CN108327814A - A kind of robot Omni-mobile chassis structure - Google Patents
A kind of robot Omni-mobile chassis structure Download PDFInfo
- Publication number
- CN108327814A CN108327814A CN201810261502.8A CN201810261502A CN108327814A CN 108327814 A CN108327814 A CN 108327814A CN 201810261502 A CN201810261502 A CN 201810261502A CN 108327814 A CN108327814 A CN 108327814A
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- CN
- China
- Prior art keywords
- robot
- omni
- chassis
- motor
- chassis structure
- Prior art date
- 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.)
- Pending
Links
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to robotic technology fields, disclose a kind of robot Omni-mobile chassis structure, including robot body, chassis, it is characterised in that：Further include at least three motors being fixed on the chassis and the rigidly connected omni-directional wheel of output shaft with each motor, operation control terminal and the microprocessor being arranged on the robot body, the robot chassis is arranged in the lower section of Grapple Robots ontology, the microprocessor is arranged in the inside of the robot body, the operation control terminal is wirelessly connected with the robot body, the robot chassis is triangular or cross, the operation control terminal sends out intuitive omnidirectional moving instruction, the omnidirectional moving instruction, which reaches after the microprocessor calculates, is converted into corresponding rotation combined command, realize that the corresponding rotation combination of omni-directional wheel is realized quickly to realize under robot four-wheel or three-wheel form by motor drive, accurately omnidirectional moving.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot Omni-mobile chassis structures.
Background technology
Omnidirectional chassis is a kind of chassis that can be translated, be rotated with omnidirection, and robot omnibearing may make to walk.Omnidirectional bottom
Disk includes at least three omni-directional wheels independently driven, by control omni-directional wheel rotating speed, each wheel it is constrained each other under can
Make robot omnidirectional moving.
Currently, the bobbin movement system of traditional robot realizes the movement in direction by way of radian turning mostly, electricity
The occupied space of machine layout is relatively large, to cause the volume of entire chassis structure relatively large, is brought to robot manipulation
Inconvenience, especially in heavy-duty machines people, excessive chassis structure can make robot move heavier, inadequate machine of walking
It is dynamic flexible, it is not easy to control, can not achieve fast and accurate omnidirectional moving, robot moves underaction, this allows player to lack
Easily control robot motion direction and position manipulation sense, lack it is a kind of allow player can experience robot fistfight during
Excitement and substitution are felt, and are difficult to control so as to cause traditional Grapple Robots fistfight battle mould motion control, user experience is not
It is high.
Invention content
In view of the deficiencies of the prior art mentioned above, the purpose of the present invention is to provide a kind of transmission efficiency, structure are tight
Robot Omni-mobile chassis structure gathering, can realizing fast and accurate omnidirectional moving.
To achieve the above object, the technical solution adopted by the present invention is：A kind of robot Omni-mobile chassis structure, including
Robot body, chassis, it is characterised in that：Further include at least three motors being fixed on the chassis and with each electricity
The rigidly connected omni-directional wheel of output shaft, operation control terminal and the microprocessor being arranged on the robot body of machine, it is described
Robot chassis is arranged in the lower section of Grapple Robots ontology, and the microprocessor is arranged in the inside of the robot body,
The operation control terminal is wirelessly connected with the robot body, and the robot chassis is triangular or cross, the behaviour
Control terminal sends out the instruction of intuitive omnidirectional moving, the omnidirectional moving instruction reach be converted into after the microprocessor calculates it is corresponding
Combined command is rotated, realizes the corresponding rotation combination of omni-directional wheel to realize robot four-wheel or three-wheel form by motor drive
It is lower to realize fast and accurate omnidirectional moving.
Further, the omni-directional wheel is 3 or 4.
Further, motor setting there are three or four, the central axes of each motor enclose it is triangle or
Quadrangle.
Further, the triangle is equilateral triangle, and the quadrangle is regular quadrangle.
Further, the central axes of each motor, which enclose, constitutes polygon, and the number of edges of the polygon is equal to the electricity
The number of machine.
Further, the polygon is regular polygon.
Further, the shape on the chassis is corresponding with the shape that each motor arrangements are constituted.
Further, the chassis is arranged in the lower section of the robot body.
Compared with prior art, a kind of robot Omni-mobile chassis structure provided by the invention, including chassis, be set to bottom
Multiple motors on disk and with the rigidly connected omni-directional wheel of each motor, by the chassis structure of three-wheel and four-wheel, compared to traditional
Omnidirectional's chassis structure the distance between each motor can be made opposite closer to, to which entire chassis structure is more compact in structure, to
The space occupied by omnidirectional's chassis structure can be reduced, when being applied to small scale robot, maneuverability and controllability will
Especially pronounced, omnidirectional's chassis structure is simple, compact, so the robot ambulation maneuverability, easily controllable.
Description of the drawings
Fig. 1 is a kind of four-wheel structural schematic diagram of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 2 is a kind of another schematic diagram of four wheel constructions of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 3 is a kind of four-wheel structure top view of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 4 is a kind of tricycle structure schematic diagram of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 5 is a kind of tricycle structure vertical view of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 6 is a kind of tricycle structure movement schematic diagram of robot Omni-mobile chassis structure disclosed by the invention；
Fig. 7 is a kind of four-wheel structure motion schematic diagram of robot Omni-mobile chassis structure disclosed by the invention.
Specific implementation mode
In order to make the objectives, technical solutions, and advantages of the present invention be more clearly understood that, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention, based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
The every other embodiment obtained is put, shall fall within the protection scope of the present invention.
Preferred embodiment provided by the invention is illustrated below in conjunction with the accompanying drawings.
As shown in figs. 1-7, a kind of robot Omni-mobile chassis structure provided by the invention, including robot body 1, bottom
Disk 2, it is characterised in that：Further include at least three motors 5 being fixed on the chassis 2 and the output with each motor 5
(drawing is not drawn for the rigidly connected omni-directional wheel 3 of axis, operation control terminal 4 and the microprocessor that is arranged on the robot body 1
Go out), the robot chassis 2 is arranged in the lower section of Grapple Robots ontology 1, and the microprocessor is arranged in the robot sheet
The inside of body 1, the operation control terminal 4 and the robot body 1 are wirelessly connected, the robot chassis 2 be triangular or
Cross, the operation control terminal 4 sends out intuitive omnidirectional moving instruction, and the omnidirectional moving instruction reaches the microprocessor and calculates
After be converted into corresponding rotation combined command, by motor 5 be driven realize 5 corresponding rotation of omni-directional wheel combine to realize machine
Fast and accurate omnidirectional moving is realized under people's four-wheel or three-wheel form.
Specifically, the omni-directional wheel 3 is 3 or 4.
Specifically, the setting of the motor 5 there are three or four, the central axes of each motor 5 enclose it is triangle or
Quadrangle.
Specifically, the triangle is equilateral triangle, and the quadrangle is regular quadrangle.
Specifically, the central axes of each motor 5, which enclose, constitutes polygon, and the number of edges of the polygon is equal to the motor
Number.
Specifically, the polygon is regular polygon.
Specifically, the shape on the chassis 2 is corresponding with the shape that the layout of each motor 5 is constituted.
Specifically, the chassis 2 is arranged in the lower section of the robot body 1.
Specifically, motion principle such as Fig. 6 and Fig. 7 institutes of a kind of robot Omni-mobile chassis structure provided by the invention
Show, robot includes robot body 1 and omnidirectional's chassis structure 2, and omnidirectional's chassis structure 2 is set to the robot body
1 lower section, 2 transmission efficiency of omnidirectional's chassis structure, it is compact-sized, take up space it is small, to may make the robot move
Maneuverability is conducive to the overall performance for improving robot convenient for control.
The foregoing is merely illustrative of the preferred embodiments of the present invention, it is clear that the realization of patent of the present invention is not by aforesaid way
Limitation, as long as use patent of the present invention methodology and technical solution carry out all any modification, equivalent and improvement
Deng, or it is not improved the design of patent of the present invention and technical solution are directly applied into other occasions, should be included in this hair
Within bright protection domain.
Claims (8)
1. a kind of robot Omni-mobile chassis structure, including robot body, chassis, it is characterised in that：Further include that fixation is set
In on the chassis at least three motors and with the rigidly connected omni-directional wheel of output shaft of each motor, operation control terminal and
Microprocessor on the robot body is set, and the robot chassis is arranged in the lower section of Grapple Robots ontology, institute
It states microprocessor to be arranged in the inside of the robot body, the operation control terminal is wirelessly connected with the robot body, institute
It is triangular or cross to state robot chassis, and the operation control terminal sends out intuitive omnidirectional moving instruction, the omnidirectional moving
Instruction reaches after the microprocessor calculates and is converted into corresponding rotation combined command, realizes that omni-directional wheel corresponds to by motor drive
Rotation combine and to realize realize fast and accurate omnidirectional moving under robot four-wheel or three-wheel form.
2. robot Omni-mobile chassis structure according to claim 1, it is characterised in that：The omni-directional wheel is 3 or 4
It is a.
3. robot Omni-mobile chassis structure according to claim 1, it is characterised in that：There are three the motor settings
Or four, the central axes of each motor enclose triangle or quadrangle.
4. robot Omni-mobile chassis structure according to claim 3, it is characterised in that：The triangle is positive triangle
Shape, the quadrangle are regular quadrangle.
5. robot Omni-mobile chassis structure according to claim 1, it is characterised in that：The central axes of each motor
It encloses and constitutes polygon, the number of edges of the polygon is equal to the number of the motor.
6. robot Omni-mobile chassis structure according to claim 5, it is characterised in that：The polygon is just polygon
Shape.
7. robot Omni-mobile chassis structure according to claim 1, it is characterised in that：The shape on the chassis with it is each
The shape that the motor arrangements are constituted is corresponding.
8. robot Omni-mobile chassis structure according to claim 1, it is characterised in that：The chassis is arranged described
The lower section of robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261502.8A CN108327814A (en) | 2018-03-28 | 2018-03-28 | A kind of robot Omni-mobile chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261502.8A CN108327814A (en) | 2018-03-28 | 2018-03-28 | A kind of robot Omni-mobile chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108327814A true CN108327814A (en) | 2018-07-27 |
Family
ID=62932375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810261502.8A Pending CN108327814A (en) | 2018-03-28 | 2018-03-28 | A kind of robot Omni-mobile chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108327814A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103208A (en) * | 2019-06-25 | 2019-08-09 | 湖北文理学院 | A kind of robot base |
| CN112659111A (en) * | 2020-12-21 | 2021-04-16 | 广州大学 | Modular multi-weapon combined communication mechanism and combat robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080202837A1 (en) * | 2005-09-21 | 2008-08-28 | Macedo Ribeiro Antonio Fernand | Omnidirectional Electric Wheelchair Control System |
| CN202896722U (en) * | 2012-11-29 | 2013-04-24 | 浙江纺织服装职业技术学院 | Travelling mechanism for robot |
| KR20130100622A (en) * | 2012-03-02 | 2013-09-11 | 서울과학기술대학교 산학협력단 | Sphere-shape platform capable of omnidirectional mobility |
| CN203380880U (en) * | 2013-06-17 | 2014-01-08 | 安科智慧城市技术（中国）有限公司 | Omni-directional chassis structure and robot |
| JP2017128187A (en) * | 2016-01-19 | 2017-07-27 | 株式会社ダイヘン | Movable body |
| CN206436226U (en) * | 2016-09-27 | 2017-08-25 | 深圳市工匠社科技有限公司 | A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel |
| CN208181245U (en) * | 2018-03-28 | 2018-12-04 | 深圳市工匠社科技有限公司 | A kind of robot Omni-mobile chassis structure |
-
2018
- 2018-03-28 CN CN201810261502.8A patent/CN108327814A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080202837A1 (en) * | 2005-09-21 | 2008-08-28 | Macedo Ribeiro Antonio Fernand | Omnidirectional Electric Wheelchair Control System |
| KR20130100622A (en) * | 2012-03-02 | 2013-09-11 | 서울과학기술대학교 산학협력단 | Sphere-shape platform capable of omnidirectional mobility |
| CN202896722U (en) * | 2012-11-29 | 2013-04-24 | 浙江纺织服装职业技术学院 | Travelling mechanism for robot |
| CN203380880U (en) * | 2013-06-17 | 2014-01-08 | 安科智慧城市技术（中国）有限公司 | Omni-directional chassis structure and robot |
| JP2017128187A (en) * | 2016-01-19 | 2017-07-27 | 株式会社ダイヘン | Movable body |
| CN206436226U (en) * | 2016-09-27 | 2017-08-25 | 深圳市工匠社科技有限公司 | A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel |
| CN208181245U (en) * | 2018-03-28 | 2018-12-04 | 深圳市工匠社科技有限公司 | A kind of robot Omni-mobile chassis structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103208A (en) * | 2019-06-25 | 2019-08-09 | 湖北文理学院 | A kind of robot base |
| CN110103208B (en) * | 2019-06-25 | 2022-06-21 | 湖北文理学院 | Robot base |
| CN112659111A (en) * | 2020-12-21 | 2021-04-16 | 广州大学 | Modular multi-weapon combined communication mechanism and combat robot |
| CN112659111B (en) * | 2020-12-21 | 2023-08-25 | 广州大学 | Modularized multi-weapon combined communication mechanism and fighting robot |
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