CN111717303A - Indoor efficient mobile robot platform - Google Patents
Indoor efficient mobile robot platform Download PDFInfo
- Publication number
- CN111717303A CN111717303A CN202010567594.XA CN202010567594A CN111717303A CN 111717303 A CN111717303 A CN 111717303A CN 202010567594 A CN202010567594 A CN 202010567594A CN 111717303 A CN111717303 A CN 111717303A
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- China
- Prior art keywords
- hub motor
- circular support
- support chassis
- mobile robot
- wheel
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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
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses an indoor high-efficiency mobile robot platform which comprises a mobile robot mobile platform body, wherein the mobile robot mobile platform body comprises a circular support chassis, the side walls of the two sides of the circular support chassis are provided with driving torque hub motors, the driving torque hub motors are connected with the circular support chassis through hub motor supporting pieces, two driven brake universal wheels are arranged on the circular support chassis, an upper computer, a rechargeable lithium battery and two hub motor drivers are arranged above the circular support chassis. The driving wheel hub motor and the hub motor supporting pieces are distributed on the left side and the right side, the platform movement and steering are realized through differential control, the front side and the rear side of the driven brake universal wheel are distributed and used for stably supporting the platform to ensure the stability and flexibility in operation, and the driving wheel hub motor and the hub motor supporting pieces have high passing capacity, high flexibility and small obstacle crossing capacity under the condition of open and smooth road conditions such as indoor, roads, squares and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an indoor efficient mobile robot platform.
Background
In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.
The mobile robot platform provides motion execution and work load mounting support for the mobile robot. Depending on the field of application, mobile robotic platforms typically employ different motion systems. For example, an off-road suspension system or a crawler-type moving system is mostly adopted for field operation robots, a multi-foot climbing type moving system is mostly adopted for extreme terrain detection robots, and a moving platform based on a wheel hub motor or a universal wheel is mostly adopted for service robots. For a service robot with application requirements of medical care, catering, logistics and the like, the motion environment of the service robot is usually an indoor and high-dynamic environment, the service robot is required to have high-efficiency and rapid environment sensing, decision and motion execution capabilities, and further, a mobile platform of the robot is required to have high flexibility and small obstacle crossing capability.
Disclosure of Invention
The invention aims to solve the problem that a service robot with application requirements on medical care, catering, logistics and the like needs to have high-efficiency and quick environment sensing, decision making and motion executing capabilities, and provides an indoor high-efficiency mobile robot platform which is used for improving the efficiency and reliability of motion execution of an indoor mobile robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an indoor high-efficient mobile robot platform, includes the mobile robot moving platform body, the mobile robot moving platform body includes circular support chassis, the installing port has all been seted up to circular support chassis both sides lateral wall, be provided with initiative moment of torsion in-wheel motor in the installing port, initiative moment of torsion in-wheel motor passes through in-wheel motor support piece and is connected with circular support chassis, be provided with two driven brake universal wheels on the circular support chassis, circular support chassis top is provided with host computer, chargeable lithium cell and two in-wheel motor drivers.
Preferably, the rechargeable lithium battery is located at one side of the hub motor driver, and the upper computer is located at the other side of the hub motor driver.
Preferably, a plurality of mounting holes penetrating through the side wall are formed in the upper portion of the circular support chassis, the upper computer, the in-wheel motor driver and the rechargeable lithium battery are fixed to the upper surface of the circular support chassis through upper bolt and nuts, the in-wheel motor supporting piece and the driven brake universal wheel are connected to the lower surface of the circular support chassis through lower bolt and nuts, and the driving torque in-wheel motor is connected with the in-wheel motor supporting piece through connecting bolt and nuts.
Preferably, a cable arranging port penetrating through the side wall is formed in the center of the circular support chassis.
Preferably, the driving torque hub motor and the driven brake universal wheels are distributed below the circular support chassis in a cross manner, the driving torque hub motor and the hub motor supporting pieces are distributed on the left side and the right side of the circular support chassis, and the driven brake universal wheels are distributed on the front side and the rear side of the circular support chassis.
Preferably, the rechargeable lithium battery is connected with an upper computer and a hub motor driver through power transmission lines for power supply, the upper computer is connected with the hub motor driver through signal lines, and the hub motor driver penetrates through a wire arranging port through a control line and is connected with an active torque hub motor.
Preferably, an installation shaft is arranged in the driving torque hub motor, a support hole is formed in the hub motor support piece, and the support hole is rotatably connected with the installation shaft in the driving torque hub motor.
Compared with the prior art, the invention has the beneficial effects that:
1. the driving wheel hub motor and the driven brake universal wheel are installed below the circular chassis in a cross mode, the driving wheel hub motor and the driven brake universal wheel are distributed on the left side and the right side, platform movement and steering are achieved through differential control, and the front side and the rear side of the driven brake universal wheel are used for stably supporting the platform to guarantee stability and flexibility in operation.
2. The hub motor supporting piece and the chassis are assembled in an interference mode on 4 faces, wherein 3 faces are used for limiting, and 1 face is fixed through 8M 8 screws; the diameter of the round chassis is 600mm, the bearing capacity of the whole chassis exceeds 100kg, and the bearing capacity of the chassis is improved.
3. The circular support chassis is 125mm apart from ground, possesses and has higher throughput capacity under the road conditions such as indoor, road, square open level road conditions, has higher flexibility and small-size barrier ability of strideing across.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of an indoor efficient mobile robot platform provided by the invention;
FIG. 2 is a schematic bottom three-dimensional structure diagram of an indoor efficient mobile robot platform according to the present invention;
fig. 3 is a schematic top view of an indoor efficient mobile robot platform according to the present invention;
FIG. 4 is a schematic structural diagram of a circular support chassis in an indoor efficient mobile robot platform according to the present invention;
fig. 5 is a schematic structural view of a hub motor support in an indoor high-efficiency mobile robot platform according to the present invention.
In the figure: 1 circular support chassis, 2 initiative moment of torsion wheel hub motors, 3 wheel hub motor support piece, 4 driven brake universal wheels, 5 host computers, 6 rechargeable lithium batteries, 7 wheel hub motor drivers, 8 winding displacement mouths.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an indoor high-efficient mobile robot platform, including the mobile robot moving platform body, the mobile robot moving platform body includes circular support chassis 1, the installing port has all been seted up to circular support chassis 1 both sides lateral wall, be provided with initiative moment of torsion in-wheel motor 2 in the installing port, initiative moment of torsion in-wheel motor 2 is connected with circular support chassis 1 through in-wheel motor support piece 3, be provided with two driven brake universal wheels 4 on the circular support chassis 1, circular support chassis 1 top is provided with host computer 5, chargeable lithium cell 6 and two in-wheel motor drivers 7, chargeable lithium cell 6 is located in-wheel motor driver 7 one side, host computer 5 is located in-wheel motor driver 7 opposite side.
Further, a plurality of mounting holes that run through the lateral wall are seted up to circular support chassis 1 top, host computer 5, in-wheel motor driver 7 and chargeable lithium cell 6 all fix at circular support chassis 1 upper surface through last bolt and nut, in-wheel motor support piece 3 and driven brake universal wheel 4 all connect at circular support chassis 1 lower surface through bolt and nut down, initiative moment of torsion in-wheel motor 2 passes through the connecting bolt nut and is connected with in-wheel motor support piece 3, circular support chassis 1 central point department of putting offers the winding displacement mouth 8 that runs through the lateral wall, be used for arranging of initiative moment of torsion in-wheel motor 2 control cables.
Further, the driving torque hub motor 2 and the driven brake universal wheels 4 are distributed below the circular support chassis 1 in a cross mode, the driving torque hub motor 2 and the hub motor supporting pieces 3 are distributed on the left side and the right side of the circular support chassis 1, and the driven brake universal wheels 4 are distributed on the front side and the rear side of the circular support chassis 1.
Further, rechargeable lithium battery 6 is connected the power supply through power transmission line and host computer 5 and wheel hub motor driver 7, host computer 5 is connected with wheel hub motor driver 7 through the signal line, wheel hub motor driver 7 runs through winding displacement mouth 8 through the control line and is connected with initiative moment of torsion wheel hub motor 2, rechargeable lithium battery 6 is host computer 5 and wheel hub motor driver 7 power supply, wheel hub motor driver 7 accepts the digital control signal of host computer 5 and converts the analog voltage volume into and is used for carrying out initiative control of initiative moment of torsion wheel hub motor 2, realize the motion and turn to through differential control, driven brake universal wheel 4 is used for platform stable support and supplementary initiative moment of torsion wheel hub motor 2 to realize specific motion, can realize the locking of platform and the mode switch of motion through driven brake universal wheel 4 brake equipment.
Furthermore, an installation shaft is arranged in the driving torque hub motor 2, a support hole is formed in the hub motor support 3 and is rotatably connected with the installation shaft in the driving torque hub motor 2, the driving torque hub motor 2 is installed and fixed on the chassis through the hub motor support 3, the hub motor support and the chassis are assembled in an interference fit mode with 4 surfaces in total, wherein 3 surfaces are used for limiting, one surface is fixed through 8M 8 screws, the installation shaft of the driving torque hub motor 2 penetrates through the support hole of the hub motor support 3, the depth of the support hole is 20mm and is fixed through M10 nuts, the round support chassis 1 is 125mm away from the ground, has strong passing capacity under open and smooth road conditions such as indoor, road and square, the bearing capacity of the whole round support chassis 1 is more than 100kg, and a load installation frame based on aluminum profile assembly or welding can be installed above the round support chassis by punching, the method can be used for loads such as mechanical arms, cameras and laser radars.
For efficiency and the reliability that the motion of improving indoor mobile robot was carried out, this application provides an indoor high-efficient mobile robot platform. In order that the invention may be better understood, specific embodiments are set forth below.
Step 1: and (3) machining the indoor efficient mobile robot platform circular support chassis 1 and the hub motor supporting piece.
The hub motor supporting piece 3 is machined by 45 steel, and is in interference fit with the circular supporting chassis 1 through 4 planes, wherein 3 planes are used for limiting, one plane is fixed by 8M 8 screws, an installation shaft of the driving torque hub motor 2 penetrates through the installation shaft, the depth of a supporting hole of the hub motor supporting piece 3 is 20mm, and the supporting hole is fixed by an M10 nut; a three-dimensional model of the hub motor support 3 is shown in fig. 5.
Step 2: the indoor efficient mobile robot platform comprises an active torque wheel hub motor 2, a wheel hub motor driver, a driven brake universal wheel 4, an upper computer 5 and a rechargeable lithium battery 6.
The hub motor is a domestic torque hub motor, the outer diameter of the hub motor is 200 mm, the wheel width is 60 mm, the hub motor has continuous 5Nm torque output capacity, and a central rotating shaft of the motor can continuously bear 50kg transverse load; the active torque hub motor 2 carries a Hall speed measurement sensor, and sensing data of the sensor can be provided for a hub motor driver to support a closed-loop constant-speed function; a 4-inch brake universal wheel is selected as a driven wheel for stably supporting a mobile platform and assisting the driving torque hub motor 2 to realize specific motion;
the upper computer 5 of the motion platform can adopt an NVIDIA TX2 embedded computer, adopts 12V direct current input, has average power consumption of 7W, and carries 6 CPU cores and 256 GPU graphic processing units; a lithium battery of an electric vehicle with 48V and 15Ah is directly used as a hub motor driver, and supplies power to an upper computer 5 computer through a direct current voltage reduction module.
And step 3: and each component of the indoor efficient mobile robot platform is installed and integrated.
The upper computer 5, the hub motor driver 7 and the rechargeable lithium battery 6 are fixed on the upper surface of the circular support chassis 1 through upper bolt and nut punching; the driving torque wheel hub motor 2 and the driven brake universal wheel 4 are connected to the lower surface of the circular support chassis 1 through lower bolts and nuts and a wheel hub motor support piece 3; the center of the circular supporting chassis 1 is provided with a hole for twisting the arrangement of the control cables of the driving torque hub motor 2. The driving torque hub motor 2 and the driven brake universal wheel 4 are distributed below the circular support chassis 1 in a cross form, wherein the driving torque hub motor 2 and the hub motor support piece 3 are distributed on the left side and the right side, and the driven brake universal wheel 4 is distributed on the front side and the rear side; the driving torque hub motor 2 is fixedly arranged on the circular support chassis 1 through a hub motor support piece 3; the hub motor support piece 3 and the circular support chassis 1 are assembled in an interference mode with 4 surfaces in total, wherein 3 surfaces are used for limiting, and one surface is fixed through 8M 8 screws; the depth of the hole of the driving torque hub motor 2 mounting shaft passing through the support is 20mm, and the driving torque hub motor 2 mounting shaft is fixed by an M10 nut.
And 4, step 4: and (4) performing communication programming on the upper computer of the indoor high-efficiency mobile robot platform.
The upper computer NVIDIA TX2 carries an ubuntu16.04 operating system on the computer, and communicates with the hub motor driver 7 through an RS485 serial port.
The above description is only for the preferred embodiment 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 technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides an indoor high-efficient mobile robot platform, a serial communication port, including the mobile robot moving platform body, the mobile robot moving platform body includes circular support chassis (1), the installing port has all been seted up to circular support chassis (1) both sides lateral wall, be provided with initiative moment of torsion in-wheel motor (2) in the installing port, initiative moment of torsion in-wheel motor (2) are connected with circular support chassis (1) through in-wheel motor support piece (3), be provided with two driven brake universal wheels (4) on circular support chassis (1), circular support chassis (1) top is provided with host computer (5), chargeable lithium cell (6) and two in-wheel motor driver (7).
2. An indoor high-efficiency mobile robot platform as claimed in claim 1, wherein the rechargeable lithium battery (6) is located on one side of the hub motor driver (7), and the upper computer (5) is located on the other side of the hub motor driver (7).
3. The indoor efficient mobile robot platform as claimed in claim 1, wherein a plurality of mounting holes penetrating through the side wall are formed in the upper portion of the circular support chassis (1), the upper computer (5), the in-wheel motor driver (7) and the rechargeable lithium battery (6) are fixed to the upper surface of the circular support chassis (1) through upper bolt and nuts, the in-wheel motor support piece (3) and the driven brake universal wheel (4) are connected to the lower surface of the circular support chassis (1) through lower bolt and nuts, and the driving torque in-wheel motor (2) is connected with the in-wheel motor support piece (3) through connecting bolt and nuts.
4. An indoor efficient mobile robot platform as claimed in claim 1, wherein the circular supporting chassis (1) is provided with a wire arranging port (8) at the center position thereof, and the wire arranging port penetrates through the side wall.
5. An indoor high-efficiency mobile robot platform as claimed in claim 1, wherein the driving torque hub motor (2) and the driven brake universal wheels (4) are distributed below the circular support chassis (1) in a crisscross manner, the driving torque hub motor (2) and the hub motor support members (3) are distributed on the left side and the right side of the circular support chassis (1), and the driven brake universal wheels (4) are distributed on the front side and the rear side of the circular support chassis (1).
6. The indoor efficient mobile robot platform as claimed in claim 4, wherein the rechargeable lithium battery (6) is connected with the upper computer (5) and the hub motor driver (7) through power lines for power supply, the upper computer (5) is connected with the hub motor driver (7) through signal lines, and the hub motor driver (7) penetrates through a wire arrangement port (8) through a control line and is connected with the active torque hub motor (2).
7. The indoor high-efficiency mobile robot platform as claimed in claim 1, wherein a mounting shaft is disposed in the driving torque hub motor (2), and a support hole is disposed on the hub motor support member (3), and the support hole is rotatably connected to the mounting shaft in the driving torque hub motor (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010567594.XA CN111717303A (en) | 2020-06-19 | 2020-06-19 | Indoor efficient mobile robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010567594.XA CN111717303A (en) | 2020-06-19 | 2020-06-19 | Indoor efficient mobile robot platform |
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| Publication Number | Publication Date |
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| CN111717303A true CN111717303A (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010567594.XA Pending CN111717303A (en) | 2020-06-19 | 2020-06-19 | Indoor efficient mobile robot platform |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205952117U (en) * | 2016-06-29 | 2017-02-15 | 北京云迹科技有限公司 | Six rounds of chassis systems and vehicle and wheeled robot |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN208085855U (en) * | 2018-03-12 | 2018-11-13 | 广东省智能制造研究所 | A kind of mobile robot base apparatus based on wheel hub motor |
| CN109018004A (en) * | 2018-07-13 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and chassis thereof |
-
2020
- 2020-06-19 CN CN202010567594.XA patent/CN111717303A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205952117U (en) * | 2016-06-29 | 2017-02-15 | 北京云迹科技有限公司 | Six rounds of chassis systems and vehicle and wheeled robot |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN208085855U (en) * | 2018-03-12 | 2018-11-13 | 广东省智能制造研究所 | A kind of mobile robot base apparatus based on wheel hub motor |
| CN109018004A (en) * | 2018-07-13 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and chassis thereof |
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Application publication date: 20200929 |
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| RJ01 | Rejection of invention patent application after publication |