Mobile chassis structure for robots

Abstract

The utility model discloses a mobile chassis structure for robot, including base and top board, the base and top board are fixedly connected through side plate subassembly between, side plate subassembly includes angle block and side plate, side plate subassembly is located at the four corners between base and top board, the upper and lower ends of side plate subassembly are fixedly connected with top board and base through screw, the bottom of base is installed with two groups of mirror image symmetry set power wheel group and two groups of mirror image symmetry set unpowered ball group, the position of two groups of power wheel group and two groups of unpowered ball group is located at four apexes of isosceles trapezoid, power wheel group includes power wheel and is used for driving power wheel action's step motor, the utility model discloses power wheel group adopts step motor drive, and cooperates unpowered ball group that can rotate in any direction, guarantees the stability of straight -line travel, realizes low friction, smooth steering operation, adapts to a variety of moving demand.

Description

Technical Field

[0001] This utility model relates to the field of mobile chassis, specifically a mobile chassis structure for robots. Background Technology

[0002] Educational robots are open-ended practical training and experimental platforms suitable for college and vocational school students. They are a fusion of various high technologies and can complete hundreds of practical training experiments in many courses such as electrical engineering, electronics, microcontrollers, mechanical design, sensors, artificial intelligence, electromechanical control, and digital signal processing, thereby improving students' comprehensive abilities.

[0003] For example, our company's earlier patent application, authorized by publication number CN111993435B, discloses a modular and expandable educational robot, belonging to the field of robotics technology. It includes a motion chassis, a navigation module, a voice module, a vision module, a robotic arm module, and a main controller that provides programming for each of these modules. The main controller is electrically connected to the motion chassis, navigation module, voice module, vision module, and robotic arm module. It also includes multiple modular platforms, columns, and a U-shaped platform. The multiple modular platforms are respectively located between the motion chassis and the U-shaped platform, and adjacent modular platforms are connected by multiple columns.

[0004] The aforementioned patent establishes a multi-layered modular platform between the motion chassis and the U-shaped platform. Each modular platform can accommodate robot components with different functional modules, and each modular platform can be expanded to include new functional modules, facilitating the installation and maintenance of the robot's components. However, the disadvantage of the aforementioned patent is that the bottom of the motion chassis in the aforementioned patent has two sets of motor-driven power wheels and two freely rotating non-powered wheels. When moving horizontally, the power wheels and non-powered wheels are in the same direction, resulting in relatively stable movement. However, when turning, the two sets of motor-driven power wheels rotate in opposite directions, and the moving chassis turns. At this time, the unpowered wheels do not rotate in the direction of rolling. Instead, the direction of movement of the unpowered wheels is perpendicular to the direction of rolling. Therefore, the unpowered wheels do not roll, and the steering is relatively sluggish.

[0005] Therefore, it is necessary to improve such a structure to overcome the above-mentioned defects. Utility Model Content

[0006] The purpose of this invention is to provide a mobile chassis structure for robots to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: The robot uses a mobile chassis structure, including a base and a top plate. The base and top plate are fixedly connected by side plate assemblies. The side plate assembly includes corner blocks and side plates. The side plate assembly is located at the four corners between the base and the top plate, and its upper and lower ends are fixedly connected to the top plate and the base by screws. Two sets of mirror-symmetrically arranged powered wheel sets and two sets of mirror-symmetrically arranged unpowered ball sets are installed at the bottom of the base. The two sets of powered wheel sets and the two sets of unpowered ball sets are located at the four vertices of an isosceles trapezoid. The powered wheel set includes a powered wheel and a stepper motor for driving the powered wheel. The stepper motor is fixedly installed on the top of the base, and a rectangular slot is provided on the base for the powered wheel to pass through. Part of the powered wheel passes through the rectangular slot. The unpowered ball sets include a top limiting plate, a middle limiting ring, and balls. A circular slot is provided on the base for the balls to pass through. The top limiting plate and the middle limiting ring are located at the upper and lower ends of the base, respectively, and are fixedly connected by bolts.

[0008] Furthermore, the corner block is shaped like a right-angled bent plate, with the right-angle bend of the corner block being rounded. At the same time, the corner block has side plate slots at both ends in the horizontal direction; the two ends of the side plates are inserted into the side plate slots of the adjacent corner blocks.

[0009] Furthermore, a reinforcing support assembly is connected between the base and the top plate to enhance the structural strength between the base and the top plate; the reinforcing support assembly includes two support mounting seats and a column fixedly connected between the two support mounting seats; wherein the two support mounting seats are fixedly connected to the base and the top plate respectively by screws.

[0010] Furthermore, the column is hexagonal in shape, and a threaded hole is provided at the center of the column.

[0011] Furthermore, the inner diameter of the middle limiting ring is smaller than the diameter of the ball; an arc-shaped groove is formed at the bottom of the top limiting plate, and part of the ball is located in the arc-shaped groove.

[0012] Furthermore, the contact points between the ball and the top limiting plate and the middle limiting ring are all smoothly designed, that is, the ball is slidably connected to the top limiting plate and the middle limiting ring.

[0013] Furthermore, the ball bearing is made of stainless steel, and the middle limiting ring and the middle limiting ring are both made of high-strength brass. The inner ring of the middle limiting ring and the arc groove of the top limiting plate are provided with several channels, and graphite columns are embedded in the channels.

[0014] Compared with the prior art, the beneficial effects of this utility model are: The base and top plate are connected by side plate assemblies. The side plate assemblies use a combination of corner blocks and side plates to enhance overall rigidity and facilitate assembly and maintenance. The reinforced support assembly (hexagonal prism column and mounting base) further enhances the vertical compressive and torsional resistance and prevents deformation. The power wheel set is driven by a stepper motor and is combined with a non-powered ball set that can rotate in any direction (the ball and the limiting component adopt a graphite self-lubricating design), which not only ensures the smoothness of straight-line travel, but also achieves low-friction and smooth steering operation, adapting to a variety of movement needs. Key moving parts such as ball bearings (stainless steel) and limit rings (high-strength brass) are made of wear-resistant materials, and combined with the self-lubricating properties of graphite columns, effectively reducing wear, lowering maintenance frequency, and extending service life. Attached Figure Description

[0015] Figure 1 This is a structural diagram of a mobile chassis structure for a robot.

[0016] Figure 2 This is a schematic diagram of the mobile chassis structure for robots from another angle.

[0017] Figure 3 An exploded view of the mobile chassis structure for a robot.

[0018] Figure 4 for Figure 3 A magnified view of a portion of point a.

[0019] Figure 5 for Figure 3 A magnified view of a section at point b.

[0020] Figure 6 This is an exploded view of a non-powered ball bearing assembly.

[0021] Figure 7 This is a front view of a non-powered ball bearing assembly.

[0022] Figure 8 for Figure 7 Sectional view along the AA direction. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0024] Please see Figure 1-8 The robot uses a mobile chassis structure, including a base 1 and a top plate 2; the base 1 and the top plate 2 are fixedly connected by a side plate assembly 3; The side panel assembly 3 includes corner blocks 301 and side panels 303; the side panel assembly 3 is located at the four corners between the base 1 and the top plate 2, and the upper and lower ends of the side panel assembly 3 are fixedly connected to the top plate 2 and the base 1 by screws (not shown in the figure); The corner block 301 is generally in the shape of a right-angle bent plate, and the right-angle bend of the corner block 301 is set with an arc transition. At the same time, the corner block 301 has side plate slots 302 at both ends in the horizontal direction; the two ends of the side plate 303 are inserted into the side plate slots 302 of the adjacent corner block 301. In this solution, a reinforcing support assembly 4 is also connected between the base 1 and the top plate 2 to enhance the structural strength between the base 1 and the top plate 2; The reinforced support assembly 4 includes two support mounting bases 401 and a column 402 fixedly connected between the two support mounting bases 401; wherein the two support mounting bases 401 are fixedly connected to the base 1 and the top plate 2 respectively by screws. Specifically, in this solution, the column 402 is generally hexagonal prism in shape, and a threaded hole is provided at the center of the column 402; Taking the support column mounting base 401 connected to the base 1 as an example, the lower end of the column 402 is inserted into the column slot 403 at the top of the support column mounting base 401; the screw passes through the base 1 and the support column mounting base 401 in sequence and is then threadedly connected to the threaded hole at the center of the column 402. Taking the support bracket 401 connected to the top plate 2 as an example, the upper end of the column 402 is inserted into the column slot 403 at the bottom of the support bracket 401; the screw passes through the top plate 2 and the support bracket 401 in sequence and is then threadedly connected to the threaded hole at the center of the column 402. The column slot 403 has a hexagonal cross-section, and the column 402 is inserted into the column slot 403 to prevent relative rotation between the two. The bottom of the base 1 is equipped with two sets of mirror-symmetrically arranged power wheel sets 5 and two sets of mirror-symmetrically arranged non-powered ball sets 6; the positions of the two sets of power wheel sets 5 and the two sets of non-powered ball sets 6 are located at the four vertices of the isosceles trapezoid. The power wheel assembly 5 includes a power wheel 501 and a stepper motor 502 for driving the power wheel 501; the stepper motor is fixedly mounted on the top of the base 1, and the base 1 is also provided with a rectangular groove 503 for the power wheel 501 to pass through; part of the power wheel 501 passes through the rectangular groove 503. like Figure 6-8 As shown, the non-powered ball assembly 6 includes a top limiting plate 601, a middle limiting ring 602, and balls 603. The base 1 has a circular groove 604 for the ball bearing 603 to pass through; the top limiting plate 601 and the middle limiting ring 602 are located at the upper and lower ends of the base 1 respectively, and the three are fixedly connected by bolts. In this solution, the inner diameter of the middle limiting ring 602 is smaller than the diameter of the ball 603, so that the lower part of the structure of the ball 603 can pass through the ball 603 without causing the entire ball 603 to fall off from below the middle limiting ring 602. The bottom of the top limiting plate 601 has an arc-shaped groove 605, and part of the ball 603 is located in the arc-shaped groove 605. The contact points between the ball bearing 603 and the top limiting plate 601 and the middle limiting ring 602 are all smoothly provided, that is, the ball bearing 603 is slidably connected to the top limiting plate 601 and the middle limiting ring 602. Specifically, the ball 603 is made of stainless steel, the middle limiting ring 602 and the middle limiting ring 602 are both made of high-strength brass, and the inner ring of the middle limiting ring 602 and the arc groove 605 of the top limiting plate 601 are provided with a number of channels 606, and graphite columns 607 are embedded in the channels 606. When the ball bearing 603 moves relative to the central limiting ring 602, frictional heat and shear force cause the microparticles on the surface of the graphite column 607 to be scraped off and released onto the contact surface. The scraped graphite particles form a continuous film on the surface between the central limiting ring 602 and the central limiting ring 602, which transforms the friction between metals into friction between lubricant (graphite particles) layers, thus reducing the coefficient of friction.

[0025] When this utility model is in use, when the power wheels 501 of the power wheel set 5 rotate in the same direction, the robot moves horizontally using the mobile chassis structure. At this time, the directions of the power wheels and the balls 603 are the same, and the movement is relatively stable. When turning is required, the power wheels 501 of the two sets of power wheel sets 5 rotate in opposite directions, and the mobile chassis turns. Since the balls 603 of the unpowered ball set 6 can rotate in any direction in the horizontal direction at this time, the rotation will not be hindered and the rotation will be smoother.

[0026] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connect" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A mobile chassis structure for a robot, comprising a base and a top plate, characterized in that, The base and top plate are fixedly connected by side plate assemblies; the side plate assembly includes corner blocks and side plates; the side plate assembly is located at the four corners between the base and the top plate, and the upper and lower ends of the side plate assembly are fixedly connected to the top plate and the base by screws; the bottom of the base is equipped with two sets of mirror-symmetrically arranged power wheel sets and two sets of mirror-symmetrically arranged non-powered ball sets; the two sets of power wheel sets and the two sets of non-powered ball sets are located at the four vertices of an isosceles trapezoid; the power wheel set includes a power wheel and a stepper motor for driving the power wheel; the stepper motor is fixedly installed on the top of the base, and the base also has a rectangular slot for the power wheel to pass through; part of the power wheel passes through the rectangular slot; the non-powered ball set includes a top limiting plate, a middle limiting ring and ball; the base has a circular slot for the ball to pass through; the top limiting plate and the middle limiting ring are located at the upper and lower ends of the base respectively, and the three are fixedly connected by bolts.

2. The mobile chassis structure for robots according to claim 1, characterized in that, The corner block is shaped like a right-angled bent plate, with the right-angle bends of the corner block being rounded. At the same time, the corner block has side plate slots at both ends in the horizontal direction; the two ends of the side plates are inserted into the side plate slots of the adjacent corner blocks.

3. The mobile chassis structure for robots according to claim 1, characterized in that, A reinforcing support assembly is also connected between the base and the top plate to enhance the structural strength between them. The reinforcing support assembly includes two support mounting bases and a column fixedly connected between the two support mounting bases. The two support mounting bases are fixedly connected to the base and the top plate respectively by screws.

4. The mobile chassis structure for robots according to claim 3, characterized in that, The column is hexagonal in shape, and a threaded hole is provided at the center of the column.

5. The mobile chassis structure for robots according to claim 1, characterized in that, The inner diameter of the middle limiting ring is smaller than the diameter of the ball; an arc-shaped groove is opened at the bottom of the top limiting plate, and part of the ball is located in the arc-shaped groove.

6. The mobile chassis structure for robots according to claim 5, characterized in that, The contact points between the ball bearing and the top limiting plate and the middle limiting ring are all smoothly designed, that is, the ball bearing is slidably connected to the top limiting plate and the middle limiting ring.

7. The mobile chassis structure for robots according to claim 6, characterized in that, The ball bearing is made of stainless steel, and the middle limiting ring and the middle limiting ring are both made of high-strength brass. The inner ring of the middle limiting ring and the arc groove of the top limiting plate are provided with several channels, and graphite columns are embedded in the channels.

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