A multi-layer modular embodied intelligent wheel-arm robot chassis structure

Abstract

The application discloses a kind of multi-layer modular body intelligent wheel arm robot chassis structure, including execution layer, Mecanum wheel, control steering gear, inertial measurement unit, control layer, cooling fan, cooling fin, sensing layer, emergency stop button, power switch, fixed seat, laser radar, third support column, wheel arm robot main body, battery compartment, main control board, voltage conversion unit, network and USB interface, pin expansion interface, power interface and steering gear drive board;The execution layer is fixedly connected with first support column and second support column, the first support column is fixedly connected with control layer, and the second support column is fixedly connected with sensing layer;The application is designed with a kind of multi-layer modular body intelligent wheel arm robot chassis structure, adopts open type without shell wrapping design, so that robot internal structure, circuit connection and component layout are completely visible, students can directly observe motor drive, circuit connection, sensor layout and other key structures.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot technology, and in particular to a multi-layer modular embodied intelligent wheeled robot chassis structure. Background Technology

[0002] Wheeled-arm robots are composite robot systems that integrate wheeled mobile platforms with robotic arm operation functions. They achieve efficient movement through wheeled chassis and complete precise operation tasks in conjunction with robotic arms, combining mobility and operational accuracy. However, the current wheeled-arm robot field suffers from the following technical problems: 1. Insufficient structural visualization: Existing robots mostly adopt an integrated enclosed shell design, completely hiding the internal structure. Students cannot intuitively observe key structures such as motor drives, circuit connections, and sensor layouts, hindering teaching demonstrations and explanations of principles. 2. Unclear functional zoning: Existing robots often mix execution, control, and sensing components in the same plane or space, lacking clear functional zoning, making it difficult for students to establish a clear system architecture concept. 3. Poor expansion compatibility: Traditional robots have limited expansion interfaces and lack standardized design, requiring customized modifications for secondary development, increasing development costs and difficulty. 4. High maintenance complexity: The integrated structural design makes troubleshooting and component replacement difficult, resulting in high maintenance costs and affecting the continuity of teaching. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-layer modular embodied intelligent wheelb robot chassis structure to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-layer modular embodied intelligent wheelb robot chassis structure, including an execution layer, a first support column and a second support column fixedly connected to the execution layer, a control layer fixedly connected to the first support column, a sensing layer fixedly connected to the second support column, a fixed seat fixedly connected to the sensing layer, a third support column fixedly connected to the fixed seat, and a wheelb robot body fixedly connected to one end of the third support column.

[0005] As a further technical solution of the present invention, a control servo motor and an inertial measurement unit are fixedly connected to the execution layer, and a Mecanum wheel is fixedly connected to the output end of the control servo motor.

[0006] As a further technical solution of the present invention, a main control board and a servo drive board are fixedly connected to the control layer, and a voltage conversion unit is fixedly connected to the main control board.

[0007] As a further technical solution of the present invention, the main control board is fixedly connected with a network and USB interface, a pin header expansion interface and a power interface.

[0008] As a further technical solution of the present invention, a cooling fan and a heat sink are fixedly connected to the control layer.

[0009] As a further technical solution of the present invention, an emergency stop button and a power switch are fixedly connected to the sensing layer.

[0010] As a further technical solution of the present invention, a lidar is fixedly connected to the sensing layer.

[0011] As a further technical solution of the present invention, a battery compartment is fixedly connected to the execution layer.

[0012] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This invention designs a multi-layered modular embodied intelligent wheelb robot chassis structure, adopting an open, shell-less design that makes the robot's internal structure, circuit connections, and component layout fully visible. Students can directly observe key structures such as motor drives, circuit connections, and sensor layouts. Compared with traditional enclosed robots, the intuitiveness of teaching is significantly improved, which is helpful for teaching demonstrations and explanations of principles. By intuitively observing the working status and interaction methods of each component, students can gain a deeper understanding of the robot's working principles and system architecture, improving learning effectiveness. The chassis structure adopts a three-layer vertically stacked modular architecture, consisting of an execution layer, a control layer, and a sensing layer from bottom to top. This makes the robot system architecture clear at a glance, with clear boundaries between functional modules, helping students establish a clear concept of system architecture. Through functional partitioning, students can learn... Students can more easily understand the role and interrelationship of each part in the robot system, reducing the time required to understand the system and making the learning curve smoother. The main control board is equipped with a variety of standardized interfaces, such as network port, USB interface, power interface, and pin header expansion interface, supporting plug-and-play of sensors and actuators, making secondary development simpler and faster. New functional modules can be added quickly without customization or modification. The use of standardized interfaces reduces compatibility issues during development, lowers development costs and difficulty, and improves development efficiency. The chassis structure adopts a modular design, with each layer connected by metal support columns, supporting quick disassembly and component replacement, making troubleshooting and component replacement easier, reducing maintenance costs. The modular design also makes the maintenance process more efficient, allowing for quick location and repair of faults, reducing robot downtime and ensuring the continuity of teaching. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the overall front view of the present invention;

[0016] Figure 3 This is a schematic diagram of the control layer of the present invention.

[0017] In the diagram: 1. Execution layer; 2. Mecanum wheel; 3. Control servo; 4. Inertial measurement unit; 5. First support column; 6. Control layer; 7. Cooling fan; 8. Heat sink; 9. Second support column; 10. Sensing layer; 11. Emergency stop button; 12. Power switch; 13. Mounting base; 14. LiDAR; 15. Third support column; 16. Wheel-arm robot body; 17. Battery compartment; 18. Main control board; 19. Voltage conversion unit; 20. Network and USB interface; 21. Pin header expansion interface; 22. Power interface; 23. Servo drive board. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0019] Please see the appendix Figure 1 -Appendix Figure 3One embodiment of the present invention provides a multi-layer modular embodied intelligent wheelb robot chassis structure, including an execution layer 1. A first support column 5 and a second support column 9 are fixedly connected to the execution layer 1. A control layer 6 is fixedly connected to the first support column 5. A sensing layer 10 is fixedly connected to the second support column 9. A fixed base 13 is fixedly connected to the sensing layer 10. A third support column 15 is fixedly connected to the fixed base 13. One end of the third support column 15 is fixedly connected to the wheelb robot body 16. A control servo motor 3 and an inertial measurement unit 4 are fixedly connected to the execution layer 1. The output of the control servo motor 3 is fixedly connected to the Mecanum wheel 2. The inertial measurement unit 4 is integrated into the execution layer 1 to sense the robot's posture and motion state in real time, including acceleration and angular velocity. The main control board 18 and the servo drive board 23 are fixedly connected to the control layer 6. The voltage conversion unit 19 is fixedly connected to the main control board 18. The electrical energy output from the battery compartment 17 is converted and distributed through the voltage conversion unit 19 to ensure that each component receives a suitable operating voltage. The voltage conversion unit 19 also has an overload protection function to prevent circuit damage. The main control board 18 is fixedly connected to the Mecanum wheel 2. The control layer 10 is fixedly connected to a network and USB interface 20, a pin header expansion interface 21, and a power interface 22. These interfaces facilitate users sending control commands or exchanging data with the robot via external devices, and also support plug-and-play expansion of sensors. A cooling fan 7 and a heat sink 8 are fixedly connected to the control layer 6. These components effectively dissipate heat generated by the main control board 18 and the servo drive board 23 during operation, ensuring stable system operation. An emergency stop button is fixedly connected to the sensing layer 10. Button 11 and power switch 12 provide emergency stop and system start / stop functions to ensure safety during teaching and experiments. A lidar 14 is fixedly connected to the sensing layer 10. The lidar 14 perceives the surrounding environment by emitting laser beams and receiving reflected signals to realize SLAM mapping and obstacle avoidance functions. A battery compartment 17 is fixedly connected to the execution layer 1. The battery compartment 17 contains a lithium battery pack to provide a stable power supply for the entire robot system. The battery supports hot-swappable replacement, which facilitates rapid energy replenishment during teaching and experiments.

[0020] Working Principle: This invention achieves efficient and flexible motion control and environmental perception functions through layered design and modular components. The execution layer 1 is connected to the control layer 6 and sensing layer 10 via the first support column 5 and the second support column 9, forming a stable vertical stacked structure. The third support column 15 and the fixed base 13 connect the sensing layer 10 to the main body 16 of the wheeled robot, expanding the robot's working space. The battery compartment 17, located in the execution layer 1, contains a lithium battery pack, providing a stable power source for the entire robot system. The battery supports hot-swappable replacement, facilitating rapid energy replenishment during teaching and experiments. The electrical energy output from the battery compartment 17 is converted and distributed by the voltage conversion unit 19, ensuring that each component receives a suitable operating voltage. The voltage conversion unit 19 also has overload protection to prevent circuit damage. The inertial measurement unit 4 is integrated into the execution layer 1, sensing the robot's posture and motion state in real time, including acceleration and angular velocity, and transmitting the data to the main control board 18. The lidar 14 is installed in the sensing layer 10, sensing the surrounding environment by emitting laser beams and receiving reflected signals. The system implements SLAM mapping and obstacle avoidance functions. Data is also transmitted to the main control board 18 for processing. The servo drive board 23 is connected to the main control board 18 and receives control commands from the main control board 18 to drive the servo 3 to achieve independent movement of the Mecanum wheel 2. The main control board 18 is located in the control layer 6 and serves as the computing core of the system. It runs the Linux / ROS operating system and processes data from the inertial measurement unit 4 and the lidar 14. The main control board 18 generates control commands according to preset algorithms or user instructions. The emergency stop button 11 and the power switch 12 are located in the sensing layer 10, providing emergency stop and system start / stop functions to ensure safety during teaching and experiments. The network and USB interface 20, the pin header expansion interface 21, and the power interface 22 are located on the main control board 18, which facilitates users to send control commands or exchange data with the robot through external devices. It also supports plug-and-play expansion of sensors. The cooling fan 7 and the heat sink 8 are fixed in the control layer 6 to effectively dissipate the heat generated by the main control board 18 and the servo drive board 23 during operation, ensuring stable system operation.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0023] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-layer modular embodied intelligent wheelbarrow robot chassis structure, comprising an execution layer (1), characterized in that: The execution layer (1) is fixedly connected to a first support column (5) and a second support column (9). The first support column (5) is fixedly connected to a control layer (6). The second support column (9) is fixedly connected to a sensing layer (10). The sensing layer (10) is fixedly connected to a fixed seat (13). The fixed seat (13) is fixedly connected to a third support column (15). One end of the third support column (15) is fixedly connected to the main body of the wheeled robot (16).

2. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 1, characterized in that: The execution layer (1) is fixedly connected to a control servo motor (3) and an inertial measurement unit (4), and the output end of the control servo motor (3) is fixedly connected to a Mecanum wheel (2).

3. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 1, characterized in that: The control layer (6) is fixedly connected to a main control board (18) and a servo drive board (23), and a voltage conversion unit (19) is fixedly connected to the main control board (18).

4. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 3, characterized in that: The main control board (18) is fixedly connected to a network and USB interface (20), a pin header expansion interface (21), and a power interface (22).

5. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 3, characterized in that: A cooling fan (7) and a heat sink (8) are fixedly connected to the control layer (6).

6. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 1, characterized in that: An emergency stop button (11) and a power switch (12) are fixedly connected to the sensing layer (10).

7. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 1, characterized in that: A lidar (14) is fixedly connected to the sensing layer (10).

8. The multi-layer modular unibody intelligent wheeled robot chassis structure according to claim 1, characterized in that: A battery compartment (17) is fixedly connected to the execution layer (1).

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