A building block robot chassis mounting structure

Abstract

The utility model discloses a building block robot chassis mounting structure, and the structure includes chassis main body, a plurality of groups of moving wheel group (each group includes gyro wheel and drive motor), and wheel top block and wheel bottom block corresponding with moving wheel group, and moving wheel group is connected through the sliding slot sliding of the sliding fixing piece of two groups of fixed sheet and table board with wheel bottom block, and fixed sheet clamps motor through threaded fastener, be equipped with elastic adjusting part on wheel top block, and the elastic adjusting part is by adjusting bolt, compression spring, end cap and base etc, and adjusting bolt penetrates wheel top block and can be through knob spring pre -tightening force to change chassis ground clearance and adjust, and end cap and base adopt sleeve type cooperation and set up elastic buckle and card slot to lock fast, and table board and fixed sheet realize the insertion of the plug -in block and horizontal slot, and set up magnet and buffer block between table board and wheel bottom block to moderate impact.

Description

Technical Field

[0001] This utility model relates to the technical field of chassis mounting structure for building block robots, and specifically to a chassis mounting structure for building block robots. Background Technology

[0002] As an innovative product integrating education, competition, and entertainment, modular robots have rapidly gained popularity worldwide in recent years. Their core advantages lie in their modularity and reconfigurability. Users can freely build and program various complex functions using standardized modular components (such as beams, shafts, pins, gears, etc.) and electronic modules (such as controllers, motors, sensors, etc.).

[0003] In the construction of modular robots, the chassis serves as the fundamental support platform for the entire robot. Its stability, mobility, and shock absorption directly impact the robot's motion performance and the accuracy of sensor data. Currently, common modular robot chassis structures typically use a method where motors and wheels are rigidly fixed to the chassis frame directly or via simple connectors. When the robot travels on uneven surfaces (such as obstacle courses common in robot competitions), the lack of an effective cushioning mechanism allows the impact and vibration of the ground to be directly transmitted to the entire robot structure. This can lead to loosening of modular parts, structural instability, or even damage to delicate electronic components (such as gyroscopes and cameras), affecting the robot's normal operation. Furthermore, the existing chassis structures are usually of fixed height. In different application scenarios, such as when needing to traverse obstacles of varying heights or when requiring space at the bottom for specific functional modules (such as robotic arms or grippers), users cannot easily adjust the chassis's ground clearance, limiting the robot's functional expandability and scenario adaptability.

[0004] Therefore, how to design a simple, easy-to-install, and compatible modular robot chassis mounting structure that can effectively improve shock absorption performance and chassis adjustment flexibility is a technical problem that urgently needs to be solved in this field. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned shortcomings of the prior art and provide a modular robot chassis mounting structure that is ingenious in structure, easy to install, flexible in adjustment, and has good shock absorption performance.

[0006] The technical solution adopted by this utility model to solve the above problems is: a chassis mounting structure for a building block robot, including a chassis body, wherein the chassis body is provided with several sets of moving wheel sets, wherein the moving wheel sets include rollers and motors for driving the rollers to rotate, the chassis body is provided with four sets of wheel top blocks and wheel bottom blocks corresponding one-to-one with the moving wheel sets, the moving wheel sets are slidably connected to the wheel bottom blocks through sliding fixing parts, and the wheel top blocks are provided with elastic adjustment parts for driving the sliding fixing parts and the moving wheel sets to move up and down along the wheel bottom blocks.

[0007] Preferably, the sliding fixing component includes two sets of fixing plates and a set of platform plates. The two sets of fixing plates are respectively disposed on both sides of the motor and connected and fixed by threaded fasteners. The upper ends of the two sets of fixing plates are respectively connected and fixed to both ends of the platform plate. The wheel base block is provided with a sliding groove that is adapted to the sliding of the fixing plates.

[0008] Preferably, the threaded fasteners are bolts and nuts, and both the fixing plate and the motor have through holes for the bolts to pass through.

[0009] Preferably, the upper end of the fixing plate is provided with a limiting protrusion, the limiting protrusion has a horizontal slot, and the four corners of the platform are provided with plugs that are compatible with the slots.

[0010] Preferably, the elastic adjustment component includes an adjustment bolt and a compression spring. The adjustment bolt is screwed to the wheel top block and extends vertically through the wheel top block upwards. The upper end of the adjustment bolt is provided with a knob, and the lower end is snapped and fixed with an end cap. The platform is provided with a base, and the compression spring passes through the outside of the base and abuts against the end cap.

[0011] Preferably, both the end cap and the base adopt a cylindrical structure, and the inner diameter of the lower end of the end cap is larger than the outer diameter of the upper end of the base, so that the base can partially extend into the end cap.

[0012] Preferably, the upper end of the end cap is provided with several elastic buckles at equal intervals in the circumferential direction, and the lower end of the adjusting bolt is provided with a slot that corresponds one-to-one with the elastic buckles in the circumferential direction.

[0013] Compared with the prior art, this utility model has the following advantages and effects: This invention achieves independent elastic support and height preload adjustment for each wheel by using a sliding guide installation structure consisting of a movable wheel set, a wheel top block, and a wheel bottom block, combined with elastic adjustment components (adjusting bolts, anti-compression springs, end caps, and a base). This allows for shock absorption during driving, maintaining good wheel-to-ground contact, and adjusting chassis ground clearance without disassembly. The cooperation between the fixing plate and the wheel bottom block's sliding groove provides reliable vertical guidance, preventing lateral swaying and ensuring stable clamping of the drive unit. The insertion of the limiting protrusion and the plug-in horizontal slot, along with the threaded fasteners, simplifies the assembly process, achieving compatibility with standard modular parts and rapid installation. The sleeve-type cooperation between the end cap and the base ensures spring guidance and structural compactness, preventing spring bending and saving vertical space. The elastic buckle on the end cap and the slot of the adjusting bolt provide convenient snap-locking, improving on-site operation convenience. The combination of magnetic repulsion and the buffer block buffers the impact between the platform and the wheel bottom block, reducing wear on the limiting components and magnets, extending component life, and reducing maintenance frequency. Attached Figure Description

[0014] Figure 1 This is a perspective view of a chassis mounting structure for a building block robot according to an embodiment of this utility model.

[0015] Figure 2 yes Figure 1 Enlarged view of the local structure at point A in the middle.

[0016] Figure 3 This is a structural schematic diagram of the sliding fixing component according to an embodiment of the present invention.

[0017] Figure 4 This is a schematic diagram of the structure of the elastic adjustment component according to an embodiment of the present invention.

[0018] Figure 5 This is a structural cross-sectional view of the sliding fixing member and the elastic adjusting member of this utility model embodiment.

[0019] Figure 1: Chassis body 1, Moving wheel set 2, Roller 21, Motor 22, Wheel top block 3, Wheel bottom block 4, Slide groove 41, Magnet 42, Buffer block 43, Sliding fixing part 5, Fixing plate 51, Through hole 511, Limiting protrusion 512, Horizontal slot 513, Platform 52, Insert block 521, Threaded fastener 53, Elastic adjusting part 6, Adjusting bolt 61, Knob part 611, Slot 612, Compression spring 62, End cap 63, Elastic buckle 631, Base 64. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0021] Example:

[0022] See Figure 1 - Figure 5 This embodiment relates to a modular robot chassis mounting structure, specifically including a chassis body 1, which can be assembled from standard components such as beams and plates made of building blocks. The chassis body 1 is equipped with several sets of moving wheels 2. Of course, according to design requirements, in this embodiment, the chassis body is symmetrically equipped with four sets of moving wheels 2, forming a typical four-wheel chassis. The moving wheel sets 2 include rollers 21 and motors 22 for driving the rollers 21 to rotate. A control box is provided on the chassis body 1, which houses the power supply for the motors 22; this is a conventional technique and will not be described in detail here.

[0023] This invention equips each set of movable wheel assemblies 2 with an independent, adjustable suspension mounting mechanism. Specifically, the chassis body 1 is provided with four sets of wheel top blocks 3 and wheel bottom blocks 4, each corresponding to a movable wheel assembly 2. The wheel top blocks 3 and wheel bottom blocks 4 can be understood as bracket structures fixed on the chassis body 1, providing a mounting base for the suspension system.

[0024] In this embodiment, the movable wheel assembly 2 is not directly fixed to the chassis body 1, but is slidably connected to the wheel base block 4 via the sliding fixing member 5. Meanwhile, an elastic adjustment member 6 is provided on the wheel top block 3. The function of the elastic adjustment member 6 is to drive the sliding fixing member 5 and the movable wheel assembly 2 downwards, adjusting the ground clearance of the base plate and providing elastic support.

[0025] See Figure 3 The sliding fixing component 5 is a combined part, comprising two sets of fixing plates 51 and a platform 52. The two sets of fixing plates 51 are respectively disposed on both sides of the motor 22 and connected and fixed by threaded fasteners 53, so that the motor 22 is clamped between the two sets of fixing plates 51. The upper ends of the two sets of fixing plates 51 are respectively connected and fixed to the two ends of the platform 52. Both the fixing plates 51 and the motor 22 have through holes 511 for bolts to pass through. Threaded fasteners 53 such as bolts and nuts pass through these through holes 511 to securely connect the fixing plates 51 and the motor 22 together to form a stable whole. In order to achieve sliding guidance, the wheel base block 4 has a sliding groove 41 in the vertical direction that is adapted to the sliding of the fixing plates 51. The shape and size of the fixing plates 51 are adapted to the sliding groove 41, so that the assembled sliding fixing component 5 (together with the motor 22 and the roller 21) can slide freely up and down along the direction of the sliding groove 41 without swaying or rotating.

[0026] To facilitate the installation of the platform 52, the upper end of the fixing plate 51 is provided with limiting protrusions 512 extending to the left and right sides, making the width of the upper end of the fixing plate 51 greater than the width of the sliding groove 41 on the wheel base block 4. When the base plate body is lifted, the fixing plate 51 naturally slides down under the gravity of the moving wheel set 2 and is limited by the limiting protrusions 512. The function of the limiting protrusions 512 is to prevent the moving wheel set 2 from falling off the base plate body. The limiting protrusions 512 are provided with horizontal slots 513. Correspondingly, the four corners of the platform 52 are provided with plugs 521 that are adapted to the slots. During installation, simply align the plugs 521 of the platform 52 and insert them into the horizontal slots 513 of the fixing plate 51, and then use the threaded fasteners 53 to lock the fixing plates 51 on both sides to the motor 22. The structure is simple and the installation is convenient.

[0027] See Figure 4 The elastic adjusting component 6 includes an adjusting bolt 61 and a compression spring 62. A threaded hole is provided on the wheel top block 3, and the adjusting bolt 61 is screwed into this hole. The adjusting bolt 61 vertically passes through the wheel top block 3, and its upper end is designed as a knob 611 for easy manual rotation. An end cap 63 is snapped onto its lower end. A base 64 is provided on the platform 52, and the compression spring 62 passes through the outside of the base 64 and abuts against the end cap 63. The lower end of the end cap 63 abuts against the upper end of the compression spring 62. To enable quick installation, the upper end of the end cap 63 is provided with several elastic buckles 631 at equal intervals around the circumference, and the lower end of the adjusting bolt 61 is provided with a corresponding slot 612 for the buckles to be inserted. During installation, simply screw the adjusting bolt 61 from top to bottom and pass it through the wheel top block 3 so that its lower end is inserted into the end cap 63, and the elastic buckles 631 will snap into the slot 612 to complete the locking.

[0028] To achieve a more compact and stable structure, both the end cap 63 and the base 64 are cylindrical, with the lower inner diameter of the end cap 63 being larger than the upper outer diameter of the base 64. Thus, when the compression spring 62 is compressed, i.e., when the moving wheel assembly 2 moves upward, the platform 52, carrying the base 64, will move upward. The base 64 can partially extend into the end cap 63. This sleeve-like design not only saves vertical space but also provides good guidance for the compression spring 62, preventing it from bending laterally during compression.

[0029] In a static state, the robot's weight is transmitted to the platform 52 via the chassis body 1, wheel top blocks 3, adjusting bolts 61, end caps 63, and compression springs 62, and then acts on the motor 22 and rollers 21 through the fixing plate 51. The compression springs 62 are compressed to an initial state balanced with gravity. When the robot travels on uneven surfaces, if the rollers 21 encounter a bump, the ground will exert an upward impact force on them. This force will drive the entire moving wheel assembly 2, along with the sliding fixing piece 5, to slide upwards along the groove 41 of the wheel bottom block 4, further compressing the compression springs 62. The compression springs 62 absorb most of the impact energy through their own deformation, thus preventing the impact from being directly transmitted to the chassis body 1, achieving a significant shock absorption effect. After passing over the bump, the rebound force of the compression springs 62 will push the moving wheel assembly 2 back to its initial position quickly, maintaining good contact between the wheels and the ground.

[0030] When adjusting the ground clearance of the chassis body 1, the user simply rotates the knob 611 at the upper end of the adjusting bolt 61. Screwing in (e.g., clockwise) the adjusting bolt 61 moves it downwards, further compressing the anti-compression spring 62 through the end cap 63, increasing the spring's preload. This increased force pushes the sliding fixing member 5 and the moving wheel assembly 2 downwards, raising the chassis body 1 relative to the ground and thus increasing the ground clearance. Screwing out (e.g., counterclockwise) the adjusting bolt 61 moves it upwards, reducing the compression of the anti-compression spring 62 and decreasing the spring's preload. Under the robot's own weight, the chassis body 1 lowers relative to the ground, reducing the ground clearance. Through this simple rotation, the user can adjust the height of the chassis body 1 without disassembling any parts, improving the playability and scene adaptability of the building block robot.

[0031] In this embodiment, due to the large mass of the movable wheel assembly 2 and the pressure of the anti-compression spring 62, the downward sliding of the movable wheel assembly 2 causes the lower end of the limiting protrusion to collide with the upper surface of the wheel base block 4, which can easily lead to damage. Therefore, see... Figure 5 Magnets 42 that repel each other are provided below the platform 52 and above the wheel base block 4. The repulsive force between the magnets 42 can mitigate the impact between the platform 52 and the wheel base plate. However, the magnitude of the repulsive force between the magnets 42 is far less than the combined force of the pressure of the anti-compression spring 62 and the weight of the moving wheel set 2. Therefore, a buffer block 43 (attached to either side of the surface or both at the same time) needs to be provided between the platform 52 and the wheel base block 4 so that the buffer block 43 collides with the limiting protrusion 512 first, thereby reducing the wear of the limiting protrusion 512 and protecting the magnets 42 at the same time.

[0032] The above description in this specification is merely illustrative of the present invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined in the claims, all of which shall fall within the protection scope of this invention.

Claims

1. A chassis mounting structure for a building block robot, comprising a chassis body, wherein the chassis body is provided with a plurality of sets of moving wheels, each set of moving wheels including rollers and a motor for driving the rollers to rotate, characterized in that, The chassis body is provided with four sets of wheel top blocks and wheel bottom blocks that correspond one-to-one with the moving wheel sets. The moving wheel sets are slidably connected to the wheel bottom blocks through sliding fixing parts. The wheel top blocks are provided with elastic adjustment parts for driving the sliding fixing parts and the moving wheel sets to move up and down along the wheel bottom blocks.

2. The mounting structure for a block robot chassis according to claim 1, characterized in that: The sliding fixing component includes two sets of fixing plates and a set of platform plates. The two sets of fixing plates are respectively disposed on both sides of the motor and connected and fixed by threaded fasteners. The upper ends of the two sets of fixing plates are respectively connected and fixed to the two ends of the platform plate. The wheel base block is provided with a sliding groove that is adapted to the sliding of the fixing plates.

3. The mounting structure for a block robot chassis according to claim 2, characterized in that: The threaded fasteners are bolts and nuts, and both the fixing plate and the motor have through holes for the bolts to pass through.

4. The mounting structure for a block robot chassis according to claim 2, characterized in that: The upper end of the fixing plate is provided with a limiting protrusion, and the limiting protrusion has a horizontal slot. The four corners of the platform are provided with plugs that are compatible with the slots.

5. The mounting structure for a block robot chassis according to claim 2, characterized in that: The elastic adjustment component includes an adjustment bolt and a compression spring. The adjustment bolt is screwed to the wheel top block and extends vertically through the wheel top block upwards. The upper end of the adjustment bolt is provided with a knob, and the lower end is snapped and fixed with an end cap. The platform is provided with a base, and the compression spring passes through the outside of the base and abuts against the end cap.

6. The mounting structure for a block robot chassis according to claim 5, characterized in that: Both the end cap and the base are cylindrical structures, and the inner diameter of the lower end of the end cap is larger than the outer diameter of the upper end of the base, so that the base can be partially inserted into the end cap.

7. The mounting structure for a block robot chassis according to claim 5, characterized in that: The upper end cap is provided with several elastic buckles at equal intervals around its circumference, and the lower end of the adjusting bolt is provided with a slot that corresponds to each of the elastic buckles.

Images