple side cavity, described
Each side cavity corresponds to a device mould group in the multiple device mould group in multiple side cavities, and the device mould group can
In the corresponding side cavity, each device mould group is electrically connected with the interface module dismantling connection.
2. mobile chassis according to claim 1, which is characterized in that in the multiple device mould group include power supply mould group and
Charging module, the power supply mould group and the charging module are divided into the side cavity of the bottom in the rear and front end of the bracket
In, the power supply mould group and the charging module are electrically connected with the interface module.
3. mobile chassis according to claim 2, which is characterized in that further include control general ability in the multiple device mould group
Domain network CAD mould group, radio communication mold group, divergent die group, power management modules and motor control mould group；
The CAD mould group, radio communication mold group and divergent die group are located at the same side of the bracket with the power supply mould group, and
The CAD mould group is located at the top of the power supply mould group, and the radio communication mold group is located at the top of the CAD mould group, described
Divergent die group is located at the top of the radio communication mold group；
The power management modules and the motor control mould group are located at the same side of the bracket with the charging module, and
The power management modules are located at the top of the charging module, and the motor control mould group is located at the power management modules
Top；
The radio communication mold group, the divergent die group, the power management modules and the motor control mould group with it is described
CAD mould group electrically connects, and the CAD mould group is electrically connected with the interface module.
4. mobile chassis according to claim 3, which is characterized in that the mobile chassis further includes industrial control host and laser
Sensor；
The upper end of the bracket is set there are two chamber is pushed up, and the upper end of each top chamber exposes the bracket, the work
Control host and the laser sensor are located in described two top chambers.
5. mobile chassis according to claim 3, which is characterized in that the mobile chassis further includes two hub motors and more
A universal wheel, the multiple universal wheel are installed on the bottom plate, and described two hub motors are separately mounted to the bracket
Two sides, the hub motor electrically connects with the motor control mould group.
6. mobile chassis according to claim 4, which is characterized in that the mobile chassis further includes shell；
The shell lower end is connect with the bottom plate, and the shell upper is set on the bracket,
The laser sensor and the charging module expose the shell.
7. mobile chassis according to claim 6, which is characterized in that the mobile chassis further includes depth camera and at least
One ultrasonic sensor, the ultrasonic sensor and the depth camera are respectively mounted on the housing, and, the ultrasound passes
Sensor and the depth camera are electrically connected with the CAD mould group.
8. mobile chassis according to claim 6, which is characterized in that the mobile chassis further includes top plate；The top plate is solid
Fixed the top plate is located above the shell on the bracket, and the top plate upper end is equipped with opening, and the interface module is exposed
The opening out.
9. mobile chassis according to claim 8, which is characterized in that the mobile chassis further includes light bar, the light bar peace
On the top plate, and the light bar is located at the top of the shell.
10. a kind of robot, which is characterized in that the robot includes robot body and as described in claim any one of 1-9
Mobile chassis, the robot body is connected on mobile chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910364034.1A CN110116688A (en) | 2019-04-30 | 2019-04-30 | Mobile chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910364034.1A CN110116688A (en) | 2019-04-30 | 2019-04-30 | Mobile chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110116688A true CN110116688A (en) | 2019-08-13 |
Family
ID=67521716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910364034.1A Pending CN110116688A (en) | 2019-04-30 | 2019-04-30 | Mobile chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110116688A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1427521A (en) * | 2001-12-18 | 2003-07-02 | 艾默生网络能源有限公司 | Non intermittented power source machine cabinet |
| US20050122676A1 (en) * | 2003-11-13 | 2005-06-09 | Gordon Clark | Patch panel chassis |
| CN205113499U (en) * | 2015-11-13 | 2016-03-30 | 上海归墟电子科技有限公司 | General motion chassis of modularization desktop robot |
| CN106313078A (en) * | 2016-10-27 | 2017-01-11 | 上海思岚科技有限公司 | Mobile robot platform |
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN210191403U (en) * | 2019-04-30 | 2020-03-27 | 北京云迹科技有限公司 | Mobile chassis and robot |
-
2019
- 2019-04-30 CN CN201910364034.1A patent/CN110116688A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1427521A (en) * | 2001-12-18 | 2003-07-02 | 艾默生网络能源有限公司 | Non intermittented power source machine cabinet |
| US20050122676A1 (en) * | 2003-11-13 | 2005-06-09 | Gordon Clark | Patch panel chassis |
| CN205113499U (en) * | 2015-11-13 | 2016-03-30 | 上海归墟电子科技有限公司 | General motion chassis of modularization desktop robot |
| CN106313078A (en) * | 2016-10-27 | 2017-01-11 | 上海思岚科技有限公司 | Mobile robot platform |
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN210191403U (en) * | 2019-04-30 | 2020-03-27 | 北京云迹科技有限公司 | Mobile chassis and robot |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |