CN205044848U - Robot drive platform of qxcomm technology's wheel drive - Google Patents
Robot drive platform of qxcomm technology's wheel drive Download PDFInfo
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Abstract
本实用新型涉及一种全向轮驱动的机器人驱动平台,由电机、全向轮以及底盘组成,电机和全向轮各3组,电机通过支架固定在底盘上,全向轮通过轴承座固定在底盘上,轴承座上设有轴承孔,全向轮的轴穿过轴承孔与电机的轴联接。本实用新型的机器人驱动平台可以向任意方向做直线运动而不需要事先作旋转运动,整个平台具有良好的平衡性能。
The utility model relates to a robot driving platform driven by omnidirectional wheels, which is composed of a motor, omnidirectional wheels and a chassis. The motors and omnidirectional wheels each have three groups. On the chassis, the bearing seat is provided with a bearing hole, and the shaft of the omnidirectional wheel passes through the bearing hole and is connected with the shaft of the motor. The robot driving platform of the utility model can perform linear motion in any direction without prior rotary motion, and the whole platform has good balance performance.
Description
技术领域 technical field
本实用新型属于工业机器人技术领域,具体是涉及一种全向轮驱动的机器人驱动平台。 The utility model belongs to the technical field of industrial robots, in particular to a robot driving platform driven by omnidirectional wheels.
背景技术 Background technique
目前的机器人多采用双定向轮加一个万向轮的驱动平台,机器人驱动平台主要包括两个电机、两个定向轮和一个万向轮,电机的轴与定向轮相连,并通过支架固定在底盘上,万向轮固定在底盘上,两个电机作为动力驱动两个定向轮前进或后退,由于万向轮无动力,转弯时主要依靠两个定向轮之间的速度差来实现。 The current robots mostly use a driving platform with double directional wheels and one universal wheel. The robot driving platform mainly includes two motors, two directional wheels and one universal wheel. The shaft of the motor is connected with the directional wheel and fixed on the chassis by a bracket In the above, the universal wheel is fixed on the chassis, and two motors are used as power to drive the two directional wheels forward or backward. Since the universal wheel has no power, turning is mainly achieved by the speed difference between the two directional wheels.
上述驱动平台能够实现前后运动,但无法实现左右运动以及以自身中心为圆点的旋转,且使用万向轮控制方向时易受行驶道路状况的影响,制动性能也会受影响,同时无法横向运动,由于万向轮本身没有动力,运动时容易左右摇摆,进而影响到整个平台的平稳性。 The above-mentioned driving platform can realize forward and backward movement, but cannot realize left and right movement and rotation around its own center, and when using universal wheels to control the direction, it is easily affected by the driving road conditions, and the braking performance will also be affected. At the same time, it cannot Movement, since the universal wheel itself has no power, it is easy to swing from side to side during movement, which in turn affects the stability of the entire platform.
发明内容 Contents of the invention
本实用新型的目的在于克服现有技术的不足,提供一种结构更加优化、灵活、具有良好平衡性能的新型机器人驱动平台,本实用新型解决其技术问题采用的技术方案为: The purpose of this utility model is to overcome the deficiencies of the prior art, and provide a new type of robot drive platform with a more optimized structure, flexibility, and good balance performance. The technical solution adopted by this utility model to solve its technical problems is as follows:
一种全向轮驱动的机器人驱动平台,由电机、全向轮以及底盘组成,关键是,所述电机和全向轮各3组,电机通过支架固定在底盘上,全向轮通过轴承座固定在底盘上,轴承座上设有轴承孔,全向轮的轴穿过轴承孔与电机的轴联接。 A robot driving platform driven by omnidirectional wheels, which is composed of motors, omnidirectional wheels and a chassis. The key point is that the motors and omnidirectional wheels each have 3 groups, the motors are fixed on the chassis through brackets, and the omnidirectional wheels are fixed through bearing seats. On the chassis, the bearing seat is provided with a bearing hole, and the shaft of the omnidirectional wheel passes through the bearing hole and is connected with the shaft of the motor.
本实用新型进一步的技术方案还包括: Further technical solutions of the utility model also include:
所述3组电机对称设置,3组电机互成120°角。 The three groups of motors are arranged symmetrically, and the three groups of motors form an angle of 120° with each other.
所述支架和轴承座都是通过螺钉固定在底盘上的。 Both the bracket and the bearing seat are fixed on the chassis by screws.
与现有技术相比,本实用新型的有益技术效果为:本实用新型的全向轮驱动平台运动控制方式不存在非完整约束,它可以向任意方向做直线运动而不需要事先作旋转运动,并且在以直线运动到达目标点的过程中同时可以做自身旋转运动调整机器人的姿态,从而达到终态所需的姿态角度,整个平台自身的重量通过三个轴承座均匀的传递到底盘上,使平台具有良好的平衡性能。 Compared with the prior art, the beneficial technical effects of the utility model are: the motion control mode of the omnidirectional wheel drive platform of the utility model does not have non-holonomic constraints, and it can perform linear motion in any direction without prior rotational motion, And in the process of reaching the target point with linear motion, it can also adjust the posture of the robot by its own rotation motion, so as to achieve the desired posture angle of the final state. The weight of the entire platform itself is evenly transmitted to the chassis through the three bearing seats, so that The platform has good balance performance.
附图说明 Description of drawings
图1为现有机器人驱动平台的结构示意图; Fig. 1 is the structural representation of existing robot drive platform;
图2为本实用新型全向轮驱动的机器人驱动平台的结构示意图; Fig. 2 is the structural schematic diagram of the robot driving platform driven by omnidirectional wheels of the present invention;
其中,1-电机;2-支架;3-全向轮;4-轴承座;5-底盘;6-定向轮;7-万向轮。 Among them, 1-motor; 2-bracket; 3-omnidirectional wheel; 4-bearing seat; 5-chassis; 6-directional wheel; 7-universal wheel.
具体实施方式 detailed description
下面将结合附图,进一步详细说明本实用新型的具体实施方式。 The specific embodiment of the utility model will be described in further detail below in conjunction with the accompanying drawings.
请参阅图1,图1为目前市面上比较常见的机器人驱动平台,其结构主要包括两个电机、两个定向轮和一个万向轮。电机的轴与定向轮相连,并通过支架固定在底盘上,万向轮固定在底盘上,两个电机作为动力驱动两个定向轮前进或后退,转弯时主要依靠两个定向轮之间的速度差来实现,左边的定向轮速度大于右边定向轮时,机器人驱动平台向右转弯,右边的定向轮速度大于左边定向轮时,机器人驱动平台则向左转弯。万向轮作为从动轮,由于无动力,运动时容易左右摇摆,会影响整个平台的平稳性。 Please refer to Figure 1. Figure 1 is a relatively common robot drive platform currently on the market. Its structure mainly includes two motors, two directional wheels and one universal wheel. The shaft of the motor is connected to the directional wheel and fixed on the chassis through a bracket. The universal wheel is fixed on the chassis. The two motors are used as power to drive the two directional wheels forward or backward. When turning, it mainly depends on the speed between the two directional wheels. When the speed of the left directional wheel is greater than that of the right directional wheel, the robot drives the platform to turn right, and when the speed of the right directional wheel is greater than that of the left directional wheel, the robot drives the platform to turn left. As a driven wheel, the universal wheel is easy to swing from side to side due to no power, which will affect the stability of the entire platform.
请参阅图2,图2为本实用新型的机器人驱动平台结构示意图,本实用新型的机器人驱动平台由电机、全向轮以及底盘组成,其中电机和全向轮各有3组,电机通过支架固定在底盘上,全向轮通过轴承座固定在底盘上,轴承座上设有轴承孔,全向轮的轴穿过轴承孔与电机的轴联接。 Please refer to Fig. 2, Fig. 2 is the structural schematic diagram of the robot driving platform of the present utility model, the robot driving platform of the present utility model is made up of motor, omnidirectional wheel and chassis, wherein motor and omnidirectional wheel respectively have 3 groups, and motor is fixed by bracket On the chassis, the omnidirectional wheel is fixed on the chassis through a bearing seat, the bearing seat is provided with a bearing hole, and the shaft of the omnidirectional wheel passes through the bearing hole and is connected with the shaft of the motor.
本实用新型机器人驱动平台的3组电机和全向轮组合成等边三角形分布在底盘上,3组电机和全向轮之间互成120°夹角,这种三角形结构可以保证整个驱动平台以3组电机环绕的轴心为中心做自身旋转运动,可以配合机器人驱动平台直线运动到达目标点的过程中调整机器人的姿态,从而达到终态所需的姿态角度。本实用新型机器人驱动平台的3组全向轮通过电机直接供电,因此可以保证整个驱动平台在运行过程中的稳定性。本实用新型的支架和轴承座都是通过螺钉固定在底盘上的,起固定作用。 The 3 groups of motors and the omnidirectional wheels of the robot driving platform of the utility model are combined into an equilateral triangle and distributed on the chassis, and the 3 groups of motors and the omnidirectional wheels form an included angle of 120° with each other. This triangular structure can ensure that the entire driving platform can The three sets of motors revolve around the axis as the center to perform self-rotating motion, which can adjust the attitude of the robot during the linear motion of the robot-driven platform to reach the target point, so as to achieve the required attitude angle for the final state. The three sets of omnidirectional wheels of the robot driving platform of the utility model are directly powered by the motor, so the stability of the entire driving platform during operation can be guaranteed. Both the support and the bearing seat of the utility model are fixed on the chassis by screws to play a fixing role.
本实用新型的机器人驱动平台结构优化、灵活,可以向任意方向做直线运动,整个平台自身的重量通过三个轴承座均匀的传递到底盘上,使平台具有良好的平衡性能。 The structure of the robot-driven platform of the utility model is optimized and flexible, and it can move linearly in any direction. The weight of the entire platform is evenly transmitted to the chassis through three bearing seats, so that the platform has good balance performance.
以上仅为本实用新型的较佳实施例,并不用以限制本实用新型,本实用新型的保护范围以所附权利要求为准,其他凡其结构和原理与本实用新型相同或者相似的,均应包含在本实用新型的保护范围之内。 The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. The scope of protection of the present utility model is based on the appended claims. Others whose structures and principles are the same or similar to those of the present utility model, all Should be included in the scope of protection of the present utility model.
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106078671A (en) * | 2016-07-18 | 2016-11-09 | 山西迪迈沃科光电工业有限公司 | A kind of intelligent robot omnidirectional driving means |
CN111874123A (en) * | 2020-08-22 | 2020-11-03 | 浙江工业大学 | A high-load mobile platform that can be steered in place |
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2015
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106078671A (en) * | 2016-07-18 | 2016-11-09 | 山西迪迈沃科光电工业有限公司 | A kind of intelligent robot omnidirectional driving means |
CN111874123A (en) * | 2020-08-22 | 2020-11-03 | 浙江工业大学 | A high-load mobile platform that can be steered in place |
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Address after: 518000 Shenzhen, Futian District, Shennan Road and the junction of agricultural road, northeast side of Times Technology Building, floor, floor, 20, Guangdong Patentee after: QIHAN TECHNOLOGY Co.,Ltd. Address before: 518000 Shenzhen, Futian District, Shennan Road and the junction of agricultural road, northeast side of Times Technology Building, floor, floor, 20, Guangdong Patentee before: Qihan Technology Co.,Ltd. |
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Effective date of registration: 20190613 Address after: 518055 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Patentee after: Shenzhen Sanbao Innovation Intelligence Co.,Ltd. Address before: 518000 20th Floor of Times Science and Technology Building on the Northeast Side of the Junction of Shennan Avenue and Nongyuan Road, Futian District, Shenzhen City, Guangdong Province Patentee before: QIHAN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20200515 Address after: Room 2803, building T2, Shenye Shangcheng (South District), No. 5001, Huanggang Road, Lianhua village, Huafu street, Futian District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Sanbao innovation robot Co.,Ltd. Address before: 518055 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Patentee before: Shenzhen Sanbao Innovation Intelligence Co.,Ltd. |
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