A chassis assembly for a robot

Abstract

The utility model provides a kind of chassis assembly of robot, including bottom plate, the bottom end of bottom plate is symmetrically equipped with driving mechanism, driving mechanism includes mounting bracket, the bottom end of mounting bracket is hinged with swing arm, the non-hinged section of swing arm is equipped with hub motor wheel, hub motor wheel is electrically connected with control panel by motor driver, swing arm is equipped with the first swing arm pull hook of through mounting bracket, the top end of mounting bracket is equipped with second swing arm pull hook on the side away from first swing arm pull hook, energy storage component is connected between second swing arm pull hook and first swing arm pull hook, swing arm first swing arm pull hook is provided with sustained down pressure for hub motor wheel by energy storage component tension, ensure that driving wheel is always in full contact with ground, avoid power transmission interruption, and effectively alleviate the jolt of uneven ground travel;The bottom end corner of bottom plate is equipped with universal wheel, for optimizing support layout, improve robot travel stability, bottom plate side is equipped with infrared sensor, the other side of bottom plate is equipped with ultrasonic sensor and RGBD sensor, realize all-around environmental perception.

Description

Technical Field

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

[0002] In the field of robotics, the chassis assembly, as the core load-bearing structure for robot movement and environmental perception, directly affects the robot's operational stability, power transmission efficiency, and environmental perception accuracy. Currently, the drive mechanism design of existing robot chassis is not optimized enough. Most chassis use a rigid connection between the drive wheels and the mounting frame, lacking a buffer and adjustment structure. When the robot travels on uneven ground, the drive wheels cannot maintain sufficient contact with the ground at all times, which can easily lead to power transmission interruption or bumpy travel. Moreover, the uneven distribution of the center of gravity after the robot is equipped with components such as control boards and batteries will further exacerbate the problem of unstable travel. Utility Model Content

[0003] The purpose of this invention is to provide a chassis component for a robot, which solves the problems of power transmission interruption or bumpy driving, and improves the stability of robot driving.

[0004] This utility model provides a chassis assembly for a robot, including a base plate. A control board is fixedly mounted on the top of the base plate, and a battery compartment is provided at the bottom of the base plate, in which a battery is installed. A drive mechanism is symmetrically mounted at the bottom of the base plate, and the drive mechanism includes a mounting frame. A swing arm is hinged to the bottom of the mounting frame, and a hub motor wheel is mounted on the non-hinged section of the swing arm. The hub motor wheel is electrically connected to the control board through a motor driver. A first swing arm hook is provided on the swing arm, penetrating the mounting frame. A second swing arm hook is mounted on the top of the mounting frame away from the first swing arm hook. An energy storage component is connected between the second swing arm hook and the first swing arm hook. Universal wheels are provided at the corners of the bottom of the base plate. An infrared sensor is provided on one side of the base plate, and an ultrasonic sensor and an RGBD sensor are provided on the other side of the base plate. A lidar is mounted on the top of the base plate. The infrared sensor, ultrasonic sensor, RGBD sensor, and lidar are all electrically connected to the control board.

[0005] Furthermore, a door is rotatably installed at the bottom end of the base plate corresponding to the battery compartment, and a charging interface is provided on the door, the inside of which is electrically connected to the battery.

[0006] Furthermore, support frames are provided at the four corners of the bottom of the base plate, and the casters are installed at the bottom of the support frames.

[0007] Furthermore, a top support plate for the robot body is mounted on the top of the base plate via support columns, wherein wire holes are formed along the axial direction on two of the support columns.

[0008] Furthermore, it also includes a chassis housing, the top of which is a cover plate covering the bottom plate, and the support column is provided with a support ring for supporting the cover plate.

[0009] Furthermore, the bottom end of the chassis housing is provided with open cavities for accommodating the drive mechanism and the omnidirectional wheel.

[0010] Furthermore, a balance block is fixedly installed at the center of the bottom end of the chassis housing.

[0011] Furthermore, the energy storage component is a tension spring.

[0012] Furthermore, the first swing arm hook is perpendicular to the swing arm.

[0013] Furthermore, the mounting bracket is provided with an adjustment groove, and the first swing arm hook passes through the mounting bracket via the adjustment groove.

[0014] The technical solution of this utility model uses a drive mechanism with symmetrically arranged articulated swing arms and energy storage components. The energy storage component pulls the first swing arm hook to provide continuous downward pressure to the hub motor wheel, ensuring that the drive wheel is always in full contact with the ground, avoiding power transmission interruption, and effectively mitigating the bumps when driving on uneven ground. At the same time, the support layout is optimized by using corner casters on the base plate to improve the robot's driving stability. Combined with infrared sensors, ultrasonic sensors, RGBD sensors and top lidar arranged on both sides, it can achieve all-round environmental perception. 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 internal structure of the chassis assembly of this utility model.

[0017] Figure 2 This is a schematic diagram of the internal structure of the chassis assembly of this utility model from another perspective. Figure 3 This is a schematic diagram of the drive mechanism in this utility model.

[0018] Figure 4This is a side view of the drive mechanism in this utility model.

[0019] Figure 5 This is a schematic diagram of the overall structure of the present invention, in which a chassis housing is installed.

[0020] Figure 6 This is a schematic diagram of the overall structure of the present invention, showing the chassis housing installed from another perspective. Figure 7 This is a front view of the present invention with the chassis housing installed.

[0021] Explanation of reference numerals in the attached drawings: 1-Base plate, 2-Top support plate, 3-Hub motor wheel, 4-Support frame, 5-Universal wheel, 6-Sub-wheel, 7-Infrared sensor, 8-Battery, 9-Door, 901-Charging interface, 902-Charging port bracket, 903-Charging electrode, 10-RGBD sensor, 11-Ultrasonic sensor, 12-Support column, 1201-Wire hole, 13-Support flange, 14-LiDAR, 15-Support ring, 16-Mounting bracket, 17-Swing arm, 18-First swing arm hook, 19-Tension spring, 20-Second swing arm hook, 21-Chassis housing, 2101-Cover plate, 22-Battery compartment, 23-Battery weight, 24-Debugging interface. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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 are not intended to 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.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" 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; 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.

[0025] Example 1 like Figures 1-7 As shown, this utility model provides a robot chassis assembly, including a base plate 1. A control board is fixedly installed on the top of the base plate 1, and a battery compartment 22 is provided at the bottom of the base plate 1. A battery 8 is installed inside the battery compartment 22. A door 9 is rotatably installed at the bottom of the base plate 1 corresponding to the battery compartment 22. A charging port bracket 902 is installed on the inner side wall of the door 9. The charging port bracket 902 corresponds to the electrode interface of the battery and provides a stable mounting base for the charging interface 901. The charging interface 901 and charging plates are installed on the outside of the door 9. The charging interface 901 is the docking interface of the charger and is fixed on the charging port bracket 902. The charging interface 901 is a structure for manually charging the robot. The author can use the matching charger to charge the robot through this interface. The charging electrode 903 is an automated design to enable the robot to automatically return to its charging station. When the robot detects that its power is low, it uses its autonomous navigation function to navigate to the nearest charging station and automatically charge through the charging electrode 903. After charging, the robot uses its autonomous navigation function to detach from the charging station, completing the charging process. The automatic navigation return-to-charging function is another design of our company, which will not be described in detail in this patent. The charging interface 901 and the charging electrode 903 represent two different charging modes: manual charging and automatic robot charging, respectively. The charging electrode 903 is a conductive connector that is electrically connected to the charging interface 901 through a wire. At the same time, the charging electrode 903 is in contact with the electrode interface of the battery 8. When the charger is inserted into the charging port, current is transmitted to the battery 8 through the charging interface 901, the wire, and the charging electrode 903, thereby charging the battery.

[0026] A drive mechanism is symmetrically mounted on the bottom end of the base plate 1. The drive mechanism includes a mounting frame 16, and a swing arm 17 is hinged to the bottom end of the mounting frame 16. A hub motor wheel 3 is mounted on the non-hinged section of the swing arm 17. The hub motor wheel 3 is electrically connected to the control board through a motor driver. A first swing arm hook 18 is provided on the swing arm 17 and is perpendicular to it. An adjustment groove is provided on the mounting frame 16. The first swing arm hook 18 passes through the mounting frame 16 through the adjustment groove. A second swing arm hook 20 is mounted on the top of the mounting frame 16 away from the first swing arm hook 18. In this example, the second swing arm hook 20 is a screw screwed and mounted on the mounting frame 16. An energy storage component is connected between the second swing arm hook 20 and the first swing arm hook 18. In this embodiment, the energy storage component is a tension spring 19. The tension spring 19 tightens the first swing arm hook 18, providing downward pressure to the hub motor mounted on the swing arm 17, so that the hub motor wheel 3 can always be in contact with the ground and avoid the problem of power transmission interruption.

[0027] To address the issue of uneven weight distribution affecting driving stability, casters 5 are installed at the bottom corners of the base plate 1. The casters 5 are installed as follows: support frames 4 are located at the four corners of the bottom of the base plate 1, and the casters 5 are mounted on the bottom of the support frames 4. Each caster 5 is equipped with a secondary wheel 6, the diameter of which is smaller than that of the caster 5. The secondary wheel 6 complements the caster 5 in height and position. When the equipment encounters small obstacles (such as thresholds or small protrusions), the secondary wheel 6 contacts the obstacle first, distributing some of the equipment's weight and thrust through its own supporting force, helping the casters 5 to overcome the obstacle more easily.

[0028] Two infrared sensors 7 are symmetrically arranged on one side of the base plate 1. The emitting tube of the infrared sensor 7 continuously emits infrared light. If there is an obstacle in front, the infrared light will be reflected and captured by the receiving tube. When the intensity of the infrared light detected by the receiving tube reaches a preset threshold, the robot's obstacle avoidance execution structure will be triggered through the signal interface connected by the wire. On the other side of the base plate 1, there is an RGBD sensor 10 and two ultrasonic sensors 11. The two ultrasonic sensors 11 are symmetrically arranged with respect to the RGBD sensor 10. A lidar 14 is installed on the top of the base plate 1. The infrared sensors 7, ultrasonic sensors 11, RGBD sensors 10 and lidar 14 are all electrically connected to the control board. The lidar 14 can quickly and accurately detect obstacle information in the robot's surrounding environment and convert the obstacle information into electrical signals and transmit them to the control board. The control board controls the robot to avoid obstacles according to the obstacle information, ensuring the safety of the robot's movement. During operation: The digital detection signal generated by the infrared sensor 7 is transmitted to the digital I / O interface of the control board and then fed into the signal processing module of the control board via the interface circuit; the distance analog signal from the ultrasonic sensor 11 is connected to the ADC conversion module through the shielded signal line, converted into a digital signal, and then transmitted to the analog signal processing unit of the control board; the color image and depth data collected by the RGBD sensor 10 are transmitted to the control board in the form of digital signals and are received and processed by the data receiving module of the control board; the lidar 14 transmits the environmental scanning signal to the control board according to the interface type, and finally merges into the corresponding communication processing module of the control board to realize the centralized reception and integration of all sensor signals.

[0029] The base plate is equipped with a debugging interface 24 that connects to the control board. The debugging interface 24 allows maintenance personnel to connect to a computer to debug, upgrade, and maintain the robot's control program. It also allows them to read the robot's working data and fault information, providing support for fault diagnosis and repair of the robot.

[0030] A top support plate 2 for the robot body is mounted on the top of the base plate 1 via support columns 12. Two support columns 12 have axially oriented wire holes 1201 for connecting control lines and power lines upward through the control board. A support flange 13 is provided at the top of the support column 12, and the top support plate 2 is fixedly mounted on the support flange 13 by bolts.

[0031] To enhance the aesthetics of the chassis, the chassis assembly also includes a chassis shell 21, which covers the entire chassis of the robot. The top of the chassis shell 21 is a cover plate 2101 that covers the base plate 1. The lidar 14 protrudes above the cover plate 2101, and the support column 12 is provided with a support ring 15 for supporting the cover plate 2101. The bottom of the chassis shell 21 has open cavities for accommodating the drive mechanism and the casters 5, achieving semi-concealment of the drive mechanism and casters 5 and improving the overall aesthetics of the robot.

[0032] A counterweight 23 is fixedly installed at the bottom center of the chassis housing 21 to serve as a counterweight. The counterweight 23 can change the center of gravity position and height of the chassis, and counteract the center of gravity shift caused by uneven layout of various components on the chassis or external loads, thereby improving the stability of the chassis when stationary, moving or turning.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A chassis assembly for a robot, characterized in that, The system includes a base plate, a control board fixedly mounted on the top of the base plate, a battery compartment at the bottom of the base plate containing batteries, and drive mechanisms symmetrically mounted at the bottom of the base plate. Each drive mechanism includes a mounting frame, with a swing arm hinged to the bottom of the mounting frame. A hub motor wheel is mounted on the non-hinged section of the swing arm, and the hub motor wheel is electrically connected to the control board via a motor driver. A first swing arm hook penetrates the mounting frame on the swing arm, and a second swing arm hook is mounted on the top of the mounting frame away from the first swing arm hook. An energy storage component connects the second swing arm hook to the first swing arm hook. Universal wheels are located at the bottom corners of the base plate. An infrared sensor is located on one side of the base plate, and an ultrasonic sensor and an RGBD sensor are located on the other side. A lidar is mounted on the top of the base plate. The infrared sensor, ultrasonic sensor, RGBD sensor, and lidar are all electrically connected to the control board.

2. The chassis assembly of the robot according to claim 1, characterized in that, A door is rotatably mounted on the bottom end of the base plate corresponding to the battery compartment. A charging interface is provided on the door, and the inside of the charging interface is electrically connected to the battery.

3. The chassis assembly of the robot according to claim 1, characterized in that, Support frames are provided at the four corners of the bottom of the base plate, and the casters are installed at the bottom of the support frames.

4. The chassis assembly of the robot according to claim 1, characterized in that, A top support plate for the robot body is mounted on the top of the base plate via support columns, and wire holes are opened along the axial direction on two of the support columns.

5. The chassis assembly of the robot according to claim 4, characterized in that, It also includes a chassis housing, the top of which is a cover plate covering the bottom plate, and the support column is provided with a support ring for supporting the cover plate.

6. The chassis assembly of the robot according to claim 5, characterized in that, The bottom of the chassis housing has open cavities for accommodating the drive mechanism and the caster wheels.

7. The chassis assembly of the robot according to claim 5, characterized in that, A balance block is fixedly installed at the center of the bottom end of the chassis housing.

8. The chassis assembly of the robot according to claim 1, characterized in that, The energy storage component is a tension spring.

9. The chassis assembly of the robot according to claim 1, characterized in that, The first swing arm hook is perpendicular to the swing arm.

10. The chassis assembly of the robot according to claim 1, characterized in that, The mounting bracket has an adjustment groove, and the first swing arm hook passes through the mounting bracket via the adjustment groove.

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