Wheel type walking chassis device for intelligent robot autonomous navigation

Abstract

The application discloses a wheeled walking chassis device for autonomous navigation of an intelligent robot, and relates to the field of robots.The technical scheme is as follows: the device comprises a chassis body, an outer frame fixedly installed inside the chassis body, and an inner frame fixedly installed inside the outer frame, the outer frame is provided with sliding plates on the front and back sides, a plurality of through grooves a are formed on the front and back sides of the outer frame, and a plurality of through grooves b corresponding to the through grooves a are formed on the surface of the sliding plates.The beneficial effects of the application are as follows: through the relative sliding cooperation of the sliding plates and the outer frame, stepless adjustment of the ventilation volume is realized, the ventilation capacity of the battery compartment can be flexibly adjusted according to actual heat dissipation requirements, and the forced ventilation heat dissipation requirements under high-temperature working conditions and the heat preservation and dust prevention requirements under low-temperature working conditions are taken into account; meanwhile, the push block fixed in the through groove a actively scrapes and cleans the inner wall of the through groove b during the movement of the sliding plate, and long-term blockage of the ventilation hole is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a wheeled chassis device for autonomous navigation of intelligent robots. Background Technology

[0002] With the rapid development of artificial intelligence and automation technology, intelligent robots have been widely used in many fields such as industrial production, logistics and distribution, security inspection, and home services. As the core mobile platform of intelligent robots, the autonomous navigation wheeled chassis carries key components such as battery modules, control systems, and sensors. The rationality of its structural design directly affects the robot's operational stability, endurance, and service life. Currently, wheeled chassis typically have a battery compartment to house battery modules. However, existing battery compartment structures generally have the following shortcomings: First, the ventilation and heat dissipation structures of the battery compartment are mostly fixed designs, and the opening of the vents cannot be dynamically adjusted according to the actual operating temperature of the battery. This results in insufficient heat dissipation capacity under high-load discharge or high-temperature environments, while in low-temperature environments or under light-load conditions, it cannot be effectively sealed, leading to heat loss or excessive intrusion of external cold air, which affects the charging and discharging efficiency and cycle life of the battery. Second, dust filters are usually installed at the vents of the battery compartment. After long-term use, the filters are prone to dust accumulation and blockage, requiring regular manual disassembly and cleaning. This high maintenance frequency and inconvenient operation, coupled with neglect of cleaning, leads to increased ventilation resistance and a significant decrease in heat dissipation performance.

[0003] Therefore, it is necessary to invent a wheeled chassis device for intelligent robot autonomous navigation. Summary of the Invention

[0004] Therefore, the present invention provides a wheeled chassis device for autonomous navigation of intelligent robots to solve the problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a wheeled walking chassis device for autonomous navigation of an intelligent robot, comprising a chassis body, an outer frame fixedly installed inside the chassis body, and an inner frame fixedly installed inside the outer frame. Sliding plates are provided on the front and rear sides of the outer frame, and several through slots a are opened on the front and rear sides of the outer frame. Several through slots b corresponding to through slots a are opened on the surface of the sliding plates. A base plate is fixedly connected to the bottom of each of the two sliding plates. A motor is fixedly connected to the bottom of the outer frame, and a screw is fixedly connected to the output shaft of the motor. A protrusion is fixedly connected to the bottom of the base plate, and the screw passes through the protrusion and is threadedly connected to the protrusion. A fan is fixedly embedded in the bottom of the outer frame, and a filter is fixedly embedded in the bottom of the fan. A cleaning brush is rotatably connected to the bottom of the filter, and a gear a is fixedly connected to the bottom of the cleaning brush. A rack is provided in the bottom of the base plate, and an amplification and speed-changing assembly is provided on one side of the rack. A protective plate fixedly connected to the chassis body is provided at the bottom of the amplification and speed-changing assembly. The amplification and speed-changing assembly is drively connected to the rack and gear a, and the slow movement of the rack drives the amplification and speed-changing assembly to drive the gear a to rotate at high speed.

[0006] Preferably, the amplification and speed change assembly includes a gear b meshing with the rear side of gear a, a gear c meshing with the rear side of gear b, a gear d fixedly connected to the top of gear c, and gear d meshing with a rack. The gear ratio of gear a, gear b, gear c and gear d is 1:1:10:1.

[0007] Preferably, the bottoms of gears a, b, and c are all rotatably connected to the protective plate.

[0008] Preferably, the bottom of the outer frame has two symmetrically distributed sliding grooves, and the top of the base plate is fixedly connected to two slide rails that are adapted to the sliding grooves. The cross-sectional shape of the sliding grooves and slide rails is T-shaped.

[0009] Preferably, a lever is fixedly connected inside the through groove a, and the lever passes through the through groove b.

[0010] Preferably, multiple spring shock absorbers are fixedly connected to both sides of the inner frame, and a honeycomb aluminum energy-absorbing box is fixedly connected to the end of the spring shock absorber away from the inner frame. The opposite sides of the two honeycomb aluminum energy-absorbing boxes are fixedly connected to the outer frame.

[0011] Preferably, a cover plate is provided on the top of the outer frame, and the cover plate is detachably fixed to the outer frame by bolts. A pressure plate adapted to the inner frame is fixedly connected inside the cover plate, and a spiral-shaped heat-conducting sheet is fixedly embedded inside both the pressure plate and the cover plate.

[0012] Preferably, the bottom of the inner frame is hollowed out, and breathable mesh is fixedly connected to both the front and rear sides of the inner frame.

[0013] The beneficial effects of this invention are: This invention achieves stepless adjustment of ventilation volume through the relative sliding cooperation between the sliding plate and the outer frame, allowing the ventilation capacity of the battery compartment to be flexibly adjusted according to actual heat dissipation needs, taking into account both the forced ventilation and heat dissipation requirements under high-temperature conditions and the heat preservation and dust prevention requirements under low-temperature conditions. At the same time, the paddle fixed in the channel a actively scrapes and cleans the inner wall of the channel b during the movement of the sliding plate, effectively avoiding long-term blockage of the ventilation holes and ensuring the long-term unobstructed heat dissipation channel. Furthermore, the rack and the amplified speed-changing component with a tooth ratio of 1:1:10:1 work together to transform the slow movement of the rack when the sliding plate position is adjusted into the high-speed rotation of the cleaning brush, which automatically cleans the filter screen simultaneously during each adjustment of ventilation volume, without the need for an additional cleaning drive source. This achieves the linkage and integration of adjustment and cleaning, taking into account both structural compactness and functional integration. This invention employs a two-stage buffer energy absorption structure consisting of a honeycomb aluminum energy-absorbing box and a spring shock absorber. In the event of an accidental collision or severe impact, this structure sequentially absorbs and attenuates the impact kinetic energy, effectively protecting the battery module from damage and significantly improving the passive safety performance of the chassis equipment in complex driving environments. Simultaneously, the conductive heat dissipation of the vortex-shaped heat-conducting sheet and the forced convection heat dissipation of the fan work together to form a dual heat dissipation system. The heat-conducting sheet uses highly thermally conductive materials to continuously conduct and dissipate the battery's operating heat, while the fan provides forced air cooling through the unobstructed flow channels formed by the perforated bottom and the ventilated mesh. The two systems complement each other under different operating conditions, ensuring that the battery module always operates within a suitable temperature range, thereby extending battery life and improving the overall operational reliability of the device. Attached Figure Description

[0014] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0015] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 An exploded view of the overall structure provided for this invention; Figure 3 This is a schematic diagram of the internal structure of the chassis body provided by the present invention; Figure 4 Provided by the present invention Figure 3 The exploded view of the overall structure shown; Figure 5 A perspective view of the outer frame structure is provided for this invention; Figure 6 This is a schematic diagram of the sliding plate and base plate structure provided by the present invention; Figure 7 A schematic diagram of the cover plate structure is provided for this invention.

[0017] In the diagram: 1. Chassis body, 2. Outer frame, 3. Inner frame, 4. Sliding plate, 5. Base plate, 6. Motor, 7. Screw, 8. Protrusion, 9. Fan, 10. Filter, 11. Cleaning brush, 12. Gear a, 13. Rack, 14. Protective plate, 15. Gear b, 16. Gear c, 17. Gear d, 18. Slide rail, 19. Pulley, 20. Spring shock absorber, 21. Honeycomb aluminum energy-absorbing box, 22. Cover plate, 23. Pressure plate, 24. Heat-conducting sheet, 25. Breathable mesh. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] See attached document Figure 1 - Appendix Figure 7 This invention provides a wheeled chassis device for autonomous navigation of intelligent robots, comprising a chassis body 1, an outer frame 2 fixedly installed inside the chassis body 1, and an inner frame 3 fixedly installed inside the outer frame 2. Sliding plates 4 are provided on the front and rear sides of the outer frame 2, and several through slots a201 are formed on the front and rear sides of the outer frame 2. Several through slots b401 corresponding to the through slots a201 are formed on the surface of the sliding plates 4. A base plate 5 is fixedly connected to the bottom of each sliding plate 4. A motor 6 is fixedly connected to the bottom of the outer frame 2, and a screw 7 is fixedly connected to the output shaft of the motor 6. A protrusion 8 is fixedly connected to the bottom of the base plate 5. Rod 7 passes through protrusion 8 and is threadedly connected to protrusion 8. Fan 9 is fixedly embedded at the bottom of outer frame 2. Filter 10 is fixedly embedded at the bottom of fan 9. Cleaning brush 11 is rotatably connected to the bottom of filter 10. Gear a12 is fixedly connected to the bottom of cleaning brush 11. Rack 13 is set at the bottom of base plate 5. Amplification and speed change assembly is set on one side of rack 13. Protective plate 14 is fixedly connected to chassis body 1 at the bottom of amplification and speed change assembly. Amplification and speed change assembly is connected to rack 13 and gear a12. The slow movement of rack 13 drives amplification and speed change assembly to drive gear a12 to rotate at high speed. In practical use, the inner frame 3 is used to install the battery module. When the robot detects that the battery module is getting hot, it can control the motor 6 to work and drive the sliding plate 4 to move, thereby adjusting the overlapping area of ​​the through slot a201 and through slot b401 and thus adjusting the overall size of the through slot to achieve heat dissipation functions with different efficiencies.

[0020] To achieve the purpose of speed change, the device adopts the following technical solution: The amplification speed change component includes a gear b15 meshing with the rear side of gear a12, a gear c16 meshing with the rear side of gear b15, a gear d17 fixedly connected to the top of gear c16, and gear d17 meshing with rack 13. The gear ratio of gears a12, b15, c16 and d17 is 1:1:10:1. The bottoms of gears a12, b15 and c16 are rotatably connected to the protective plate 14. When the sliding plate 4 moves on the outer frame 2, it drives the rack 13 to move, which can drive gear a12 and cleaning brush 11 to rotate at high speed through the amplification speed change component. That is, a slight movement of the sliding plate 4 can realize the rapid rotation of gear a12 to clean the filter screen 10 at the bottom of the fan 9. Each adjustment of the position of the sliding plate 4 can complete one cleaning of the filter screen 10.

[0021] In order to achieve the purpose of smooth movement of the base plate 5 and the sliding plate 4, the device adopts the following technical solution: two symmetrically distributed sliding grooves are opened at the bottom of the outer frame 2, and two sliding rails 18 adapted to the sliding grooves are fixedly connected to the top of the base plate 5. The cross-sectional shape of the sliding grooves and the sliding rails 18 are both set as T-shaped. Through the T-shaped sliding rail design, it is ensured that the sliding rails 18 move smoothly inside the sliding grooves, thereby driving the base plate 5 and the sliding plate 4 to move smoothly. In order to achieve the purpose of automatically cleaning the through groove b401 inside the sliding plate 4 when the sliding plate 4 moves, the device adopts the following technical solution: a lever 19 is fixedly connected inside the through groove a201, and the lever 19 passes through the through groove b401; when the sliding plate 4 moves, the lever 19 will move relative to the through groove b401, thereby cleaning the impurities such as lint that may adhere inside the through groove b401, and ensuring the normal ventilation effect of the through groove b401.

[0022] To protect the battery, the device employs the following technical solution: multiple spring shock absorbers 20 are fixedly connected to both sides of the inner frame 3, and a honeycomb aluminum energy-absorbing box 21 is fixedly connected to the end of the spring shock absorber 20 away from the inner frame 3. The opposite sides of the two honeycomb aluminum energy-absorbing boxes 21 are fixedly connected to the outer frame 2. Through the design of the honeycomb aluminum energy-absorbing box 21 and the spring shock absorber 20, in the event of an accidental collision, the honeycomb aluminum energy-absorbing box 21 and the spring shock absorber 20 can effectively absorb the kinetic energy generated by the collision, preventing the collision from directly affecting the battery module inside the inner frame 3.

[0023] To achieve stable installation of the battery module inside the inner frame 3, the device employs the following technical solution: a cover plate 22 is provided on the top of the outer frame 2, and the cover plate 22 is detachably fixed to the outer frame 2 by bolts. A pressure plate 23 adapted to the inner frame 3 is fixedly connected inside the cover plate 22. Both the pressure plate 23 and the cover plate 22 are fixedly embedded with spiral-shaped heat-conducting sheets 24. The battery module is locked by the cover plate 22 and the pressure plate 23, and the heat-conducting sheets 24 provide auxiliary heat dissipation for the battery module.

[0024] In order to achieve smooth air circulation inside the inner frame 3, the device adopts the following technical solution: the bottom of the inner frame 3 is set to be hollow, and breathable mesh 25 is fixedly connected to both the front and rear sides of the inner frame 3.

[0025] The usage process of this invention is as follows: When the motor 6 is powered on, the screw 7 rotates, driving the protrusion 8 to move axially along the screw 7. Since the base plate 5 slides against the T-shaped groove at the bottom of the outer frame 2 via the T-shaped slide rail 18 at the top, the base plate 5 and the sliding plate 4 fixedly connected above it reciprocate linearly relative to the outer frame 2. The T-shaped slide rail 18 and the groove ensure the smoothness and guiding accuracy of the sliding plate 4 during movement, preventing skewing. When the sliding plate 4 moves, the relative position between the through groove b401 on its surface and the through groove a201 on the surface of the outer frame 2 changes, and the overlapping area of ​​the two changes accordingly, thereby realizing continuous stepless adjustment of the ventilation volume of the outer frame 2. When a larger heat dissipation air volume is required, the motor 6 drives the sliding plate 4 to make the through groove a201 and the through groove b401 completely overlap, obtaining the maximum ventilation area. When it is necessary to reduce heat dissipation or prevent excessive intrusion of cold air from the outside, the sliding plate 4 moves to a position where the two through grooves are partially or completely offset, and the ventilation volume is reduced accordingly. During the entire process of the sliding plate 4 moving, the lever 19 fixed inside the through groove a201 always passes through the through groove b401. The lever 19 slides relative to the sliding plate 4 in the through groove b401, actively scraping away lint, dust and other debris that may be attached to the inner wall of the through groove b401, ensuring that the through groove b401 remains unobstructed after long-term use. As the sliding plate 4 moves, the rack 13, fixedly connected to the bottom of the base plate 5, moves synchronously with the base plate 5. This movement is introduced into the amplified transmission assembly. The rack 13 meshes with gear d17, converting the linear motion of the rack 13 into the rotational motion of gear d17. Gear d17 and gear c16 are coaxially fixedly connected and rotate synchronously. Gear c16 meshes with gear b15, which in turn meshes with gear a12, forming a three-stage gear transmission chain. Since the gear ratio of gears a12, b15, c16, and d17 is set to 1:1:10:1, when the rack 13 moves a small distance, gears d17 and c16 rotate a small angle. After the gear ratio of 10:1 between gear C16 and gear B15 is amplified, the rotation angle of gear B15 is amplified to 10 times that of gear C16. Gear A12 rotates synchronously with gear B15, so gear A12 eventually obtains a speed much higher than that of gear D17. The cleaning brush 11 is fixedly connected to the bottom of gear A12 and rotates at high speed with gear A12. The bristles of the cleaning brush 11 continuously sweep the lower surface of the filter screen 10, brushing off the dust particles adsorbed on the filter screen 10, realizing online automatic cleaning of the filter screen 10. Each time the position of the sliding plate 4 is adjusted, the rack 13 moves a certain distance, thus completing a cleaning action of the filter screen 10 synchronously. The entire cleaning process does not require an additional independent drive source. In terms of heat dissipation, this invention employs a combination of conductive and convective heat dissipation. After the cover plate 22 at the top of the outer frame 2 is closed, the pressure plate 23 inside it abuts against the top of the battery module in the inner frame 3, positioning and limiting the battery module. Both the pressure plate 23 and the cover plate 22 are embedded with spiral-shaped heat-conducting sheets 24. The heat generated by the battery module during operation is transferred to the pressure plate 23 through the heat conduction path, and then conducted through the heat-conducting sheets 24 in the pressure plate 23 to the heat-conducting sheets 24 in the cover plate 22. Finally, it is dissipated to the outside from the surface of the cover plate 22. The spiral-shaped structure increases the total length of the heat conduction path within a limited planar area, which is conducive to the rapid diffusion of heat along the heat-conducting sheets 24, improving the efficiency of conductive heat dissipation. The fan 9 is fixedly embedded in the bottom of the outer frame 2. The bottom of the inner frame 3 is hollowed out. The front and rear sides of the inner frame 3 are provided with ventilation mesh 25. When the fan 9 is running, the external cold air enters through the air inlet of the protective plate 14, passes through the filter mesh 10 and is sucked in by the fan 9 and blown upward. The airflow passes through the hollow structure at the bottom of the inner frame 3 and enters the interior of the inner frame 3. After passing over the surface of the battery module and carrying away the heat, it is discharged from the ventilation mesh 25 on the front and rear sides of the inner frame 3. It flows out through the through slot a201 and through slot b401 of the outer frame 2 to the outside of the chassis body 1, completing the forced convection heat dissipation cycle. The forced convection heat dissipation of the fan 9, combined with the conduction heat dissipation of the heat conduction plate 24, ensures that the battery module can maintain a suitable working temperature under different working conditions. In terms of collision protection, the inner frame 3 is installed inside the outer frame 2. Spring shock absorbers 20 are installed between the two sides of the inner frame 3 and the honeycomb aluminum energy-absorbing box 21. The opposite side of the honeycomb aluminum energy-absorbing box 21 is fixedly connected to the outer frame 2. When the chassis equipment is subjected to an accidental impact, the outer frame 2 first bears the impact and transmits the impact energy inward. The honeycomb aluminum energy-absorbing box 21 absorbs most of the impact kinetic energy through the folding and buckling deformation of the honeycomb hole wall. The remaining energy is further buffered and attenuated by the elastic compression of the spring shock absorber 20. After two-stage buffering, the impact force transmitted to the inner frame 3 has been greatly weakened, thereby effectively protecting the battery module inside the inner frame 3 from collision damage. The cover plate 22 is detachably connected to the outer frame 2 by bolts, which facilitates the installation and maintenance of the internal battery module and ensures the stable fixation of the battery module in the working state.

[0026] The above description is merely a preferred embodiment of the present invention. Any person skilled in the art can modify the present invention or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A wheeled walking chassis device for intelligent robot autonomous navigation, comprising a chassis body (1), an outer frame (2) fixedly installed inside the chassis body (1), and an inner frame (3) fixedly installed inside the outer frame (2), characterized in that: The outer frame (2) is provided with sliding plates (4) on the front and rear sides. Several through slots a (201) are opened on the front and rear sides of the outer frame (2). Several through slots b (401) corresponding to the through slots a (201) are opened on the surface of the sliding plates (4). The bottom of each sliding plate (4) is fixedly connected to a base plate (5). The bottom of the outer frame (2) is fixedly connected to a motor (6). The output shaft of the motor (6) is fixedly connected to a screw (7). The bottom of the base plate (5) is fixedly connected to a protrusion (8). The screw (7) passes through the protrusion (8) and is threadedly connected to the protrusion (8). A fan is fixedly embedded in the bottom of the outer frame (2). 9), the bottom of the fan (9) is fixedly embedded with a filter screen (10), the bottom of the filter screen (10) is provided with a cleaning brush (11) that is rotatably connected to it, the bottom of the cleaning brush (11) is fixedly connected with a gear a (12), the bottom of the base plate (5) is provided with a rack (13), the side of the rack (13) is provided with an amplification speed change assembly, the bottom of the amplification speed change assembly is provided with a protective plate (14) that is fixedly connected to the chassis body (1), the amplification speed change assembly is connected to the rack (13) and the gear a (12) for transmission, and the amplification speed change assembly drives the gear a (12) to rotate at high speed by the slow movement of the rack (13).

2. The intelligent robot autonomous navigation wheeled chassis device according to claim 1, characterized in that: The amplification and speed change assembly includes a gear b (15) meshing with the rear side of gear a (12), a gear c (16) meshing with the rear side of gear b (15), a gear d (17) fixedly connected to the top of gear c (16), and gear d (17) meshing with rack (13). The gear ratio of gear a (12), gear b (15), gear c (16) and gear d (17) is 1:1:10:

1.

3. The wheeled chassis device for autonomous navigation of an intelligent robot according to claim 2, characterized in that: The bottoms of gears a (12), b (15) and c (16) are rotatably connected to the protective plate (14).

4. The wheeled chassis device for autonomous navigation of an intelligent robot according to claim 1, characterized in that: The bottom of the outer frame (2) has two symmetrically distributed sliding grooves, and the top of the base plate (5) is fixedly connected to two slide rails (18) that are adapted to the sliding grooves. The cross-sectional shape of the sliding grooves and slide rails (18) is T-shaped.

5. The wheeled chassis device for autonomous navigation of an intelligent robot according to claim 1, characterized in that: A lever (19) is fixedly connected inside the through slot a (201), and the lever (19) passes through the through slot b (401).

6. The wheeled chassis device for autonomous navigation of an intelligent robot according to claim 1, characterized in that: Multiple spring dampers (20) are fixedly connected to both sides of the inner frame (3). A honeycomb aluminum energy-absorbing box (21) is fixedly connected to the end of the spring damper (20) away from the inner frame (3). The opposite sides of the two honeycomb aluminum energy-absorbing boxes (21) are fixedly connected to the outer frame (2).

7. The wheeled chassis device for autonomous navigation of an intelligent robot according to claim 5, characterized in that: The outer frame (2) is provided with a cover plate (22) on top. The cover plate (22) is detachably fixed to the outer frame (2) by bolts. The cover plate (22) is fixedly connected with a pressure plate (23) that is compatible with the inner frame (3). The pressure plate (23) and the cover plate (22) are both fixedly embedded with a vortex-shaped heat-conducting sheet (24).

8. The intelligent robot autonomous navigation wheeled chassis device according to claim 1, characterized in that: The bottom of the inner frame (3) is hollowed out, and breathable mesh (25) is fixedly connected to both the front and rear sides of the inner frame (3).

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