Robot assembly chassis

Abstract

The utility model discloses a robot assembly chassis which comprises a chassis body, a plurality of sets of installation frames are arranged on the chassis body, a plurality of sets of installation alignment holes are formed in the surfaces of the installation frames, and clamping holes communicated with the installation alignment holes are formed in the side faces of the installation frames. The alignment part is provided with a slot, the shape of the clamping hole is matched with that of the slot, and the shape of the alignment part is matched with that of the mounting alignment hole; and the clamping block is matched with the slot. According to the robot assembly chassis, the horizontal installation reference can be determined, rigid connection is formed through locking of the clamping blocks, the reference is accurate, it is guaranteed that the installation positions of robot components and the chassis are consistent, and the structural precision is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a robot assembly chassis. Background Technology

[0002] In the assembly of robot chassis and functional modules, the traditional method relies on fasteners such as bolts for positioning, which has problems such as unclear installation benchmarks (easily causing horizontal assembly errors), insufficient connection rigidity (easily loosened under load), and low assembly and maintenance efficiency (requiring each hole to be tightened one by one). In addition, it lacks a benchmark determination and quick locking structure based on mechanical shape adaptation, making it difficult to guarantee installation accuracy and connection stability. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, the purpose of this utility model is to propose a robot assembly chassis that can determine the horizontal installation benchmark and form a rigid connection by locking with a locking block, so as to achieve accurate benchmark: ensuring that the robot parts are installed in the same position as the chassis and improving the structural accuracy.

[0005] To achieve the above objectives, this utility model proposes a robot assembly chassis, comprising: a chassis, wherein the chassis is provided with multiple sets of mounting brackets, the surface of the mounting brackets is provided with multiple sets of mounting alignment holes, and the side of the mounting brackets is provided with locking holes communicating with the mounting alignment holes;

[0006] The alignment component has a slot, the locking hole is adapted to the shape of the slot, and the alignment component is adapted to the shape of the mounting alignment hole;

[0007] A locking block, which is interference-fitted with the slot.

[0008] The robot assembly chassis of this utility model can determine the horizontal installation benchmark, and form a rigid connection by locking with the locking block, so as to achieve the benchmark accuracy, ensure that the robot parts are installed in the same position as the chassis, and improve the structural accuracy.

[0009] In addition, the robot assembly chassis proposed in the application may also have the following additional technical features:

[0010] Furthermore, it also includes two sets of moving wheel assemblies, wherein the two sets of moving wheel assemblies are disposed on both sides of the chassis, and the moving wheel assembly includes moving wheels and servo drive motors, wherein the servo drive motors are connected to the moving wheels.

[0011] Furthermore, it also includes a turning wheel assembly, which includes a front mounting bracket, a turning motor, a rotary bearing, a turning wheel mounting shaft, and a turning wheel. The front mounting bracket is located at the front end of the chassis, the rotary bearing is located at the middle of the front mounting bracket, the turning wheel mounting shaft is connected to the rotation center of the rotary bearing, the turning wheel is mounted on the bearing of the turning wheel mounting shaft, the turning motor is located on the front mounting bracket, and the output end of the turning motor is connected to one end of the turning wheel mounting shaft.

[0012] Furthermore, the mounting bracket is also provided with wiring holes.

[0013] Furthermore, the alignment member is provided with protrusions on both the top and bottom.

[0014] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0016] Figure 1 This is a schematic diagram of the robot assembly chassis structure of this utility model;

[0017] Figure 2 A schematic diagram of the moving wheels and their connecting components in the robot assembly chassis of this utility model;

[0018] Figure 3 A schematic diagram of the front mounting frame and its connecting components in the robot assembly chassis of this utility model;

[0019] Figure 4 This is a structural diagram of the alignment component and locking block in the robot assembly chassis of this utility model.

[0020] As shown in the figure: 1. Chassis; 2. Mounting bracket; 3. Mounting alignment hole; 4. Locking hole; 5. Wiring hole; 6. Alignment component; 7. Locking block; 8. Moving wheel; 9. Servo drive motor; 10. Slot; 11. Turning motor; 12. Rotary bearing; 13. Turning wheel mounting shaft; 14. Turning wheel; 15. Front mounting bracket. Detailed Implementation

[0021] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. Rather, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0022] The robot assembly chassis of this utility model embodiment will now be described with reference to the accompanying drawings.

[0023] like Figures 1-4 As shown, the robot assembly chassis of this utility model embodiment includes:

[0024] The chassis 1 has multiple sets of mounting brackets 2, and the surface of the mounting brackets 2 has multiple sets of mounting alignment holes 3. The side of the mounting brackets 2 has locking holes 4 that communicate with the mounting alignment holes 3.

[0025] Alignment component 6 has a slot 10, and the shape of the locking hole 4 is adapted to the slot 10. The shape of the alignment component 6 is adapted to the mounting alignment hole 3. The alignment component 6 is located below the robot and is used to connect with the chassis 1.

[0026] The locking block 7 is interference-fitted with the slot 10.

[0027] It should be noted that there are multiple sets of alignment components 6, which are installed at the mounting end of the robot, such as below the base of the robotic arm.

[0028] In practical use.

[0029] Insert alignment member 6: Insert alignment member 6 along the axial direction (such as the vertical direction) of mounting alignment hole 3 until the slot 10 of alignment member 6 is fully aligned with the locking hole 4 of mounting bracket 2.

[0030] Install the positioning block 7: Insert the positioning block 7 from the outside of the positioning hole 4, such as the side of the mounting bracket. The positioning block 7 slides along the positioning hole 4 and embeds into the slot 10 of the alignment member 6. A stable connection is achieved through an interference fit or a snap-fit ​​structure, such as a protrusion on the inner wall of the slot and a groove on the positioning block. At this time, the alignment member 6 and the mounting bracket 2 form a rigid connection, which can withstand the load during robot operation.

[0031] The assembly chassis uses mechanical shape adaptation to install alignment holes 3 to determine the horizontal installation benchmark, and is locked by locking block 7 to form a rigid connection, achieving benchmark accuracy: ensuring that the robot parts are installed in the same position as the chassis and improving structural accuracy.

[0032] In one embodiment of this application, two sets of moving wheel assemblies are also included, wherein the two sets of moving wheel assemblies are disposed on both sides of the chassis 1, and the moving wheel assembly includes moving wheels 8 and servo drive motors 9, the servo drive motors 9 being connected to the moving wheels 8.

[0033] When the servo drive motor 9 is powered on, it outputs power, which is transmitted to the moving wheel 8 through the shaft connection, driving the moving wheel 8 to rotate and realize the robot's linear movement or speed adjustment. When the two sets of moving wheel assemblies are driven independently, steering can be achieved through the speed difference, such as differential steering.

[0034] In one embodiment of this application, a turning wheel assembly is also included, wherein the turning wheel assembly includes a front mounting bracket 15, a turning motor 11, a rotary bearing 12, a turning wheel mounting shaft 13, and a turning wheel 14. The front mounting bracket 15 is disposed at the front end of the chassis 1, the rotary bearing 12 is disposed at the middle end of the front mounting bracket 15, the turning wheel mounting shaft 13 is connected to the rotation center of the rotary bearing 12, the turning wheel 14 is mounted on the bearing of the turning wheel mounting shaft 13, the turning motor 11 is disposed on the front mounting bracket 15, and the output end of the turning motor 11 is connected to one end of the turning wheel mounting shaft 13.

[0035] Steering angle adjustment: When steering is required, the turning motor 11 is powered on and started, and the output shaft drives the turning wheel mounting shaft 13 to rotate around the central axis of the rotary bearing 12. Since the shaft 13 is fixedly connected to the inner ring of the rotary bearing 12, the rotation of the shaft 13 drives the outer ring through the inner ring of the bearing or vice versa. Depending on the bearing mounting method, the orientation of the entire shaft 13 is changed, thereby adjusting the direction of the turning wheel 14, such as turning it to the left or right by a certain angle.

[0036] Steering Execution: After the orientation of the turning wheel 14 changes, its contact direction with the ground changes. When the robot moves, the moving wheel assemblies on both sides, such as the drive wheels, provide driving force. The turning wheel 14 generates a steering torque as its orientation changes, pushing the robot to change its overall direction of travel. The turning motor 11 precisely adjusts the deflection angle of the turning wheel 14 by controlling the rotation angle and speed, enabling the robot to flexibly turn, such as turning on the spot and turning with a small radius.

[0037] Mechanical coordination: The cooperation between the turning wheel mounting shaft 13 and the rotary bearing 12 ensures the smoothness of the turning process and reduces frictional resistance. The high-precision control of the turning motor 11, such as servo control, ensures the accuracy of the turning angle and works in coordination with the drive system of the moving wheel assembly to achieve motion trajectory control of the robot.

[0038] In one embodiment of this application, the mounting bracket 2 is further provided with a wiring hole 5.

[0039] Specifically, it is used for internal cables to pass through the robot, enabling circuit connections for various components such as motors and sensors.

[0040] In one embodiment of this application, the alignment member 6 is provided with protrusions on both the top and bottom.

[0041] Specifically, during insertion, the protrusion engages within the hole, restricting the movement of the alignment member 6 along the axial insertion direction and enhancing the stability of the connection.

[0042] Specifically, in the actual implementation process, there is one stage: assembly.

[0043] The alignment components are inserted by inserting multiple sets of alignment components 6 from above or below the chassis 1 along the axial direction of the mounting alignment holes 3 of the mounting bracket 2, in a vertical direction. The cross-sectional shape of the alignment component 6 is perfectly adapted to the mounting alignment hole 3, such as a rectangular rod adapting to a rectangular hole. During insertion, it is automatically aligned by geometric constraints to ensure that the horizontal position of the alignment component 6 is fixed within the mounting alignment hole 3, forming a reference positioning for the robot mounting end, such as the base of the robotic arm.

[0044] Supplement: The protrusions on the upper and lower surfaces of the alignment component 6 engage with the upper and lower ports of the mounting alignment hole 3, restricting its movement along the axial insertion direction and Z-axis, and initially fixing the axial position of the alignment component 6.

[0045] Insert the locking block 7 from the outside of the locking hole 4 on the side of the mounting bracket 2. The locking block 7 slides along the locking hole 4 until it aligns with the slot 10 of the alignment member 6. It is then inserted into the slot 10 by interference fit or snap-fit ​​structure, such as the protrusion on the inner wall of the slot engaging with the groove of the locking block. At this time, the locking block 7 connects the mounting bracket 2 and the alignment member 6, restricting the axial and radial movement of the alignment member 6 within the mounting alignment hole 3, forming a rigid connection, and ensuring that the robot mounting end is firmly fixed to the chassis 1.

[0046] II. Functional Module Collaborative Working Phase.

[0047] Driven by the moving wheel assembly, after the servo drive motor 9 of the moving wheel assembly on both sides is powered on, the output shaft drives the moving wheel 8 to rotate through the coupling or gear set.

[0048] Linear movement: The motors on both sides drive at the same speed, and the moving wheels 8 rotate synchronously, propelling the robot to move in a straight line.

[0049] Differential steering: The two motors drive each other at different speeds, such as the left side rotating faster than the right side. The speed difference generates a steering torque, enabling the robot to turn without relying on the turning wheel assembly for independent steering.

[0050] Steering control and angle adjustment of the turning wheel assembly: When precise steering is required, the front turning motor 11 starts, and the output shaft drives the turning wheel mounting shaft 13 to rotate around the central axis of the rotating bearing 12 through the coupling or transmission mechanism, adjusting the orientation of the turning wheel 14 such as turning it to the left or right by a certain angle.

[0051] Steering execution: After the orientation of the turning wheel 14 changes, its rolling direction in contact with the ground changes. When the moving wheel assembly provides driving force, the turning wheel 14 generates lateral friction due to the orientation deflection, which pushes the robot as a whole to change its direction of travel, realizing small-radius turns or turning in place.

[0052] Mechanical coordination: The rotary bearing 12 reduces frictional resistance during the rotation of the shaft 13, ensuring a smooth steering process. High-precision control of the turning motor 11, such as servo control, ensures the accuracy of the steering angle and works in conjunction with the moving wheel assembly to achieve precise trajectory control.

[0053] In summary, the robot assembly chassis of this utility model embodiment can determine the horizontal installation benchmark, and form a rigid connection by locking with the locking block, so as to achieve the benchmark accuracy, ensure that the robot parts are installed in the same position as the chassis, and improve the structural accuracy.

[0054] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A robot assembly chassis, characterized in that, include: The chassis (1) is provided with multiple sets of mounting brackets (2), and multiple sets of mounting alignment holes (3) are opened on the surface of the mounting brackets (2). The side of the mounting brackets (2) is provided with locking holes (4) that communicate with the mounting alignment holes (3). Alignment component (6), the alignment component (6) has a slot (10) provided on it, the locking hole (4) is adapted to the shape of the slot (10), and the alignment component (6) is adapted to the shape of the mounting alignment hole (3); The locking block (7) is interference-fitted with the slot (10).

2. The robot assembly chassis according to claim 1, characterized in that, It also includes two sets of moving wheel assemblies, among which, Two sets of the aforementioned moving wheel assemblies are arranged on both sides of the chassis (1). The moving wheel assembly includes a moving wheel (8) and a servo drive motor (9), and the servo drive motor (9) is connected to the moving wheel (8).

3. The robot assembly chassis according to claim 1, characterized in that, It also includes a turning wheel assembly, which comprises a front mounting bracket (15), a turning motor (11), a swivel bearing (12), a turning wheel mounting shaft (13), and a turning wheel (14), wherein, The front mounting bracket (15) is located at the front end of the chassis (1), and the rotary bearing (12) is located at the middle end of the front mounting bracket (15); The turning wheel mounting shaft (13) is connected to the rotation center of the rotary bearing (12), the turning wheel (14) is mounted on the bearing of the turning wheel mounting shaft (13), the turning motor (11) is mounted on the front mounting bracket (15), and the output end of the turning motor (11) is connected to one end of the turning wheel mounting shaft (13).

4. The robot assembly chassis according to claim 1, characterized in that, The mounting bracket (2) is also provided with wiring holes (5).

5. The robot assembly chassis according to claim 1, characterized in that, The alignment member (6) is provided with protrusions on both the top and bottom.

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