CN206029852U - Family service robot chassis - Google Patents
Family service robot chassis Download PDFInfo
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- CN206029852U CN206029852U CN201620874666.4U CN201620874666U CN206029852U CN 206029852 U CN206029852 U CN 206029852U CN 201620874666 U CN201620874666 U CN 201620874666U CN 206029852 U CN206029852 U CN 206029852U
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- robot chassis
- services robot
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Abstract
The utility model discloses a family service robot chassis, including three on the chassis omniwheel with 120 interval distribution, every omniwheel passes through the bearing and connects in the pivot, every pivot is passed through the shaft coupling and is connected with the motor, every motor is connected with the driver, motor, driver are with 120 interval distribution. The design of this kind of chassis makes the service robot of family both can sharply walk, but still the original place is rotatory, and turning radius is little, is suitable for and uses under the indoor conditions.
Description
Technical field
This utility model belongs to robotics, is related to a kind of hardware designs of home-services robot, especially relates to
And a kind of design of the chassis structure of home-services robot.
Background technology
Roboticses are comprehensive achievements of scientific and technical joint development, with control theory, artificial intelligence
Theoretical, the continuous development of sensor technology, the development of robot industry also achieve more preferable achievement.Home-services robot is
The comprehensive set of various hi-tech development achievements, home-services robot require that robot can be in safety in certain scope
Motion, independently completes task, and unknown foreign environment can be learnt and be adapted to.The available active space phase of family
To less, environment complexity, this requires a kind of rational chassis machine structure.The mechanical mechanism design on chassis includes chassis zero
The selection of part, the reasonable arrangement of vehicle chassis component, transmission of bobbin movement part etc..Conventional service robot chassis machine structure does not have
There is systematized design, it is only for the software of host computer is obeyed the making that carries out.Therefore for software has considerable restraint,
And the situation for not meeting mechanical structure and causing some motions unstable.
From the point of view of the robotic's structure for just occurring at present, main mobile scheme has：Crawler type, lower limb formula, wheeled etc., carry out
Belt mobile robot translational speed is slow, and power dissipation ratio is larger；Legged mobile robot degree of freedom is more, complicated in mechanical structure,
So the two is not suitable for running under family's indoor environment.Compared with crawler type, legged mobile robot, the letter of wheeled robot structure
Single, from heavy and light, the speed of travel is fast, can reduce the complexity of circuit and software design in driving and control aspect, therefore in this reality
With new middle employing wheeled construction.The wheeled construction single-wheel structure that adopts in prior art, two wheel constructions, tricycle structure, four-wheel
Structure etc..Single-wheel structure is a kind of dynamic balance structure, and when static, system is unstable, and control system is complicated, and stability is low.
The comparison morning that the experiment and research of two wheel constructions is carried out, but its equilibrium problem in different load-carryings is not suitably solved
Certainly, for complicated ground adaptability and lateral stability control mechanism all there are problems that.Also there are various shapes in tricycle structure
Formula.The first form is as shown in figure 1, drive trailing wheel and a driven universal wheel, two of which trailing wheel to pass through differential control including two
System is realized turning to, and this mechanical stability is good, but can exist than larger radius of turn.Second form is as shown in Fig. 2 handle
The function of driving and turn to all is concentrated on universal wheel, this mechanism compare it is more complicated for the first form, host computer
Lower signalling is weak and universal wheel is turned to flexibly, so wayward.The third form turns as shown in figure 3, driving wheel does not have differential
To being realized by universal wheel, so occurring and second identic shortcoming, the power consumption of steering is adds additional in addition again.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of simple structure, is suitable to the home services that family uses
Robot chassis structure, to meet the motion that service robot can be in home environment.
For solving the above problems, home-services robot chassis of the present utility model, including three between chassis is with 120 °
Every the omni-directional wheel of distribution, each omni-directional wheel is connected to rotating shaft by bearing, and each rotating shaft passes through shaft coupling and motor connection, each
Motor is connected with driver, and motor, driver are spaced apart with 120 °.
Preferably, in home-services robot chassis, motor adopts Maxon DCX32L model motors.
Preferably, in home-services robot chassis, driver adopts MLDS3610 drivers.
Preferably, in home-services robot chassis, shaft coupling adopts model
Preferably, in home-services robot chassis rotating shaft be divided into Part I, Part II, Part III, the 4th
Point, wherein Part I length is 32mm；The a diameter of 25mm of Part II, Part II length are 41mm；Part III length
For 32mm；The a diameter of 12mm of Part IV, Part IV length are 11mm；Wherein Part II is provided with keyway, and width of keyway is
4mm, keyway depth are 2.5mm.
Preferably, in home-services robot chassis, omni-directional wheel is 8 cun 203 millimeters of omni-directional wheel, outside omni-directional wheel wheel hub
Uniformly offer multiple wheel hub teeth at circumference, between each two wheel hub tooth, be equiped with a driven pulley, the radial direction of driven pulley with
The tangential direction of wheel hub excircle is vertical, and omni-directional wheel is 38.4mm with the hub width of the cooperation of axle.
Preferably, home-services robot chassis middle (center) bearing chooses deep groove ball bearing 6304, and its width is 15mm.
Preferably, home-services robot chassis includes upper plate and lower shoe, omni-directional wheel, bearing, rotating shaft, shaft coupling,
Motor is installed on the bottom of lower shoe, and lower shoe is provided with through hole corresponding with motor shaft, is provided with liquid braking device in through hole, actively
Conical gear is slidably socketed on motor shaft, is additionally provided with electric magnet, between electric magnet and active conical gear on motor shaft
It is provided with spring；
, located at the bottom of upper plate, nut location is corresponding with through hole, and the screw rod of ball-screw is worn for the nut of ball-screw
The liquid braking device crossed in through hole, the top of screw rod are provided with driven bevel gear.
Preferably, in home-services robot chassis, shaft coupling adopts disengaging type shaft coupling.
Preferably, in home-services robot chassis, tray bottom is provided with inclination sensor and located at tray bottom center
The telescopic sucker being connected with inclination sensor.
Can either be moved along a straight line using the home-services robot chassis of said structure, and can be rotated in place, be turned partly
Under footpath, use requirement under indoor conditionss can be met, and lift chassis and telescopic sucker make the suitable of home-services robot
It is further enhanced with property, stability.
Description of the drawings
Fig. 1 is the first form of tricycle structure in prior art.
Fig. 2 is second form of tricycle structure in prior art.
Fig. 3 is the third form of tricycle structure in prior art.
Fig. 4 is the schematic diagram on home-services robot chassis in this utility model first embodiment.
Fig. 5 is the schematic diagram of home-services robot chassis axis in this utility model first embodiment.
Fig. 6 A, 6B are the schematic diagrams of universal wheel in home-services robot chassis in this utility model first embodiment.
Specific embodiment
Specific embodiment of the present utility model is described in detail below with reference to accompanying drawing.
Due to the supporting robot of this utility model it is significant portion of be functionally exactly to realize tracking to human body target,
Need to install Kinect photographic head as " eyes ", and radius of turn is unfavorable for greatly that very much which is movable indoors, therefore this practicality is new
Type can realize horizontal and vertical movement using three omni-directional wheels, 120 degree of distributions, can be before keeping bodywork's direction and position motionless
Any direction movement in the plane is put, Kinect photographic head can be made to be always maintained at facing human body target, mesh not easy to lose
Mark.
As shown in figure 4, in first embodiment of the present utility model, home-services robot chassis include three chassis with
120 ° of omni-directional wheels 1 being spaced apart, each omni-directional wheel 1 are connected to rotating shaft 3 by a pair of bearings 2, and each rotating shaft 3 passes through shaft coupling
4 are connected with motor 5, and each motor 5 is connected with driver 6, and motor, driver are also spaced apart with 120 °, i.e., adjacent two rotating shaft
Between angle be 120 °.So make robot with pivot stud, and can reduce the flexure of rotating shaft, be unlikely to cantilever occur
The form of beam.
The home-services robot overall mass m applied by above-described embodiment is set as that 40Kg, friction factor η are 0.2, speed
Degree v is set as 1.5m/s, calculates the power that motor needs accordingly.
F=40*10=400N, power PwCalculated by below equation：
Substitute into the P that data are calculatedwEqual to 6kw.Output PdComputing formula be：
Wherein η be aggregate efficiency, ηAlways=ηReducing gear×ηShaft coupling×ηBearing, by looking into mechanical design handbook,
ηReducing gear、ηShaft coupling、ηBearing0.97,0.98,0.94 is chosen for respectively, so η is always 0.94, is substituted into formula (2) and is calculated
General power PdEqual to 6.38kw, each motor power demand is 3.19kw, from Maxon DCX32L models.
After obtaining suitable types motor, need to choose motor driver, speed during the selection of motor driver, will be considered
The ability that span of control and speed are adjusted, for robot system, the position of robot ambulation, speed, attitude will be anti-
Feeding system, makes system know state this moment, thus servo-driver should have position control and speed controlling both
Control mode.The rated speed of motor is 7710rpm, and torque is 3.78NM, it is desirable to have closed loop.According to these conditions and in the past
The experience of design, chooses MLDS3610 drivers in the present embodiment, the driver has incremental encoder, and its step width can pass through
Programming setting, using being not in " losing step " phenomenon during closed loop control；Torque loss is few；It is shockproof, generate heat little；With excellent
Dynamic property.
In the selection of shaft coupling, need to consider the size of transmission torque and error, the profile chi of property, manufacture and assembling
Very little and installation method etc..Output power of motor P in the present embodimentoFor 0.102kw, the output speed n of motor is 220rpm, the diameter of axle
d1For 8mm, take design manual to obtain application factor being K according to looking intoaFor 1.5, output torque T has：
Substitute into data to obtainThen calculating torque has | Tca=KT, substitutes into data
Calculating torque can be obtained for Tca=KT=1.5 × 4.42=6.63N.m.
The rotating speed of rotating shaft is not high, also starts frequently, and shaft coupling needs to absorb vibrations, for radially, it is angular and axial inclined
Difference will have certain compensation, so selecting blossom type shaft coupling in the present embodiment, the shaft coupling is lightweight, and small volume is suitable for
In step-servo system.According to the shaft coupling model that result of calculation is selected：
The shaft coupling of the model adopts clamped-in style fixed form, and external diameter is 25mm, long 30mm, and specified torque is 7, maximum
Torque is 10, and maximum speed meets use requirement up to 14000rpm.
According to the working condition of rotating shaft, 40Cr modifier treatment is selected in the present embodiment, allowable stress is so determined, its tension
Intensity is stretched for σb=550MPa, by strength estimation minimum diameter d is reversed, has formula：
In formula, A can have design manual to check in for the design factor of [τ], and A values are taken as 100, and power P is gone out due to the power of motor
Directly to reach shaft coupling, centre does not have reducing gear, so the output that P values are exactly motor is 3.57KW, rotating speed is electricity
The output speed of machine is 220rpm.The diameter of axle that substitution data finally draw is 25.31mm, is taken as integer d for 25mm.Axle is designed
Into multidiameter, spindle nose part will be coordinated with shaft coupling, and mating part is solely subjected to moment of torsion, so spindle nose only carries out the school of torsional strength
Core.There is shaft coupling selected above to understand, a diameter of d of spindle nose parttFor 12mm, length L1For 11mm.As shown in figure 5, rotating shaft
It is divided into Part I 51, Part II 52, Part III 53, Part IV 54, wherein Part I length is 32mm；Second
Diameter is divided to be that the diameter of axle is 25mm, Part II length is 41mm；Part III length is 32mm；Part IV is spindle nose part
A diameter of 12mm, Part IV length are 11mm；Wherein Part II is provided with keyway, and width of keyway is 4mm, and depth is 2.5mm.
According to rotating shaft axle journal, coordinate section length and load from 8 cun 203 millimeters of omni-directional wheel, its structure such as Fig. 6 A,
Shown in 6B, at the excircle of omni-directional wheel wheel hub, uniformly offer multiple wheel hub teeth, be equiped between each two wheel hub tooth one from
Driving wheel, the radial direction of the driven pulley are vertical with the tangential direction of wheel hub excircle, the hub length of the cooperation of omni-directional wheel and axle
For 38.4mm.Bearing chooses deep groove ball bearing 6304, and its width is 15mm.
The home-services robot installed on chassis is sometimes for high height operation, and robot body's limited height is difficult
To meet demand.In second embodiment of the present utility model, home-services robot chassis includes upper plate and lower shoe, entirely
The bottom of lower shoe is installed on to wheel, bearing, rotating shaft, shaft coupling, motor, lower shoe is provided with through hole corresponding with motor shaft, is led to
Liquid braking device is provided with hole, active conical gear is slidably socketed on motor shaft, is additionally provided with electric magnet on motor shaft, electricity
Spring is provided between Magnet and active conical gear；The nut of ball-screw is located at the bottom of upper plate, nut location and through hole
Corresponding, through the liquid braking device in through hole, the top of screw rod is provided with driven bevel gear, driven circle to the screw rod of ball-screw
Bevel gear can be engaged with the active conical gear being socketed on motor shaft；Top bottom-disc is additionally provided with height sensor.
When initial, active conical gear is not engaged with driven bevel gear, and upper plate is stacked together with lower shoe, is needed
It is powered to electric magnet when raising upper plate, electric magnet is attracted active conical gear close and engaged with driven bevel gear, motor
Axle rotarily drives screw rod rotation rises upper plate, thus can reach electricity after specified altitude assignment with the height of scalable upper plate
Magnet power-off, active conical gear are separated with driven bevel gear using the elastic force of spring, liquid braking device by screw rod locking, from
And upper plate is maintained into specified altitude assignment.Robot can be so made to meet the demand of different occasions.
In the present embodiment, shaft coupling adopts disengaging type shaft coupling, and when upper plate height is adjusted, shaft coupling can stop
Linkage between rotating shaft, makes robot adjust height with original place.
In the present embodiment, through hole lower end is additionally provided with hairbrush, and dust and other impurities in screw flight are removed, and prevents from entering liquid
In pressure brake.
After robot is installed on chassis, its center of gravity is often higher, in particular by embodiment two during the chassis of structure,
Cause the probability increase that robot is toppled over, in 3rd embodiment of the present utility model, tray bottom is provided with inclination sensor
And the telescopic sucker being connected with inclination sensor located at tray bottom center, may topple over when inclination sensor is detected
When, telescopic sucker is stretched out with sucker suction in earth's surface, is fixed robot using sucker.
In fourth embodiment of the present utility model, chassis is provided with inclination sensor, and bearing is installed on bottom by bearing block
Disk, is provided with hydraulic jack between bearing block and chassis, inclination sensor, hydraulic jack are connected with controller, detect inclination
When, controller control hydraulic jack is flexible to make chassis be maintained at horizontal level.
This utility model preferred embodiment and embodiment are explained in detail above in conjunction with accompanying drawing, but this
Utility model is not limited to the above-described embodiment and examples, in the ken that those skilled in the art possess, may be used also
So that various changes can be made without departing from the concept of the premise utility.
Claims (10)
1. a kind of home-services robot chassis, it is characterised in that including three on chassis with 120 ° of omni-directional wheels being spaced apart,
Each omni-directional wheel is connected to rotating shaft by bearing, and each rotating shaft passes through shaft coupling and motor connection, and each motor is connected with driver
Connect, motor, driver are spaced apart with 120 °.
2. home-services robot chassis according to claim 1, it is characterised in that motor adopts Maxon DCX32L types
Number motor.
3. home-services robot chassis according to claim 1, it is characterised in that driver is driven using MLDS3610
Device.
4. home-services robot chassis according to claim 1, it is characterised in that shaft coupling adopts model
5. home-services robot chassis according to claim 1, it is characterised in that rotating shaft be divided into Part I, second
Partly, Part III, Part IV, wherein Part I length are 32mm；The a diameter of 25mm of Part II, Part II length
For 41mm；Part III length is 32mm；The a diameter of 12mm of Part IV, Part IV length are 11mm；Wherein Part II
Keyway is provided with, width of keyway is 4mm, and keyway depth is 2.5mm.
6. home-services robot chassis according to claim 1, it is characterised in that omni-directional wheel is 8 cun 203 millimeters complete
To wheel, multiple wheel hub teeth are uniformly offered at the excircle of omni-directional wheel wheel hub, a driven pulley is equiped between each two wheel hub tooth,
The radial direction of driven pulley is vertical with the tangential direction of wheel hub excircle, and omni-directional wheel with the hub width of the cooperation of axle is
38.4mm。
7. home-services robot chassis according to claim 1, it is characterised in that bearing chooses deep groove ball bearing
6304, its width is 15mm.
8. home-services robot chassis according to claim 1, it is characterised in that including upper plate and lower shoe, entirely
The bottom of lower shoe is installed on to wheel, bearing, rotating shaft, shaft coupling, motor, lower shoe is provided with through hole corresponding with motor shaft, is led to
Liquid braking device is provided with hole, active conical gear is slidably socketed on motor shaft, is additionally provided with electric magnet on motor shaft, electricity
Spring is provided between Magnet and active conical gear；
, located at the bottom of upper plate, nut location is corresponding with through hole for the nut of ball-screw, and the screw rod of ball-screw is passed through and led to
Liquid braking device in hole, the top of screw rod are provided with driven bevel gear.
9. home-services robot chassis according to claim 8, it is characterised in that shaft coupling adopts disengaging type shaft coupling
Device.
10. home-services robot chassis according to claim 9, it is characterised in that tray bottom is provided with inclination sensing
Device and the telescopic sucker being connected with inclination sensor located at tray bottom center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874666.4U CN206029852U (en) | 2016-08-12 | 2016-08-12 | Family service robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874666.4U CN206029852U (en) | 2016-08-12 | 2016-08-12 | Family service robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029852U true CN206029852U (en) | 2017-03-22 |
Family
ID=58309289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620874666.4U Expired - Fee Related CN206029852U (en) | 2016-08-12 | 2016-08-12 | Family service robot chassis |
Country Status (1)
| Country | Link |
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| CN (1) | CN206029852U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009344A (en) * | 2017-06-05 | 2017-08-04 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot body chassis |
| CN107054074A (en) * | 2017-05-10 | 2017-08-18 | 战星罡 | A kind of transportation robot based on plunger pump |
| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109623792A (en) * | 2019-01-31 | 2019-04-16 | 广州魁科机电科技有限公司 | A kind of movable type 3-D scanning machine people's pedestal |
| WO2022198695A1 (en) * | 2021-03-25 | 2022-09-29 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method therefor |
-
2016
- 2016-08-12 CN CN201620874666.4U patent/CN206029852U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054074A (en) * | 2017-05-10 | 2017-08-18 | 战星罡 | A kind of transportation robot based on plunger pump |
| CN107054074B (en) * | 2017-05-10 | 2019-03-29 | 战星罡 | A kind of transportation robot based on oil pump |
| CN107009344A (en) * | 2017-06-05 | 2017-08-04 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot body chassis |
| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109623792A (en) * | 2019-01-31 | 2019-04-16 | 广州魁科机电科技有限公司 | A kind of movable type 3-D scanning machine people's pedestal |
| WO2022198695A1 (en) * | 2021-03-25 | 2022-09-29 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method therefor |
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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: 20170322 Termination date: 20170812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |