VCU fast-assembly controller for mobile robot body

Abstract

The utility model relates to the technical field of VCU controllers for bodies, in particular to a VCU fast-assembly controller for a mobile robot body, which comprises a VCU controller body, the front end face of the VCU controller body is provided with an anti-loosening fast-assembly terminal, the anti-loosening fast-assembly terminal comprises a wire pressing box base, the inner side of the wire pressing box base is provided with a plurality of wire separating cavities in linear arrangement, and the wire separating cavities are connected with the VCU controller body. A wire locking bolt is in threaded connection with one side of the interior of the wire dividing partition cavity, a worm gear transmission mechanism is rotationally connected with the other side of the interior of the wire dividing partition cavity, a synchronous winding piece is installed above the worm gear transmission mechanism, a linkage worm is meshed with one side of the synchronous winding piece, and an anti-loosening locking rope is installed between the synchronous winding piece and the wire locking bolt. According to the utility model, the synchronous winding member is driven by the linkage worm and worm gear transmission mechanism, so that the synchronous locking of the locking direction of the anti-loosening locking rope and the lead locking bolt is realized, and the connection stability of the large-current power line and the small-signal sensing line is ensured.

Description

Technical Field

[0001] This utility model relates to the technical field of VCU controllers for robot bodies, specifically a quick-install VCU controller for mobile robot bodies. Background Technology

[0002] With the rapid development of intelligent manufacturing, warehousing and logistics, intelligent inspection and other fields, mobile robots, as the core execution carrier of automated operations, are constantly expanding their application scenarios and market demand is continuously rising. As the basic carrier and motion execution unit of the whole machine, the mobile robot body integrates key components such as drive module, steering module, sensing module, and communication module. The rationality of its structural design, the efficiency of assembly, and the convenience of later maintenance directly determine the production and manufacturing cost, delivery cycle and total life cycle cost of the mobile robot.

[0003] The vehicle control unit (VCU), as the "brain" of the mobile robot, undertakes core tasks such as receiving instructions from the host computer, analyzing environmental sensor signals, coordinating drive and steering actions, and ensuring the safe operation of the entire machine. It is a key component that ensures the stable and accurate operation of the mobile robot. The assembly precision and connection reliability of the VCU and the mobile robot directly affect the real-time performance of signal transmission and the accuracy of control command execution, thereby determining the motion performance and operational safety of the mobile robot.

[0004] VCUs typically employ a quick-install controller design for easy on-site installation and maintenance. Since they require simultaneous connection of high-current power lines and low-signal sensing lines, screw-type terminal blocks are often used. These terminals achieve the fixing and conductive connection of wires of different diameters through a mechanical crimping structure of "screw + wire clamp + conductive sheet". They have advantages such as flexible wiring and low contact resistance and are widely used in industrial control equipment.

[0005] However, during the actual operation of mobile robots, due to frequent starts, stops, turns, and travel on uneven ground, the device body will be subjected to continuous mechanical vibration and occasional impact loads. These dynamic mechanical environments will be transmitted to the VCU terminals in the form of alternating stress, causing the fastening screws to rotate slightly or loosen axially, thereby weakening the clamping force of the wire clamping frame on the wire. Especially for sensor signal lines with small wire diameter and low mechanical strength, slight loosening may lead to poor contact or even complete detachment, causing serious consequences such as signal interruption, false alarms, or system crashes. Traditional anti-loosening methods such as spring washers, flat washer combinations, or coating thread locking adhesive can play a certain role in the short term, but under long-term vibration environment, the washers are prone to stress relaxation, and the adhesive will fail due to aging, temperature changes, or mechanical fatigue, making it difficult to meet the high reliability and long life operation requirements of mobile robots.

[0006] Therefore, a VCU quick-install controller for mobile robot bodies is proposed to address the above problems. Utility Model Content

[0007] The purpose of this invention is to provide a VCU quick-install controller for a mobile robot body to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A VCU quick-release controller for a mobile robot body includes a VCU controller body, wherein the front end face of the VCU controller body is equipped with an anti-loosening quick-release terminal.

[0010] The anti-loosening quick-connect terminal includes a wire clamping box base. The inner side of the wire clamping box base has multiple linearly arranged wire dividing cavities. One side of the wire dividing cavity is threaded with a wire locking bolt, and the other side of the wire dividing cavity is rotatably connected to a worm gear transmission mechanism. A synchronous winding component is installed above the worm gear transmission mechanism. A linkage worm is engaged on one side of the synchronous winding component. An anti-loosening locking rope is installed between the synchronous winding component and the wire locking bolt.

[0011] The worm gear transmission mechanism includes a worm gear body, a transmission base fixed to the top of the worm gear body, a hemispherical connector fixed to the top of the transmission base, the hemispherical connector extending into the interior of the synchronous winding member, and a plurality of contact members arranged in a circular array fixed to the outer side of the hemispherical connector.

[0012] The synchronous winding component includes an elastic winding wheel, and a plurality of grooved elastic supports arranged in a circular array are fixed inside the elastic winding wheel. A follower is fixed at one end of the grooved elastic support, and the contact is correspondingly disposed at the gap between two adjacent followers.

[0013] As a further optimization of this utility model, the following features are provided: multiple wiring cavities are provided on the lower inner side of the wire clamping box base, the positions of the wiring cavities correspond to the positions of the wire separating cavities, the interior of the elastic winding wheel is a hollow structure, a lubrication injection cap is fixed on the upper part of the interior of the elastic winding wheel, the interior of the lubrication injection cap is an arc-shaped structure, a star-shaped groove is provided in the center of the interior of the lubrication injection cap, arc-shaped grooves are provided on both sides of the grooved elastic bracket, and the driven member is a cylindrical structure.

[0014] As a further optimization of this utility model, a rope position groove is provided on one side of the upper end of the wire locking bolt, one end of the anti-loosening locking rope is fixedly connected to the center of the rope position groove, and the other end of the anti-loosening locking rope is fixedly connected to the elastic winding wheel.

[0015] As a further optimization of this utility model, the worm gear body is rotatably connected to the bottom end of the inner side of the dividing cavity, and the worm gear body is meshed with the linkage worm.

[0016] As a further optimization of this utility model, the transmission base is a three-section cylinder, the upper end of the transmission base extends into the inner side of the elastic take-up wheel, and the upper end of the transmission base is rotatably connected to the bottom of the inner side of the synchronous take-up member.

[0017] As a further optimization of this utility model, the hemispherical connector has a hemispherical structure, the bottom end of the contact is fixedly connected to the upper end of the transmission base, the upper surface of the contact is inclined, and the angle between the upper surface of the contact and the horizontal plane is 5°-10°.

[0018] As a further optimization of this utility model, the installation angles of the multiple linkage worm gears are consistent and the transmission tooth directions are matched. The multiple linkage worm gears are fixed through a connecting shaft, which extends to the outside of the wire clamp box base. Adjusting wheels are fixed at both ends of the connecting shaft.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. This utility model specifically solves the problem of VCU wiring terminals loosening due to continuous mechanical vibration and impact load during the operation of mobile robots. It utilizes the continuous tension of the anti-loosening locking rope to keep the wire locking bolt in a stable downward state, ensuring that its bottom end can firmly press the high current power line and small signal sensing line in the wiring cavity. Even in the face of long-term vibration environment, it can avoid insufficient wire pressing force due to loose wire locking bolt. By driving the synchronous winding part through the linkage worm gear and worm wheel transmission mechanism, the anti-loosening locking rope and the wire locking bolt are locked in the same direction, achieving synchronous anti-loosening, which completely avoids the drawbacks of traditional washers, locking glue and other methods that are prone to failure after long-term use.

[0021] 2. The contact parts, combined with the lubrication injection structure, can form a uniform oil film, which not only reduces transmission friction and avoids jamming, but also protects the components by self-rotating and unloading force when the torque is overloaded. The multi-terminal synchronous anti-loosening design greatly improves installation and maintenance efficiency, ensures the connection stability of high current power lines and small signal sensing lines, effectively reduces faults such as signal interruption and system downtime, and meets the high reliability and long life operation requirements of mobile robots. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is an exploded structural diagram of the anti-loosening quick-connect terminal of this utility model;

[0024] Figure 3 This is a schematic diagram of the worm gear transmission mechanism of this utility model;

[0025] Figure 4 This is a cross-sectional structural diagram of the synchronous winding component of this utility model;

[0026] Figure 5 This is a schematic diagram of the installation structure of the anti-loosening locking rope of this utility model;

[0027] Figure 6 This utility model Figure 5 A magnified structural diagram at point A;

[0028] Figure 7 This utility model Figure 2 A magnified structural diagram at point B;

[0029] Figure 8 This utility model Figure 5 A magnified structural diagram at point C;

[0030] Figure 9 This is a structural schematic diagram of the grooved elastic bracket and the follower of this utility model;

[0031] Figure 10 This is a schematic diagram of the connection structure between the transmission base and the synchronous winding component of this utility model.

[0032] In the diagram: 1. VCU controller body;

[0033] 2. Anti-loosening quick-connect terminals;

[0034] 21. Wire clamp box base; 22. Wire divider cavity; 23. Wire locking bolt; 231. Rope position groove; 24. Worm gear drive mechanism; 25. Synchronous winding component; 26. Linkage worm gear; 27. Anti-loosening locking rope; 28. Lubrication injection cap; 29. ​​Wiring cavity;

[0035] 241. Worm gear body; 242. Transmission base; 243. Hemispherical connector; 244. Contact element;

[0036] 251. Flexible winding reel; 252. Grooved flexible support; 253. Follower. Detailed Implementation

[0037] 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.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] Please see Figures 1-10 This utility model provides a technical solution:

[0040] A VCU quick-release controller for a mobile robot body includes a VCU controller body 1 for the mobile robot body, and an anti-loosening quick-release terminal 2 is installed on the front end face of the VCU controller body 1.

[0041] The anti-loosening quick-connect terminal 2 includes a wire clamping box base 21. Multiple linearly arranged wire-distributing cavities 22 are formed on the inner side of the wire clamping box base 21. Multiple wiring cavities 29 are located on the lower inner side of the wire clamping box base 21, with the positions of the wiring cavities 29 corresponding to the positions of the wire-distributing cavities 22. A wire locking bolt 23 is threaded onto one side of the inside of each wire-distributing cavity 22, extending into the interior of the wiring cavity 29. A worm gear transmission mechanism 24 is rotatably connected to the other side of the inside of each wire-distributing cavity 22. A worm gear transmission mechanism 24 is mounted above the worm gear transmission mechanism 24. The device is equipped with a synchronous winding member 25, on one side of which a linkage worm gear 26 is engaged. An anti-loosening locking rope 27 is installed between the synchronous winding member 25 and the wire locking bolt 23. The worm gear transmission mechanism 24 includes a worm gear body 241, a transmission base 242 fixed to the top of the worm gear body 241, a hemispherical connector 243 fixed to the top of the transmission base 242, the hemispherical connector 243 extending into the interior of the synchronous winding member 25, and a plurality of contact members 244 arranged in a circular array fixed to the outside of the hemispherical connector 243.

[0042] The synchronous winding component 25 includes an elastic winding wheel 251. Multiple grooved elastic supports 252 arranged in a circular array are fixed inside the elastic winding wheel 251. A follower 253 is fixed at one end of each grooved elastic support 252. A contact 244 is correspondingly disposed at the gap between two adjacent followers 253.

[0043] As a further implementation of this solution, the interior of the elastic winding wheel 251 is a hollow structure, and a lubrication injection cap 28 is fixed on the upper part of the interior of the elastic winding wheel 251. The interior of the lubrication injection cap 28 has an arc-shaped structure, and a star-shaped groove is opened in the center of the interior of the lubrication injection cap 28. Arc-shaped grooves are opened on both sides of the grooved elastic support 252, and the follower 253 has a cylindrical structure.

[0044] Specifically, the interior of the lubricating filler cap 28 has an arc-shaped structure to facilitate the concentration of lubricating fluid, the star-shaped groove of the lubricating filler cap 28 can guide the lubricating fluid to form a uniform oil film, the arc-shaped groove of the grooved elastic bracket 252 is adapted to the transmission deformation, and the driven member 253 with a cylindrical structure can better rotate and cooperate with the contact member 244.

[0045] As a further implementation of this solution, a rope position groove 231 is provided on one side of the upper end of the wire locking bolt 23. One end of the anti-loosening locking rope 27 is fixedly connected to the center of the rope position groove 231, and the other end of the anti-loosening locking rope 27 is fixedly connected to the elastic winding wheel 251.

[0046] The rope groove 231 is designed in this way to provide space for angle adjustment of the anti-loosening locking rope 27, so as to avoid stress concentration of the anti-loosening locking rope 27 due to fixed angle.

[0047] As a further implementation of this solution, the worm gear body 241 is rotatably connected to the bottom end of the inner side of the dividing cavity 22, the worm gear body 241 is meshed with the linkage worm 26, the transmission base 242 is a three-section cylinder, the upper end of the transmission base 242 extends into the inner side of the elastic take-up wheel 251 to avoid accidental separation of the transmission base 242 and the elastic take-up wheel 251, and the upper end of the transmission base 242 is rotatably connected to the bottom of the inner side of the synchronous take-up member 25. This setting ensures the coaxial transmission accuracy of the worm gear transmission mechanism 24 and the synchronous take-up member 25 and avoids uneven anti-loosening force caused by transmission eccentricity.

[0048] As a further implementation of this solution, the hemispherical connector 243 has a hemispherical structure, the bottom end of the contact 244 is fixedly connected to the upper end of the transmission base 242, the upper surface of the contact 244 is inclined, and the angle between the upper surface of the contact 244 and the horizontal plane is 5°-10°.

[0049] Specifically, the contact element 244 with a tilt angle of 5°-10° can guide the lubricant to form a uniform oil film at the contact point with the driven element 253, effectively reducing the transmission friction between the two and avoiding the problem that the contact element 244 cannot pass smoothly through the driven element 253 due to excessive friction when overloaded.

[0050] As a further implementation of this solution, the multiple linkage worm gears 26 are installed at the same angle and have matching transmission tooth directions. The multiple linkage worm gears 26 are fixed through a connecting shaft, which extends to the outside of the wire clamp box base 21. Adjusting wheels are fixed at both ends of the connecting shaft, and the adjusting wheels can drive the multiple linkage worm gears 26 to rotate synchronously through the connecting shaft.

[0051] Workflow: First, insert the high-current power line and the small-signal sensing line to be connected into the wiring cavity 29 below each branch cavity 22 of the anti-loosening quick-connect terminal 2, respectively. Then, use a special tool to tighten the wire locking bolt 23 on one side of the branch cavity 22. The mechanical crimping and fixing of the wires is completed by the downward pressing action of the wire locking bolt 23 extending into the wiring cavity 29 through the twisting of the wire locking bolt 23.

[0052] Then, the adjusting wheel extending to the outside of the wire clamp box base 21 is rotated, which drives the linkage worm 26 fixed thereto to rotate. Since multiple linkage worms 26 are synchronously connected through connecting shafts, multiple sets of linkage worms 26 can rotate synchronously, thereby driving the worm wheel body 241 meshing with it to rotate. The worm wheel body 241 drives the transmission base 242 at the top, the hemispherical connector 243 and the outer contact member 244 to rotate together. The contact member 244 pushes the adjacent driven member 253, which drives the grooved elastic bracket 252 and the elastic winding wheel 251 to rotate.

[0053] When the flexible take-up reel 251 rotates, it tightens the anti-loosening locking rope 27. One end of the anti-loosening locking rope 27 is fixed in the take-up groove of the flexible take-up reel 251, and the other end is fixed through the rope position inclined groove 231 of the wire locking bolt 23. The tightening direction is consistent with the locking direction of the wire locking bolt 23. The tension further restricts the loosening of the wire locking bolt 23. If the torque is too large, the contact 244 will pass over the self-rotation of the driven part 253 to unload the force and avoid damage to the parts.

[0054] Before use, lubricant can be injected into the star-shaped groove of the lubrication filling cap 28. The lubricant flows along the arc inside to the hemispherical connector 243, and then is guided to the surface of the contact member 244, forming a uniform oil film at the contact point with the driven member 253, reducing transmission friction and ensuring smooth cooperation between the worm gear transmission mechanism 24 and the synchronous winding member 25.

[0055] The continuous tension of the anti-loosening locking rope 27 ensures that the wire locking bolt 23 remains in a stable downward state, ensuring that its bottom end can firmly press the high current power line and small signal sensing line in the wiring cavity 29. Even in the face of long-term vibration environment, it can avoid insufficient wire pressing force caused by the loosening of the wire locking bolt 23.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A VCU quick-release controller for a mobile robot body, comprising a VCU controller body (1), characterized in that: The front end of the VCU controller body (1) is equipped with a quick-release terminal (2). The anti-loosening quick-connect terminal (2) includes a wire clamping box base (21). The inner side of the wire clamping box base (21) is provided with a plurality of linearly arranged wire dividing cavities (22). One side of the wire dividing cavity (22) is threadedly connected to a wire locking bolt (23). The other side of the wire dividing cavity (22) is rotatably connected to a worm gear transmission mechanism (24). A synchronous winding component (25) is installed above the worm gear transmission mechanism (24). A linkage worm (26) is engaged on one side of the synchronous winding component (25). An anti-loosening locking rope (27) is installed between the synchronous winding component (25) and the wire locking bolt (23). The worm gear transmission mechanism (24) includes a worm gear body (241), a transmission base (242) is fixed to the top of the worm gear body (241), a hemispherical connector (243) is fixed to the top of the transmission base (242), the hemispherical connector (243) extends into the interior of the synchronous winding member (25), and a plurality of contact members (244) arranged in a circular array are fixed to the outer side of the hemispherical connector (243). The synchronous winding component (25) includes an elastic winding wheel (251), and a plurality of grooved elastic supports (252) arranged in a circular array are fixed inside the elastic winding wheel (251). A follower (253) is fixed at one end of the grooved elastic support (252). The contact element (244) is correspondingly disposed at the gap between two adjacent driven elements (253).

2. The VCU quick-install controller for a mobile robot body according to claim 1, characterized in that: The inner side of the base (21) of the wire box is provided with multiple wiring cavities (29). The position of the wiring cavity (29) corresponds to the position of the wire separation cavity (22). The interior of the elastic winding wheel (251) is a cavity structure. A lubricating liquid injection cap (28) is fixed on the upper part of the interior of the elastic winding wheel (251). The interior of the lubricating liquid injection cap (28) is an arc-shaped structure. A star-shaped groove is opened in the center of the interior of the lubricating liquid injection cap (28). Arc-shaped grooves are opened on both sides of the grooved elastic bracket (252). The driven member (253) is a cylindrical structure.

3. The VCU quick-install controller for a mobile robot body according to claim 1, characterized in that: A rope position groove (231) is provided on one side of the upper end of the wire locking bolt (23). One end of the anti-loosening locking rope (27) is fixedly connected to the center of the rope position groove (231), and the other end of the anti-loosening locking rope (27) is fixedly connected to the elastic winding wheel (251).

4. A VCU quick-release controller for a mobile robot body according to claim 1, characterized in that: The worm gear body (241) is rotatably connected to the bottom end of the inner side of the dividing cavity (22), and the worm gear body (241) is meshed with the linkage worm (26).

5. A VCU quick-release controller for a mobile robot body according to claim 1, characterized in that: The transmission base (242) is a three-section cylinder. The upper end of the transmission base (242) extends into the inner side of the elastic take-up wheel (251). The upper end of the transmission base (242) is rotatably connected to the bottom of the inner side of the synchronous take-up member (25).

6. A VCU quick-release controller for a mobile robot body according to claim 1, characterized in that: The hemispherical connector (243) has a hemispherical structure. The bottom end of the contact (244) is fixedly connected to the upper end of the transmission base (242). The upper surface of the contact (244) is inclined, and the angle between the upper surface of the contact (244) and the horizontal plane is 5°-10°.

7. A VCU quick-release controller for a mobile robot body according to claim 1, characterized in that: The multiple linkage worm gears (26) are installed at the same angle and have matching transmission teeth. The multiple linkage worm gears (26) are fixed through a connecting shaft, which extends to the outside of the pressure box base (21). Adjusting wheels are fixed at both ends of the connecting shaft.

Images