A modular shock absorption structure for robot chassis

Abstract

This utility model provides a modular shock-absorbing structure for robot chassis, including a support part and a shock-absorbing rubber sleeve. The support part is at least one layer of sheet spring steel, and several rectangular holes are formed through the support part. A recess is provided on the outer side of the support part facing inward. The shock-absorbing rubber sleeve is a polyurethane shock-absorbing sleeve. The advantages of this utility model are: the support part has a simple structure; by mounting the drive motor and travel wheels on the support part to form a modular structure, it can be completely replaced, making maintenance simple. It is also suitable for robot chassis structures of different weights, especially suitable for various robot competitions. At the same time, the modular structure of the support part increases its versatility, thereby reducing manufacturing costs. The support part effectively reduces the impact of acceleration on the sensor during impact, effectively improving the stability of the sensor and reducing signal output distortion.

Description

Technical Field

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

[0002] With the development of robotics technology, robots have been widely applied in various fields. For example, in sports, robots can simulate opponents, helping athletes improve their techniques, develop strategies, and enhance training effectiveness.

[0003] During this process, the robot collects training data through installed sensors, enabling it to develop personalized training plans and improve training effectiveness; it also monitors the athlete's training status in real time, providing timely feedback and suggestions to help adjust training intensity and methods.

[0004] However, during the movement of existing robots, especially when suddenly changing direction, the acceleration caused by ground impacts can reduce the stability of sensors and the signal output. For example, impacts may change the sensitivity of sensors, leading to subsequent measurement errors; strong impacts may cause zero-point drift of sensors, requiring recalibration; impacts may introduce additional noise, reducing the signal-to-noise ratio and affecting data accuracy; and accelerations exceeding the sensor's range can cause nonlinearity in the output signal and distortion of measurement results.

[0005] As is well known, the acceleration when subjected to a ground impact is closely related to the impact force, the mass of the object, and the duration of the impact.

[0006] To reduce the impact of acceleration during impact, it is necessary to effectively reduce the impact force on the robot, thereby reducing the influence of acceleration on the sensors. Summary of the Invention

[0007] To address the problem in existing technologies where the acceleration of a robot subjected to ground impacts causes a reduction in sensor stability and signal output, this invention provides a modular shock-absorbing structure for a robot chassis, comprising a support and a shock-absorbing rubber sleeve. The support part is at least one layer of sheet spring steel, and a first rectangular hole, a second rectangular hole, four third rectangular holes and four fourth rectangular holes are opened through the support part. The outer side of the support portion adjacent to the third rectangular hole has an inward recess; The shock-absorbing rubber sleeve is a polyurethane shock-absorbing rubber sleeve.

[0008] Preferably, the support portion has screw holes around its periphery for fixing the support portion to the robot chassis frame with bolts; The support portion has mounting screw holes on both sides of the second rectangular hole.

[0009] Preferably, the first rectangular hole is opened on one side of the support portion, and the second rectangular hole is opened in the middle of one side of the first rectangular hole, and communicates with the first rectangular hole to form a T-shaped structure.

[0010] Preferably, the third rectangular hole and the fourth rectangular hole are symmetrically opened on the support portion on both sides of the second rectangular hole.

[0011] Preferably, the third rectangular hole is located in the middle, and the fourth rectangular hole 14 is distributed on both sides of the third rectangular hole.

[0012] Preferably, the third rectangular hole and the fourth rectangular hole have the same length, and the width of the third rectangular hole is greater than the width of the fourth rectangular hole.

[0013] Preferably, the support part is made of cold-rolled spring steel strip with a thickness of 0.6-2mm.

[0014] In summary, the beneficial effects of this utility model are as follows: the support structure is simple, and by mounting the drive motor and the travel wheels on the support to form a modular structure, it can be completely disassembled and replaced, making maintenance easy. It is also suitable for robot chassis structures of different weights, and is especially suitable for use in various robot competitions. At the same time, the modular structure of the support increases its versatility, thereby reducing manufacturing costs. The support effectively reduces the impact of acceleration on the sensor during impact, effectively improving the stability of the sensor and reducing signal output distortion. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the support structure in an embodiment of the present utility model; Figure 2 This is a front view structural diagram of the support portion in an embodiment of the present utility model; Figure 3 This is a schematic diagram illustrating the application of the support portion in an embodiment of the present utility model; In the diagram, 1 is the support component, 2 is the shock-absorbing rubber sleeve, 3 is the robot chassis, 4 is the bolt, 5 is the nut, and 6 is the rubber pad. First rectangular hole 11, second rectangular hole 12, third rectangular hole 13, fourth rectangular hole 14, recess 15, screw hole 16, mounting screw hole 17. Detailed Implementation

[0017] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. 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 scope of protection of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Example 1: Refer to Figure 1-3 As shown, this utility model provides a modular shock absorption structure for robot chassis, including a support part 1 for supporting the robot wheel set and a shock-absorbing rubber sleeve 2 for connecting the robot chassis and the support part 1. The shock-absorbing rubber sleeve 2 is installed between the robot chassis 3 and the support part 1 to provide shock absorption for the robot, so that the robot is more stable during movement and the vibration of the robot is lower than the threshold of vibration affecting the sensors. The support part 1 has a modular structure, which can be replaced as a whole, and the maintenance is simple, making it especially suitable for various robot competitions.

[0021] The material used for the support part 1 is 65Mn spring steel cold-rolled steel strip, which is at least one layer of sheet-like spring steel cold-rolled steel strip with a thickness of 0.6-2mm. A first rectangular hole 11 is provided through the support part 1 for use as the mounting position of the travel wheel, and a second rectangular hole 12 is provided for installing the motor that drives the travel wheel.

[0022] The first rectangular hole 11 is opened on one side of the support part 1. The second rectangular hole 12 is opened in the middle of one side of the first rectangular hole 11 and communicates with the first rectangular hole 11 to form a T-shaped structure. The T-shaped structure facilitates the installation of the travel wheel and the motor.

[0023] The support part 1 serves as the carrier for mounting the travel wheels and motor, as well as the support body for the robot. It is also the connecting body for connecting the travel wheels and motor to the robot chassis 3.

[0024] In addition to a first rectangular hole 11 and a second rectangular hole 12, the support part 1 also has four third rectangular holes 13 and four fourth rectangular holes 14. A recess 15 is provided on the outer side of the support part 1 adjacent to the third rectangular hole 13. The opening of the above holes and recesses allows the robot to deform under impact, giving it the ability to elastically deform, effectively reducing the impact force on the robot, thereby reducing the impact of acceleration on the sensor.

[0025] At the same time, the opening of the aforementioned holes and recesses allows the support part 1 to have the ability to elastically deform under impact, while also maintaining the strength of the support part 1 as the support body of the robot. Therefore, their size and positional relationship are also different.

[0026] The third rectangular hole 13 and the fourth rectangular hole 14 are symmetrically opened on the support portion 1 on both sides of the second rectangular hole 12; the third rectangular hole 13 is located in the middle, and the fourth rectangular hole 14 is distributed on both sides of the third rectangular hole 13; the third rectangular hole 13 and the fourth rectangular hole 14 have the same length, and the width of the third rectangular hole 13 is greater than the width of the fourth rectangular hole 14.

[0027] The first rectangular hole 11 and the second rectangular hole 12 are connected to form a T-shaped structure, which makes the overall hole surface larger. In order to enable the support part 1 to have both the function of a support body and the elastic ability to guide deformation, the design of the third rectangular hole 13 and the fourth rectangular hole 14 can effectively buffer the deformation guided by the first rectangular hole 11 and the second rectangular hole 12, and reduce the impact on the robot at the moment of deformation.

[0028] More specifically, the size of the support part 1 is 195mm*150mm; the size of the first rectangular hole 11 is 165mm*51mm, the size of the second rectangular hole 12 is 72mm*44mm, the size of the third rectangular hole 13 is 51.5mm*15mm, the size of the fourth rectangular hole 14 is 51.5mm*7mm, and the size of the recess 15 is 165mm*51mm.

[0029] The distance between one side of the first rectangular hole 11 and the edge of the support part 1 is 13mm, the distance between one side of the fourth rectangular hole 14 and the edge of the support part 1 is 7.5mm, and the outer side of the support part 1 is provided with a recess 15 with a depth of 7.5mm.

[0030] The modular structure of the support part 1 is not only applicable to robot chassis 3 structures of different weights, but also increases the versatility of the support part 1, thereby reducing the manufacturing cost of the support part 1. When applied to a 20KG robot, four sheet-like structures of 195mm*150mm cut from 0.6mm thick spring steel cold-rolled steel strip are used as the support parts 1 at the four corners of the robot. The support part 1 adopts a single-layer structure. Unlike the application to the 20KG robot, when applied to a 40KG robot, the support part 1 adopts a double-layer spring steel cold-rolled steel strip stacked structure, with one layer being 0.6mm thick and the other layer being 0.8mm thick.

[0031] In another embodiment, the shock-absorbing sleeve 2 is a polyurethane shock-absorbing sleeve. The density of polyurethane is between 1.2 and 1.3 g / cm³. Its high toughness can effectively play a shock-absorbing role. Its high strength and high wear resistance make it suitable for installation between the robot chassis 3 and the support part 1 as a shock-absorbing sleeve.

[0032] In another embodiment, the support part 1 is provided with screw holes 16 around its periphery for connecting the support part 1 to the robot chassis 3 frame by bolts 3; the bolts 4 are known bolts fixed with nuts 5 at both ends, and the bolts 4 are slidably connected in the screw holes 16, and rubber pads are also provided between the nuts at both ends and the support part 1 and the robot chassis 3 frame; wherein the bolts 4 and rubber pads 6 are both prior art and will not be described in detail.

[0033] In another embodiment, the support part 1 is provided with mounting screw holes 17 on both sides of the second rectangular hole 12, and the drive motor is fixedly installed by fixing bolts.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0035] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A modular shock absorbing structure for a robot chassis, characterized by: Includes a support (1) and a shock-absorbing rubber sleeve (2); The support part (1) is at least one layer of sheet spring steel, and a first rectangular hole (11), a second rectangular hole (12), four third rectangular holes (13), and four fourth rectangular holes (14) are opened through the support part (1). A recess (15) is provided on the outer side of the support part (1) adjacent to the third rectangular hole (13). The shock-absorbing rubber sleeve (2) is a polyurethane shock-absorbing rubber sleeve.

2. The modular shock-absorbing structure of claim 1, wherein, The support part (1) has screw holes (16) around its periphery for fixing the support part (1) to the robot chassis (3) frame by bolts (4); The support part (1) is provided with mounting screw holes (17) on both sides of the second rectangular hole (12).

3. The modular shock-absorbing structure of claim 1, wherein, The first rectangular hole (11) is opened on one side of the support part (1). The second rectangular hole (12) is opened in the middle of one side of the first rectangular hole (11) and communicates with the first rectangular hole (11) to form a T-shaped structure.

4. The modular shock absorbing structure of claim 1, wherein, The third rectangular hole (13) and the fourth rectangular hole (14) are symmetrically opened on the support part (1) on both sides of the second rectangular hole (12).

5. The modular shock absorbing structure of claim 4, wherein, The third rectangular hole (13) is located in the middle, and the fourth rectangular hole (14) is distributed on both sides of the third rectangular hole (13).

6. The modular vibration damping structure according to claim 5, characterized in that, The third rectangular hole (13) and the fourth rectangular hole (14) are of the same length, and the width of the third rectangular hole (13) is greater than the width of the fourth rectangular hole (14).

7. The modular vibration damping structure according to claim 5, characterized in that, The material of the support part (1) is cold-rolled spring steel strip with a thickness of 0.6-2mm.

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