A full-exposed high-heeled foot humanoid robot mobile chassis structure

Abstract

The application discloses a full-exposed high-heel foot humanoid robot moving chassis structure and belongs to the field of humanoid robots. The chassis structure comprises an outer shell, a chassis heavy disc is fixedly installed at the bottom of the outer shell, universal wheels are fixedly installed at the four corners of the bottom of the chassis heavy disc, an overhang is rotationally connected to the chassis heavy disc through a first hinge, drive wheels are arranged at the two sides of the inside of the outer shell, the drive wheel comprises a ring wheel and a motor arranged in the ring wheel, the drive wheel is rotationally driven by the corresponding motor, the output end of the motor is fixedly connected with a fixed shaft, one end of the fixed shaft is rotationally connected to the overhang through a bearing seat, and the stable structure design of the outer shell material, the reasonable configuration of the two drive motors and the four 4-inch universal wheels and the structure design of the setting of the outer shell, the universal wheels and the drive wheels enable the chassis to stably walk on the ground, to perform various actions and performances and to balance on the slope.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a fully exposed high-heeled humanoid robot mobile chassis structure. Background Technology

[0002] A robot is a common term for an automated machine, a machine created by mimicking the thoughts and actions of humans or other living beings. With the rapid development of the fields of mechanics and bionics, the design and manufacturing levels of robots are becoming increasingly sophisticated, enabling them to be widely used in various fields to replace humans in performing many tasks.

[0003] Currently, humanoid robots, especially those with high heels, place extremely high demands on the dynamic stability, terrain adaptability, and movement flexibility of mobile chassis. Most existing wheeled mobile chassis adopt simple two-wheel or four-wheel structures, which often result in a high center of gravity and a tendency to lose balance or even tip over when crossing bumps, going uphill, going downhill, or turning at high speed. Summary of the Invention

[0004] The purpose of this invention is to address the problem that most existing wheeled mobile chassis adopt a simple two-wheel or four-wheel structure, which often results in a high center of gravity and makes the machine prone to loss of balance or even tipping over when crossing bumps, going uphill, going downhill, or turning at high speed. Therefore, this invention proposes a fully exposed high-heeled humanoid robot mobile chassis structure.

[0005] To achieve the above objectives, the present invention employs the following technology: a fully exposed high-heeled humanoid robot mobile chassis structure, comprising an outer shell, a chassis weight plate fixedly installed at the bottom of the outer shell, universal wheels fixedly installed at the four corners of the bottom of the chassis weight plate, a cantilever rotatably connected to the chassis weight plate via a first hinge, and drive wheels provided on both sides inside the outer shell. The drive wheel includes an annular wheel and a motor disposed within the annular wheel. The drive wheel is driven to rotate by a corresponding motor. The output end of the motor is fixedly connected to a fixed shaft, and one end of the fixed shaft is rotatably connected to the cantilever via a bearing seat.

[0006] As a further description of the above technical solution: a damping shock absorber is rotatably connected to the cantilever via a second hinge, and the other end of the damping shock absorber is rotatably mounted on the housing via the second hinge.

[0007] As a further description of the above technical solution: a battery module is provided in the middle of the bottom of the chassis heavy plate, and counterweights are installed on both sides of the bottom of the chassis heavy plate, with the two counterweights symmetrically distributed on both sides of the battery module.

[0008] As a further description of the above technical solution: a power controller is fixedly installed on the chassis load cell.

[0009] As a further description of the above technical solution: a support plate is fixedly connected to the top of the outer shell, a top camera is fixedly installed on the top of the support plate, and a bottom camera is fixedly installed in the middle of the front of the outer shell.

[0010] As a further description of the above technical solution: a lidar is provided at the front of the top of the housing, ultrasonic sensors are provided on both sides of the front of the housing, and a charging pile is installed at the rear of the housing.

[0011] As a further description of the above technical solution: the two drive wheels are arranged symmetrically with parallel intervals.

[0012] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: Through the design of the outer shell, casters, and drive wheels, the stable structural design of the outer shell material, and the reasonable configuration of two drive motors and four casters, the chassis can achieve balanced and stable movement over bumps, uphill and downhill, allowing it to perform various actions and shows like a human. Moreover, the noise of the drive motors is kept below 60 decibels. Attached Figure Description

[0013] Figure 1 A schematic diagram of the overall structure provided according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the overall left-side view structure provided according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the chassis bottom structure provided according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the chassis rear view provided according to an embodiment of the present invention is shown; Figure 5 A top view of the chassis structure provided according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of a cantilever structure provided according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the drive wheel provided according to an embodiment of the present invention is shown.

[0014] Legend: 1. Outer shell; 11. Support plate; 12. Top camera; 13. Bottom camera; 2. Chassis heavy plate; 21. Battery module; 22. Counterweight; 3. Casters; 4. Cantilever; 5. Drive wheel; 51. Ring wheel; 52. Motor; 53. Fixed shaft; 6. Damping shock absorber; 7. Power controller; 8. LiDAR; 9. Ultrasonic sensor; 10. Charging pile. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Reference Figures 1-7 This embodiment provides a fully exposed high-heeled humanoid robot mobile chassis structure, including an outer shell 1. A chassis weight plate 2 is fixedly installed at the bottom of the outer shell 1, effectively lowering the overall center of gravity and enhancing the ground contact and stability of the chassis during high-speed movement or turning. Universal wheels 3 are fixedly installed at the four corners of the bottom of the chassis weight plate 2. A cantilever 4 is rotatably connected to the chassis weight plate 2 via a first hinge. A power controller 7 is fixedly installed on the chassis weight plate 2, responsible for the charging and discharging management of the battery module 21, voltage conversion, and power distribution to various power-consuming units such as motors. Its close proximity to the chassis facilitates heat dissipation and shortens the power wiring harness. Drive wheels 5 are provided on both sides inside the outer shell 1, with two drive wheels 5 arranged symmetrically at parallel intervals. The outer shell 1 is made of high-toughness, high-temperature resistant 777ABS material, and the interior adopts a high-strength 304 stainless steel structure with an ultra-low structural design, providing reliable protection for internal components and preventing external impact, high temperature, or dust intrusion. At the same time, the low center of gravity design reduces the overall height of the robot, improving its anti-tipping ability and dynamic stability during movement. The drive wheel 5 includes a ring wheel 51 and a motor 52 disposed within the ring wheel 51. The drive wheel 5 is driven to rotate by the corresponding motor 52. The motor 52 directly drives the ring wheel 51 to rotate, providing the robot with the power for forward, backward and differential steering. The output end of the motor 52 is fixedly connected to a fixed shaft 53. One end of the fixed shaft 53 is rotatably connected to the cantilever 4 through a bearing seat. The fixed shaft 53 is connected to the cantilever 4 through the bearing seat to ensure that the drive wheel 5 can still output torque stably during the swinging process.

[0017] Among them, four omnidirectional wheels 3 are installed at the four corners of the bottom of the chassis heavy plate 2, which serve as auxiliary support and follow-up steering functions. They are used in conjunction with the drive wheels 5. The omnidirectional wheels 3 can reduce the frictional resistance between the chassis and the ground and realize omnidirectional movement. They are especially beneficial for the robot to turn flexibly in narrow spaces, and can easily complete the tasks of going over obstacles, going uphill and downhill, walking in a balanced and stable manner, and performing various actions and performances like a human.

[0018] Specifically, such as Figure 1 and Figure 4As shown, a battery module 21 is provided in the middle of the bottom of the chassis weight plate 2, and counterweights 22 are installed on both sides of the bottom of the chassis weight plate 2, with the two counterweights 22 symmetrically distributed on both sides of the battery module 21.

[0019] The battery module 21 provides power to the whole machine and is centrally located at the bottom of the chassis weight plate 2. This helps to balance the weight distribution on the left and right sides, shorten the power supply line length, and reduce energy loss. The counterweights 22, which are symmetrically installed on both sides of the battery module 21, are used to adjust the front-back and left-right center of gravity of the whole machine to ensure the stability of the robot's posture when carrying a load or going up and down slopes, and to prevent it from tipping over or tilting forward.

[0020] Specifically, such as Figure 1 and Figure 2 As shown, a damping shock absorber 6 is rotatably connected to the cantilever 4 via a second hinge, and the other end of the damping shock absorber 6 is rotatably mounted on the housing 1 via the second hinge.

[0021] When the mobile chassis encounters uneven road surfaces, the cantilever 4 swings up and down, and the damping shock absorber 6 absorbs and dissipates the vibration energy, while limiting the swing amplitude of the cantilever 4, thereby significantly reducing the impact and bumps transmitted from the chassis to the outer shell 1.

[0022] Specifically, such as Figure 1 and Figure 2 As shown, a support plate 11 is fixedly connected to the top of the outer shell 1, a top camera 12 is fixedly installed on the top of the support plate 11, a bottom camera 13 is fixedly installed in the middle of the front of the outer shell 1, and a charging pile 10 is installed at the rear of the outer shell 1 for docking with an external charging station to realize the automatic recharging function.

[0023] The top camera 12 provides a top-down view, which helps the robot identify obstacles and markers in the environment or perform visual navigation. The bottom camera 13 can detect ground conditions (such as edges, steps, and ground textures) at close range, assisting the chassis in making obstacle crossing or obstacle avoidance decisions.

[0024] Specifically, such as Figure 1 As shown, a lidar 8 is provided on the front of the top of the outer casing 1, and ultrasonic sensors 9 are provided on both sides of the front of the outer casing 1.

[0025] The lidar 8, located at the top front of the outer shell 1, identifies obstacles on the ground at a 270-degree angle. An ultrasonic wave 9 is installed on each of the left and right sides to complement the lidar 8. The ultrasonic wave 9 can penetrate transparent or highly reflective objects (such as glass and mirrors), making up for the blind spots of optical sensors and improving the robot's collision avoidance reliability.

[0026] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully exposed high-heeled humanoid robot mobile chassis structure, comprising a shell (1), characterized in that, The bottom of the outer shell (1) is fixedly installed with a chassis weight plate (2), and universal wheels (3) are fixedly installed at the four corners of the bottom of the chassis weight plate (2). A cantilever (4) is rotatably connected to the chassis weight plate (2) through a first hinge. Drive wheels (5) are provided on both sides inside the outer shell (1). The drive wheel (5) includes an annular wheel (51) and a motor (52) disposed in the annular wheel (51). The drive wheel (5) is driven to rotate by the corresponding motor (52). The output end of the motor (52) is fixedly connected to a fixed shaft (53). One end of the fixed shaft (53) is rotatably connected to the cantilever (4) through a bearing seat.

2. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, A damping shock absorber (6) is rotatably connected to the cantilever (4) via a second hinge, and the other end of the damping shock absorber (6) is rotatably mounted on the outer shell (1) via a second hinge.

3. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, A battery module (21) is provided in the middle of the bottom of the chassis weight plate (2), and counterweights (22) are installed on both sides of the bottom of the chassis weight plate (2), with the two counterweights (22) symmetrically distributed on both sides of the battery module (21).

4. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, A power controller (7) is fixedly installed on the chassis weight plate (2).

5. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, A support plate (11) is fixedly connected to the top of the outer shell (1), a top camera (12) is fixedly installed on the top of the support plate (11), and a bottom camera (13) is fixedly installed in the middle of the front of the outer shell (1).

6. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, A laser radar (8) is provided on the front of the top of the outer shell (1), ultrasonic waves (9) are provided on both sides of the front of the outer shell (1), and a charging pile (10) is provided on the rear of the outer shell (1).

7. The fully exposed high-heeled humanoid robot mobile chassis structure according to claim 1, characterized in that, The two drive wheels (5) are arranged symmetrically at parallel intervals.

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