CN203779499U - Base plate driving structure device for mobile robot - Google Patents
Base plate driving structure device for mobile robot Download PDFInfo
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- CN203779499U CN203779499U CN201420009920.5U CN201420009920U CN203779499U CN 203779499 U CN203779499 U CN 203779499U CN 201420009920 U CN201420009920 U CN 201420009920U CN 203779499 U CN203779499 U CN 203779499U
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- 238000004804 winding Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 18
- 238000012546 transfer Methods 0.000 claims description 10
- 239000004065 semiconductor Substances 0.000 claims description 9
- 230000005855 radiation Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 6
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009514 concussion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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Abstract
The utility model relates to a base plate driving structure device for a mobile robot. The base plate driving structure device comprises four circuit boards which are respectively an upper plate, a bottom plate, a front plate and a back plate, wherein a first connecting and inserting element and a third connecting and inserting element are connected for fixedly connecting the upper plate and the bottom plate and realizing the information interaction between the upper plate and the lower plate, a second connecting and inserting element and a fifth connecting and inserting element are connected for fixedly connecting the upper plate and the front plate and realizing the information interaction between the upper plate and the front plate, a fourth connecting and inserting element and a sixth connecting and inserting element are connected for fixedly connecting the back plate and the bottom plate and realizing the information interaction between the back plate and the bottom plate, in addition, the front plate is provided with two paths of motor feedback interfaces and motor winding interfaces, the driving control on the two paths of motors is realized through a driving control module arranged on the upper plate, the back plate is provided with an inverter circuit, the bottom plate is provided with a power supply conversion module, in addition, external interfaces are all arranged on the front plate, the reasonable configuration of distributing wires between the motor and external equipment is convenient, and the equipment can be horizontally or vertically installed, and is suitable for being assembled to various spaces.
Description
Technical field
The utility model relates to a kind of chassis drives structure, relates in particular to a kind of mobile robot's chassis drives structure device.
Background technology
?as most important driving in robot application, chassis controller causes that robot field more and more pays close attention to.Controller, for drive motors, provides power to the external world, completes advancing, retreat and spinning movement of robot.
As Figure 10-11, shown in 13, conventionally driving control system for electric machine comprises FPGA control chip, A/D modular converter, current detecting unit, drive circuit, full bridge inverter and communication interface, realize driving to motor by following process: by hall signal, motor current location is fed back to FPGA control chip, FPGA control chip is according to motor commutation table, see Figure 11, open the bridge up and down of relevant metal-oxide-semiconductor, see metal-oxide-semiconductor inverter circuit in Figure 13.For example input hall signal for (H1, H2, H3)=(101), table look-up and can know that make the upper bridge AT2-1 of A and the lower bridge BB2-1 of B open forms loop, control system can be drawn high AT2-1 and BT2-1 in inverter circuit, makes conducting, and motor rotates under magnetic fields.Current detecting unit is for detection of motor total current, and by A/D chip, collecting to such an extent that analog signal is passed to FPGA control chip after transferring digital quantity to, monitor current, prevents over-current phenomenon avoidance in real time.Communication interface (RS485 or CAN) is for carrying out exchanges data with host computer.The inverter circuit schematic diagram that wherein six metal-oxide-semiconductors in inverter circuit form as shown in figure 14.
As shown in figure 12, motor driven systems input power (20-50V) part is to motor power supply conventionally, and a part is powered to system control.In system power supply, by DC-DC chip respectively just input voltage transfer 12V to, 12V transfers 5V to, transfer 5V to 3.3V and by 2.5V and 1.2V, wherein 12V is for powering to boostrap circuit, 2.5V and 1.2V provide phaselocked loop and kernel power supply to FPGA, and 3.3V and 5V power to general-purpose chip.
Conventional chassis driver is made up of two-way Huo Si road motor drive module, realizes two of robot and drives and 4 wheel driven.But the driving of traditional robot is the motor driver being separated by two or four to be arranged on respectively near motor nearby, it is driver reserved multiple installation sites respectively that this mode needs designer, simultaneously between multiple driver with the communication of host computer, increase the requirement of communication speed and stability, installed also and brought the duplication of labour of installing and the difficulty of positioning problems to assembling and setting personnel respectively.How in the environment of constraint, to solve preferably driving problems, it is the important channel of improving robot driving force, therefore, developing a kind of robot chassis controller makes in limited space, can support more mounting means, the motor-driven chassis drives structure device of external enwergy being realized to multichannel is very necessary.
Utility model content
The purpose of this utility model is to provide a kind of mobile robot's chassis drives structure device, so that in limited space, the motor of external enwergy being realized to multichannel drives.
To achieve these goals, the utility model provides a kind of mobile robot's chassis drives structure device, comprises four circuit boards, is respectively upper plate, base plate, header board and rear plate, wherein:
Described upper plate is provided with drive control module, the first connector, the second connector and wireless module, and described drive control module is connected with described the first connector, described the second connector and described wireless module respectively;
Described base plate is provided with a power transfer module, current detecting unit, drive circuit, the 3rd connector, the first accessory power supply interface, the 4th connector, communication interface and power supply indicator, and described power transfer module respectively with described the 3rd connector, described the first accessory power supply interface, described the 4th connector, described communication interface and described power supply indicator connect, described current detecting unit is connected with described the 3rd connector, described drive circuit is connected with described the 4th connector and described the 3rd connector, and described heat radiation screw locating hole is arranged on the rear side of described base plate, be provided with described communication interface and described power supply indicator in the front side of described base plate,
Described header board is provided with some motor feedback signals interfaces, some motor winding interfaces, general supply interface, the second accessory power supply interface, DI/DO interface, the 5th connector and signal ground interface, and on described header board, all interface is all connected with described the 5th connector, and a breach corresponding with described communication interface left in the bottom side of described header board, the bottom side of described header board is provided with the hole of windowing corresponding to described power supply indicator place;
Described rear plate is provided with an inverter circuit, the 6th connector and some for locating the fin locating hole of fin, and described the 6th connector is connected with described inverter circuit;
Described the first connector is connected with described the 3rd connector; Described the second connector is connected with described the 5th connector; Described the 4th connector is connected with described the 6th connector.
Preferably, described the first connector is arranged on the left and right sides of described upper plate, and described the second connector is arranged on the front side of described upper plate; Described the 3rd connector is arranged on the left and right sides of described base plate, and the 4th connector is arranged on the rear side of described base plate; Described the 5th connector is arranged on the upside of described header board; Described the 6th connector is arranged on the bottom side of described rear plate.
Preferably, described upper plate and described base plate are provided with upper and lower plates locating hole near four angles, pass described upper and lower plates locating hole described upper plate and described base plate are connected and fixed by screw.
Preferably, described upper and lower plates locating hole is distributed with some auxiliary positioning hole around.
Preferably, between described base plate and described rear plate, described header board and described upper plate, described upper plate and described rear plate and described header board and described lower plate, be all connected and fixed by 90 ° of plate level connectors.
Preferably, the connecting hole of described 90 ° of plate level connectors is separately positioned on a pair of diagonally opposing corner of every plate, and on described upper plate, connecting hole is not corresponding mutually with connecting hole on described base plate, and on described header board, two connecting holes are not corresponding mutually with two connecting holes on described rear plate.
Preferably, in described lower plate, be also provided with binding hole, for placing binding post binding motor winding cabling.
Preferably, on described inverter circuit, be provided with some metal-oxide-semiconductor slots.
The utility model, owing to adopting above technical scheme, compared with prior art, has following advantage and good effect:
1) a kind of mobile robot's that the utility model provides chassis drives structure device, designs as benchmark to control multichannel motor, realizes multichannel motor synchronous by controller internal exchange of data;
2) a kind of mobile robot's that the utility model provides chassis drives structure device, makes full use of all directions space, and rational deployment can be easily installed in various small spaces inside, has improved the driving integrated level of robot;
3) a kind of mobile robot's that the utility model provides chassis drives structure device, is all arranged on external interface and indicator lamp on header board, is convenient to reasonable outlet, also can reduce operating personnel's error probability.
Brief description of the drawings
Fig. 1 is a kind of mobile robot's of the utility model chassis drives structure device upper plate structural representation;
Fig. 2 is a kind of mobile robot's of the utility model chassis drives structure device base arrangement schematic diagram;
Fig. 3 is a kind of mobile robot's of the utility model chassis drives structure device front board structure schematic diagram;
Fig. 4 is a kind of mobile robot's of the utility model chassis drives structure device front board structure schematic diagram;
Fig. 5 is the structural representation of at right angle setting mobile robot's chassis controller in embodiment;
Fig. 6 is the structural representation that in embodiment, level is installed mobile robot's chassis controller;
Fig. 7 is the connection diagram of base plate and rear plate;
Fig. 8 is the connection diagram of header board and upper plate;
Fig. 9 is the structural representation after the chassis drives structure device of a kind of mobile robot in embodiment is assembled
Figure 10 is driving control system for electric machine general diagram;
Figure 11 is motor commutation table;
Figure 12 is general supply flow path switch figure;
Figure 13 is metal-oxide-semiconductor inverter circuit schematic diagram.
Detailed description of the invention
Further illustrate the utility model with specific embodiment with reference to the accompanying drawings.
The utility model relates to a kind of mobile robot's chassis drives structure device, comprises four circuit boards, is respectively upper plate, base plate, header board and rear plate.
As shown in Figure 1, the left and right sides taking left and right sides in this picture as upper plate 1, taking downside in this picture as the front side of upper plate 1, the rear side taking upside in this picture as upper plate 1.Upper plate 1 overall size is 110*90mm, which is provided with drive control module 11, the first connector 12, the second connector 13 and wireless module 14, and drive control module 11 is connected with the first connector 12, the second connector 13 and wireless module 14 respectively; The first connector 12 is arranged on the left and right sides of described upper plate 1, and the second connector 13 is arranged on the front side of upper plate 1.Drive control module 11 is FPGA control chip and A/D modular converter, is common technology in motor driver.Wireless module 14 carries out parameter configuration when debugging, as configuration motor speed, torque etc.Connecting hole 51 in clinodiagonal and connecting hole 52 are respectively the connecting hole that upper plate 1 is connected with header board 3 with rear plate 4 and upper plate 1.
As shown in Figure 2, the left and right sides taking left and right sides in this picture as lower plate 2, taking downside in this picture as the front side of lower plate 2, the rear side taking upside in this picture as lower plate 2.Base plate 2 overall sizes are 110*90mm, which is provided with a power transfer module 21, current detecting unit, drive circuit, the 3rd connector 22, the first accessory power supply interface 23, the 4th connector 24, communication interface 25 and power supply indicator 26, and power transfer module 21, be connected with the 3rd connector 22, the first accessory power supply interface 23, the 4th connector 24, communication interface 25 and power supply indicator 26 respectively, current detecting unit is connected with described the 3rd connector, and drive circuit is connected with described the 3rd connector and described the 4th connector respectively.Be provided with communication interface 25 and power supply indicator 26 in base plate front side; The 3rd connector 22 is arranged on the left and right sides of base plate 2, and the 4th connector 24 is arranged on base plate 2 rear sides, and at base plate 2 rear sides, is provided with heat radiation screw locating hole 27 in the middle of two the 4th connectors 24.On base plate, be also provided with binding hole 28, be arranged in plate rear, symmetrical, for placing binding post binding motor winding cabling.Connecting hole 53 in clinodiagonal and connecting hole 54 are respectively the connecting hole that base plate 2 is connected with header board 3 with rear plate 4 and base plate 2.
The first accessory power supply interface 23, for connecting external debug power supply, can be realized the independent debugging to base plate.Communication interface 25 provides interface alternately for controller and outside host computer.Power transfer module 21 provides required voltage to whole system, comprises 12V, 5V, 3.3V, 2.5V, 1.2V.
As shown in Figure 3, the left and right sides taking left and right sides in this picture as header board 3, taking downside in this picture as the bottom side of header board 3, the upside taking upside in this picture as header board 3.Header board 3 overall sizes are 110*50mm, which is provided with two motor feedback signals interfaces 31, two motor winding interfaces 32, two general supply interfaces 33, the second accessory power supply interface 34, DI/DO interface 35, two total power lights 36, the 5th connector 37 and two signal ground interfaces 38, and on header board, all interface is all connected with the 5th connector 37, and a breach 39 corresponding with communication interface 25 left in the bottom side of header board, can pass breach 39 by cable communication interface 25 is connected with other external equipments, realize mutual.The bottom side of header board 3 is provided with the hole 30 of windowing corresponding to power supply indicator 26 places, sees through the hole 30 of windowing and can see the situation of lighting of power supply indicator 26, and the 5th connector 37 is arranged on the upside of header board 3.Connecting hole 55 in clinodiagonal and connecting hole 56 are respectively the connecting hole that header board 3 is connected with base plate 4 with upper plate 1 and header board 3.
In order to prevent crosstalking between two-way, input general supply adopts separately to be supplied with, and has also ensured the ability of large electric current simultaneously.Two motor feedback signals interfaces 31 connect outside two motors, and the hall signal that motor is sent is conveyed into chassis controller, and chassis controller sends instruction to motor by motor winding interface 32.Wherein the second accessory power supply interface 34 is also for accessing outside testing power supply, after four plate installations of whole controller, can realize and provide testing power supply to whole controller; In the time not installing, can realize and provide separately testing power supply to header board.On header board, be also provided with a tie-hole 7, mainly by penetrating bandage in two tie-hole, header board 3 and upper plate 1 bundled, prevent that plate level is loosening, normal conditions can not be used, quite severe when external environment, when concussion is quite serious, just use.
As shown in Figure 4, the left and right sides taking left and right sides in this picture as rear plate 4, taking downside in this picture as the bottom side of rear plate 4, the upside taking upside in this picture as rear plate 4.Rear plate 4 overall sizes are 110*45mm, which is provided with 42 and 11 of inverter circuits, the 6th connector for locating the fin locating hole 43 of fin, and the 6th connector 42 is connected with inverter circuit, and the 6th connector is arranged on the bottom side of rear plate.Inverter circuit comprises metal-oxide-semiconductor inverter circuit and 12 metal-oxide-semiconductor slots 41, and wherein six metal-oxide-semiconductors are the inversion that the inverter circuit of a group can be realized a road motor, as shown in figure 13.Connecting hole 57 in clinodiagonal and connecting hole 58 are respectively the connecting hole that rear plate 4 is connected with base plate 2 with upper plate 1 and rear plate 4.
The first connector 12 is connected and upper plate is fixedly connected with and is realized the information interaction of upper plate between lower plate with base plate with the 3rd connector 22; The second connector 13 is connected and upper plate is fixedly connected with and is realized the information interaction between upper plate and header board with header board with the 5th connector 37; The 4th connector 24 is connected 42 and rear plate is fixedly connected with and is realized the information interaction between rear plate and base plate with base plate with the 6th connector.
Connecting hole 51-58 is connecting hole, connected mode as above is connected and fixed 90 ° of plate level connectors 8 to connect hole 51 by screw, 57 are connected upper plate with rear plate, by screw, 90 ° of plate level connectors 8 are connected and fixed and connect hole 52,55 are connected upper plate with header board, by screw, 90 ° of plate level connectors 8 are connected and fixed and connect hole 56,54 by header board and base plate; By screw, 90 ° of plate level connectors 8 are connected and fixed and connect hole 53,58 are connected rear plate with base plate, thereby upper plate 1, base plate 2, header board 3 and rear plate 4 are connected and fixed, and as shown in Figure 9, in visible the present embodiment, the connecting hole of 90 ° of plate level connectors is separately positioned on a pair of diagonally opposing corner of every plate, and connecting hole 51 on upper plate 1,52 with base plate 2 on connecting hole 53,54 not corresponding mutually, two connecting holes 55 on header board 3,56 with rear plate 4 on two connecting holes 57,58 not corresponding mutually.On every block of plate, connecting hole all adopts clinodiagonal distribution fixed form to make structure more stable.
Upper plate 1 and base plate are provided with upper and lower plates locating hole 6 near 2 four angles, by screw, upper plate 1 and base plate 2 are connected and fixed, and occur stripped thread phenomenon can around upper and lower plates locating hole 6, being distributed with some auxiliary positioning hole in order to prevent in the turn of the screw process.
The assembling of four circuit boards is divided into two large steps and completes, plate as rear in Fig. 7-9 and base plate assembly drawing, and first step, base plate and rear plate are installed, the installation of header board and upper plate, second step is two-part combination.Base plate is combined by two parts with rear plate: rear plate is fixedly connected with base plate with the 6th connector by the 4th connector, except for signal transmission, also locates for aided location; And by 90 ° of plate level connector 8 connecting bottom boards and rear plate, prevent from becoming flexible.Fixing in order to locate, on vertical plane, adopt respectively two M3 screws to install.The fixed form of upper plate and header board is identical, adopts 90 ° of plate level connectors 8 and the second connector to combine with the 5th connector, and it is identical with rear plate keeper that two 90 ° of plate level connectors 8 are positioned at header board diagonally opposing corner.Base plate and rear plate and header board and upper plate two parts fit together by upper plate and base plate both sides the first connector and the 3rd connector, after first-class screw, four circuit board installations, if need to fin be installed time, should be fixed on rear plate face outside by fin locating hole, the local ventilation situation of heat sink sizes size and institute's overcurrent and installation is relevant.As shown in Fig. 5-6, be two kinds of mounting means of this mobile robot chassis driver, this chassis controller can at right angle setting, after, plate is arranged on stationary plane 9, can also level install, base plate is arranged on stationary plane 9, can adapt to different space sizes and the needs of cabling.
Motor is connected with two-way motor by the motor feedback signals interface 31 of header board 3, realize the extraction to motor information, be input in chassis controller, feedback signal by header board 3 after connecing the 5th connector and the second connector and sending drive control module 11 in upper plate 1 to and process, output control signal sends base plate 2 to by the first connector and the 3rd connector, the motor winding interface 32 that the control signal that the inverter circuit 41 of plate 4 is exported after processing after the 4th connector and the 6th connector send to sends header board 3 to through connector is exported to motor, thereby realize the driving control to motor.Because two-way motor all drives control by this mobile robot chassis drives structure device, make to control the sequential that outputs signal to two motors, realize the synchronous output of two-way motor is driven and controlled.
Above-mentioned disclosed be only specific embodiment of the utility model, this embodiment is only that clearer explanation the utility model is used, and not to restriction of the present utility model, the changes that any person skilled in the art can think of, all should drop in protection domain.
Claims (8)
1. mobile robot's a chassis drives structure device, is characterized in that, comprises four circuit boards, is respectively upper plate, base plate, header board and rear plate, wherein:
Described upper plate is provided with drive control module, the first connector, the second connector and wireless module, and described drive control module is connected with described the first connector, described the second connector and described wireless module respectively;
Described base plate is provided with a power transfer module, current detecting unit, drive circuit, the 3rd connector, the first accessory power supply interface, the 4th connector, communication interface and power supply indicator, and described power transfer module respectively with described the 3rd connector, described the first accessory power supply interface, described the 4th connector, described communication interface and described power supply indicator connect, described current detecting unit is connected with described the 3rd connector, described drive circuit is connected with described the 4th connector and described the 3rd connector, and described heat radiation screw locating hole is arranged on the rear side of described base plate, be provided with described communication interface and described power supply indicator in the front side of described base plate,
Described header board is provided with some motor feedback signals interfaces, some motor winding interfaces, general supply interface, the second accessory power supply interface, DI/DO interface, the 5th connector and signal ground interface, and on described header board, all interface is all connected with described the 5th connector, and a breach corresponding with described communication interface left in the bottom side of described header board, the bottom side of described header board is provided with the hole of windowing corresponding to described power supply indicator place;
Described rear plate is provided with an inverter circuit, the 6th connector and some for locating the fin locating hole of fin, and described the 6th connector is connected with described inverter circuit;
Described the first connector is connected with described the 3rd connector; Described the second connector is connected with described the 5th connector; Described the 4th connector is connected with described the 6th connector.
2. a kind of mobile robot's claimed in claim 1 chassis drives structure device, is characterized in that, described the first connector is arranged on the left and right sides of described upper plate, and described the second connector is arranged on the front side of described upper plate; Described the 3rd connector is arranged on the left and right sides of described base plate, and the 4th connector is arranged on the rear side of described base plate; Described the 5th connector is arranged on the upside of described header board; Described the 6th connector is arranged on the bottom side of described rear plate.
3. a kind of mobile robot's as claimed in claim 2 chassis drives structure device, it is characterized in that, described upper plate and described base plate are provided with upper and lower plates locating hole near four angles, pass described upper and lower plates locating hole described upper plate and described base plate are connected and fixed by screw.
4. a kind of mobile robot's as claimed in claim 3 chassis drives structure device, is characterized in that, described upper and lower plates locating hole is distributed with some auxiliary positioning hole around.
5. a kind of mobile robot's as claimed in claim 1 chassis drives structure device, it is characterized in that, between described base plate and described rear plate, described header board and described upper plate, described upper plate and described rear plate and described header board and described lower plate, be all connected and fixed by 90 ° of plate level connectors.
6. a kind of mobile robot's as claimed in claim 1 chassis drives structure device, it is characterized in that, the connecting hole of fixing described 90 ° of plate level connectors is separately positioned on a pair of diagonally opposing corner of every plate, and connecting hole is not corresponding mutually with connecting hole on described base plate on described upper plate, on described header board, two connecting holes are not corresponding mutually with two connecting holes on described rear plate.
7. a kind of mobile robot's as claimed in claim 1 chassis drives structure device, is characterized in that, is also provided with binding hole in described lower plate, for placing binding post binding motor winding cabling.
8. a kind of mobile robot's as claimed in claim 1 chassis drives structure device, is characterized in that, is provided with some metal-oxide-semiconductor slots on described inverter circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420009920.5U CN203779499U (en) | 2014-01-07 | 2014-01-07 | Base plate driving structure device for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420009920.5U CN203779499U (en) | 2014-01-07 | 2014-01-07 | Base plate driving structure device for mobile robot |
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| Publication Number | Publication Date |
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| CN203779499U true CN203779499U (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420009920.5U Expired - Lifetime CN203779499U (en) | 2014-01-07 | 2014-01-07 | Base plate driving structure device for mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104407614A (en) * | 2014-10-23 | 2015-03-11 | 河北工业大学 | Four-wheel type indoor mobile robot |
| CN112025716A (en) * | 2020-09-25 | 2020-12-04 | 上海商汤临港智能科技有限公司 | Control device, data processing method, control apparatus, and computer storage medium |
-
2014
- 2014-01-07 CN CN201420009920.5U patent/CN203779499U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104407614A (en) * | 2014-10-23 | 2015-03-11 | 河北工业大学 | Four-wheel type indoor mobile robot |
| CN112025716A (en) * | 2020-09-25 | 2020-12-04 | 上海商汤临港智能科技有限公司 | Control device, data processing method, control apparatus, and computer storage medium |
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Granted publication date: 20140820 |