CN214545324U - Motion control system of two-wheeled mobile robot - Google Patents
Motion control system of two-wheeled mobile robot Download PDFInfo
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- CN214545324U CN214545324U CN202120995367.7U CN202120995367U CN214545324U CN 214545324 U CN214545324 U CN 214545324U CN 202120995367 U CN202120995367 U CN 202120995367U CN 214545324 U CN214545324 U CN 214545324U
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- control system
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- shell
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- 230000017525 heat dissipation Effects 0.000 claims description 15
- 238000001816 cooling Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the robot control system, especially, two-wheeled mobile robot's motion control system, control system to current does not have cooling system, the robot is in operation, the heat of production is great, if can not in time dispel the heat, influence control system's life, be not convenient for dismantle the problem of maintaining to the circuit board, the following scheme is proposed to the present, it includes the shell, circuit board and main control chip, be connected with the power on the main control chip, speed measurement sensor, track tracking sensor, parameter adjustment module and motor drive module, main control chip sets up on the circuit board, the top fixed mounting of shell has the bracing piece, the top slidable mounting of shell has the carriage release lever, the equal fixed mounting in one side that bracing piece and carriage release lever are close to each other has fixed strip and hypotenuse strip. The utility model discloses can effectually dispel the heat to control system, avoid influencing control system's life, be convenient for dismantle the maintenance to the circuit board.
Description
Technical Field
The utility model relates to a robot control system technical field especially relates to a two-wheeled mobile robot's motion control system.
Background
The two-wheeled self-balancing mobile robot is a typical incomplete, nonlinear and under-actuated control system, has wide practical application value, and in order to realize the balance control in the motion process of the system, a detection system capable of detecting the attitude information of the two-wheeled self-balancing mobile robot in real time is required to be arranged, and the attitude information is transmitted to a controller in time, so that the accurate control of the two-wheeled self-balancing mobile robot is realized. For example, application No.: 201920306371.0 or an authorization bulletin number: CN209765335U patent document provides a two-wheeled self-balancing mobile robot control system, which comprises a main control chip installed inside the two-wheeled self-balancing mobile robot, a power supply connected with the main control chip, a speed measuring sensor, a track tracking sensor, a parameter adjusting module and a motor driving module, and further comprises an inclination measuring sensor installed at the bottom of the two-wheeled self-balancing mobile robot and connected with the main control chip, a display module and a bluetooth information receiving and collecting module installed on the two-wheeled self-balancing mobile robot and connected with the main control chip, wherein the inclination measuring sensor comprises an accelerometer and a gyroscope, the data collected by the accelerometer and the gyroscope are sent to the main control chip through a data fusion unit, the track tracking sensor is composed of an i-shaped inductor, and the motor driving module is also connected with a driving motor inside the two-wheeled self-balancing mobile robot, the main control chip is arranged on the circuit board and is installed inside the robot.
The control system that foretell patent document provided can carry out balanced control to the robot, but current control system does not have cooling system, and the robot during operation, the heat that produces is great, if can not in time dispel the heat, influences control system's life, is not convenient for dismantle the maintenance to the circuit board simultaneously.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving current control system and not having cooling system, the robot during operation, the heat of production is great, if can not in time dispel the heat, influences control system's life, is not convenient for dismantle the shortcoming of maintaining to the circuit board simultaneously, and the motion control system of a two-wheeled mobile robot that proposes.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a two-wheeled mobile robot's motion control system, which comprises an outer shell, circuit board and main control chip, be connected with the power on the main control chip, speed measurement sensor, track tracking sensor, parameter adjustment module and motor drive module, main control chip sets up on the circuit board, the top fixed mounting of shell has the bracing piece, the top slidable mounting of shell has the carriage release lever, the equal fixed mounting in one side that bracing piece and carriage release lever are close to each other has fixed strip and hypotenuse strip, the circuit board is located the top of two fixed strips, be provided with heat dissipation mechanism in the shell, heat dissipation mechanism and circuit board looks adaptation, fixed mounting has the guide arm in the shell, the bottom fixed mounting of carriage release lever has the sliding block, the slide opening has been seted up at the top of shell, the sliding block slides with the slide opening and links to each other, sliding block slidable mounting is in the outside of guide arm.
Preferably, the heat dissipation mechanism includes connecting rod and fan, and the connecting rod is a plurality of and all fixed the setting on the bottom inner wall of shell, and the fan links to each other with the connecting rod.
Preferably, the top of the moving rod is provided with a through hole, the through hole is internally provided with a limiting rod in a sliding manner, the sliding block is provided with a guide rod hole, the guide rod hole is in sliding connection with the guide rod, the sliding block is provided with a connecting hole, the connecting hole is communicated with the through hole, the limiting rod is in sliding connection with the connecting hole, the top of the guide rod is provided with a limiting hole, and the limiting rod is matched with the limiting hole.
Preferably, the top fixed mounting of gag lever post has the handle, and the outside cover of gag lever post is equipped with the extension spring, the one end of extension spring and the top fixed mounting of carriage release lever, the other end of extension spring and the bottom fixed mounting of handle.
Preferably, the inlet port has all been seted up to the both sides of shell, and a plurality of louvres have been seted up at the top of shell, and the both sides of shell all are provided with the installation piece.
Compared with the prior art, the utility model has the advantages of:
(1) according to the scheme, the fan is started, external air enters the shell through the air inlet holes, air flow is discharged through the plurality of heat dissipation holes to cool and dissipate heat of the circuit board, and excessive heat of the control system can be avoided;
(2) the pulling handle drives the gag lever post and leaves spacing hole, can remove the fixed to the carriage release lever, moves the carriage release lever right, can relax the circuit board, conveniently takes off the circuit board and maintains, places the top of two fixed strips with the circuit board, promotes the carriage release lever left, extrudees the circuit board fixedly through two strake to one side, under the pulling force effect of extension spring, and the gag lever post gets into spacing downthehole, can be fixed with the carriage release lever, and the convenience is fixed to the circuit board.
The utility model discloses can effectually dispel the heat to control system, avoid influencing control system's life, be convenient for dismantle the maintenance to the circuit board.
Drawings
Fig. 1 is a schematic structural view of a motion control system of a two-wheeled mobile robot according to the present invention;
fig. 2 is a schematic structural diagram of a portion a in fig. 1 in a motion control system of a two-wheeled mobile robot according to the present invention;
fig. 3 is the utility model provides a two-wheeled mobile robot's motion control system's carriage release lever, sliding block, guide arm, oblique strake, fixed strip and handle look sideways at the schematic structure.
In the figure: 1. a housing; 2. a circuit board; 3. a main control chip; 4. a connecting rod; 5. a fan; 6. heat dissipation holes; 7. an air inlet; 8. a support bar; 9. a fixing strip; 10. an oblique edge strip; 11. a travel bar; 12. a guide bar; 13. a limiting hole; 14. a slide hole; 15. a slider; 16. a guide rod hole; 17. connecting holes; 18. a limiting rod; 19. a handle; 20. a tension spring; 21. and a through hole.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, but not all embodiments.
Example one
Referring to fig. 1-3, a motion control system of a two-wheeled mobile robot comprises a housing 1, a circuit board 2 and a main control chip 3, wherein the main control chip 3 is connected with a power supply, a speed measuring sensor, a track tracking sensor, a parameter adjusting module and a motor driving module, the main control chip 3 is arranged on the circuit board 2, a support rod 8 is arranged at the top of the housing 1 by welding, a moving rod 11 is arranged at the top of the housing 1 in a sliding manner, a fixing strip 9 and a bevel strip 10 are arranged at one side of the support rod 8, which is close to the moving rod 11, by welding, the circuit board 2 is arranged at the top of the two fixing strips 9, the two bevel strips 10 can extrude the circuit board 2, a heat dissipation mechanism is arranged in the housing 1, the heat dissipation mechanism is matched with the circuit board 2, a guide rod 12 is arranged in the housing 1 by welding, a sliding block 15 is arranged at the bottom of the moving rod 11 by welding, the top of the shell 1 is provided with a sliding hole 14, a sliding block 15 is connected with the sliding hole 14 in a sliding manner, and the sliding block 15 is installed on the outer side of the guide rod 12 in a sliding manner.
In this embodiment, heat dissipation mechanism includes connecting rod 4 and fan 5, and connecting rod 4 is a plurality of and all fixed the setting on the bottom inner wall of shell 1, and fan 5 links to each other with connecting rod 4.
In this embodiment, a through hole 21 is formed in the top of the moving rod 11, a limiting rod 18 is slidably mounted in the through hole 21, a guide rod hole 16 is formed in the sliding block 15, the guide rod hole 16 is slidably connected with the guide rod 12, a connecting hole 17 is formed in the sliding block 15, the connecting hole 17 is communicated with the through hole 21, the limiting rod 18 is slidably connected with the connecting hole 17, a limiting hole 13 is formed in the top of the guide rod 12, and the limiting rod 18 is matched with the limiting hole 13.
In this embodiment, handle 19 is installed through the welding at the top of gag lever post 18, and the outside cover of gag lever post 18 is equipped with extension spring 20, and the one end of extension spring 20 is installed through the welding with the top of carriage release lever 11, and the other end of extension spring 20 is installed through the welding with the bottom of handle 19.
In this embodiment, air inlet 7 has all been seted up to the both sides of shell 1, and a plurality of louvres 6 have been seted up at the top of shell 1, and the both sides of shell 1 all are provided with the installation piece.
Example two
Referring to fig. 1-3, a motion control system of a two-wheeled mobile robot comprises a housing 1, a circuit board 2 and a main control chip 3, wherein the main control chip 3 is connected with a power supply, a speed measuring sensor, a track tracking sensor, a parameter adjusting module and a motor driving module, the main control chip 3 is arranged on the circuit board 2, a support rod 8 is fixedly arranged at the top of the housing 1, a moving rod 11 is slidably arranged at the top of the housing 1, a fixing strip 9 and a bevel strip 10 are fixedly arranged at one side of the support rod 8 close to the moving rod 11, the circuit board 2 is arranged at the top of the two fixing strips 9, the two bevel strips 10 can extrude the circuit board 2, a heat dissipation mechanism is arranged in the housing 1 and is matched with the circuit board 2, a guide rod 12 is fixedly arranged in the housing 1, a sliding block 15 is fixedly arranged at the bottom of the moving rod 11, a sliding hole 14 is formed at the top of the housing 1, the sliding block 15 is connected with the sliding hole 14 in a sliding mode, the sliding block 15 is installed on the outer side of the guide rod 12 in a sliding mode, and the guide rod 12 provides supporting force for the sliding block 15.
In this embodiment, heat dissipation mechanism includes connecting rod 4 and fan 5, and connecting rod 4 is a plurality of and all fixed the setting on the bottom inner wall of shell 1, and fan 5 links to each other with connecting rod 4, and fan 5 can dispel the heat to circuit board 2.
In this embodiment, through-hole 21 has been seted up at the top of carriage release lever 11, slidable mounting has gag lever post 18 in through-hole 21, guide rod hole 16 has been seted up on the sliding block 15, guide rod hole 16 and guide arm 12 sliding connection, connecting hole 17 has been seted up on the sliding block 15, connecting hole 17 is linked together with through-hole 21, gag lever post 18 and connecting hole 17 sliding connection, spacing hole 13 has been seted up at the top of guide arm 12, gag lever post 18 and spacing hole 13 looks adaptation, guide arm 12 gets into in the spacing hole 13, can be fixed with carriage release lever 11.
In this embodiment, a handle 19 is fixedly mounted at the top of the limiting rod 18, an extension spring 20 is sleeved on the outer side of the limiting rod 18, one end of the extension spring 20 is fixedly mounted at the top of the moving rod 11, the other end of the extension spring 20 is fixedly mounted at the bottom of the handle 19, and the extension spring 20 provides downward elastic force for the limiting rod 18 through the handle 19.
In this embodiment, air inlet 7 has all been seted up to the both sides of shell 1, and a plurality of louvres 6 have been seted up at the top of shell 1, and the both sides of shell 1 all are provided with the installation piece, and the installation piece is used for installing shell 1.
In the embodiment, when the robot is used, the shell 1 is installed in the robot through the installation sheet, when the robot works, the fan 5 is started, outside air enters the shell 1 through the air inlet 7, air flow is discharged through the heat dissipation holes 6 to cool and dissipate heat of the circuit board 2, excessive heat of a control system can be avoided, when the circuit board 2 is disassembled, the handle 19 is pulled, the handle 19 drives the limiting rod 18 to leave the limiting hole 13, fixing of the moving rod 11 can be released, the moving rod 11 is moved rightwards, the circuit board 2 can be released, the circuit board 2 is convenient to take off and maintain, when the robot is installed, the circuit board 2 is placed at the tops of the two fixing strips 9, the moving rod 11 is pushed leftwards, the circuit board 2 is extruded and fixed through the two oblique edge strips 10, the limiting rod 18 enters the limiting hole 13 under the action of the tension spring 20, the moving rod 11 can be fixed, and the circuit board 2 is convenient to fix, all structures in this application can carry out the selection of material and length according to actual use condition, and the attached drawing is schematic structure chart, and specific actual dimensions can make appropriate adjustment.
The above descriptions are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the utility model concepts of the present invention are equivalent to, replaced or changed.
Claims (5)
1. A motion control system of a two-wheeled mobile robot comprises a shell (1), a circuit board (2) and a main control chip (3), wherein the main control chip (3) is connected with a power supply, a speed measuring sensor, a track tracking sensor, a parameter adjusting module and a motor driving module, the main control chip (3) is arranged on the circuit board (2), the motion control system is characterized in that a supporting rod (8) is fixedly arranged at the top of the shell (1), a moving rod (11) is slidably arranged at the top of the shell (1), a fixing strip (9) and a bevel edge strip (10) are fixedly arranged on one side, close to each other, of the supporting rod (8) and the moving rod (11), the circuit board (2) is positioned at the tops of the two fixing strips (9), a heat dissipation mechanism is arranged in the shell (1), the heat dissipation mechanism is matched with the circuit board (2), and a guide rod (12) is fixedly arranged in the shell (1), the bottom of the moving rod (11) is fixedly provided with a sliding block (15), the top of the shell (1) is provided with a sliding hole (14), the sliding block (15) is connected with the sliding hole (14) in a sliding mode, and the sliding block (15) is installed on the outer side of the guide rod (12) in a sliding mode.
2. The motion control system of a two-wheeled mobile robot according to claim 1, wherein the heat dissipation mechanism comprises a plurality of connecting rods (4) and fans (5), the connecting rods (4) are all fixedly arranged on the inner wall of the bottom of the housing (1), and the fans (5) are connected with the connecting rods (4).
3. The motion control system of the two-wheeled mobile robot as claimed in claim 1, wherein a through hole (21) is formed in the top of the moving rod (11), a limiting rod (18) is slidably mounted in the through hole (21), a guide rod hole (16) is formed in the sliding block (15), the guide rod hole (16) is slidably connected with the guide rod (12), a connecting hole (17) is formed in the sliding block (15), the connecting hole (17) is communicated with the through hole (21), the limiting rod (18) is slidably connected with the connecting hole (17), a limiting hole (13) is formed in the top of the guide rod (12), and the limiting rod (18) is matched with the limiting hole (13).
4. The motion control system of the two-wheeled mobile robot as claimed in claim 3, wherein a handle (19) is fixedly mounted at the top of the limiting rod (18), a tension spring (20) is sleeved outside the limiting rod (18), one end of the tension spring (20) is fixedly mounted at the top of the moving rod (11), and the other end of the tension spring (20) is fixedly mounted at the bottom of the handle (19).
5. The motion control system of the two-wheeled mobile robot as claimed in claim 1, wherein air inlet holes (7) are formed in both sides of the housing (1), a plurality of heat dissipation holes (6) are formed in the top of the housing (1), and mounting pieces are arranged on both sides of the housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120995367.7U CN214545324U (en) | 2021-05-11 | 2021-05-11 | Motion control system of two-wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120995367.7U CN214545324U (en) | 2021-05-11 | 2021-05-11 | Motion control system of two-wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214545324U true CN214545324U (en) | 2021-10-29 |
Family
ID=78283941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120995367.7U Expired - Fee Related CN214545324U (en) | 2021-05-11 | 2021-05-11 | Motion control system of two-wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214545324U (en) |
-
2021
- 2021-05-11 CN CN202120995367.7U patent/CN214545324U/en not_active Expired - Fee Related
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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: 20211029 |