CN207173773U - A kind of General Mobile robot chassis structure - Google Patents
A kind of General Mobile robot chassis structure Download PDFInfo
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- CN207173773U CN207173773U CN201721271254.2U CN201721271254U CN207173773U CN 207173773 U CN207173773 U CN 207173773U CN 201721271254 U CN201721271254 U CN 201721271254U CN 207173773 U CN207173773 U CN 207173773U
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Abstract
It the utility model is related to robotic technology field, more particularly to a kind of General Mobile robot chassis structure.The chassis is round rectangle, in the middle part of chassis perforate be simultaneously provided with camera support above hole, camera support top is provided with positioning camera, and the hole below the lens assembly alignment cameras support of positioning camera, positioning camera is connected with controller communication；Chassis on both sides of the middle is respectively provided with one group of motor and driving wheel, and driving wheel is arranged on the main shaft of motor, and driving wheel side is provided with encoder, and encoder, motor and controller communication connect；A support wheel assembly is respectively provided with four angles on chassis, and at least one anti-collision sensor is respectively equipped with each rounded edges, chassis front and rear sides are equipped with distance measuring sensor, and each sensor is connected with controller communication.Chassis structure described in the utility model is more firm, runs with ensureing robot energy high efficiency smooth, while by controller and driver Integral design, saves the space on chassis.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of General Mobile robot chassis structure.
Background technology
With the development of robot technology, the type of robot is more and more various, its each field application also increasingly
Extensively, especially mobile robot, because its can automatically walk, be used widely in fields such as inspection, logistics.Due to having extensively
Application prospect, substantial amounts of manufacturer is put into robot production, but due to no unified industry production standard, each machine
Qi Ren manufacturers self-support standard, it is poor between miscellaneous robot complete machine according to respective design and manufacture robot complete machine
It is different larger, it is unfavorable for robot security and efficiently develops using with quick.At the same time, quite a few producer is not in fact
Possess the chassis design ability of robot hardware, the chassis produced using others, the original intention designed each position can be caused not
Understand, also do not know the ability to bear of its mechanical structure, less know whether overall operation is stablized after adding the device of oneself,
These all can bring great risk and challenge to the application of robot.In addition, chassis and the machine of most of producer's design
Tool structure, function is single, and single function can only be realized after installation, it is impossible to which exploitation uses again, can not meet using visitor
The demand at family, and various chassis electrical equipment and mechanical structure balance is poor, stability is poor, have also had a strong impact on mobile robot
Development.
The content of the invention
To solve the above problems, the utility model devises one kind by adjusting robot chassis electrical equipment and mechanical structure
With good balance and stability and the strong robot chassis structure of globality.
Technical scheme is as follows used by the utility model：
A kind of General Mobile robot chassis structure, including chassis and controller and battery on chassis, the bottom
Disk is round rectangle, and chassis middle part perforate is simultaneously provided with camera support above hole, positioning camera is provided with the top of camera support, fixed
Hole below the lens assembly alignment cameras support of position camera, positioning camera are connected with controller communication；Chassis on both sides of the middle is each
Provided with one group of motor and driving wheel, driving wheel is arranged on the main shaft of motor, and driving wheel side is provided with encoder, is compiled
Code device, motor and controller communication connect；A support wheel assembly is respectively provided with four angles on chassis, and in each round edge
Edge is respectively equipped with least one anti-collision sensor, and chassis front and rear sides are equipped with distance measuring sensor, each sensor and controller
Communication connection.
The utility model by positioning camera be arranged on chassis center, camera lens are perpendicular to the ground, and with ground
The distance in face meets the required scope of focusing, can so scan the Quick Response Code onto ground rapidly, accurately identify in Quick Response Code
Comprising positional information, realize being accurately positioned for mobile robot.The utility model installs driving wheel in chassis on both sides of the middle,
And driving wheel is directly installed on motor, directly drive driving wheel to rotate by motor, reduce the resistance between transmission
The destabilizing factor of power and wheel, make the overall operation of robot more stable.Meanwhile also respectively set one at four, chassis angle
Support wheel, balanced action is played to chassis, further ensure stationarity during robot operation.
To avoid mobile robot from being collided in straight trip or rotation, the utility model is pacified on four angles on chassis
Anti-collision sensor has been filled, to realize disposition, three anti-collision sensors are provided with each fillet in chassis, has been distributed
In the both ends of fillet circular arc and midpoint.The model of anti-collision sensor has many kinds, herein the preferred anti-collision sensor
For radar, 3D cameras, ultrasonic sensor or laser sensor.
Meanwhile for monitoring mobile robot from objective with a distance from, the utility model is provided with ranging also on chassis
Sensor, it is preferable that described distance measuring sensor is ultrasonic range finder sensor or laser range sensor.
For further optimization chassis electrical structure, the utility model will be integrated with motor driving mould in described controller
Block.Controller and driver integrated design, overall control is set more to stablize, structure is also more reasonable, while also saves very
More spaces.
To ensure the stationarity during operation of chassis, support wheel assembly is provided with shock-damping structure, prevents from occurring during Uneven road
Jolt.Specifically, described support wheel assembly includes support wheel, support frame, spring damper and for installing above-mentioned part
Mounting bracket, chassis support the position perforate of wheel assembly in installation, and support wheel is located at below hole, and mounting bracket is connected across above hole, branch
Support one end is connected with support wheel of minor axis both ends, and the other end is connected with spring damper, and spring damper is fixed on mounting bracket.
The utility model installs positioning camera in chassis center, ensure that the accuracy and security of robot ambulation；
Meanwhile by controller and driver Integral design, the space on chassis is saved, reduces design cost, improves the profit in space
With efficiency, use simpler, conveniently.This robot chassis structure is more firm, has further ensured robot energy
Run enough high efficiency smooths.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is top view of the present utility model；
Fig. 3 is electric control theory figure of the present utility model；
In figure, 1, chassis, 2, distance measuring sensor, 3, camera support, 4, positioning camera, 5, motor, 6, driving wheel, 7,
Anti-collision sensor, 8, controller, 81, information acquisition module, 82, motor drive module, 9, battery, 10, encoder, 11, branch
Support wheel, 12, support frame, 13, mounting bracket, 14, spring damper, 15, hole.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings.
A kind of General Mobile robot chassis structure, as shown in Figure 1, 2, including a rounded rectangular-shaped chassis 1.Chassis
1 middle part is provided with hole 12, and the top of hole 12 is provided with a camera support 3 at left and right sides of hole, and the top of camera support 3 is provided with positioning
Camera 4, the hole 12 below the lens assembly alignment cameras support of positioning camera 4.Chassis edge in camera support both sides is respectively set
There are one group of motor 5 and driving wheel 6, driving wheel is arranged on the main shaft of motor, and driving wheel side is provided with encoder 10.
The installed in front of camera support 3 has a battery 9, the controller 8 of 9 installed in front of battery one, and motor drive module is integrated with controller 8
82.A support wheel assembly is respectively provided with four angles on chassis 1, and three anti-collision sensors are respectively equipped with each rounded edges
7, chassis front and rear sides are respectively provided with a distance measuring sensor 2, and the anti-collision sensor 7 uses 3D cameras, and distance measuring sensor 2 is adopted
Use laser range sensor.
Fig. 3 show control principle drawing of the present utility model.Information acquisition module 81 is provided with controller 8 and motor drives
Module 82, the information acquisition module 81 of positioning camera 4, anti-collision sensor 7, distance measuring sensor 2 and encoder 10 and controller 8
The positional information included in the one-dimension code scanned, Quick Response Code is transferred to information acquisition module by connection, positioning camera.Encoder
It is responsible for the number of turns that collection motor turns over, is transferred to information acquisition module, the distance for calculating robot's walking.Anticollision
Sensor is used to sense the obstacle information around robot in robot moving process, and is located at limit range in barrier
Signal is sent to information acquisition module when interior, by the moving direction of controller control machine people, timely avoiding barrier.Ranging passes
Sensor is used to detect distance of the robot far from object and be transferred to information acquisition module.Motor drive module 82 and motor
5 connections, are sent to control signal, are controlled by it displacement and the direction of driving wheel 6.Battery 9 is responsible for controller power supply.
Electrical work process of the present utility model is as follows：
Positioning is realized because the mobile robot is based on positioning camera, therefore, it is necessary to move before robot performs order
One-dimension code or Quick Response Code are pasted where mobile robot working range on ground, and the code posted is configured in map.Robot
It can only be moved in the map configured, and the position for performing next command will also ensure on code.Code wherein on ground
With code value and direction, and coordinate is imparted, it is necessary to and corresponding on configuration map in map.Guarantor is wanted when patch
To consistent, strict respective coordinates are pasted.The configuration of map is fairly simple, and can require to be changed according to user.
In mobile robot running, controller real-time reception control instruction, controlled and driven by motor drive module
Motor rotates, and motor drives driving wheel rotation, while using the rotary course of the real-time monitoring driving motor of encoder, a left side
The number of turns that right two motors rotate feeds back to the information acquisition module of controller respectively.
Robot localization camera is believed by scanning the one-dimension code on ground or the coordinate in Quick Response Code and combination configuration map
Breath comes the current position of positioning robot, positional information is transferred to the information acquisition module of controller.Controller receives these
Information, and walked distance, then reporting by robot localization camera come calculating robot according to the information of encoder feedback
To calculate deviation angle and left and right deviation distance of the robot currently with code, last controller calls its internal algorithm instruction
Motor drive module is issued to, control of the motor drive module again respectively to two motors in left and right is calibrated.When failing
It is disposable to realize that robot can be calibrated again according to the information of the real-time report of camera when calibrating, until completing, ensure
The normally travel of robot.In running, anti-collision sensor detects peripheral obstacle situation and feeds back to control in real time
Device, distance measuring sensor then detect the distance away from object and feed back to controller in real time.
Claims (6)
1. a kind of General Mobile robot chassis structure, including chassis (1) and controller (8) and battery (9) on chassis,
The chassis (1) is round rectangle, it is characterised in that：Chassis (1) middle part perforate is simultaneously provided with camera support above hole (15)
(3) positioning camera (4), is installed at the top of camera support, the hole (15) below the lens assembly alignment cameras support of positioning camera,
Positioning camera (4) connects with controller (8) communication；Chassis on both sides of the middle is respectively provided with one group of motor (5) and driving wheel (6),
Driving wheel is arranged on the main shaft of motor, and driving wheel (6) side is provided with encoder (10), encoder (10), motor
(6) connected with controller (8) communication；A support wheel assembly is respectively provided with four angles on chassis, and is distinguished in each rounded edges
Provided with least one anti-collision sensor (7), chassis front and rear sides are equipped with distance measuring sensor (2), each sensor and controller
(8) communication connection.
2. General Mobile robot chassis structure according to claim 1, it is characterised in that：At each fillet in chassis
Provided with three anti-collision sensors (7), both ends and the midpoint of fillet circular arc are distributed in.
3. General Mobile robot chassis structure according to claim 2, it is characterised in that：The anti-collision sensor
(7) it is radar, 3D cameras, ultrasonic sensor or laser sensor.
4. General Mobile robot chassis structure according to claim 1, it is characterised in that：Described distance measuring sensor
(2) it is ultrasonic range finder sensor or laser range sensor.
5. the General Mobile robot chassis structure according to any one of Claims 1-4, it is characterised in that：Described control
Motor drive module (82) is integrated with device (8) processed.
6. the General Mobile robot chassis structure according to any one of Claims 1-4, it is characterised in that：Described branch
Support wheel assembly includes support wheel (11), support frame (12), spring damper (14) and the mounting bracket for installing above-mentioned part
(13), chassis supports the position perforate of wheel assembly in installation, and support wheel (12) is located at below hole, and mounting bracket (13) is connected across on hole
Side, support frame (12) one end are connected with support wheel of minor axis both ends, and the other end is connected with spring damper, and spring damper (14) is solid
It is scheduled on mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271254.2U CN207173773U (en) | 2017-09-29 | 2017-09-29 | A kind of General Mobile robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271254.2U CN207173773U (en) | 2017-09-29 | 2017-09-29 | A kind of General Mobile robot chassis structure |
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| Publication Number | Publication Date |
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| CN207173773U true CN207173773U (en) | 2018-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721271254.2U Active CN207173773U (en) | 2017-09-29 | 2017-09-29 | A kind of General Mobile robot chassis structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186655A (en) * | 2018-09-03 | 2019-01-11 | 苏州巨能图像检测技术有限公司 | Accurate positioning method based on range sensor and incremental position encoder |
| CN110104070A (en) * | 2019-04-28 | 2019-08-09 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN110181540A (en) * | 2019-07-09 | 2019-08-30 | 民政部一零一研究所 | All directionally movable robot |
| CN111731341A (en) * | 2020-06-17 | 2020-10-02 | 成都岁生科技有限责任公司 | Train wheel pair pushing and steering moving system |
-
2017
- 2017-09-29 CN CN201721271254.2U patent/CN207173773U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186655A (en) * | 2018-09-03 | 2019-01-11 | 苏州巨能图像检测技术有限公司 | Accurate positioning method based on range sensor and incremental position encoder |
| CN110104070A (en) * | 2019-04-28 | 2019-08-09 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN110181540A (en) * | 2019-07-09 | 2019-08-30 | 民政部一零一研究所 | All directionally movable robot |
| CN111731341A (en) * | 2020-06-17 | 2020-10-02 | 成都岁生科技有限责任公司 | Train wheel pair pushing and steering moving system |
| CN111731341B (en) * | 2020-06-17 | 2021-06-29 | 成都岁生科技有限责任公司 | Train wheel pair pushing and steering moving system |
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