Robot chassis based on bionic damping structure

Abstract

The robot chassis based on the bionic damping structure comprises a robot chassis body and a base, a surrounding baffle is fixed to the edge of the top of the base, the robot chassis body is installed on the top of the base through a bionic damping mechanism, and the robot chassis body slides up and down on the inner side of the surrounding baffle. The modular robot chassis belongs to the technical field of robot chassis, and achieves the technical effects that double shock absorption can be performed on the robot chassis through the honeycomb bionic shock absorption structure and the skeleton bionic shock absorption structure, the shock absorption effect is greatly improved, the stability of the modular robot in the moving process is facilitated, and the modular robot chassis is suitable for popularization.

Description

Technical Field

[0001] This utility model relates to the field of robot chassis, specifically to a robot chassis based on a biomimetic shock absorption structure. Background Technology

[0002] Modular robots are robots assembled from a series of standardized, interchangeable modules. These modules can include joints, links, end effectors, sensors, controllers, power supplies, etc. By combining different modules, robots with various functions and structures can be quickly built to adapt to different application scenarios. The robot chassis is the basic structure of a modular robot, used to support all the robot's components. Its design directly affects the robot's stability, flexibility, load capacity, and applicable scenarios.

[0003] Most existing modular robots are precision devices, and vibrations are inevitable during their movement. While traditional shock-absorbing structures can provide shock absorption, they are mostly simple and have poor shock absorption effects, requiring further improvement. Utility Model Content

[0004] Therefore, this utility model provides a robot chassis based on a biomimetic shock absorption structure to solve the above-mentioned problems in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robot chassis based on a biomimetic shock absorption structure includes a robot chassis and a base. A baffle is fixed at the top edge of the base. The robot chassis is installed on the top of the base through a biomimetic shock absorption mechanism, and the robot chassis slides up and down inside the baffle.

[0007] The biomimetic shock absorption mechanism includes a first biomimetic shock absorption component, a second biomimetic shock absorption component, and a damping component. The first biomimetic shock absorption component includes a rubber buffer seat. The bottom of the rubber buffer seat is fixed at the center of the top of the base, and the top of the rubber buffer seat is fixed at the center of the bottom of the robot chassis. The rubber buffer seat has several honeycomb-shaped holes inside.

[0008] Preferably, the second biomimetic shock absorption component includes a plurality of hollow spheres, each hollow sphere having an arc-shaped limiting hole on its surface, and each hollow sphere having a first connecting rod fixed to its bottom.

[0009] Preferably, the top of the base is fixed with a plurality of first end plates, and the plurality of first end plates correspond one-to-one with a plurality of first connecting rods. The bottom ends of the first connecting rods are rotatably connected to the center of the corresponding first end plate through a first pin.

[0010] Preferably, each hollow sphere has a rotating ball inside, and each rotating ball has a second connecting rod fixed to its surface. The top end of the second connecting rod passes through an arc-shaped limiting hole, and the surface of the second connecting rod is in contact with the wall of the arc-shaped limiting hole.

[0011] Preferably, the bottom of the robot chassis is fixed with a plurality of second end plates, and the plurality of second end plates correspond one-to-one with a plurality of second connecting rods. The top ends of the second connecting rods are rotatably connected to the center of the corresponding second end plate through a second pin.

[0012] Preferably, each of the first connecting rods has an arc-shaped spring sheet fixed to its surface, and the top of each arc-shaped spring sheet is fixed to the surface of the second connecting rod.

[0013] Preferably, the damping assembly includes several vertically arranged dampers, the bottom ends of which are all fixed to the top of the base, and the top ends of the damper piston rods are all fixed to the bottom of the robot chassis.

[0014] Preferably, the robot chassis has symmetrically fixed limit sliders on its side, and the inner wall side surface of the enclosure has symmetrically opened limit grooves, with the limit sliders slidably connected in the limit grooves.

[0015] This utility model has the following advantages: by using the robot chassis, base, enclosure, and bionic shock absorption mechanism in combination, the robot chassis can be subjected to dual shock absorption through the honeycomb bionic shock absorption structure and the skeletal bionic shock absorption structure, which greatly improves the shock absorption effect and is conducive to the stability of the modular robot during movement, making it suitable for widespread application. Attached Figure Description

[0016] Figure 1 A structural cross-sectional view provided for this utility model;

[0017] Figure 2 for Figure 1 Enlarged view of the structure at point A in the image;

[0018] Figure 3 A three-dimensional structural view of the hollow sphere provided by this utility model;

[0019] Figure 4 Internal structure diagram of the hollow sphere provided by this utility model;

[0020] Figure 5 The main structural view provided for this utility model.

[0021] In the diagram: 1. Robot chassis; 2. Base; 3. Enclosure plate; 4. Limiting slider; 5. Limiting groove; 6. Rubber buffer seat; 7. Honeycomb-shaped holes; 8. Hollow ball; 9. Arc-shaped limiting hole; 10. First connecting rod; 11. First end plate; 12. First pin; 13. Rotating ball; 14. Second connecting rod; 15. Second end plate; 16. Second pin; 17. Arc-shaped spring sheet; 18. Damper. Detailed Implementation

[0022] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model. Example 1

[0023] like Figures 1 to 5 As shown, in the first aspect embodiment of this utility model, there is a robot chassis based on a biomimetic shock absorption structure. The robot chassis 1 and the base 2 are connected. A baffle 3 is fixed at the top edge of the base 2. The robot chassis 1 is installed on the top of the base 2 through a biomimetic shock absorption mechanism. The robot chassis 1 slides up and down inside the baffle 3. Limiting sliders 4 are symmetrically fixed on the side of the robot chassis 1. Limiting grooves 5 are symmetrically opened on the inner wall side surface of the baffle 3. The limiting sliders 4 are slidably connected in the limiting grooves 5.

[0024] The bionic shock absorption mechanism includes a first bionic shock absorption component, a second bionic shock absorption component and a damping component. The first bionic shock absorption component includes a rubber buffer seat 6. The bottom of the rubber buffer seat 6 is fixed at the center of the top of the base 2, and the top of the rubber buffer seat 6 is fixed at the center of the bottom of the robot chassis 1. Several honeycomb-shaped holes 7 are opened inside the rubber buffer seat 6.

[0025] In the above embodiments, it should be noted that under the combined limiting action of the limiting slider 4 and the limiting groove 5, the robot chassis 1 can move stably up and down.

[0026] The technical effect achieved by the above embodiment is as follows: the rubber buffer seat 6 with a number of honeycomb holes 7 imitates the structure of a honeycomb, and absorbs impact energy through dense hexagonal or other shaped holes, which can effectively absorb and dissipate energy, reduce the impact and vibration, and thus effectively reduce the vibration of the robot chassis 1. Example 2

[0027] like Figures 2 to 4As shown, a robot chassis based on a biomimetic shock absorption structure includes all the contents of Embodiment 1. Furthermore, the second biomimetic shock absorption component includes several hollow spheres 8, each with an arc-shaped limiting hole 9 on its surface. A first connecting rod 10 is fixed to the bottom of each hollow sphere 8. Several first end plates 11 are fixed to the top of the base 2, with each first end plate 11 corresponding to one of the first connecting rods 10. The bottom ends of each first connecting rod 10 are rotatably connected to the center of the corresponding first end plate 11 via first pins 12. Each hollow sphere 8 contains a rotating ball 13 for rotation. Each ball 13 has a second connecting rod 14 fixed on its surface. The top of the second connecting rod 14 passes through the arc-shaped limiting hole 9, and the surface of the second connecting rod 14 is in contact with the wall of the arc-shaped limiting hole 9. Several second end plates 15 are fixed at the bottom of the robot chassis 1. Each of the several second end plates 15 corresponds to one of the several second connecting rods 14. The top of each of the second connecting rods 14 is rotatably connected to the center of the corresponding second end plate 15 through a second pin 16. Each of the first connecting rods 10 has an arc-shaped spring sheet 17 fixed on its surface. The top of each arc-shaped spring sheet 17 is fixed to the surface of the second connecting rod 14.

[0028] The technical effect achieved by the above embodiments is as follows: when the modular robot moves and generates vibration, the robot chassis 1 slides up and down, which allows the rotating ball 13 to rotate inside the hollow ball 8, thereby squeezing the arc spring 17 and generating shock absorption force, realizing the function of the skeletal bionic shock absorption structure. Example 3

[0029] like Figures 1 to 2 As shown, a robot chassis based on a biomimetic damping structure includes all the contents of Embodiment 2. In addition, the damping assembly includes several vertically arranged dampers 18, the bottom ends of which are all fixed to the top of the base 2, and the top ends of the piston rods of the dampers 18 are all fixed to the bottom of the robot chassis 1.

[0030] The technical effect achieved by the above embodiments is that the damper 18 can absorb energy and effectively prevent the robot chassis 1 from shaking too violently under the elastic action of the arc spring plate 17 and the rubber buffer seat 6.

[0031] The usage process of this utility model is as follows: When the robot moves and generates vibration, the robot chassis 1 slides up and down, which causes the rotating ball 13 to rotate inside the hollow ball 8, thereby compressing the arc spring 17 and generating shock absorption force, realizing the function of the skeletal bionic shock absorption structure. When the robot chassis 1 slides up and down, it can also compress the rubber buffer seat 6. The rubber buffer seat 6, which has several honeycomb-shaped holes 7, imitates the structure of a honeycomb. It absorbs impact energy through dense hexagonal or other shaped holes, which can effectively absorb and dissipate energy, reduce the impact and vibration, and thus effectively reduce the shock of the robot chassis 1. That is, the robot chassis can achieve dual shock absorption through the honeycomb bionic shock absorption structure and the skeletal bionic shock absorption structure, which greatly improves the shock absorption effect and is beneficial to the stability of the modular robot during movement.

Claims

1. A robot chassis based on a biomimetic shock absorption structure, comprising a robot chassis (1) and a base (2), wherein a baffle plate (3) is fixed at the top edge of the base (2), characterized in that: The robot chassis (1) is mounted on top of the base (2) through a bionic shock absorption mechanism, and the robot chassis (1) slides up and down inside the enclosure (3); The bionic shock absorption mechanism includes a first bionic shock absorption component, a second bionic shock absorption component and a damping component. The first bionic shock absorption component includes a rubber buffer seat (6). The bottom of the rubber buffer seat (6) is fixed at the center of the top of the base (2), and the top of the rubber buffer seat (6) is fixed at the center of the bottom of the robot chassis (1). The rubber buffer seat (6) has several honeycomb-shaped holes (7) inside.

2. The robot chassis based on a biomimetic vibration damping structure according to claim 1, characterized in that: The second biomimetic shock absorber includes several hollow spheres (8), each hollow sphere (8) has an arc-shaped limiting hole (9) on its surface, and each hollow sphere (8) has a first connecting rod (10) fixed at its bottom.

3. A robot chassis based on a biomimetic vibration damping structure according to claim 2, characterized in that: The base (2) has several first end plates (11) fixed on its top. The first end plates (11) and the first connecting rods (10) correspond to each other. The bottom ends of the first connecting rods (10) are rotatably connected to the center of the corresponding first end plate (11) through the first pin (12).

4. A robot chassis based on a biomimetic vibration damping structure according to claim 2, characterized in that: Each hollow sphere (8) has a rotating ball (13) inside. Each rotating ball (13) has a second connecting rod (14) fixed on its surface. The top of the second connecting rod (14) passes through the arc-shaped limiting hole (9), and the surface of the second connecting rod (14) is in contact with the wall of the arc-shaped limiting hole (9).

5. A robot chassis based on a biomimetic vibration damping structure according to claim 4, characterized in that: The robot chassis (1) has several second end plates (15) fixed at its bottom. The several second end plates (15) correspond one-to-one with several second connecting rods (14). The top of each of the second connecting rods (14) is rotatably connected to the center of the corresponding second end plate (15) through a second pin (16).

6. A robot chassis based on a biomimetic vibration damping structure according to claim 4, characterized in that: The surface of the first connecting rod (10) is fixed with an arc-shaped spring sheet (17), and the top of the arc-shaped spring sheet (17) is fixed to the surface of the second connecting rod (14).

7. A robot chassis based on a biomimetic vibration damping structure according to claim 1, characterized in that: The damping assembly includes several vertically arranged dampers (18), the bottom of which is fixed to the top of the base (2), and the top of the piston rod of which is fixed to the bottom of the robot chassis (1).

8. A robot chassis based on a biomimetic vibration damping structure according to claim 1, characterized in that: The robot chassis (1) has a symmetrically fixed limit slider (4) on its side end, and the inner wall side surface of the enclosure (3) has a symmetrically opened limit groove (5), and the limit slider (4) is slidably connected in the limit groove (5).

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