CN206885204U - It is a kind of can omnidirectional moving and autonomous line walking robot chassis - Google Patents
It is a kind of can omnidirectional moving and autonomous line walking robot chassis Download PDFInfo
- Publication number
- CN206885204U CN206885204U CN201720668491.6U CN201720668491U CN206885204U CN 206885204 U CN206885204 U CN 206885204U CN 201720668491 U CN201720668491 U CN 201720668491U CN 206885204 U CN206885204 U CN 206885204U
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- China
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- chassis
- reinforcement
- mainboard
- screwed
- walking robot
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Abstract
The utility model discloses it is a kind of can omnidirectional moving and autonomous line walking robot chassis；Including chassis mainboard, shock-damping structure, automatic running on transmisson line module, reinforcement etc.；Chassis mainboard is made up of acrylic board, and it is above and side all useful bolts fix the reinforcement that installs additional to strengthen the rigidity of mechanism；The reinforcement includes plate face reinforcement and side reinforcement；Wherein, plate face reinforcement is arranged on above the mainboard of chassis by bolt and nut, and it is face-down that side reinforcement is arranged on chassis mainboard side；Shock-damping structure includes suspension plate, suspension mounting rod, spring and upper and lower two spring mountings；Wherein, suspension mounting rod is screwed on the reinforcement of side, suspension plate is screwed on suspension mounting rod again, and suspension plate and chassis mainboard are respectively screwed spring mountings, and spring is then fixed between this upper and lower two spring mountings by bolt screw.Solve the problems, such as that existing similar machine people chassis mobility is poor, versatility is poor.
Description
Technical field
The utility model is related to robot chassis, more particularly to it is a kind of can omnidirectional moving and autonomous line walking robot bottom
Disk.
Background technology
Driving wheel is typically done in existing robot chassis using traditional wheel, and mobility is poor, especially narrow
In space.In addition, the degree of modularity is low, versatility is poor, it is often necessary to which secondary development could access main equipment use.
The content of the invention
The shortcomings that the purpose of this utility model is to overcome above-mentioned prior art and deficiency, there is provided a kind of simple in construction, cloth
Office reasonably can omnidirectional moving and autonomous line walking robot chassis.It is poor, logical to solve existing similar machine people chassis mobility
With property it is poor the problem of.The utility model is even in the narrow space still mobility with high flexible and versatility is preferable.This
The outer robot chassis can carry automatic running on transmisson line equipment, and application is more extensive.
The utility model is achieved through the following technical solutions：
It is a kind of can omnidirectional moving and autonomous line walking robot chassis, including chassis mainboard 1, shock-damping structure, anticollision mechanism
8th, power module, automatic running on transmisson line module, reinforcement, dynamical system and motor driving circuit board 16；
The chassis mainboard 1 is made up of acrylic board, its above and side all useful bolts fix the reinforcement that installs additional with
Strengthen the rigidity of mechanism；The reinforcement includes plate face reinforcement 2 and side reinforcement 3；Wherein, plate face reinforcement 2 passes through bolt
Nut is arranged on above chassis mainboard 1, and side reinforcement 3 is arranged on the side of chassis mainboard 1 down；
The shock-damping structure includes suspension plate 4, suspension mounting rod 5, spring 6 and upper and lower two spring mountings 7；Wherein,
Suspension mounting rod 5 is screwed on side reinforcement 3, and suspension plate 4 is screwed on suspension mounting rod 5 again,
Suspension plate 4 and chassis mainboard 1 are respectively screwed spring mountings 7, spring 6 then by bolt screw be fixed on this upper and lower two
Between individual spring mountings 7.
The anticollision mechanism 8 is welded by stainless steel tube, totally four, is arranged on chassis mainboard 1 by screw respectively
On four corners.
The power module includes rechargeable battery 9 and battery mounting 10；Wherein, rechargeable battery 9 is directly clamped among battery and consolidated
Determine in frame 10, battery mounting 10 is screwed on chassis mainboard 1 again.
The automatic running on transmisson line module 11 is screwed on the plate face reinforcement 2 below chassis mainboard 1, automatic running on transmisson line
The direction of the infrared sensor of module 11 is downward.
The dynamical system, including Mecanum wheel 12, shaft coupling 13, motor fixing frame 14 and direct current generator 15, they
Quantity everybody four；Wherein, motor fixing frame 14 is screwed in suspension plate 4, and direct current generator 15 is fixed on electricity again
On machine fixed mount 14, connected between the rotating shaft of direct current generator 15 and Mecanum wheel 12 by shaft coupling 13.
The quantity of the motor driving circuit board 16 shares four, is stacked be fixed together by bolt and nut two-by-two, and
And it is screwed on chassis mainboard 1；CAN lines are connected between each motor driving circuit board 16 to carry out CAN to lead to
Letter.
The voltage of rechargeable battery 9 is 24V, electric current 5A.
The utility model is had the following advantages and effect relative to prior art：
1) dynamical system of the present utility model is driving wheel from Mecanum wheel, and is 4 wheel driven mode, on the ground may be used
Moved at any angle with realizing, be especially suitable for all kinds of translational motions, motion is very flexible, can make various compound movement rails
Mark, mobility are stronger.
2) the utility model is designed with shock mitigation system, ability is also well adapted to rugged road surface, use environment is more
Add extensively.
3) the utility model carries the motor driving circuit board of built-in MCU, can voluntarily handle the operating of motor, so as to height
Modularization, can quickly and easily access other main equipments, and main equipment value is needed by CAN to motor-drive circuit
Plate sends control data, you can realizes the control to chassis and specifically how to be realized without being concerned about.
4) the utility model carries or can configure automatic running on transmisson line function, can be gathered under automatic running on transmisson line pattern and handle ground
The information of face black-tape, so as to change the direction of the motion on chassis to realize automatic running on transmisson line function, multi-functional and use range is wider.
Brief description of the drawings
Fig. 1 is the utility model dimensional structure diagram.
Fig. 2 is the utility model schematic front view.
Fig. 3 is the utility model side schematic view.
Fig. 4 is the utility model schematic top plan view.
Fig. 5 is the partial structural diagram of the utility model damping.
Embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Fig. 1 to 5.The utility model discloses it is a kind of can omnidirectional moving and autonomous line walking robot chassis, bag
Chassis mainboard 1, shock-damping structure, anticollision mechanism 8, power module, automatic running on transmisson line module, reinforcement, dynamical system and motor is included to drive
Dynamic circuit board 16；
The chassis mainboard 1 is made up of acrylic board, its above and side all useful bolts fix the reinforcement that installs additional with
Strengthen the rigidity of mechanism；The reinforcement includes plate face reinforcement 2 and side reinforcement 3；Wherein, plate face reinforcement 2 passes through bolt
Nut is arranged on above chassis mainboard 1, and side reinforcement 3 is arranged on the side of chassis mainboard 1 down.Reinforcement has greatly reinforced whole
The rigidity of body mechanism.
The shock-damping structure includes suspension plate 4, suspension mounting rod 5, spring 6 and upper and lower two spring mountings 7；Wherein,
Suspension mounting rod 5 is screwed on side reinforcement 3, and suspension plate 4 is screwed on suspension mounting rod 5 again,
Suspension plate 4 and chassis mainboard 1 are respectively screwed spring mountings 7, spring 6 then by bolt screw be fixed on this upper and lower two
Between individual spring mountings 7.Shock-damping structure can effectively mitigate the shake when being moved on uneven ground.
The anticollision mechanism 8 is welded by stainless steel tube, totally four, is arranged on chassis mainboard 1 by screw respectively
On four corners.The main body mechanism on chassis can be effectively avoided not bump against hard thing, so as to shield.
The power module includes rechargeable battery 9 and battery mounting 10；Wherein, rechargeable battery 9 is directly clamped among battery and consolidated
Determine in frame 10, battery mounting 10 is screwed on chassis mainboard 1 again.
The automatic running on transmisson line module 11 is screwed on the plate face reinforcement 2 below chassis mainboard 1, automatic running on transmisson line
The direction of the infrared sensor of module 11 is downward.The automatic running on transmisson line module of outfit can gather under automatic running on transmisson line pattern and handle ground
The information of face black-tape, so as to change the direction of the motion on chassis to realize automatic running on transmisson line function.
The dynamical system, including Mecanum wheel 12, shaft coupling 13, motor fixing frame 14 and direct current generator 15, they
Quantity everybody four；Wherein, motor fixing frame 14 is screwed in suspension plate 4, and direct current generator 15 is fixed on electricity again
On machine fixed mount 14, connected between the rotating shaft of direct current generator 15 and Mecanum wheel 12 by shaft coupling 13.
The quantity of the motor driving circuit board 16 shares four, is stacked be fixed together by bolt and nut two-by-two, and
And it is screwed on chassis mainboard 1；CAN lines are connected between each motor driving circuit board 16 to carry out CAN to lead to
Letter.
The voltage of rechargeable battery 9 is 24V, electric current 5A.
During motion, sent from the control system of main equipment to the motor driving circuit board of chassis mainboard by CAN
, can be with after four motor driving circuit boards all with built-in MCU receive control data to the control data of chassis mainboard
The rotating speed of each motor is accurately controlled by traditional pid algorithm.By controlling the rotation direction of four Mecanum wheels, from
And realize the translational motion at any angle of this robot on the ground.
When chassis mainboard is in automatic running on transmisson line pattern, automatic running on transmisson line module will gather and handle the information of ground black-tape,
Then four motor driving circuit boards are sent to by obtained control data is handled by CAN, under automatic running on transmisson line pattern
When, motor driving circuit board only handles the control information from automatic running on transmisson line module, changes four according to the control data received
The direction that direct current generator rotates changes the direction of motion on chassis, so as to realizing automatic running on transmisson line function.
When the utility model accesses other main equipments as the sub- equipment in chassis, it is necessary to be used as data using CAN
Order wire connects itself and main equipment, and communication between the two follows CAN communication protocol, the control of main equipment
System only needs to send control data, motor driving electricity to four motor driving circuit boards according to CAN communication protocol
Road plate can utilize the MCU units built in itself to control the motion state of four motor body equipment requirements, be not take up main equipment
Control system control resource.
As described above, it can preferably realize the utility model.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments, and other are any without departing from of the present utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (7)
1. it is a kind of can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：Including chassis mainboard (1), damping knot
Structure, anticollision mechanism (8), power module, automatic running on transmisson line module, reinforcement, dynamical system and motor driving circuit board (16)；
The chassis mainboard (1) is made up of acrylic board, and it is above and side all useful bolts fix the reinforcement that installs additional to increase
The rigidity of strong mechanism；The reinforcement includes plate face reinforcement (2) and side reinforcement (3)；Wherein, plate face reinforcement (2) passes through
Bolt and nut is arranged on chassis mainboard (1) above, and side reinforcement (3) is arranged on chassis mainboard (1) side down；
The shock-damping structure includes suspension plate (4), suspension mounting rod (5), spring (6) and upper and lower two spring mountings (7)；Its
In, suspension mounting rod (5) is screwed on side reinforcement (3), and suspension plate (4) is screwed in suspension peace again
Fill on bar (5), suspension plate (4) and chassis mainboard (1) are respectively screwed spring mountings (7), and spring (6) then passes through bolt
Screw is fixed between this upper and lower two spring mountings (7).
2. according to claim 1 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：The anti-collision machine
Structure (8) is welded by stainless steel tube, totally four, is arranged on respectively by screw on four corners of chassis mainboard (1).
3. according to claim 2 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：The power supply mould
Block includes rechargeable battery (9) and battery mounting (10)；Wherein, rechargeable battery (9) is directly clamped among in battery mounting (10), electricity
Pond fixed mount (10) is screwed on chassis mainboard (1) again.
4. according to claim 1 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：It is described to patrol automatically
Wire module (11) is screwed on the plate face reinforcement (2) of chassis mainboard (1) below, automatic running on transmisson line module (11) it is red
The direction of outer sensor is downward.
5. according to claim 3 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：The dynamical system
System, including Mecanum wheel (12), shaft coupling (13), motor fixing frame (14) and direct current generator (15), their quantity everybody
Four；
Wherein, motor fixing frame (14) is screwed in suspension plate (4), and direct current generator (15) is fixed on motor again to be fixed
On frame (14), connected between the rotating shaft of direct current generator (15) and Mecanum wheel (12) by shaft coupling (13).
6. according to claim 3 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：The motor drives
The quantity of dynamic circuit board (16) shares four, is stacked be fixed together by bolt and nut two-by-two, and be screwed in
On chassis mainboard (1)；CAN lines are connected with to carry out CAN communication between each motor driving circuit board (16).
7. according to claim 3 can omnidirectional moving and autonomous line walking robot chassis, it is characterised in that：The charging electricity
Pond (9) voltage is 24V, electric current 5A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668491.6U CN206885204U (en) | 2017-06-09 | 2017-06-09 | It is a kind of can omnidirectional moving and autonomous line walking robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668491.6U CN206885204U (en) | 2017-06-09 | 2017-06-09 | It is a kind of can omnidirectional moving and autonomous line walking robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885204U true CN206885204U (en) | 2018-01-16 |
Family
ID=61318580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720668491.6U Expired - Fee Related CN206885204U (en) | 2017-06-09 | 2017-06-09 | It is a kind of can omnidirectional moving and autonomous line walking robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206885204U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310657A (en) * | 2017-06-09 | 2017-11-03 | 华南理工大学 | It is a kind of can omnidirectional moving and autonomous line walking robot chassis |
-
2017
- 2017-06-09 CN CN201720668491.6U patent/CN206885204U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310657A (en) * | 2017-06-09 | 2017-11-03 | 华南理工大学 | It is a kind of can omnidirectional moving and autonomous line walking robot chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20190609 |