Indoor mobile robot

Abstract

The indoor mobile robot comprises a robot body, a hub assembly, a laser radar and a control chip, the robot body comprises an upper shell and a lower shell, a supporting piece is arranged in the lower shell, the supporting piece is arranged in the lower shell in a protruding mode, and the supporting piece is used for installing the laser radar; the hub assembly comprises a set of hubs and a set of motors, a receding groove is formed in the lower portion of the supporting piece, the motors are arranged in the receding groove in the lower portion of the supporting piece, and the set of hubs are arranged on the left side and the right side of the supporting piece and connected with the motors; the control chip is arranged in the lower shell and located on one side of the supporting piece, and the upper shell is connected with the lower shell. In the utility model, the support piece and the partition plate are arranged in the lower shell of the fuselage to divide the internal space of the fuselage, so that parts such as the control chip, the battery and the laser radar can be reasonably arranged, and the height of the fuselage is reduced on the premise of ensuring that the fuselage can dissipate heat, thereby improving the space trafficability of the fuselage.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to an indoor mobile robot. Background Art

[0002] With the advancement of science and technology, the field of robotics has also ushered in rapid development. Small robots are more common. There are many types of existing small robots, such as sweeping robots, obstacle-clearing robots, and rescue robots. Depending on the robot's operating environment, the functions it needs to have are also different. Some need to have the ability to sense temperature, and some need to have the ability to recognize obstacles. Therefore, various sensors, control chips, batteries and other components need to be installed in the robot body to realize its various functions. The existing miniaturized robots have limited internal space, so many sensors are exposed on the surface and are easily damaged after a collision. In addition, the internal wiring harness is intricate and difficult to assemble and repair. Utility Model Content

[0003] The purpose of the utility model is to provide an indoor mobile robot, which divides the internal space of the fuselage by arranging supports and partitions in the lower shell of the fuselage, so that components such as control chips, batteries and laser radars can be reasonably arranged, and while ensuring that the fuselage can dissipate heat, the height of the fuselage from the ground is reduced, thereby improving the spatial passability of the fuselage.

[0004] The utility model is realized by the following technical solutions:

[0005] An indoor mobile robot comprises a body, a wheel hub assembly, a laser radar and a control chip, wherein the body comprises an upper shell and a lower shell, wherein a support member is arranged in the lower shell, wherein the support member protrudes in the lower shell, and wherein the support member is used to install the laser radar; wherein the wheel hub assembly comprises a group of wheel hubs and a group of motors, wherein a clearance groove is arranged below the support member, wherein the motor is arranged in the clearance groove below the support member, and wherein a group of wheel hubs is arranged on the left and right sides of the support member and connected to the motor; wherein the control chip is arranged in the lower shell and located on one side of the support member, and wherein the upper shell is connected to the lower shell.

[0006] Furthermore, a through hole is arranged at the geometric center position of the upper shell, the top of the laser radar is arranged in the through hole, and the top of the laser radar is protruded on the upper shell.

[0007] Furthermore, partitions are respectively arranged on both sides of the support member in the lower shell, a flange is arranged on the inner wall of the lower shell, the partitions are respectively connected to the flange and the support member, a plurality of assembly holes are arranged on the partitions, and the control chip is arranged on the partitions.

[0008] Furthermore, a battery is arranged in the lower shell below the partition.

[0009] Furthermore, at least one heat dissipation hole is provided on the side surface of the lower housing, and the heat dissipation hole is located on the side of the battery.

[0010] Furthermore, relief holes are provided on both the left and right sides of the lower housing where the support member is located, and the hub is arranged in the relief holes.

[0011] Furthermore, a set of connecting members is provided below the support member. The set of connecting members is arranged oppositely, and waist-shaped holes are provided on the connecting members. The end of the motor passes through the waist-shaped holes and is connected to the hub.

[0012] Furthermore, a set of auxiliary wheels is provided on the lower housing between the two hubs.

[0013] Compared with the prior art, the present utility model has the following advantages and beneficial effects:

[0014] 1) In the present utility model, the internal space of the fuselage is divided by arranging a support member and a partition plate inside the lower housing of the fuselage, so that components such as the control chip, the battery, and the lidar can be reasonably arranged, and the height of the fuselage is reduced on the premise of ensuring the heat dissipation of the fuselage, thereby improving the space passability of the fuselage.

[0015] 2) In the present utility model, a relief groove is provided below the support member, and relief holes are provided on both the left and right sides of the support member. The motor is arranged in the relief groove, and part of the hub is arranged in the relief holes, so that the ground clearance of the fuselage is reduced, the fuselage is more squat, and the space passability of the fuselage is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a front structure schematic diagram of the indoor mobile robot of the present utility model.

[0018] Figure 2 It is a top view of the indoor mobile robot of the present utility model.

[0019] Figure 3 It is a bottom view of the indoor mobile robot of the present utility model.

[0020] Figure 4 It is an internal structure schematic diagram of the indoor mobile robot of the present utility model.

[0021] Figure 5This is the schematic diagram of the lower shell structure of the present utility model.

[0022] Among them: 1 - upper shell, 11 - through hole, 2 - lower shell, 21 - relief hole, 3 - support member, 31 - relief groove, 4 - lidar, 5 - control chip, 6 - wheel hub, 7 - motor, 8 - auxiliary wheel, 9 - partition board, 10 - connecting member. Specific embodiments

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model.

[0024] Embodiment 1:

[0025] The main structure of this embodiment is an indoor mobile robot, as Figure 1 , Figure 2 , Figure 3 and Figure 5 shown. It includes a fuselage, a wheel hub 6 assembly, a lidar 4, and a control chip 5. The fuselage is a disc-shaped hollow structure. The fuselage includes an upper shell 1 and a lower shell 2. The upper shell 1 and the lower shell 2 are snap-connected. A support member 3 is arranged inside the lower shell 2. The support member 3 is arranged in the middle of the lower shell 2. The support member 3 protrudes inside the lower shell 2. The height of the support member 3 is less than the height of the lower shell 2. The support member 3 is used to install the lidar 4. The lidar 4 is fixed on the support member 3 by screws. At the same time, a through hole 11 is arranged at the geometric center position of the upper shell 1. The top of the lidar 4 is arranged in the through hole 11. The top of the lidar 4 protrudes on the upper shell 1, so that the lidar 4 can easily distinguish and identify obstacles around the fuselage; the wheel hub 6 assembly includes a group of wheel hubs 6 and a group of motors 7. A relief groove 31 is arranged below the support member 3. The motors 7 are arranged in the relief groove 31 below the support member 3. The two motors 7 are arranged at intervals in the relief groove 31. A group of wheel hubs 6 are arranged on the left and right sides of the support member 3 and are connected to the motors 7; the control chip 5 is arranged inside the lower shell 2 and is located on one side of the support member 3. The control chip 5 is connected to the lidar 4 and the motors 7; a group of auxiliary wheels 8 are arranged on the lower shell 2 between the two wheel hubs 6. The auxiliary wheels 8 are spherical structures. The auxiliary wheels 8 are arranged at the front and rear ends of the bottom of the lower shell 2. When the robot passes through an obstacle, the auxiliary wheels 8 play an auxiliary passing role.

[0026] Embodiment 2:

[0027] On the basis of the above embodiment, this embodiment further defines the fuselage, as Figure 3 and Figure 4As shown in the figure, partitions 9 are respectively arranged on both sides of the support member 3 inside the lower housing 2. A flange is provided on the inner side wall of the lower housing 2. The partitions 9 are spaced from the bottom of the lower housing 2. The partitions 9 are respectively connected to the support member 3 and the flange on the inner side wall of the lower housing 2. A number of assembly holes are provided on the partitions 9. The control chip 5 is arranged on the partitions 9. At the same time, a variety of sensor chips can also be arranged on the partitions 9. A battery is arranged below the partitions 9 inside the lower housing 2. The battery is electrically connected to the lidar 4, the motor 7, the control chip 5 and the sensor chips. Two heat dissipation holes are provided on the side of the lower housing 2. The heat dissipation holes are located on the side of the battery and are used for the heat dissipation of the fuselage. Relief holes 21 are provided on both the left and right sides of the lower housing 2 where the support member 3 is located. Part of the wheel hub 6 is arranged in the relief holes 21, so that the fuselage is lower and more prone to lie down, the fuselage can pass through a lower space, and the fuselage is more stable. A set of connecting members 10 are arranged below the support member 3. The connecting members 10 are of an L-shaped structure. A set of connecting members 10 are arranged oppositely. One end of the connecting member 10 is connected to the support member 3. The other end of the connecting member 10 is provided with a waist-shaped hole. The end of the motor 7 passes through the waist-shaped hole and is connected to the wheel hub 6. The connecting members 10 play a role in supporting and limiting the motor 7 and the wheel hub 6. Other parts of this embodiment are the same as those of the above embodiment and will not be described in detail here.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0029] In addition, in the description of the present invention, if terms such as "horizontal" and "vertical" appear, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0030] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, if the terms "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] The above are only the preferred embodiments of the present utility model, and do not impose any form of limitation on the present utility model. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. An indoor mobile robot, characterized in that, It includes a fuselage, a wheel hub assembly, a lidar, and a control chip. The fuselage includes an upper shell and a lower shell. A support member is provided inside the lower shell and protrudes inside the lower shell. The support member is used to mount the lidar. The wheel hub assembly includes a set of wheel hubs and a set of motors. A relief groove is provided below the support member, and the motors are arranged in the relief grooves below the support member. A set of the wheel hubs are arranged on the left and right sides of the support member and are connected to the motors. The control chip is arranged inside the lower shell and on one side of the support member, and the upper shell is connected to the lower shell.

2. The indoor mobile robot according to claim 1, characterized in that, A through hole is provided at the geometric center position of the upper shell, and the top of the lidar is arranged in the through hole and protrudes on the upper shell.

3. The indoor mobile robot according to claim 1, characterized in that, Partition plates are respectively arranged on both sides of the support member inside the lower shell. A flange is provided on the inner side wall of the lower shell. The partition plates are respectively connected to the flange and the support member. A number of assembly holes are provided on the partition plates, and the control chip is arranged on the partition plates.

4. The indoor mobile robot according to claim 3, characterized in that, A battery is provided below the partition plates inside the lower shell.

5. The indoor mobile robot according to claim 4, characterized in that, At least one heat dissipation hole is provided on the side of the lower shell, and the heat dissipation hole is located on the side of the battery.

6. The indoor mobile robot according to claim 1, wherein Relief holes are provided on both the left and right sides of the lower shell at the position of the support member, and the wheel hubs are arranged in the relief holes.

7. The indoor mobile robot according to claim 6, wherein A set of connecting members are provided below the support member. The set of connecting members are arranged oppositely, and waist-shaped holes are provided on the connecting members. The ends of the motors pass through the waist-shaped holes and are connected to the wheel hubs.

8. The indoor mobile robot according to claim 1, characterized in that, A set of auxiliary wheels are provided on the lower shell between the two wheel hubs.

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