CN106627832A - Four-wheel omni-directional-rotating routing-inspection robot chassis - Google Patents
Four-wheel omni-directional-rotating routing-inspection robot chassis Download PDFInfo
- Publication number
- CN106627832A CN106627832A CN201710079286.0A CN201710079286A CN106627832A CN 106627832 A CN106627832 A CN 106627832A CN 201710079286 A CN201710079286 A CN 201710079286A CN 106627832 A CN106627832 A CN 106627832A
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- Prior art keywords
- wheel
- layer
- support
- rotates
- chassis
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a four-wheel omni-directional-rotating routing-inspection robot chassis. The chassis is composed of a battery mounting layer, a main containing layer and a lifting mechanism installation layer in sequence in a connected mode from bottom to top, wherein the battery mounting layer is used for containing batteries, the main containing layer is used for installing control electric parts, and the lifting mechanism installation layer is used for achieving the lifting and supporting effects. It is solved that large space is required by four omni-directional rotation wheels; load bearing points are distributed at the combined positions of the four wheels and the chassis, the design of the firm combined portions is achieved, the distribution gravity center of elements inside the chassis are designed in the center, the balance of the pressure in the four supporting perpendicular directions is guaranteed as much as possible, certain wheels and transmission shafts of the wheels are prevented from being damaged in advance, cavities of main internal parts are reasonably distributed, and the reasonability and the convenience of electrical wiring are guaranteed.
Description
Technical field
The invention belongs to robot field, is specially applied to O＆M crusing robot four-wheel omnidirectional of transformer station rotating function
Chassis.
Background technology
Both at home and abroad existing transformer station's four-wheel is patrolled and examined people and drives the guidance mode to be at present：
（1）Four-wheel drive
Advantage：Motion mobility is good, can zero radius of turn, obstacle climbing ability is strong, is suitable for multiple types of floors, and load capacity is strong；Lack
Point：Easily skidding, control accuracy low (attitude), are especially embodied in during turning, and odometer feedback error is big；
（2）It is oriented to steering wheel+driving wheel
Advantage：Similar engine rear-drive automobile drive mechanism, attitude is decoupled with position control, with certain obstacle climbing ability, transmission efficiency
Height, load capacity is strong；Shortcoming：Radius of turn is big；
（3）The degree of four-wheel drive+360 is oriented to
Advantage：Attitude and position control are decoupled, and with preferable obstacle climbing ability, transmission efficiency, load capacity is strong, can omnidirectional,
Full attitude, no-radius are turned；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, the appropriate design on robot chassis is this
The realization of kind of scheme provides frame for movement basis, and among these emphasis needs to solve for the reserved sufficient space of four wheels, effectively
Reduce body gravity, the problems such as electrical layout is reasonable.
In existing, some related applications with regard to robot chassis are also occurred in that, respectively a kind of wheel leg type machine
People's suspension device of chassis（Application No. 2012103852288）With a kind of suspension for being used for four wheel mobile robot chassis（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
According to the deficiencies in the prior art, there is provided a kind of four-wheel omnidirectional rotates crusing robot chassis, solves four omnidirectionals
Rotating wheel needs larger space, supporting point to be 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 as far as possible ensure that four vertical direction pressure are balanced by design of centre of gravity in centre, prevent certain
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 present invention is realized by technical scheme below：
A kind of four-wheel omnidirectional rotates crusing robot chassis, and the chassis is from bottom to top successively by for holding the battery carry of battery
Layer, connects for installing the main accommodating layer of control electric component and the elevating mechanism mounting layer for playing lifting and supporting role
Composition.
Preferably, the battery carry layer is a cuboid battery chamber for just above opening, the battery chamber
Sealing surface both sides be respectively provided with one and pick 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, and multiple exhausts are provided with the outer casing
Hole.
Preferably, the main accommodating layer includes that the horizontal support bracket in bottom, top support bracket, main control computer are installed
Chamber and steering mechanism installation position.
Preferably, the horizontal support bracket in the bottom is by two main beams and is arranged on multiple between two main beams
Longitudinal crossbeam composition；The top support bracket is a frame-type skeleton, the horizontal support bracket in the bottom and top load-bearing
Stood to load-bearing pillar connection, so as to form a main supporting frame by multiple between 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, in the central area of chamber host computer is provided with, 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, the steering
Mechanism installation position includes installation position support, steering mechanism's fixed arm, steer motor and encoder, the steer 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
Frame is arranged on and stands on load-bearing pillar；The steer motor is connected by rotation shaft of wheel with wheel.
Preferably, it is configured to so that wheel possesses 360 degree of unobstructed rotations at four angles of the battery chamber
The arc angle in space.
Preferably, the elevating mechanism mounting layer includes that connection ring, robot top casing support, head rise descending branch
Frame；The connection ring arranges along the inside casing edge of whole top support bracket, the robot top casing support and head
The bottom of lifting support is each passed through after connection ring and is fixed in main accommodating layer.
Preferably, the front end middle of the main accommodating layer is provided with front ballistic support plate, before the main accommodating layer
End middle is provided with rear protecting gripper shoe.
Preferably, the front-end and back-end both sides of the main accommodating layer are each provided with a hand-held handle, and by connection
Handle support block increases the stability of hand-held handle.
Beneficial effect of the present invention：
1st, adopt layered design method, it is ensured that the rational deployment of robot components so that overall center of gravity it is centrally located and keep compared with
Low clearance, increased the stability of robot traveling；Power line, Control card communication line, elevating mechanism electrical connection simultaneously
Almost arranged to surrounding and up and down centered on host computer, greatly improve the reasonable, convenient of wiring, reliability.
2nd, bottom central authorities only arrange a relatively small power supply and 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 the steering of 360 degree of original place.
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
Long-time is indeformable under body weights.
Description of the drawings
Fig. 1 is the preferred embodiment integral installation design sketch that the four-wheel omnidirectional of the present invention rotates crusing robot chassis；
Fig. 2 is the top view that the four-wheel omnidirectional according to Fig. 1 rotates crusing robot chassis；
Fig. 3 is the overall structure diagram that the four-wheel omnidirectional according to Fig. 1 rotates crusing robot chassis；
Fig. 4 is the main accommodating layer schematic diagram that the four-wheel omnidirectional according to Fig. 1 rotates crusing robot chassis；
100-battery carry layer, 101-battery chamber, 102-pick up the ears, 103-outer casing, 104-steam vent, 200-main appearance
Receive layer, the horizontal support bracket in 201-bottom, 202-top support bracket, 203-main control computer installs chamber, 204-turn
To mechanism installation position, 205-handle support block, 206-installation position support, 207-steering mechanism fixed arm, 208-wheel turns
Axle, 209-wheel, 210-front ballistic support plate, 211-rear protecting gripper shoe, 212-hand-held handle, 300-elevating mechanism
Mounting layer, 301-connection ring, 302-robot top casing support, 303-head lifting support.
Specific embodiment
Below in conjunction with accompanying drawing, by being embodied as, the present invention is further illustrated.
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 dress density, 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 be a cuboid battery chamber 101 for just above opening, 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 bottom of main accommodating layer 200
Centre.The opening surface two ends of battery chamber 101 are respectively provided with an outer casing 103, and multiple exhausts are provided with outer casing 103
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., rotate 209 wheels to four omnidirectionals and reserved sufficient space；Meanwhile, heaviness is reduced again
The center of battery, increased the stability of car body walking.
Main accommodating layer 200 includes that the horizontal support bracket 201 in bottom, top support bracket 202, main control computer install chamber
203 and steering mechanism installation position 204.
The horizontal support bracket 201 in bottom is by two main beams and the multiple longitudinal crossbeam group being arranged between two main beams
Into；Top support bracket 202 is a frame-type skeleton, is passed through between the horizontal support bracket 201 in bottom and top support bracket 202
It is multiple to stand to load-bearing pillar connection, 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 little auxiliary Control card, protect
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, steer motor and encoder, and steer motor and encoder are distinguished
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；Steer motor is connected by rotation shaft of wheel 208 with wheel 209.
Steering mechanism installation position 204 is set on 200 4 angles of main 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 turns to.
Elevating mechanism mounting layer 300 includes connection ring 301, robot top casing support 302, head lifting support 303；
Connection ring 301 arranges along the inside casing edge of whole top support bracket 202, robot top casing support 302 and head liter
The bottom of descending branch frame 303 is each passed through after connection ring 301 and is fixed in main accommodating layer 200.
The front end middle of main accommodating layer 200 is provided with front ballistic support plate 210, the front end middle of main accommodating layer 200
Rear protecting gripper shoe 211 is provided with, prevents robot chassis from occurring the phenomenon broken by hard thing when patrolling and examining.
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 present invention adopts layered design method, it is ensured that the rational deployment of robot components so that overall center of gravity is centrally located
And lower height is kept, increased the stability of robot traveling；While power line, Control card communication line, elevating mechanism
Electrical connection almost arranged to surrounding and up and down centered on host computer, greatly improve wiring it is reasonable, convenient, can
By property.Bottom central authorities only arrange a relatively small power supply and install chamber so that there is enough spaces to meet around it
Wheel installs 360 degree of rotations of power transmission shaft around it so that chassis drive system can be turned to using each driving wheel self-movement, feasible
Enter middle steering, the steering of 360 degree of original place.Steering mechanism installation position is set on centre four angles of main accommodating layer on robot chassis, is made
Obtain strong point long-time in the case of big fuselage weight indeformable.
Although illustrating and describing the present invention referring particularly to its preferred embodiment, those skilled in the art can be with
Understand, the various changes in form and details can be made without deviating from the model of the invention described in appended claims
Enclose.It is described in detail above in association with the specific embodiment of the present invention, but is not limitation of the present invention.It is every according to this
Bright technical spirit still falls within the scope of technical solution of the present invention to any simple modification made for any of the above embodiments.
Claims (10)
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）, for installing the main accommodating layer of control electric component（200）Lift and support with for playing
The elevating mechanism mounting layer of effect（300）Connection composition.
2. four-wheel omnidirectional according to claim 1 rotates crusing robot chassis, it is characterised in that：The battery carry layer
（100）For a cuboid battery chamber for just above opening（101）, the battery chamber（101）Sealing surface both sides respectively pacify
Pick up the ears equipped with one（102）, the battery chamber（101）Picking up the ears by both sides（102）It is fixedly mounted on 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）.
3. four-wheel omnidirectional according to claim 2 rotates crusing robot chassis, it is characterised in that：The main accommodating layer
（200）Including the horizontal support bracket in bottom（201）, top support bracket（202）, main control computer install chamber（203）With turn
To mechanism installation position（204）.
4. four-wheel omnidirectional according to claim 3 rotates crusing robot chassis, it is characterised in that：Laterally hold the bottom
Weight support（201）It is made up of two main beams and the multiple longitudinal crossbeam being arranged between two main beams；The top load-bearing
Support（202）For a frame-type skeleton, the horizontal support bracket in the bottom（201）With top support bracket（202）Between pass through
It is multiple to stand to load-bearing pillar connection, so as to form a main supporting frame.
5. four-wheel omnidirectional according to claim 3 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.
6. four-wheel omnidirectional according to claim 4 rotates crusing robot chassis, it is characterised in that：Steering mechanism's peace
Dress position（204）It is distributed in the horizontal support bracket in bottom（201）Four angles on, the steering mechanism installation position（204）Including peace
Dress position support（206）, steering mechanism's fixed arm（207）, steer motor and encoder, the steer motor and encoder are pacified respectively
It is 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 steer motor passes through rotation shaft of wheel（208）With wheel（209）Phase
Even.
7. four-wheel omnidirectional according to claim 6 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.
8. four-wheel omnidirectional according to claim 4 rotates crusing robot chassis, it is characterised in that：The elevating mechanism peace
Dress 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.
9. the four-wheel omnidirectional according to any one of claim 1 to 8 rotates crusing robot chassis, it is characterised in that：It is described
Main accommodating layer（200）Front end middle be provided with front ballistic support plate（210）, the main accommodating layer（200）Front end in the middle of
Place is provided with rear protecting gripper shoe（211）.
10. the four-wheel omnidirectional according to any one of claim 1 to 8 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079286.0A CN106627832A (en) | 2017-02-14 | 2017-02-14 | Four-wheel omni-directional-rotating routing-inspection robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079286.0A CN106627832A (en) | 2017-02-14 | 2017-02-14 | Four-wheel omni-directional-rotating routing-inspection robot chassis |
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| Publication Number | Publication Date |
|---|---|
| CN106627832A true CN106627832A (en) | 2017-05-10 |
Family
ID=58846207
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710079286.0A Pending CN106627832A (en) | 2017-02-14 | 2017-02-14 | Four-wheel omni-directional-rotating routing-inspection robot chassis |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672685A (en) * | 2017-09-21 | 2018-02-09 | 广州市华科尔科技股份有限公司 | A kind of robot walking device |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN109066422A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of substation inspection system |
| CN109353202A (en) * | 2018-09-04 | 2019-02-19 | 南京理工大学 | A kind of mobile chassis and moving method of Intelligent Mobile Robot |
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| CN206466050U (en) * | 2017-02-14 | 2017-09-05 | 国网江苏省电力公司徐州供电公司 | A kind of four-wheel omnidirectional rotates crusing robot chassis |
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| US20110005847A1 (en) * | 2007-12-14 | 2011-01-13 | Andrus Lance L | Modular mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN109066422A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of substation inspection system |
| CN109353202A (en) * | 2018-09-04 | 2019-02-19 | 南京理工大学 | A kind of mobile chassis and moving method of Intelligent Mobile Robot |
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Application publication date: 20170510 |
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