CN206466050U - A kind of four-wheel omnidirectional rotates crusing robot chassis - Google Patents
A kind of four-wheel omnidirectional rotates crusing robot chassis Download PDFInfo
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- CN206466050U CN206466050U CN201720132332.4U CN201720132332U CN206466050U CN 206466050 U CN206466050 U CN 206466050U CN 201720132332 U CN201720132332 U CN 201720132332U CN 206466050 U CN206466050 U CN 206466050U
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- 230000003028 elevating effect Effects 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 21
- 210000005069 ears Anatomy 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 5
- 230000006866 deterioration Effects 0.000 abstract description 2
- 230000002028 premature Effects 0.000 abstract description 2
- 230000009194 climbing Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Abstract
Crusing robot chassis is rotated the utility model discloses a kind of four-wheel omnidirectional, the chassis is from bottom to top successively by the battery carry layer for holding battery, for installing the main accommodating layer of control electric component and connecting composition for the elevating mechanism mounting layer for playing lifting and supporting role.Solving four omnidirectional's rotating wheels needs larger space, supporting point is distributed in the junction on four wheels and chassis, it is firm how joint portion is designed, the distribution of inside chassis element need to be by design of centre of gravity in centre, ensure that four branch vertical direction pressure are balanced as far as possible, prevent some from taking turns and its power transmission shaft premature deterioration, the chamber reasonable layout of inner main component, it is ensured that the problems such as the reasonable convenience of electrical traces.
Description
Technical field
The utility model belongs to robot field, is specially rotated applied to O＆M crusing robot four-wheel omnidirectional of transformer station
The chassis of function.
Background technology
Domestic and international existing transformer station's four-wheel inspection people drives the guidance mode to be at present：
（1）Four-wheel drive
Advantage：Move mobility good, can zero radius of turn, obstacle climbing ability is strong, is suitable for multiple types of floors, load capacity
By force；Shortcoming：Easily skidding, control accuracy are low (posture), are especially embodied in during turning, odometer feedback error is big；
（2）It is oriented to steering wheel+driving wheel
Advantage：Similar engine rear-drive automobile drive mechanism, posture controls to decouple with position, with certain obstacle climbing ability, transmission
Efficiency high, load capacity is strong；Shortcoming：Radius of turn is big；
（3）The degree of four-wheel drive+360 is oriented to
Advantage：Posture controls to decouple with position, and with preferable obstacle climbing ability, transmission efficiency, load capacity is strong, can be complete
To, full posture, no-radius turn；Shortcoming：Drive mechanism design, kinematics model, uneoupled control are complicated.
There are many problems to need to solve at present using the third mode, wherein, robot chassis is rationally designed as this
The realization of the scheme of kind is basic there is provided mechanical structure, and it is the reserved sufficient space of four wheels that emphasis, which needs to solve, among these, effective
Reduce body gravity, the problems such as electrical layout is reasonable.
In existing, some related applications on robot chassis are also occurred in that, respectively a kind of wheel leg type machine
People's suspension device of chassis（Application No. 2012103852288）It is used for the suspension on four wheel mobile robot chassis with a kind of（Application
Number be 2014103068843）, all there is result complexity in these application documents, not the problems such as easy care.
The content of the invention
Crusing robot chassis is rotated there is provided a kind of four-wheel omnidirectional according to the deficiencies in the prior art, four omnidirectionals are solved
Rotating wheel needs larger space, and supporting point is distributed in the junction on four wheels and chassis, and it is firm how joint portion is designed,
The distribution of inside chassis element need to ensure that four branch vertical direction pressure are balanced, prevent some as far as possible by design of centre of gravity in centre
Wheel and its power transmission shaft premature deterioration, the chamber reasonable layout of inner main component, it is ensured that reasonable convenience of electrical traces etc. is asked
Topic.
The utility model is realized by following technical scheme：
A kind of four-wheel omnidirectional rotates crusing robot chassis, and the chassis is from bottom to top successively by the battery for holding battery
Carry layer, for installing the main accommodating layer of control electric component and for playing the elevating mechanism mounting layer lifted with supporting role
Connection composition；The battery carry layer is a cuboid battery chamber just above opened, the sealing surface of the battery chamber
Both sides are respectively provided with one and picked up the ears, the battery chamber by both sides pick up the ears be fixedly mounted on main accommodating layer bottom centre；
The opening surface two ends of the battery chamber are respectively provided with an outer casing, the outer casing and are provided with multiple steam vents；It is described
Main accommodating layer includes the horizontal support bracket in bottom, top support bracket, main control computer and installs chamber and steering mechanism installation position；
The horizontal support bracket in the bottom is made up of two main beams and the multiple longitudinal crossbeams being arranged between two main beams；It is described
Top support bracket is frame-type skeleton, between the horizontal support bracket in the bottom and top support bracket by it is multiple stand to
Load-bearing pillar is connected, so as to form a main supporting frame.
Preferably, the main control computer installs chamber and is arranged on the horizontal support bracket in bottom and top load-bearing for one
Chamber between support, host computer is provided with the central area of chamber, and the chamber both sides are provided with multiple controls
Making sheet card mount point.
Preferably, the steering mechanism installation position is distributed on four angles of the horizontal support bracket in bottom, described to turn to
Mechanism installation position includes installation position support, steering mechanism's fixed arm, steering motor and encoder, the steering motor and encoder
It is separately mounted on steering mechanism's fixed arm, steering mechanism's fixed arm is arranged on the support of installation position, the installation position branch
Frame is arranged on and stood on load-bearing pillar；The steering motor is connected by rotation shaft of wheel with wheel.
Preferably, it is configured at four angles of the battery chamber so that wheel possesses 360 degree of unobstructed rotations
The arc angle in space.
Preferably, the elevating mechanism mounting layer includes connection ring, robot top casing support, head lifting branch
Frame；Inside casing edge arrangement of the connection ring along whole top support bracket, the robot top casing support and head
The bottom of lifting support, which is each passed through after connection ring, to be fixed in main accommodating layer.
Preferably, before the front end middle of the main accommodating layer is provided with before ballistic support plate, the main accommodating layer
End middle is provided with rear protecting supporting plate.
Preferably, the front-end and back-end both sides of the main accommodating layer are each provided with a hand-held handle, and pass through connection
Handle support block increases the stability of hand-held handle.
The utility model beneficial effect：
1st, using layered design method, it is ensured that the rational deployment of robot components so that overall center of gravity is centrally located and protects
Lower height is held, the stability of robot traveling is added；Power line, Control card communication line, elevating mechanism are electric simultaneously
Connection is almost arranged centered on host computer to surrounding and up and down, greatly improves the reasonable, convenient, reliable of wiring
Property.
2nd, bottom center only sets a relatively small power supply to install chamber so that have enough spaces around it
Meet wheel and 360 degree of rotations of power transmission shaft be installed around it so that chassis drive system can be turned to using each driving wheel self-movement,
Transfer can be advanced to 360 degree of original place is turned to.
The 3rd, steering mechanism installation position is set on four angles of the main accommodating layer in the centre on robot chassis so that the strong point is in big machine
It is indeformable for a long time under body weights.
Brief description of the drawings
Fig. 1 is the preferred embodiment integral installation effect that four-wheel omnidirectional of the present utility model rotates crusing robot chassis
Figure；
Fig. 2 rotates the top view on crusing robot chassis for the four-wheel omnidirectional according to Fig. 1；
Fig. 3 rotates the overall structure diagram on crusing robot chassis for the four-wheel omnidirectional according to Fig. 1；
Fig. 4 rotates the main accommodating layer schematic diagram on crusing robot chassis for the four-wheel omnidirectional according to Fig. 1；
100-battery carry layer, 101-battery chamber, 102-pick up the ears, 103-outer casing, 104-steam vent, 200-
Main accommodating layer, 201-bottom transverse direction support bracket, 202-top support bracket, 203-main control computer installs chamber,
204-steering mechanism installation position, 205-handle support block, 206-installation position support, 207-steering mechanism fixed arm, 208-
Rotation shaft of wheel, 209-wheel, 210-preceding ballistic support plate, 211-rear protecting supporting plate, 212-hand-held handle, 300-liter
Descending mechanism mounting layer, 301-connection ring, 302-robot top casing support, 303-head lifting support.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described by being embodied.
As shown in Figures 1 to 4, a kind of four-wheel omnidirectional rotates crusing robot chassis, and the chassis is from bottom to top successively by electricity
Pond carry layer 100, main accommodating layer 200, the center alignment of elevating mechanism mounting layer 300 connection composition；Battery carry layer 100 is used to pacify
The larger battery of density is filled, main accommodating layer 200 is used to dispose the electric components such as control computer, clamp while being also the core of load-bearing
Central layer, elevating mechanism mounting layer 300 is used to support the components such as robot top casing support 302, head lifting support 303, respectively
Layer function is clear and definite.
Battery carry layer 100 is a cuboid battery chamber 101 just above opened, the sealing surface of battery chamber 101
Both sides are respectively provided with one and pick up the ears 102, battery chamber 101 by both sides pick up the ears 102 be fixedly mounted on the main bottom of accommodating layer 200
Centre.The opening surface two ends of battery chamber 101 are respectively provided with an outer casing 103, outer casing 103 and are provided with multiple exhausts
Hole 104, plays ventilation and heat effect.It is configured at four angles of battery chamber 101 so that wheel 209 possesses 360 degree of nothings
Stop the arc angle of rotation space, i.e., rotating 209 wheels to four omnidirectionals has reserved sufficient space；Meanwhile, heaviness is reduced again
The center of battery, adds the stability of car body walking.
Main accommodating layer 200 includes the horizontal support bracket 201 in bottom, top support bracket 202, main control computer and installs chamber
203 and steering mechanism installation position 204.
Bottom transverse direction support bracket 201 is by two main beams and the multiple longitudinal crossbeam groups being arranged between two main beams
Into；Top support bracket 202 is a frame-type skeleton, is passed through between bottom transverse direction support bracket 201 and top support bracket 202
Multiple stand to load-bearing pillar connects, so as to form a main supporting frame.
Main control computer installs chamber 203 and is arranged on the horizontal support bracket 201 in bottom and top support bracket 202 for one
Between chamber, the chamber both sides are provided with multiple Control card mount points, for installing light small auxiliary Control card, protected
The central focus point of card, while surrounding load-bearing is horizontal, it is convenient that electric wiring is carried out with host computer.
Steering mechanism installation position 204 is distributed on four angles of the horizontal support bracket 201 in bottom, steering mechanism installation position
204 include installation position support 206, steering mechanism's fixed arm 207, steering motor and encoder, steering motor and encoder difference
On steering mechanism's fixed arm 207, steering mechanism's fixed arm 207 is arranged on installation position support 206, installation position support
206 be arranged on stand on load-bearing pillar；Steering motor is connected by rotation shaft of wheel 208 with wheel 209.
Steering mechanism installation position 204 is set on main 200 4 angles of accommodating layer so that the strong point is in the case of big fuselage weight
It is indeformable for a long time, four wheels 209 can self-movement turn to, the transfer that can advance is to 360 degree of original place is turned to.
Elevating mechanism mounting layer 300 includes connection ring 301, robot top casing support 302, head lifting support 303；
Inside casing edge arrangement of the connection ring 301 along whole top support bracket 202, robot top casing support 302 and head liter
The bottom of descending branch frame 303, which is each passed through after connection ring 301, to be fixed in main accommodating layer 200.
Ballistic support plate 210, the front end middle of main accommodating layer 200 before the front end middle of main accommodating layer 200 is provided with
Rear protecting supporting plate 211 is provided with, prevents robot chassis from occurring the phenomenon broken by hard thing in inspection.
The front-end and back-end both sides of main accommodating layer 200 are each provided with a hand-held handle 212, and by connecting handle support
Block 205 increases the stability of hand-held handle 212.
The utility model uses layered design method, it is ensured that the rational deployment of robot components so that overall center of gravity is located at
Center simultaneously keeps lower height, adds the stability of robot traveling；Power line, Control card communication line, lifting simultaneously
Mechanism electrical connection is almost arranged centered on host computer to surrounding and up and down, greatly improves the reasonable, just of wiring
Prompt, reliability.Bottom center only sets a relatively small power supply to install chamber so that have enough spaces around it
Meet wheel and 360 degree of rotations of power transmission shaft be installed around it so that chassis drive system can be turned to using each driving wheel self-movement,
Transfer can be advanced to 360 degree of original place is turned to.Steering mechanism is set to install on centre four angles of main accommodating layer on robot chassis
Position so that the strong point is indeformable for a long time in the case of big fuselage weight.
Although the utility model, those skilled in the art have shown and described referring particularly to its preferred embodiment
It is appreciated that the various changes that can be made in form and details are new without departing from this practicality described in appended claims
The scope of type.It is described in detail above in association with specific embodiment of the utility model, but is not to limit of the present utility model
System.It is every according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, still fall within this practicality
The scope of new technique scheme.
Claims (7)
1. a kind of four-wheel omnidirectional rotates crusing robot chassis, it is characterised in that：The chassis is from bottom to top successively by for holding
The battery carry layer of battery（100）, the main accommodating layer for installing control electric component（200）Lift and support with for playing
The elevating mechanism mounting layer of effect（300）Connection composition；
The battery carry layer（100）For the cuboid just above opened a battery chamber（101）, the battery chamber
（101）Sealing surface both sides be respectively provided with one and pick up the ears（102）, the battery chamber（101）Pass through picking up the ears for both sides（102）Gu
Dingan County is mounted in main accommodating layer（200）Bottom centre；
The battery chamber（101）Opening surface two ends one outer casing is respectively installed（103）, the outer casing（103）On set
It is equipped with multiple steam vents（104）；
The main accommodating layer（200）Including the horizontal support bracket in bottom（201）, top support bracket（202）, main control computer peace
It behave affectedly room（203）With steering mechanism installation position（204）；
The horizontal support bracket in the bottom（201）By two main beams and the multiple longitudinal crossbeams being arranged between two main beams
Composition；The top support bracket（202）For a frame-type skeleton, the horizontal support bracket in the bottom（201）With top load-bearing
Support（202）Between connected by multiple stand to load-bearing pillar, so as to form a main supporting frame.
2. four-wheel omnidirectional according to claim 1 rotates crusing robot chassis, it is characterised in that：The main control computer
Chamber is installed（203）The horizontal support bracket in bottom is arranged on for one（201）With top support bracket（202）Between chamber,
Host computer is installed in the central area of chamber, the chamber both sides are provided with multiple Control card mount points.
3. four-wheel omnidirectional according to claim 1 rotates crusing robot chassis, it is characterised in that：Steering mechanism's peace
Fill position（204）It is distributed in the horizontal support bracket in bottom（201）Four angles on, the steering mechanism installation position（204）Including peace
Fill position support（206）, steering mechanism's fixed arm（207）, steering motor and encoder, the steering motor and encoder are pacified respectively
Mounted in steering mechanism's fixed arm（207）On, steering mechanism's fixed arm（207）Installed in installation position support（206）On, it is described
Installation position support（206）Installed in standing on load-bearing pillar；The steering motor passes through rotation shaft of wheel（208）With wheel（209）Phase
Even.
4. four-wheel omnidirectional according to claim 3 rotates crusing robot chassis, it is characterised in that：The battery chamber
（101）Four angles at be configured to so that wheel（209）Possesses the arc angle of 360 degree of unobstructed rotation spaces.
5. four-wheel omnidirectional according to claim 1 rotates crusing robot chassis, it is characterised in that：The elevating mechanism peace
Fill layer（300）Including connection ring（301）, robot top casing support（302）, head lifting support（303）；The connection ring
（301）Along whole top support bracket（202）Inside casing edge arrangement, the robot top casing support（302）And cloud
Platform lifting support（303）Bottom be each passed through connection ring（301）After be fixed on main accommodating layer（200）It is interior.
6. the four-wheel omnidirectional according to any one of claim 1 to 5 rotates crusing robot chassis, it is characterised in that：It is described
Main accommodating layer（200）Front end middle be provided with before ballistic support plate（210）, the main accommodating layer（200）Front end in the middle of
Place is provided with rear protecting supporting plate（211）.
7. the four-wheel omnidirectional according to any one of claim 1 to 5 rotates crusing robot chassis, it is characterised in that：It is described
Main accommodating layer（200）Front-end and back-end both sides be each provided with a hand-held handle（212）, and by connecting handle support block
（205）Increase hand-held handle（212）Stability.
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|---|---|---|---|
| CN201720132332.4U CN206466050U (en) | 2017-02-14 | 2017-02-14 | A kind of four-wheel omnidirectional rotates crusing robot chassis |
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| CN201720132332.4U CN206466050U (en) | 2017-02-14 | 2017-02-14 | A kind of four-wheel omnidirectional rotates crusing robot chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627832A (en) * | 2017-02-14 | 2017-05-10 | 国网江苏省电力公司徐州供电公司 | Four-wheel omni-directional-rotating routing-inspection robot chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627832A (en) * | 2017-02-14 | 2017-05-10 | 国网江苏省电力公司徐州供电公司 | Four-wheel omni-directional-rotating routing-inspection robot chassis |
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