A robotic chassis stretch deformation mechanism

Abstract

The utility model discloses a kind of robot chassis stretch deformation mechanism, including first chassis, second chassis and stretch structure, second chassis is movably connected above first chassis;Stretch structure includes output gear and rack, output gear is set inside first chassis and partially exposes the upper surface of first chassis, output gear is connected with driving element, rack is set on the lower surface of second chassis and is engaged in output gear, output gear rotation drives rack to move to make first, second chassis stretch / stack each other.The utility model technical scheme aims at optimizing the deformation structure of robot, reduce friction, deformation is more smooth and rapid.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a robot chassis stretching and deformation mechanism. Background Technology

[0002] Foldable and transformable fighting robots are an emerging trend in the field of robotics competitions in recent years. Through their stretchable, foldable, or modularly transformable mechanical structures, they achieve tactical advantages in combat, such as rapid offensive and defensive transitions, agile evasion, or sudden attacks. However, existing transformable robots still have significant drawbacks. Traditional sliding friction structures experience severe wear during vigorous movement, which not only reduces motion accuracy but may also lead to system failure due to overheating, seriously affecting the robot's reliability and sustained combat capability. Utility Model Content

[0003] The main purpose of this invention is to provide a robot chassis stretching and deformation mechanism, which aims to optimize the robot's deformation structure, reduce friction, and make deformation smoother and faster.

[0004] To achieve the above objectives, this utility model proposes a robot chassis stretching and deformation mechanism, comprising:

[0005] First chassis;

[0006] The second chassis is movably connected above the first chassis;

[0007] A stretching structure includes an output gear and a rack. The output gear is disposed inside the first chassis and partially protrudes from the upper surface of the first chassis. The output gear is connected to a driving component. The rack is disposed on the lower surface of the second chassis and meshes with the output gear. The rotation of the output gear drives the rack to move so that the first and second chassis stretch / stack each other.

[0008] In one possible implementation, the stretching structure further includes a pulley assembly with pulleys; the pulley assembly is connected to the first chassis and located above the output gear, and a movable cavity is provided on the lower side of the second chassis corresponding to the pulley assembly, with the pulley assembly located inside the movable cavity; when the first and second chassis are stretched / stacked together, the pulleys can roll along the wall of the movable cavity.

[0009] In one possible implementation, the output gear is also connected to a clutch for overload protection.

[0010] In one possible implementation, the clutch includes a clutch shaft and a large gear, a small gear, and a spring passing through the clutch shaft. The small gear meshes with the output gear. The large gear is in contact with the small gear, and both of their connecting surfaces are provided with meshing portions. The two meshing portions can rotate relative to each other.

[0011] In one possible implementation, the large gear is also connected to a speed reducer, which is connected to the drive member.

[0012] In one possible implementation, detection switches are provided at both ends of the second chassis to detect the position of the first chassis and the second chassis being stretched / stacked together.

[0013] This invention employs a rack and pinion transmission to achieve precise linear telescopic motion, and integrates a pulley assembly for rolling support between two chassis layers, significantly reducing frictional resistance during movement and making the telescopic process smoother and more efficient. The reducer optimizes the motor's output torque to ensure stable operation under heavy loads, while the clutch, through the meshing of large and small gears and spring compression, achieves rapid braking and position locking. Dual-end detection switches monitor the chassis's limit positions in real time to prevent damage from overtravel. The overall structure is compact, combining high precision, low friction, high load capacity, and intelligent control, making it suitable for automated equipment or robotic platforms requiring reliable telescopic deformation. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the tensile state structure of an embodiment of the robot chassis tensile deformation mechanism of this utility model;

[0016] Figure 2 This is a schematic diagram of the stacked structure of an embodiment of the robot chassis stretching and deformation mechanism of this utility model;

[0017] Figure 3 This is a cross-sectional view of an embodiment of the robot chassis stretching and deformation mechanism of this utility model;

[0018] Figure 4 This is an exploded view of an embodiment of the robot chassis stretching and deformation mechanism of this utility model;

[0019] Figure 5 This is a schematic diagram of the structure of an embodiment of the reducer and clutch of this utility model;

[0020] Figure 6 This is an exploded view of an embodiment of the clutch of this utility model.

[0021] Explanation of icon numbers:

[0022] 1. First chassis; 2. Second chassis; 21. Movable cavity; 22. Detection switch; 3. Output gear; 4. Rack; 5. Drive component; 6. Pulley assembly; 61. Pulley; 7. Clutch; 71. Clutch shaft; 72. Large gear; 73. Small gear; 74. Spring; 75. Meshing part; 8. Reducer.

[0023] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] Reference Figures 1 to 4 This utility model proposes a robot chassis stretching and deformation mechanism, including a first chassis 1, a second chassis 2, and a stretching structure. The second chassis 2 is movably connected above the first chassis 1. The stretching structure includes an output gear 3 and a rack 4. The output gear 3 is disposed inside the first chassis 1 and partially protrudes from the upper surface of the first chassis 1. The output gear 3 is connected to a driving component 5. The rack 4 is disposed on the lower surface of the second chassis 2 and meshes with the output gear 3. The output gear 3 rotates to drive the rack 4 to move so that the first and second chassis 2 stretch / stack each other.

[0026] Understandably, the first chassis 1 is the basic part, which contains the drive assembly and has a front wheel at its end; the second chassis 2 is the movable part, located above the first chassis 1, and can move horizontally, with a rear wheel at its end; the tension structure is the core transmission component connecting the two chassis, the output gear 3 is installed inside the first chassis 1, but the top part of the gear is exposed, and the drive is connected to a drive component 5 such as a motor, which drives the output gear 3 to rotate; the rack 4 is fixed to the lower surface of the second chassis 2 and meshes with the exposed part of the output gear 3.

[0027] The drive unit 5 starts first, driving the output gear 3 to rotate. The gear meshes with the rack 4, and as the gear rotates, the rack 4 moves horizontally along the tangent of the gear. Since the rack 4 is fixed on the second chassis 2, the movement of the rack 4 will push the second chassis 2 to slide relative to the first chassis 1. When the gear rotates in the opposite direction, causing the rack 4 to move outward, the two chassis separate, and the overall length increases; when the gear rotates in the opposite direction, causing the rack 4 to move inward, the two chassis approach each other, and the overall length shortens and overlaps.

[0028] This embodiment can be used for deformable robots, which can adapt to narrow or open environments by adjusting the chassis length; or for modular robots, which can save space by stacking and expand functional areas by stretching.

[0029] Reference Figures 3 to 4 In one embodiment of the present invention, the stretching structure further includes a pulley assembly 6, which is provided with a pulley 61. The pulley assembly 6 is connected to the first chassis 1 and located above the output gear 3. The lower side of the second chassis 2 is provided with a movable cavity 21 corresponding to the pulley assembly 6, and the pulley assembly 6 is located in the movable cavity 21. When the first and second chassis 2 are stretched / stacked together, the pulley 61 can roll along the wall of the movable cavity 21.

[0030] Understandably, the pulley assembly 6 includes a pulley 61 and a bracket. The pulley 61 is a freely rotatable circular component, and the bracket is fixed on the first chassis 1 to support the pulley. The installation position is located above the output gear 3, that is, in the upper space above the meshing area of ​​the gear and rack 4. The lower surface of the second chassis 2 is provided with a movable cavity 21, and the pulley assembly 6 is embedded in this cavity.

[0031] When the output gear 3 drives the rack 4 to move, the second chassis 2 begins to slide horizontally. The pulley 61 contacts the top surface of the movable cavity 21, converting the original sliding friction into rolling friction. Since direct contact between the two chassis generates significant frictional resistance, the pulley 61 reduces friction on the contact surface through rolling, making stretching / lamination easier and smoother. The wall of the movable cavity 21 restricts the movement path of the pulley 61, ensuring that the second chassis 2 moves in a straight line and preventing deviation or jamming.

[0032] Reference Figures 3 to 5 In one embodiment of this utility model, the output gear 3 is also connected to a clutch 7 for overload protection.

[0033] Understandably, the clutch 7 can be an electromagnetic clutch 7, which engages when energized to transmit power and disengages when de-energized, and may be braked by a spring 74 or friction plates; it can also be a mechanical clutch 7, whose engagement and disengagement are controlled manually or by a motor; or it can be a self-locking clutch 7, such as a worm gear that has self-locking properties, which, in conjunction with the clutch 7, enhances braking capability. In this example, a mechanical clutch 7 is used to provide overload protection for the output gear 3.

[0034] Reference Figures 5 to 6 In one embodiment of the present invention, the clutch 7 includes a clutch shaft 71 and a large gear 72, a small gear 73, and a spring 74 passing through the clutch shaft 71. The small gear 73 meshes with the output gear 3. The large gear 72 is in contact with the small gear 73, and both of their connecting surfaces are provided with meshing parts 75. The two meshing parts 75 can rotate relative to each other.

[0035] Understandably, the clutch shaft 71 is the core rotating shaft of the clutch 7, on which the large gear 72 and the small gear 73 are mounted. The large gear 72 is connected to the reducer 8 and receives power, while the small gear 73 meshes with the output gear 3 and is responsible for transmitting power to the rack 4. The meshing part 75 is a special tooth or groove structure on the contact surface of the large gear 72 and the small gear 73, used to engage or disengage power. The spring 74 provides axial pressure to keep the large and small gears 73 engaged or disengaged.

[0036] In the engaged state, spring 74 is pressed down, and the meshing part 75 of the large gear 72 and the small gear 73 are tightly engaged. The motor drives the large gear 72 to rotate, which drives the small gear 73 through the meshing part 75. The small gear 73 drives the output gear 3, and the rack 4 moves. The chassis moves accordingly. At this time, the clutch 7 is in a coupling state, and power is transmitted normally. In the braking state, external control overcomes the force of spring 74, and the meshing part 75 of the large gear 72 and the small gear 73 disengages. The large gear 72 spins freely, and the small gear 73 and the output gear 3 stop moving. The chassis position is fixed, and external force cannot push the rack 4.

[0037] Reference Figures 3 to 5 In one embodiment of this utility model, the large gear 72 is also connected to a reducer 8, which is connected to the drive component 5.

[0038] Understandably, the function of reducer 8 is to: reduce the speed, since the motor usually rotates at high speed, but the chassis extension and retraction requires low speed and high torque, reducer 8 can adjust to a suitable speed; increase the torque to ensure that the gears can overcome the chassis load; and protect the motor to avoid direct high load causing the motor to stall or overheat.

[0039] The complete power chain is as follows: the drive unit 5 provides the original power and connects to the input shaft of the reducer 8; the reducer 8 reduces the speed and increases the torque, and the output end is connected to the large gear 72; the large gear 72 receives the reduced power and transmits it to the small gear 73 in a coupled state; the small gear 73 transmits the power to the output gear 3; the output gear 3 drives the rack 4 to move.

[0040] Reference Figure 3 In one embodiment of this utility model, detection switches 22 are provided at both ends of the second chassis 2 to detect the position of the first chassis 1 and the second chassis 2 being stretched / stacked together.

[0041] Understandably, the detection switch 22 can be of the following types: a mechanical microswitch, which physically presses the switch when the chassis moves to its limit position, generating an electrical signal; its advantages are low cost and strong anti-interference; a photoelectric sensor, which determines the position by infrared beam blocking / reflection; it is non-contact and has the advantages of no wear and fast response; or a Hall sensor, which detects the position of the magnet on the chassis, suitable for high-precision scenarios. The installation positions are at both ends of the second chassis 2, corresponding to the two limit positions of full extension and full stacking, respectively. Trigger blocks such as metal plates, magnets, or baffles need to be installed at the corresponding positions on the first chassis 1 to activate the switch.

[0042] This utility model's technical solution achieves precise linear telescopic motion through a gear and rack transmission 4, and integrates a pulley assembly 6 for rolling support between two chassis layers, significantly reducing frictional resistance during movement and making the telescopic process smoother and more efficient. The reducer 8 optimizes the motor's output torque, ensuring stable operation under heavy loads, while the clutch 7, through the meshing of large and small gears 73 and the clamping design of the spring 74, achieves rapid braking and position locking. A dual-end detection switch 22 monitors the chassis's limit positions in real time, preventing damage from overtravel. The overall structure is compact, combining advantages such as high precision, low friction, strong load capacity, and intelligent control, making it suitable for automated equipment or robot platforms requiring reliable telescopic deformation.

[0043] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0044] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot chassis stretching and deformation mechanism, characterized in that, include: First chassis; The second chassis is movably connected above the first chassis; A stretching structure includes an output gear and a rack. The output gear is disposed inside the first chassis and partially protrudes from the upper surface of the first chassis. The output gear is connected to a driving component. The rack is disposed on the lower surface of the second chassis and meshes with the output gear. The rotation of the output gear drives the rack to move so that the first and second chassis stretch / stack each other.

2. The robot chassis stretching and deformation mechanism according to claim 1, characterized in that, The stretching structure also includes a pulley assembly, which is provided with pulleys; the pulley assembly is connected to the first chassis and located above the output gear, and a movable cavity is provided on the lower side of the second chassis corresponding to the pulley assembly, with the pulley assembly located inside the movable cavity; when the first and second chassis are stretched / stacked together, the pulley can roll along the wall of the movable cavity.

3. The robot chassis stretching and deformation mechanism according to claim 2, characterized in that, The output gear is also connected to a clutch for overload protection.

4. The robot chassis stretching and deformation mechanism according to claim 3, characterized in that, The clutch includes a clutch shaft and a large gear, a small gear, and a spring passing through the clutch shaft. The small gear meshes with the output gear. The large gear is in contact with the small gear, and both of their connecting surfaces are provided with meshing parts. The two meshing parts can rotate relative to each other.

5. The robot chassis stretching and deformation mechanism according to claim 4, characterized in that, The large gear is also connected to a reducer, which is connected to the drive component.

6. The robot chassis stretching and deformation mechanism according to claim 5, characterized in that, Both ends of the second chassis are equipped with detection switches to detect the position of the first chassis and the second chassis being stretched / stacked together.

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