CN202896721U - Chassis connecting mechanism for robot - Google Patents
Chassis connecting mechanism for robot Download PDFInfo
- Publication number
- CN202896721U CN202896721U CN 201220642782 CN201220642782U CN202896721U CN 202896721 U CN202896721 U CN 202896721U CN 201220642782 CN201220642782 CN 201220642782 CN 201220642782 U CN201220642782 U CN 201220642782U CN 202896721 U CN202896721 U CN 202896721U
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- chassis
- robot
- bindiny mechanism
- chassis body
- fixed angles
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Abstract
The utility model provides a chassis connecting mechanism for a robot. The mechanism comprises a chassis body. A fixed angle key is connected to the upper part of the chassis body, and at least one chassis motor retainer is connected to the lower part of the chassis body. Two frame feet extend from the lower part of the chassis motor retainer. Each frame foot is provided with a frame foot ring matched with a coupler in outer diameter. A placing platform is arranged on the upper part of the fixed angle key. A soft finger material moving robot mainly grasps, lifts, drops and moves objects with special-shaped faces, and movement of the robot is controlled through a three-degree-of-freedom moving system of an omnidirectional wheel, so that the robot stably moves to an appointed position according to demand. The chassis connecting mechanism for the robot provide by the utility model is used for connecting a traveling mechanism of the soft finger material moving robot with a grasping arm, and has the advantages of simple structure, reliable connection and lightness and practicality.
Description
Technical field
The utility model relates to the technical field of robot, especially a kind of robot chassis bindiny mechanism.
Background technology
Comprise the research of mechanical running mechanism and mechanical gripping arm system in the robot research, the mechanical running mechanism type is various, but modeling machine tool traveling gear is the main direction of robot mechanical running mechanism research always, mostly the research of mechanical running mechanism is to study by profiling, wishing can be the same with people's pin, reaches the purpose that stronger locomotor activity is arranged by multivariant joint motions design.But because joint designs complexity, the leg exercise control difficulty that relates in the profiling mechanism tread systems design is high, manufacturing cost is higher, and manufacture difficulty and requirement are also higher.
The mechanical gripping arm system then needs to consider the problems such as gripping arm height of living in, gripping arm kinematic velocity, mobile accuracy rate, robot balance.
In order to make mechanical running mechanism and mechanical gripping arm system that a stable working environment can be arranged, the bindiny mechanism that connects the two is then extremely important.
How making a kind of is that the light failure-free bindiny mechanism that connects again is the problem of pendulum in face of the mechanism of each research robot.
Summary of the invention
Technical problem to be solved in the utility model is for the above-mentioned state of the art, and a kind of simple in structure, connection robot reliable, light practicality chassis bindiny mechanism is provided.
The utility model solves the problems of the technologies described above the technical scheme that adopts:
A kind of robot chassis bindiny mechanism, it is characterized in that: include chassis body, chassis body top is connected with the fixed angles key, and this chassis body bottom is connected with at least one base plate electric machine retainer, base plate electric machine retainer bottom is extended with two frame pin, be equipped with the frame pin ring suitable with the coupler external diameter on each frame pin, fixed angles key top is provided with placement platform.
For optimizing technique scheme, the concrete measure of taking also comprises:
Above-mentioned fixed angles key is the Aluminum Hollow frame.
Above-mentioned fixed angles key is cuboid.
Four jiaos of formation chassis ennations that stretch out respectively of above-mentioned chassis body.
Above-mentioned base plate electric machine retainer is four, lays respectively at ennation bottom, chassis.
Above-mentioned base plate electric machine retainer is captiveed joint with chassis body.
Above-mentioned fixed angles key is captiveed joint with chassis body.
Be provided with the angle bar of fixation in the above-mentioned fixed angles key.
Compared with prior art, a kind of robot of the present utility model chassis bindiny mechanism, wherein: include chassis body, chassis body top is connected with the fixed angles key, and this chassis body bottom is connected with at least one base plate electric machine retainer, base plate electric machine retainer bottom is extended with two frame pin, is equipped with the frame pin ring suitable with the coupler external diameter on each frame pin, and fixed angles key top is provided with placement platform.A kind of robot of the present utility model can be used in soft finger with chassis bindiny mechanism and move on the thing robot, soft finger moves the thing robot and mainly realizes the crawl of Special-Shaped Surface object, lifting and movement, utilize the realization of omni-directional wheel three degree of freedom mobile system to the activity control of robot, make robot on request pulsation-free move to assigned address, and a kind of robot of utility model links together with traveling gear and the gripping arm that chassis bindiny mechanism is used for soft finger is moved the thing robot.Traveling gear is positioned at chassis bindiny mechanism bottom, and gripping arm is positioned at chassis bindiny mechanism top.Chassis body is criss-cross, and is corresponding with the base plate electric machine retainer that is positioned at its below.The criss-cross chassis is more steady, uses and can reduce the possibility that it is toppled on robot.In order to reduce the weight of whole robot, the fixed angles key is the Aluminum Hollow frame, adopts angle bar to reinforce in the junction, turning of aluminium frame, so that the weight of whole robot greatly reduces, the while robot body is stable connection still.Because the gripping arm fulcrum needs certain height, therefore fixed angles key top is provided with placement platform, gripping arm and gripping arm motor etc. all is fixed on the placement platform, robot can the higher article in crawl position like this, and during the low article in crawl position, as long as reduce gripping arm highly by motor.
The utlity model has simple in structure, connect advantage reliable, light practicality.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is that Fig. 1 uses constitution diagram;
Fig. 3 is the left view of Fig. 2,
Fig. 4 is the birds-eye view of Fig. 2.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.
Fig. 1 is to Figure 4 shows that structural representation of the present utility model.
Reference numeral wherein is: chassis body 1, chassis ennation 11, fixed angles key 2, placement platform 21, angle bar 22, base plate electric machine retainer 3, frame pin 31, frame pin ring 32, coupler 4.
As shown in Figures 1 to 4,
A kind of robot of the present utility model chassis bindiny mechanism, it is characterized in that: include chassis body 1, chassis body 1 top is connected with fixed angles key 2, and this chassis body 1 bottom is connected with at least one base plate electric machine retainer 3, base plate electric machine retainer 3 bottoms are extended with two frame pin 31, be equipped with the frame pin ring 32 suitable with coupler 4 external diameters on each frame pin 31, fixed angles key 2 tops are provided with placement platform 21.
Among the embodiment, fixed angles key 2 is the Aluminum Hollow frame.
Among the embodiment, fixed angles key 2 is cuboid.
Among the embodiment, 1 four jiaos of formation chassis ennations 11 that stretch out respectively of chassis body.
Among the embodiment, base plate electric machine retainer 3 is four, lays respectively at chassis ennation 11 bottoms.
Among the embodiment, base plate electric machine retainer 3 is captiveed joint with chassis body 1.
Among the embodiment, fixed angles key 2 is captiveed joint with chassis body 1.
Among the embodiment, be provided with the angle bar 22 of fixation in the fixed angles key 2.
A kind of robot of the present utility model can be used in soft finger with chassis bindiny mechanism and move on the thing robot, soft finger moves the thing robot and mainly realizes the crawl of Special-Shaped Surface object, lifting and movement, utilize the realization of omni-directional wheel three degree of freedom mobile system to the activity control of robot, make robot on request pulsation-free move to assigned address, and a kind of robot of utility model links together with traveling gear and the gripping arm that chassis bindiny mechanism is used for soft finger is moved the thing robot.Traveling gear is positioned at chassis bindiny mechanism bottom, and gripping arm is positioned at chassis bindiny mechanism top.Chassis body 1 is criss-cross, and is corresponding with the base plate electric machine retainer 3 that is positioned at its below.The criss-cross chassis is more steady, uses and can reduce the possibility that it is toppled on robot.In order to reduce the weight of whole robot, fixed angles key 2 is the Aluminum Hollow frame, adopts angle bar to reinforce in the junction, turning of aluminium frame, so that the weight of whole robot greatly reduces, the while robot body is stable connection still.Because the gripping arm fulcrum needs certain height, therefore fixed angles key 2 tops are provided with placement platform 21, gripping arm and gripping arm motor etc. all is fixed on the placement platform 21, robot can the higher article in crawl position like this, and during the low article in crawl position, as long as reduce gripping arm highly by motor.
Soft finger moves the design plan of thing robot:
The power general design
Soft finger moves the thing robot and mainly realizes formulating robot at definite position crawl object, main action is embodied in the displacement of robot integral body and the crawl of object, its action has comprised two pairs of straight-line motions of four omni-directional wheels and the rotatablely moving around center chassis of four omni-directional wheels, the up-and-down movement of mechanical arm, the compressional movement during the crawl object and the extraction of rubber finger sleeve inner vacuum etc.Because action all is dereferenceds, therefore taked the individual motor distribution in power distribution.
Four omni-directional wheels are respectively by four electric machine control, and large forearm is stressed and motion feature employing individual drive according to self.During soft finger crawl object, soft finger is controlled with cylinder the extruding action of object.
Control design alternative:
1. the control of car load comprises: the startup of wheel electrical machine, stop, forward, counter-rotating; Robot arm control comprises: the forward of motor, counter-rotating.
2. the electric machine control mode is selected: because the mode of line traffic control is easy to control and good stability is arranged, have the external interference of being subjected to few, low cost and other advantages.
3. the selection of the mode of remote controller: at first, what we considered is the selection of switch, and we considered three kinds of switches: point driving switch, micro-switch and tumbler switch.From the comfort level of button, some dynamic formula switch is more comfortable by getting up, also more flexible, so we have selected point driving switch.
The electric machine control design:
Omni-directional wheel electric machine control: controlled by motor drive module Y-2389, module is comprised of two BTN7970B and LS244 chip, driving is by Transistor-Transistor Logic level, enables en output Vcc and GND by five port powers+5VGND forward IN1 counter-rotating IN2, and out1 and out2 form.
Soft finger move the thing robot can use with daily life in, such as the crawl of toy arrangement and collection, instrument and movement and as the standby auxiliary device of other family wears.
Most preferred embodiment of the present utility model is illustrated, and various variations or the remodeling made by those of ordinary skills can not break away from scope of the present utility model.
Claims (8)
1. robot chassis bindiny mechanism, it is characterized in that: include chassis body (1), described chassis body (1) top is connected with fixed angles key (2), and this chassis body (1) bottom is connected with at least one base plate electric machine retainer (3), described base plate electric machine retainer (3) bottom is extended with two frame pin (31), be equipped with the frame pin ring (32) suitable with coupler (4) external diameter on described each frame pin (31), described fixed angles key (2) top is provided with placement platform (21).
2. a kind of robot according to claim 1 chassis bindiny mechanism, it is characterized in that: described fixed angles key (2) is the Aluminum Hollow frame.
3. a kind of robot according to claim 2 chassis bindiny mechanism, it is characterized in that: described fixed angles key (2) is cuboid.
4. a kind of robot according to claim 3 chassis bindiny mechanism is characterized in that: (1) four jiao of described chassis body stretches out respectively and forms chassis ennation (11).
5. a kind of robot according to claim 4 chassis bindiny mechanism, it is characterized in that: described base plate electric machine retainer (3) is four, lays respectively at chassis ennation (11) bottom.
6. a kind of robot according to claim 5 chassis bindiny mechanism, it is characterized in that: described base plate electric machine retainer (3) is captiveed joint with chassis body (1).
7. a kind of robot according to claim 6 chassis bindiny mechanism, it is characterized in that: described fixed angles key (2) is captiveed joint with chassis body (1).
8. a kind of robot according to claim 7 chassis bindiny mechanism is characterized in that: the angle bar (22) that has been provided with fixation in the described fixed angles key (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220642782 CN202896721U (en) | 2012-11-29 | 2012-11-29 | Chassis connecting mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220642782 CN202896721U (en) | 2012-11-29 | 2012-11-29 | Chassis connecting mechanism for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202896721U true CN202896721U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220642782 Expired - Fee Related CN202896721U (en) | 2012-11-29 | 2012-11-29 | Chassis connecting mechanism for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202896721U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772750A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Moving ascending and descending robot |
| CN104859740A (en) * | 2015-05-12 | 2015-08-26 | 上海大学 | Four-wheel module-series-connection swinging arm sliding robot |
| CN104986150A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Brake device and chassis system for moving robot |
-
2012
- 2012-11-29 CN CN 201220642782 patent/CN202896721U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772750A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Moving ascending and descending robot |
| CN104772750B (en) * | 2015-03-27 | 2016-08-24 | 燕山大学 | A kind of moving lifting machine people |
| CN104859740A (en) * | 2015-05-12 | 2015-08-26 | 上海大学 | Four-wheel module-series-connection swinging arm sliding robot |
| CN104986150A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Brake device and chassis system for moving robot |
| CN104986150B (en) * | 2015-06-17 | 2018-01-02 | 电子科技大学 | A kind of chassis system for mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20141129 |
|
| EXPY | Termination of patent right or utility model |