Robot chassis structure

Abstract

The utility model provides a robot chassis structure, which relates to the technical field of robots, and comprises a chassis frame, a wheel set mechanism and a shock absorption mechanism, the number of the wheel set mechanisms is four, each wheel set mechanism comprises a first installation frame, a motor, a second installation frame and a reduction gearbox, and the first installation frames are located in the installation space of the chassis frame; the motor is fixedly installed on the first installation frame, a bearing is installed on an output shaft of the motor, and an outer ring of the bearing is fixedly connected to the first installation frame. The mounting rack II is of a U-shaped structure; the top end of the mounting rack II is fixedly connected with the inner ring of the bearing; the moving wheels are rotationally mounted on the mounting frame II; the reduction gearbox is fixedly installed on the first installation frame, and an output shaft of the reduction gearbox is fixedly connected with the moving wheel through an output flange. The reduction gearbox is used for driving the moving wheels to walk. The motor is used for indirectly driving the moving wheels to steer. The wheel set mechanism is installed on the chassis frame through the shock absorption mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a robot chassis structure. Background Technology

[0002] The robot chassis is the basic structure of the robot, supporting the stability and power of the entire robot, and is also an important part of the robot's movement.

[0003] Existing robot chassis generally lack adaptability to different environments and terrains, and are not stable enough at high speeds. Therefore, this invention proposes a robot chassis structure. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a robot chassis structure.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A robot chassis structure includes: a chassis frame with an installation space formed thereon; a wheel assembly with four wheels, each wheel assembly including: a first mounting frame located in the installation space of the chassis frame; a motor fixedly mounted on the first mounting frame, with a bearing mounted on the output shaft of the motor, the outer ring of the bearing fixedly connected to the first mounting frame; a second mounting frame with a U-shaped structure, the top end of the second mounting frame fixedly connected to the inner ring of the bearing; a moving wheel rotatably mounted on the second mounting frame; a reduction gearbox fixedly mounted on the first mounting frame, the output shaft of the reduction gearbox fixedly connected to the moving wheel via an output flange; the reduction gearbox drives the moving wheel to move, and the motor indirectly drives the moving wheel to steer; and a shock absorption mechanism, the wheel assembly being mounted on the chassis frame via the shock absorption mechanism.

[0007] The chassis frame includes: a first support tube, of which two are provided and arranged in parallel, with plates fixedly installed at both ends of the two first support tubes; a second support tube, of which two are provided and arranged in parallel and fixedly connected to the first support tube, forming a "well" shaped structure between the second and the first support tube, with plates fixedly installed at both ends of the second support tube; and a collision avoidance assembly, which includes a first collision avoidance tube and a second collision avoidance tube, one end of the first collision avoidance tube being fixedly connected to the first plate, one end of the second collision avoidance tube being fixedly connected to the second plate, the first and second collision avoidance tubes being arranged perpendicularly at 90°, and a plate fixedly installed between the other ends of the first and second collision avoidance tubes, forming the installation space between the collision avoidance assembly and the first and second support tubes, the installation space being distributed at the four corners of the chassis frame.

[0008] The mounting bracket includes a first connecting plate, a second connecting plate, a third connecting plate, and a column. The first connecting plate, the second connecting plate, and the third connecting plate are arranged in parallel vertically. The first connecting plate and the second connecting plate, as well as the second connecting plate and the third connecting plate, are fixedly connected by the column. The second connecting plate has a first through hole, and the third connecting plate has a second through hole. The motor is fixedly mounted on the bottom of the first connecting plate, and the outer ring of the bearing is fixedly mounted on the through hole of the second connecting plate.

[0009] The second mounting bracket passes through the second through hole. The second mounting bracket includes a top plate and side plates. The end face of the top plate is fixedly connected to the inner ring of the bearing. One end of each of the two side plates is symmetrically fixedly connected to the top plate. The movable wheel is rotatably mounted between the two side plates. The gearbox is fixedly mounted on one of the side plates.

[0010] Two shock-absorbing mechanisms are installed between each wheel assembly and the chassis frame, and the two shock-absorbing mechanisms are perpendicularly distributed at 90°. Each shock-absorbing mechanism includes: a fixed plate, which is fixedly connected to the first connecting plate and the second connecting plate; a slider, which is fixedly installed on the fixed plate; two uprights, which are respectively vertically fixedly installed on the first support tube and the second support tube; and a guide rail, which is fixedly installed on the upright and slidably connected to the slider.

[0011] The shock absorption mechanism also includes a shock absorber. A shock absorber frame is fixedly installed on the connecting plate three. One end of the shock absorber is connected to the shock absorber frame by bolts, and the other end of the shock absorber is connected to the riser by bolts.

[0012] It also includes a main control board and an electronic speed controller (ESC). The main control board is mounted on the chassis frame and is electrically connected to the ESC. The ESC is fixedly mounted on the side plate and is electrically connected to the gearbox. The motor is electrically connected to the main control board.

[0013] A battery rack is mounted on the chassis frame, and a battery module is mounted on the battery rack. The battery module is electrically connected to the main control board.

[0014] A supercapacitor and a capacitor control board are also installed on the chassis frame. The supercapacitor is electrically connected to the capacitor control board, and the capacitor control board is electrically connected to the main control board.

[0015] The beneficial effects of this utility model are:

[0016] This utility model relates to a robot chassis structure, employing a four-wheel chassis. Four wheel sets are installed at the four corners of the chassis frame, each controlled by a main control board. Motors and gearboxes control the turning radius and travel of each wheel set, ensuring high-precision movement. Combined with a shock-absorbing mechanism, it exhibits enhanced adaptability to various environments and terrains, enabling high-speed movement and rapid braking, resulting in greater stability during high-speed operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the robot chassis structure according to an embodiment of the present invention. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the overall structure of the robot chassis structure according to one embodiment of the present invention. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the chassis frame structure according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the wheel assembly mechanism according to one embodiment of the present invention. Figure 1 ;

[0021] Figure 5 This is a schematic diagram of the wheel assembly mechanism according to one embodiment of the present invention. Figure 2 ;

[0022] Figure 6 This is a schematic diagram of the wheel assembly mechanism according to one embodiment of the present invention. Figure 3 ;

[0023] Figure 7 for Figure 2 Enlarged structural diagram at point A in the middle;

[0024] Figure 8 for Figure 2 Enlarged structural diagram at point B.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Chassis frame, 11-Installation space, 12-Support pipe one, 13-Panel one, 14-Support pipe two, 15-Panel two, 16-Anti-collision pipe one, 17-Anti-collision pipe two, 18-Panel three;

[0027] 2-Wheelset mechanism, 21-Mounting frame one, 211-Connecting plate one, 212-Connecting plate two, 213-Connecting plate three, 214-Column, 22-Motor, 23-Bearing, 24-Mounting frame two, 241-Top plate, 242-Side plate, 25-Gearbox, 26-Moving wheel, 27-Output flange;

[0028] 3-Vibration damping mechanism, 31-Fixed plate, 32-Slider, 33-Riser, 34-Guide rail, 35-Vibration damper, 36-Vibration damping frame;

[0029] 4-Main control board; 5-Electronic speed controller; 6-Battery rack; 7-Battery module; 8-Supercapacitor; 9-Capacitor control board. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] like Figures 1-8As shown, a robot chassis structure according to an embodiment of the present invention may include a chassis frame 1, a wheel assembly 2, and a shock absorption mechanism 3. The chassis frame 1 has an installation space 11. The wheel assembly 2 has four components, each including a mounting bracket 21, a motor 22, a mounting bracket 24, moving wheels 26, and a reduction gearbox 25. The mounting bracket 21 is located in the installation space 11 of the chassis frame 1. The motor 22 is fixedly mounted on the mounting bracket 21, and a bearing 23 is mounted on the output shaft of the motor 22. The outer ring of the bearing 23 is fixed. The first mounting bracket 21 is connected to the second mounting bracket 24, which has a U-shaped structure. The top end of the second mounting bracket 24 is fixedly connected to the inner ring of the bearing 23. The movable wheel 26 is rotatably mounted on the second mounting bracket 24. The gearbox 25 is fixedly mounted on the first mounting bracket 21, and the output shaft of the gearbox 25 is fixedly connected to the movable wheel 26 through the output flange 27. The gearbox 25 is used to drive the movable wheel 26 to move, and the motor 22 is used to indirectly drive the movable wheel 26 to turn. The wheel assembly mechanism 2 is mounted on the chassis frame 1 through the shock absorption mechanism 3.

[0032] Motor 22 is a gimbal motor 22, model RoboMaster GM6020 DC brushless motor 22. Motor 22 drives the mounting frame 21 to rotate, thereby changing the walking direction. Gearbox 25 is model M3508 geared motor 22. Gearbox 25 is existing technology, and its structure and principle will not be described in detail here. Gearbox 25 controls the movement wheel 26 to move forward and backward.

[0033] In one embodiment of this utility model, such as Figure 3 As shown, the chassis frame 1 may include a first support tube 12, a second support tube 14, and a collision avoidance assembly. Two first support tubes 12 are provided, arranged in parallel, with plates 13 fixedly installed at both ends of each first support tube 12. Two second support tubes are provided, arranged in parallel, and fixedly connected to the first support tubes 12. The second support tube 14 and the first support tube 12 form a "well" shaped structure, with plates 25 fixedly installed at both ends of the second support tube 14. The collision avoidance assembly may include a first collision avoidance tube 16 and a second... The second anti-collision tube 17 is provided, wherein one end of the first anti-collision tube 16 is fixedly connected to the first plate 13, and one end of the second anti-collision tube 17 is fixedly connected to the second plate 15. The first anti-collision tube 16 and the second anti-collision tube 17 are perpendicularly distributed at 90°. The other end of the first anti-collision tube 16 and the second anti-collision tube 17 is fixedly installed with a third plate 18. The anti-collision assembly forms the installation space 11 between the first support tube 12 and the second support tube 14. The installation space 11 is distributed at the four corners of the chassis frame 1.

[0034] In one embodiment of this utility model, such as Figure 4 , Figure 5 and Figure 6 As shown, the mounting bracket 21 has an overall approximately cylindrical structure. Specifically, the mounting bracket 21 includes a connecting plate 211, a connecting plate 212, a connecting plate 213, and a column 214. The connecting plate 211, the connecting plate 212, and the connecting plate 213 are arranged in parallel vertically. The connecting plate 211 and the connecting plate 212, as well as the connecting plate 212 and the connecting plate 213, are fixedly connected by the column 214. The connecting plate 212 has a through hole 1, and the connecting plate 213 has a through hole 2. The motor 22 is fixedly installed at the bottom of the connecting plate 211, and the outer ring of the bearing 23 is fixedly installed at the through hole of the connecting plate 212.

[0035] In one embodiment of this utility model, such as Figure 4 , Figure 5 and Figure 6 As shown, the mounting bracket 24 has an overall U-shaped structure. Specifically, the mounting bracket 24 passes through the through hole 2. The mounting bracket 24 includes a top plate 241 and side plates 242. The end face of the top plate 241 is fixedly connected to the inner ring of the bearing 23. One end of the two side plates 242 is symmetrically fixedly connected to the top plate 241. The moving wheel 26 is rotatably mounted between the two side plates 242. The reduction gearbox 25 is fixedly mounted on one of the side plates 242.

[0036] In one embodiment of this utility model, such as Figure 1 , Figure 7 and Figure 8 As shown, each wheel assembly 2 is connected to the chassis frame by two shock-absorbing mechanisms 3, which are perpendicularly distributed at 90°. Each shock-absorbing mechanism 3 may include a fixed plate 31, a slider 32, a riser 33, and a guide rail 34. The fixed plate 31 is fixedly connected to the connecting plate 1 211 and the connecting plate 2 212. The slider 32 is fixedly mounted on the fixed plate 31. The two risers 33 are respectively vertically fixedly mounted on the support pipe 1 12 and the support pipe 2 14. The guide rail 34 is fixedly mounted on the riser 33 and is slidably connected to the slider 32.

[0037] In this embodiment of the invention, the guide rail 34 and slider 32 are specifically modeled as MGN9C linear guide rail 34 slider 32. The linear guide rail 34 is a mechanical device used to provide linear motion, made of aluminum alloy or steel, and has high rigidity and stability. The slider 32 achieves linear motion by sliding on the guide rail 34. The contact between the slider 32 and the guide rail 34 has the characteristics of rolling friction or sliding friction, which can reduce motion resistance, energy loss, and frictional wear. When the wheel assembly mechanism 2 is subjected to external impact or vibration, the contact between the slider 32 and the guide rail 34 can absorb some of the impact energy, thereby reducing the vibration impact on the overall structure of the robot. In addition, the rolling or sliding friction of the slider 32 can also disperse and mitigate vibration to a certain extent, making the wheel assembly mechanism 2 more stable when traveling on uneven ground.

[0038] In one embodiment of this utility model, such as Figure 1 , Figure 7 and Figure 8 As shown, the shock absorption mechanism 3 also includes a shock absorber 35. A shock absorber frame 36 is fixedly provided on the connecting plate 313. One end of the shock absorber 35 is connected to the shock absorber frame 36 by bolts, and the other end of the shock absorber 35 is connected to the riser 33 by bolts.

[0039] The primary purpose of installing shock absorbers 35 on the robot's wheelsets is to reduce the vibrations and impacts experienced by the robot during movement, thereby protecting the robot's structure and components and improving its stability and reliability. Shock absorbers 35 typically employ springs, damping materials, or other elastic elements internally, which absorb and disperse vibration energy caused by uneven road surfaces or other external factors. When the robot's wheelsets encounter vibration, the shock absorbers 35 compress or stretch, converting the vibration energy into elastic potential energy or heat energy, thus mitigating the impact on the robot's overall structure.

[0040] Furthermore, the shock absorber 35 not only reduces vibration but also maintains the robot's stability during movement. Robots often need to operate in various road conditions, such as flat highways, rugged mountain roads, or uneven construction sites. The shock absorber 35 can automatically adjust its stiffness and damping characteristics according to different road conditions, thereby ensuring that the robot maintains a stable motion state under various road conditions.

[0041] In one embodiment of this utility model, such as Figure 1 and Figure 5 As shown, this utility model also includes a main control board 4 and an electronic speed controller 5. The main control board 4 is mounted on the chassis frame 1. The main control board 4 is electrically connected to the electronic speed controller 5. The electronic speed controller 5 is fixedly mounted on the side plate 242. The electronic speed controller 5 is electrically connected to the gearbox 25. The motor 22 is electrically connected to the main control board 4.

[0042] The ESC 5, specifically the RoboMaster C620 brushless motor speed controller 22, controls the speed of the gearbox 25, thereby adjusting the speed of the moving wheel 26 and controlling its movement speed.

[0043] In one embodiment of this utility model, such as Figure 1 As shown, a battery rack 6 is mounted on the chassis frame 1, and a battery module 7 is mounted on the battery rack 6. The battery module 7 is electrically connected to the main control board 4 and is powered through the battery module 7.

[0044] In one embodiment of this utility model, such as Figure 1 As shown, a supercapacitor 8 and a capacitor control board 9 are also installed on the chassis frame 1. The supercapacitor 8 is electrically connected to the capacitor control board 9, and the capacitor control board 9 is electrically connected to the main control board 4.

[0045] In this embodiment of the invention, the capacitor acts as an additional battery. When a high power output is required, the battery module 7 and the supercapacitor 8 output power together.

[0046] According to the robot chassis structure of this embodiment, a four-wheel chassis is adopted. Four wheel sets 2 are installed at the four corners of the chassis frame 1, and are controlled by the main control board 4. The turning radius and travel of the wheel set 2 are controlled by motors 22 and reduction gearboxes 25, ensuring high precision of movement. Combined with the shock absorption mechanism 3, the robot is more adaptable to the environment and terrain, can move at high speeds and brake quickly, making the robot more stable at high speeds.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0048] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot chassis structure, characterized in that, include: A chassis frame, on which an installation space is formed; The wheel assembly mechanism has four components, and the wheel assembly mechanism includes: Mounting bracket one, the mounting bracket one being located in the mounting space of the chassis frame; The motor is fixedly mounted on the mounting bracket one, and the output shaft of the motor is equipped with a bearing, the outer ring of which is fixedly connected to the mounting bracket one; Mounting bracket two, the mounting bracket two has a U-shaped structure, and the top end of the mounting bracket two is fixedly connected to the inner ring of the bearing; The movable wheels are rotatably mounted on the second mounting bracket; and A reduction gearbox, fixedly mounted on the mounting bracket, has its output shaft fixedly connected to the movable wheel via an output flange; the reduction gearbox drives the movable wheel to move, and the motor indirectly drives the movable wheel to steer; and The shock absorption mechanism is used to mount the wheel assembly onto the chassis frame.

2. The robot chassis structure according to claim 1, characterized in that, The chassis frame includes: Support tube 1, there are two support tubes 1 arranged in parallel, and plate 1 is fixedly installed at both ends of the two support tubes 1 respectively; Support pipe two, arranged in parallel and fixedly connected to support pipe one, forming a "well" shaped structure between them; plates two are fixedly installed at both ends of support pipe two; and The anti-collision assembly includes an anti-collision tube one and an anti-collision tube two. One end of the anti-collision tube one is fixedly connected to the plate one, and one end of the anti-collision tube two is fixedly connected to the plate two. The anti-collision tube one and the anti-collision tube two are perpendicularly distributed at 90°. A plate three is fixedly installed between the other ends of the anti-collision tube one and the anti-collision tube two. The anti-collision assembly forms the installation space with the support tube one and the support tube two. The installation space is distributed at the four corners of the chassis frame.

3. The robot chassis structure according to claim 2, characterized in that, The mounting bracket includes a first connecting plate, a second connecting plate, a third connecting plate, and a column. The first connecting plate, the second connecting plate, and the third connecting plate are arranged in parallel vertically. The first connecting plate and the second connecting plate, as well as the second connecting plate and the third connecting plate, are fixedly connected by the column. The second connecting plate has a first through hole, and the third connecting plate has a second through hole. The motor is fixedly mounted on the bottom of the first connecting plate, and the outer ring of the bearing is fixedly mounted on the through hole of the second connecting plate.

4. The robot chassis structure according to claim 3, characterized in that, The second mounting bracket passes through the second through hole. The second mounting bracket includes a top plate and side plates. The end face of the top plate is fixedly connected to the inner ring of the bearing. One end of each of the two side plates is symmetrically fixedly connected to the top plate. The movable wheel is rotatably mounted between the two side plates. The gearbox is fixedly mounted on one of the side plates.

5. The robot chassis structure according to claim 4, characterized in that, Two shock-absorbing mechanisms are installed between each wheel assembly and the chassis frame, and the two shock-absorbing mechanisms are perpendicularly distributed at 90° to each other. The shock-absorbing mechanism includes: A fixing plate, which is fixedly connected to the first connecting plate and the second connecting plate; A slider, which is fixedly mounted on the fixing plate; The two risers are respectively vertically fixedly installed on the first support pipe and the second support pipe; and A guide rail is fixedly installed on the riser, and the guide rail is slidably connected to the slider.

6. The robot chassis structure according to claim 5, characterized in that, The shock absorption mechanism also includes a shock absorber. A shock absorber frame is fixedly installed on the connecting plate three. One end of the shock absorber is connected to the shock absorber frame by bolts, and the other end of the shock absorber is connected to the riser by bolts.

7. The robot chassis structure according to claim 6, characterized in that, It also includes a main control board and an electronic speed controller (ESC). The main control board is mounted on the chassis frame and is electrically connected to the ESC. The ESC is fixedly mounted on the side plate and is electrically connected to the gearbox. The motor is electrically connected to the main control board.

8. The robot chassis structure according to claim 7, characterized in that, A battery rack is mounted on the chassis frame, and a battery module is mounted on the battery rack. The battery module is electrically connected to the main control board.

9. The robot chassis structure according to claim 8, characterized in that, A supercapacitor and a capacitor control board are also installed on the chassis frame. The supercapacitor is electrically connected to the capacitor control board, and the capacitor control board is electrically connected to the main control board.

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