CN105922234A - 一种移动机器人三角底盘总成 - Google Patents

一种移动机器人三角底盘总成 Download PDF

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CN105922234A
CN105922234A CN201610490447.0A CN201610490447A CN105922234A CN 105922234 A CN105922234 A CN 105922234A CN 201610490447 A CN201610490447 A CN 201610490447A CN 105922234 A CN105922234 A CN 105922234A
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base plate
fixing
division board
decelerator
wheel
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陈益
彭倍
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SICHUAN ARTIGENT ROBOTICS EQUIPMENT Co Ltd
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SICHUAN ARTIGENT ROBOTICS EQUIPMENT Co Ltd
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Priority to CN201610490447.0A priority Critical patent/CN105922234A/zh
Priority to PCT/CN2016/096630 priority patent/WO2018000559A1/zh
Priority to US15/558,194 priority patent/US10350981B2/en
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    • B60—VEHICLES IN GENERAL
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    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
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    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
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    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
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Abstract

本发明公开了一种移动机器人三角底盘总成，包括外壳、顶板、隔离板、底板、电源组、若干支撑梁和3组轮系。3组轮系呈等边三角形分布，轮系包括电机、减速器、支撑架和全向轮，减速器采用锥齿轮减速器，减速器外部呈90°弯折。采用呈三角分布的3组轮系，增强机器人行走的稳定性，减速器采用呈90°的锥齿轮减速器，且底盘采用双层结构，轮系在下层，电源组处于上层，使得底盘占用面积减小；整个底盘就只有全向轮底部设置在底板外，使得底盘内的部件得到保护，电源组处在高于轮系的隔离板上，得到更充分的保护。

Description

一种移动机器人三角底盘总成
技术领域
本发明属于机器人底盘的技术领域，具体地说，涉及一种移动机器人三角底盘总成。
背景技术
移动机器人的驱动装置是驱使执行机构运动的机构，按照控制***发出的指令信号，借助于动力元件使机器人进行动作。它输入的是电信号，输出的是线、角位移量。机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。现有的地面移动机器人的运行机构通常采用普通轮式机构，该机构转向不便，机构抗震性和缓冲性较差，且容易造成机器人倾翻；并且驱动力大的轮式机构电机较大，需要匹配较大的底盘空间。
发明内容
针对现有技术中上述的不足，本发明提供一种移动机器人三角底盘总成，本底盘总成采用三角设置，使得机器人的平稳性增强，底盘采用双层结构，轮系在下层，电源组处于上层，并且减速器采用呈90°的锥齿轮减速器，使得底盘占用面积减小。
为了达到上述目的，本发明采用的解决方案是：一种移动机器人三角底盘总成，包括外壳、顶板、隔离板、底板、电源组、若干支撑梁和3组轮系，顶板和底板上下分布，隔离板设在顶板和底板之间，顶板、底板和隔离板通过支撑梁固定连接，电源组与隔离板固定连接。
3组轮系呈等边三角形分布，轮系包括电机、减速器、支撑架和全向轮，支撑架上端与隔离板下表面固定连接，支撑架下端与底板上表面固定连接，全向轮设在支撑架之间，全向轮由电机和减速器驱动，减速器与支撑架固定连接，电机与减速器固定连接，底板上表面设有控制电机的驱动器，底板设有通孔，全向轮底部设在通孔外。
减速器采用锥齿轮减速器，减速器外部呈90°弯折。
优选地，支撑梁上端与顶板下表面固定连接，支撑梁下端与底板上表面固定连接，隔离板与支撑梁固定连接。
优选地，电源组包括锂电源、DCDC模块、航空插座、开关充电一体模块和若干电池挡边，电池挡边与隔离板上表面固定连接，锂电源通过电池挡边与隔离板固定连接，航空插座设置在顶板和隔离板之间，DCDC模块固定连接在隔离板下表面，开关充电一体模块设置在外壳表面。
本发明的有益效果是，采用呈三角分布的3组轮系，增强机器人行走的稳定性，减速器采用呈90°的锥齿轮减速器，且底盘采用双层结构，轮系在下层，电源组处于上层，使得底盘占用面积减小；整个底盘就只有全向轮底部设置在底板外，使得底盘内的部件得到保护，电源组处在高于轮系的隔离板上，得到更充分的保护。
附图说明
图1为本发明的移动机器人三角底盘总成立体图。
图2为本发明去除外壳后的立体图。
图3为本发明的轮系的立体图。
附图中：
11、外壳；12、顶板；13、隔离板；14、底板；141、通孔；15、支撑梁；21、锂电源；22、DCDC模块；23、航空插座；24、开关充电一体模块；25、电池挡边；30、轮系；31、电机；32、减速器；33、支撑架；34、全向轮；40、驱动器。
具体实施方式
以下结合附图对本发明作进一步描述：
参照图1-图3，本发明提供一种移动机器人三角底盘总成，包括外壳11、顶板12、隔离板13、底板14、电源组、若干支撑梁15和3组轮系30，顶板12和底板14上下分布，隔离板13设在顶板12和底板14之间，顶板12、底板14和隔离板13通过支撑梁15固定连接，电源组与隔离板13固定连接。支撑梁15上端与顶板12下表面固定连接，支撑梁15下端与底板14上表面固定连接，隔离板13与支撑梁15固定连接。
3组轮系30呈等边三角形分布，采用呈三角顺时针旋转分布的3组轮系30，增强机器人行走的稳定性，轮系30包括电机31、减速器32、支撑架33和全向轮34，全向轮34为双排型的全向轮34，支撑架33上端与隔离板13下表面固定连接，支撑架33下端与底板14上表面固定连接，全向轮34设在支撑架33之间，全向轮34由电机31和减速器32驱动，减速器32与支撑架33固定连接，电机31与减速器32固定连接，底板14上表面设有控制电机31的驱动器40，底板14设有通孔141，全向轮34底部设在通孔141外。减速器32采用锥齿轮减速器32，减速器32外部呈90°弯折，且底盘采用双层结构，轮系30在下层，电源组处于上层，使得底盘占用面积减小。
电源组包括锂电源21、DCDC模块22、航空插座23、开关充电一体模块24和若干电池挡边25，电池挡边25与隔离板13上表面固定连接，锂电源21通过电池挡边25与隔离板13固定连接，航空插座23设置在顶板12和隔离板13之间，DCDC模块22固定连接在隔离板13下表面，开关充电一体模块24设置在外壳11表面。整个底盘就只有全向轮34底部设置在底板14外，使得底盘内的部件得到保护，电源组处在高于轮系30的隔离板13上，得到更充分的保护。

Claims (3)

1.一种移动机器人三角底盘总成，其特征是：包括外壳(11)、顶板(12)、隔离板(13)、底板(14)、电源组、若干支撑梁(15)和3组轮系(30)，顶板(12)和底板(14)上下分布，隔离板(13)设在顶板(12)和底板(14)之间，顶板(12)、底板(14)和隔离板(13)通过支撑梁(15)固定连接，电源组与隔离板(13)固定连接；
3组轮系(30)呈等边三角形分布，轮系(30)包括电机(31)、减速器(32)、支撑架(33)和全向轮(34)，支撑架(33)上端与隔离板(13)下表面固定连接，支撑架(33)下端与底板(14)上表面固定连接，全向轮(34)设在支撑架(33)之间，全向轮(34)由电机(31)和减速器(32)驱动，减速器(32)与支撑架(33)固定连接，电机(31)与减速器(32)固定连接，底板(14)上表面设有控制电机(31)的驱动器(40)，底板(14)设有通孔(141)，全向轮(34)底部设在通孔(141)外；
所述的减速器(32)采用锥齿轮减速器(32)，减速器(32)外部呈90°弯折。
2.根据权利要求1所述的移动机器人三角底盘总成，其特征是：所述的支撑梁(15)上端与顶板(12)下表面固定连接，支撑梁(15)下端与底板(14)上表面固定连接，隔离板(13)与支撑梁(15)固定连接。
3.根据权利要求1所述的移动机器人三角底盘总成，其特征是：所述的电源组包括锂电源(21)、DCDC模块(22)、航空插座(23)、开关充电一体模块(24)和若干电池挡边(25)，电池挡边(25)与隔离板(13)上表面固定连接，锂电源(21)通过电池挡边(25)与隔离板(13)固定连接，航空插座(23)设置在顶板(12)和隔离板(13)之间，DCDC模块(22)固定连接在隔离板(13)下表面，开关充电一体模块(24)设置在外壳(11)表面。
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