Modular dolly robot

Abstract

The utility model relates to the related field of dolly robot, specifically disclose a kind of modular dolly robot, including cell -phone, sucking disc, PCB board, motor, baffle, turnover support, wheel shaft and dolly main body, the top vertical fixed frame of dolly main body is hinged to the top end of turnover support by ear bracket and ear hinged, and the top of vertical fixed frame is equipped with protective housing, the cell -phone is adsorbed on the sucking disc of the top end of turnover support, four wheels of the two sides of dolly main body are respectively controlled by four wheel shafts, and four wheel shafts are respectively controlled by four motors, driven gear on wheel shaft and face gear gear transmission connection, and face gear and motor output shaft end portion driving gear gear transmission connection. The utility model's dolly robot, using module design, every motor module contains 2 motors, respectively control left wheel, right wheel, pitch mechanism.

Description

Technical Field

[0001] This utility model relates to the field of small car robots, specifically a modular small car robot. Background Technology

[0002] In recent years, global artificial intelligence (AI) technology has developed rapidly, especially with breakthroughs in computer vision, natural language processing, edge computing, and robotics. Intelligent robots have gradually penetrated the consumer market from the industrial sector. Home service robots, companion robots, and security robots are increasingly gaining public attention, becoming a fiercely competitive arena for tech giants.

[0003] Currently, the mainstream implementation method for robots in the market is centralized drive. A single main controller, such as an STM32, controls all motors through multiple PWM channels and uses mechanical linkage mechanisms (belts / links) to distribute power to each actuator. For example, some home-following robots use a single camera and a two-motor chassis, achieving following through visual algorithms, but the gimbal's rotation range is limited. Therefore, a multi-modal integrated robot car is designed. Each motor module's shell is fixed using a combination of snap-fit ​​screws, reducing assembly tools and providing significant advantages in three core areas: production efficiency, quality control, and after-sales maintenance.

[0004] The aforementioned centralized drive robot adopts a traditional integrated design. The assembly process relies on sequence, and a single defect can lead to the scrapping of the entire machine. In terms of software, all motion logic is uniformly scheduled by the central processor, resulting in high code coupling. For example, gimbal control and chassis movement need to avoid each other. This traditional approach has low initial cost, but high maintenance cost. Precise adjustment of the linkage mechanism is required during production and assembly, which is time-consuming and labor-intensive, and its disadvantages are obvious. Utility Model Content

[0005] The purpose of this utility model is to provide a modular robot car to solve the problems mentioned in the background art, which are that the traditional method has low initial cost but high maintenance cost, and requires precise adjustment of the linkage mechanism during production and assembly, which is time-consuming and labor-intensive, and has obvious disadvantages.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a modular robot car, comprising a mobile phone, a suction cup, a PCB board, a motor, a shield, a flipping bracket, axles, and a robot body. The vertical fixing frame at the top of the robot body is hinged to the end hinge of the flipping bracket via a second ear bracket, and the top of the vertical fixing frame is provided with a protective shell. The mobile phone is adsorbed onto the suction cup at the top of the flipping bracket. The four wheels on both sides of the robot body are controlled by the four axles, and the four axles are controlled by the four motors. The driven gears on the axles are gear-driven connected to the end face gears, and the end face gears are gear-driven connected to the driving gears at the end of the motor output shaft.

[0007] In a further embodiment, the two motors are mounted on the same PCB board, which is located on one side of the inner cavity of the trolley body. The PCB board also includes a motor compartment cover, which is located above the two motors. The first lugs at both ends of the motor compartment cover are connected to two end face gears via protruding shafts, and the motor compartment cover is fastened to the bottom shell.

[0008] In a further embodiment, a photoelectric switch is provided on one side of the top of the PCB board, and the other end of the motor is connected to the shielding plate through an output shaft, with the shielding plate and the photoelectric switch being arranged correspondingly.

[0009] In a further embodiment, a wheel cover and a wheel axle cover are also included. The wheel axle is provided with a wheel axle cover and is fixed by bolts. The wheel cover is fitted onto the outside of the driven gear. The driven gear is provided with a screw hole. The wheel cover is provided with a through hole. The wheel cover and the driven gear are fixed by screws. The hub cover is fitted into the wheel cover so that the hub cover and the wheel cover are interference fit.

[0010] In a further embodiment, a battery compartment is also included, which is located inside the body of the vehicle. The battery compartment has a stepped shaft hole, and the wheel axle is interference-fitted with the stepped shaft hole of the battery compartment. The battery compartment contains a battery pack, and the PCB board is electrically connected to one side of the battery pack.

[0011] In a further embodiment, the system also includes bearings, a plurality of which are disposed on the battery compartment and are rotatably connected to the axle.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. The utility model of the small robot adopts a modular design. Each motor module contains two motors, which control the left wheel, the right wheel, and the pitch mechanism respectively. Each wheel motor module integrates a reduction device and a drive circuit. Axial and radial dual constraints are achieved through the locking pins and threads, realizing a quick-release powertrain with electromechanical coupling, which simplifies production and quality control.

[0014] 2. In this utility model of a small robot, each motor controls only one wheel. If a single wheel fails, the original motion capability can be basically maintained by adjusting the speed and direction of the remaining motors, thus improving fault redundancy and fault-tolerant control.

[0015] 3. The motor module of this utility model adopts a transmission method of end face gear and spur gear meshing, which makes the structural space more compact and improves the transmission efficiency.

[0016] 4. The independent control of this utility model integrates deceleration and drive devices for each module, and the mechanical transmission module can be quickly disassembled and assembled by fixing with screws, reducing the dependence on skilled workers; each module controls one wheel, and omnidirectional movement is achieved by using Magna mother wheel, and if a problem occurs in a single wheel module, the others can be used to remedy the situation, improving the fault tolerance rate. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of a modular robot car according to the present invention;

[0018] Figure 2 This is a side view of the present invention;

[0019] Figure 3 This is the front view of the present invention;

[0020] Figure 4 This is a cross-sectional view of the present invention AA;

[0021] Figure 5 This is a schematic diagram of the structure of the motor of this utility model;

[0022] Figure 6 This is the front view of the present invention;

[0023] Figure 7 This is a cross-sectional view of the present invention CC.

[0024] In the diagram: 1. Mobile phone; 2. Suction cup; 3. Protective shell; 4. Wheel; 5. Hinge; 6. Battery pack; 7. Driven gear; 8. End face gear; 9. Drive gear; 10. PCB board; 11. First ear bracket; 12. Motor compartment cover; 13. Motor; 14. Baffle plate; 15. Photoelectric switch; 16. Flip bracket; 17. Second ear bracket; 18. Vertical fixing frame; 19. Axle; 20. Bearing; 21. Battery compartment; 22. Car body. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0026] Please see Figure 1-7This utility model provides an embodiment of a modular robot car, including a mobile phone 1, a suction cup 2, a PCB board 10, a motor 13, a shield 14, a flipping bracket 16, axles 19, and a robot body 22. The vertical fixing frame 18 on the top of the robot body 22 is hinged to the end hinge ear 5 of the flipping bracket 16 via a second ear bracket 17, and the top of the vertical fixing frame 18 is provided with a protective shell 3. The mobile phone 1 is attached to the suction cup 2 at the top of the flipping bracket 16. The four wheels 4 on both sides of the robot body 22 are controlled by four axles 19, and the four axles 19 are controlled by four motors 13. The driven gear 7 on the axle 19 is geared to the end face gear 8, and the end face gear 8 is geared to the drive gear 9 at the end of the output shaft of the motor 13.

[0027] The vertical mounting bracket 18 facilitates the vertical installation of the protective shell 3. The flip bracket 16 is used to adjust the angle of the suction cup 2. The suction cup 2 is used to attach and fix the mobile phone 1. The four motors in the two motor groups control the four gear transmission mechanisms, which in turn control the rotation of the four wheels 4.

[0028] Furthermore, the two motors 13 are mounted on the same PCB board 10, which is located on one side of the inner cavity of the trolley body 22. The PCB board 10 also includes a motor compartment cover 12, which is located above the two motors 13. The first lugs 11 at both ends of the motor compartment cover 12 are connected to the two end face gears 8 through protruding shafts, and the motor compartment cover 12 is fastened to the bottom shell. The PCB board 10 facilitates the reception of electrical energy and the control of the motors 13. The motors 13 drive the rotation of the end face gears 8, which in turn drive the axle 19 to rotate.

[0029] Furthermore, a photoelectric switch 15 is provided on one side of the top of the PCB board 10, and the other end of the motor 13 is connected to the baffle plate 14 through the output shaft. The baffle plate 14 and the photoelectric switch 15 are set accordingly, and the vehicle speed is judged in real time through the interaction between the baffle plate 14 and the photoelectric switch 15.

[0030] Furthermore, it also includes a wheel cover and axle cover. The end of the axle 19 is provided with an axle cover and is fixed by bolts. The wheel cover is fitted onto the outside of the driven gear 7. The driven gear 7 is provided with screw holes. The wheel cover is provided with through holes. The wheel cover and the driven gear 7 are fixed by screws. The hub cover is fitted into the wheel cover, so that the hub cover and the wheel cover are interference fit. The wheel cover and axle cover facilitate the installation of protective measures for the wheel and axle.

[0031] Furthermore, it also includes a battery compartment 21, which is located inside the body 22 of the vehicle. The battery compartment 21 has a stepped shaft hole, and the wheel axle 19 is interference-fitted with the stepped shaft hole of the battery compartment 21. The battery pack 6 is installed inside the battery compartment 21, and the PCB board 10 is electrically connected to one side of the battery pack 6. The battery pack 6 is conveniently installed through the battery compartment 21, and the battery pack 6 supplies power to the internal components of the vehicle.

[0032] Furthermore, it also includes bearings 20, with multiple bearings 20 disposed on the battery compartment 21, and the axle 19 is rotatably connected to the bearings 20, so that the axle 19 can be installed and rotated stably through the bearings 20.

[0033] Working principle: In use, the angle of the suction cup 2 is adjusted by swinging the rotating bracket 16, and the mobile phone 1 is attached and fixed by the suction cup 2. The output shaft of the motor 13 drives the active gear 9 to rotate, which in turn drives the end face gear 8 to rotate. The end face gear 8 drives the driven gear 7 to rotate, which in turn drives the wheel axle 19 to rotate. The rotation of the wheel axle 19 automatically controls the rotation of the wheels 4. The four wheels 4 operate on the same principle, and the rotation of the four wheels 4 can be controlled by the four motors 13 respectively, which controls the movement of the car body 22. The battery compartment 21 facilitates the installation of the battery pack 6. During the rotation of the motor 13, the shielding plate 14 is driven to rotate through the shaft at the other end of the motor 13. The shielding plate 14 blocks the photoelectric switch 15, which can detect the rotation of the motor 13 and thus determine the real-time speed of the car.

[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, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A modular robot car, comprising a mobile phone (1), a suction cup (2), a PCB board (10), a motor (13), a shielding plate (14), a flipping bracket (16), axles (19), and a robot body (22), characterized in that: The vertical fixing frame (18) on the top of the trolley body (22) is hinged to the end hinge ear (5) of the flip bracket (16) via the second ear bracket (17), and the top of the vertical fixing frame (18) is provided with a protective shell (3). The mobile phone (1) is attached to the suction cup (2) at the top of the flip bracket (16). The four wheels (4) on both sides of the trolley body (22) are controlled by the four wheel axles (19), and the four wheel axles (19) are controlled by the four motors (13). The driven gear (7) on the wheel axle (19) is geared to the end face gear (8), and the end face gear (8) is geared to the drive gear (9) at the end of the output shaft of the motor (13).

2. The modular robot car according to claim 1, characterized in that: The two motors (13) are mounted on the same PCB board (10), which is located on one side of the inner cavity of the trolley body (22). The PCB board (10) also includes a motor compartment cover (12), which is located above the two motors (13). The first ear brackets (11) at both ends of the motor compartment cover (12) are connected to two end face gears (8) through an extension shaft, and the motor compartment cover (12) is fastened to the bottom shell.

3. A modular robot car according to claim 2, characterized in that: A photoelectric switch (15) is provided on one side of the top of the PCB board (10), and the other end of the motor (13) is connected to the shield (14) through the output shaft, and the shield (14) and the photoelectric switch (15) are arranged accordingly.

4. A modular robot car according to claim 1, characterized in that: It also includes a wheel cover and a wheel axle cover. The wheel axle (19) is provided with a wheel axle cover at its end and is fixed by bolts. The wheel cover is fitted onto the outside of the driven gear (7). The driven gear (7) is provided with a screw hole and the wheel cover is provided with a through hole. The wheel cover and the driven gear (7) are fixed by screws, and the wheel hub cover is fitted into the wheel cover so that the wheel hub cover and the wheel cover are interference fit.

5. A modular robot car according to claim 2, characterized in that: It also includes a battery compartment (21), which is located in the inner cavity of the main body (22) of the vehicle. The battery compartment (21) has a stepped shaft hole, and the wheel axle (19) is interference-fitted with the stepped shaft hole of the battery compartment (21). The battery compartment (21) is equipped with a battery pack (6), and the PCB board (10) is electrically connected to one side of the battery pack (6).

6. A modular robot car according to claim 5, characterized in that: It also includes bearings (20), a plurality of the bearings (20) being disposed on the battery compartment (21), and the axle (19) being rotatably connected to the bearings (20).

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