CN211676291U - Small-size many rounds of reconfigurable moving platform model - Google Patents

Abstract

The utility model discloses a small-sized multi-wheel reconfigurable mobile platform model, which comprises a platform base, a platform shell and a mobile assembly; the platform shell is arranged on the platform base, and the moving assembly is arranged at the bottom of the platform base; the platform shell and the platform base, and the platform base and the moving assembly are detachably arranged; the top of the platform shell is provided with an installation groove matched with the robot model interface, and the platform shell and the robot model can be assembled together in a splicing way through the installation groove. The utility model discloses can realize that the mobile mode is diversified and can carry out mode swift conversion and each module concatenation, as robot toy, robot configuration teaching aid, perhaps view and admire the gift, be favorable to the popularization of robot concept and technique.

Description

A small multi-wheel reconfigurable mobile platform model

technical field

The utility model relates to the technical field of robot toys, in particular to a small multi-wheel recombinable mobile platform model.

Background technique

With the rapid development and wide application of robotics technology, robots have received extensive attention from the whole society, arousing great interest, and more and more attention has been paid to robotics education. On the one hand, colleges and universities and higher vocational colleges have set up robotics engineering majors, purchased various robotic platforms, and carried out robotics adult education; Robot competitions, educate children about robots, and make robots fun through toy-like robots. Children's education needs suitable robot teaching aids. At present, some robot toys and small robot kits are commonly used, and the most typical one is the Lego model. However, the existing robot kits and Lego models are actually too far from the actual robots in terms of appearance and configuration.

An important development direction of robotics is modularization, that is, the robot is divided into modules for unit design, and the robot joints or end effectors are designed as independent and complete electromechanical units with certain functions, which can be constructed through the combined connection between modules. In other words, modular robots can change the degree of freedom and configuration through the addition or subtraction of modules and their different combinations, so as to meet the needs of multi-tasking, wide application and high flexibility. Modular design facilitates large-scale and standardized production, and reduces production and maintenance costs, so it has received widespread attention. A series of robot joint modules have been developed at home and abroad. For example, ZL201010242196.7 and ZL201010242208.6 respectively disclose a swing joint and a rotary joint module. These joint modules can meet certain usage requirements and can also be used for robotic research and adult education.

Modular reconfigurable robots are very suitable for robot innovation education because they can derive a variety of robot systems, and they are also very interesting because of their variable configurations and degrees of freedom. However, the existing real robot modules and modular robots are not suitable for children's education due to high technical requirements, complex structure, difficult use, high cost, large size and weight.

Aiming at the deficiencies of the current robot toys and models, and the discomfort of the existing robot modules in children's education, the invention combines the robot modularization and toyization, and discloses a small multi-wheel reconfigurable mobile platform model. Connect with the module to form a robot model, which can be used as a robot toy, a robot configuration teaching aid, or a viewing gift.

In the field of mobile robots, the wheel drive device and the mobile robot base plate are mostly designed in combination. The mobile robot base plate has a corresponding interface unique to the wheel drive device, and the wheel drive module only has the function of wheel drive, which has a single function, but Wheel drive modules with multiple functions are difficult to connect with mobile robots. Therefore, it is the next problem that needs to be solved to realize the simple connection between the wheel and the mobile platform and realize various moving modes.

SUMMARY OF THE INVENTION

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a small multi-wheel recombinable mobile platform model, which can realize the diversification of moving modes, and can perform fast mode conversion and module splicing.

For achieving the above object, the technical scheme provided by the present utility model is:

A small multi-wheel reconfigurable mobile platform model, comprising a platform base, a platform shell, and a mobile assembly; the platform shell is installed on the platform base, and the mobile assembly is installed at the bottom of the platform base; between the platform shell and the platform base, and Removable installation between platform base and mobile components;

The top of the platform shell is provided with an installation groove matching the interface of the robot model, through which the installation groove and the robot model can be spliced together.

Further, the bottom of the platform shell is provided with an outer ring, and the configuration of the outer ring is consistent with the shape of the platform base; there is an installation plane on the inner side of the outer ring, and each plane is horizontally distributed with a limit for installation and cooperation with the platform base. Bit groove.

Further, a plurality of installation clips with notches are evenly distributed at the bottom of the platform base, and the platform base and the mobile component can be quickly spliced through the limiting effect of the installation clips;

Convex surfaces are distributed on the edge of the upper surface of the platform base, and the convex faces are provided with limit bosses that are quickly spliced with the platform shell at the corners.

Further, the platform shell is raised upward, and after being spliced with the platform base, a cavity is formed inside for installing the mechanical interface and the battery.

Further, the moving assembly includes a movable wheel, a slewing module and a mounting seat; wherein, the slewing module is connected with the movable wheel;

The mounting seat is "U"-shaped and has a cavity structure. The rotary module is axially installed in the cavity, and is positioned axially through the interface slot on the mounting seat; the "U"-shaped feet of the mounting seat are integrally formed with The installation table, each installation table is distributed with positioning bosses in the horizontal direction, the positioning bosses are embedded in the installation notch of the platform base, and the quick splicing with the platform base is realized through the positioning boss and the installation notch.

Further, the movable wheel is composed of an axle wheel and a cross-shaped joint;

The cross section of the cross-shaped joint forms an "I" shape, and the upper and lower bosses form a rotating pair to achieve relative rotation; the bottom of the cross-shaped joint is provided with an axle mounting hole for the installation of the axle; the side is provided with a peripheral To fix the bayonet; the top is provided with grooves and protrusions of equal size and spacing for seamless butt joints between cross-shaped joints, and the connection between the modules is realized through the limit function.

Further, the outer shape of the platform shell is carapace, polygon or circle.

Compared with the prior art, the principle and advantages of this scheme are as follows:

When using this solution, first install the wheel and the slewing module through the cross-shaped joint in turn, and insert the installed slewing module into the cavity of the mounting seat axially. The bosses are respectively embedded into the notch of the installation card position of the platform base, and the quick splicing of the mobile component and the platform base is completed through the positioning boss and the notch of the installation card position; In this way, the assembly and docking with other functional modules (robot models) are completed; the limit grooves on the inner mounting plane of the outer ring at the bottom of the platform shell are embedded into the limit bosses of the platform base, so as to complete the overall assembly of the reconfigurable mobile platform model, and the mobile platform The model can achieve a variety of configurations by increasing or decreasing the number of mobile components. The mobile components can be spliced to the platform base through the mounting seat. The number and buckle position can be changed to form mobile platforms with different configurations such as two-wheel, three-wheel or four-wheel. Models, used as robot toys, robot configuration teaching aids, or ornamental gifts, are conducive to the popularization and promotion of robot concepts and technologies.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the services required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative efforts.

Fig. 1 is the structural representation of a kind of small multi-wheel recombinable mobile platform model of the present utility model;

2 is an exploded schematic view of a small multi-wheel reconfigurable mobile platform model of the present utility model;

3 is an exploded schematic view of a mobile component in a small multi-wheel reconfigurable mobile platform model of the present invention;

4 is one of the structural schematic diagrams of the platform shell in a small multi-wheel recombinable mobile platform model of the present invention;

Fig. 5 is the second structural schematic diagram of the platform shell in a small multi-wheel recombinable mobile platform model of the present invention;

6 is one of the structural schematic diagrams of the platform base in a small multi-wheel recombinable mobile platform model of the present invention;

Fig. 7 is the second structural schematic diagram of the platform base in a small multi-wheel recombinable mobile platform model of the present invention;

8 is a schematic structural diagram of a cross-shaped joint in a small multi-wheel recombinable mobile platform model of the present invention;

Fig. 9 is the general assembly drawing of the four-wheel rotating platform;

FIG. 10 is a mobile operation robot model composed of a mobile platform model and a robot model in a specific embodiment of the present invention.

Reference number:

1-Platform base; 2-Platform shell; 3-Moving components; 11-Installation groove; 14-Limiting groove; 15-Outer ring; 21-Convex surface; 22-Limiting boss; 23-Installation clip; 31-Mounting seat; 32-Rotary module; 33-Cross joint; 34-Wheel; 311-Positioning boss; 312-Interface slot; 331-Axle mounting hole; ; 334 - groove mouth; 335 - upper boss; 336 - lower boss.

Detailed ways

Below in conjunction with specific embodiment, the utility model is further described:

As shown in Figure 1-10, a small multi-wheel reconfigurable mobile platform model includes a platform base 1, a platform shell 2, and a mobile component 3;

The platform shell 2 is in the shape of a carapace, and its bottom is provided with an outer ring 15 diagonally. The configuration of the outer ring 15 is consistent with the shape of the platform base 1; a limit groove 14 for installation and matching of the platform base 1;

There are convex surfaces 21 distributed on the edge of the upper surface of the platform base 1, and the convex surface 21 is provided with a limit boss 22 that is quickly spliced with the platform shell 2 at diagonal positions;

The platform shell 2 is raised upward, and after being spliced with the platform base 1, a cavity is formed inside for installing the mechanical interface and the battery;

And the bottom of the platform base 1 is evenly distributed with a plurality of installation clips (23) with notches, and through the limiting effect of the installation clips 23, the rapid splicing of the platform base 1 and the mobile component 3 is realized;

Specifically, the moving assembly 3 includes a movable wheel 34, a rotating module 32 and a mounting seat 31; the rotating module 32 is connected with the movable wheel 34;

Among them, the movable wheel 34 is composed of a belt axle wheel and a cross joint 33;

The cross-section of the cross-shaped joint 33 forms an "I"-shaped configuration, and the upper and lower bosses 335 and 336 constitute a rotating pair to realize relative rotation; the bottom of the cross-shaped joint 33 is provided with an axle mounting hole 331 for the installation of the axle (that is, with the The side is provided with a circumferential fixed bayonet 333; the top is provided with a groove 334 and a convex body 332 of equal size and spacing, for seamless connection between the cross-shaped joints 33, which is realized by the limiting effect. The connection of the interface between the modules.

The mounting seat 31 is in a "U" shape and has a cavity structure. The rotary module 32 is axially installed in the cavity, and is positioned axially through the interface slot 312 on the mounting seat 31; the "U"-shaped foot of the mounting seat 31 An installation platform is integrally formed, and each installation platform is distributed with positioning bosses 311 in the horizontal direction. The positioning bosses 311 are embedded in the notch of the installation position 23 of the platform base 1, and the positioning boss 311 and the notch of the installation position 23 are used to realize the connection with the platform. Quick splicing of base 1.

The specific principles are as follows:

When in use, first install the wheel 34 and the swivel module 32 through the cross-shaped joint 33 in turn, and insert the installed slewing module 32 into the cavity of the mounting seat 31 axially, wherein the mounting seat 31 is installed with "U"-shaped feet The positioning bosses 311 on the platform are respectively embedded into the recesses of the mounting positions 23 of the platform base 1, and the quick splicing of the mobile assembly 3 and the platform base 1 is completed through the positioning bosses 311 and the recesses of the mounting positions 23; 2. The installation groove 11 at the top is installed into the cross-shaped joint 33, so as to complete the assembly and docking with other functional modules (robot models); Boss 22, so as to complete the overall assembly of the reconfigurable mobile platform model, and the mobile platform model can achieve various configurations by increasing or decreasing the number of mobile components 3. The mobile components 3 can be spliced to the platform base 1 through the mounting seat 31. The number and The buckle position can be changed to form mobile platform models with different configurations such as two-wheel, three-wheel or four-wheel, which can be used as robot toys, robot configuration teaching aids, or ornamental gifts, which is conducive to the popularization and promotion of robot concepts and technologies.

The above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention. Therefore, any changes made according to the shape and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (7)

1. a small multi-wheel recombinable mobile platform model, is characterized in that, comprises platform base (1), platform shell (2), moving assembly (3); Described platform shell (2) is installed on platform base (1) ), and the moving assembly (3) is installed at the bottom of the platform base (1); between the platform shell (2) and the platform base (1), and between the platform base (1) and the moving assembly (3), it can be detachably installed; The top of the platform shell (2) is provided with an installation groove (11) matching the interface of the robot model, and the robot model can be assembled together through the installation groove (11). 2. A small multi-wheel recombinable mobile platform model according to claim 1, characterized in that, the bottom of the platform shell (2) is provided with an outer ring (15) diagonally, and the outer ring (15) is configured The shape is consistent with the shape of the platform base (1); there is an installation plane on the inner side of the outer ring (15), and limit grooves (14) for installation and cooperation with the platform base (1) are distributed in the horizontal direction of each plane. 3. A kind of small multi-wheel recombinable mobile platform model according to claim 2, characterized in that, a plurality of notched mounting positions (23) are evenly distributed at the bottom of the platform base (1), by installing The limiting function of the card position (23) realizes the rapid splicing of the platform base (1) and the moving assembly (3); Convex surfaces (21) are distributed on the edge of the upper surface of the platform base (1), and the convex surfaces (21) are provided with limiting bosses (22) that are quickly spliced with the platform shell (2) at diagonal positions. 4. A small multi-wheel recombinable mobile platform model according to claim 3, wherein the platform shell (2) is raised upward, and after it is spliced with the platform base (1), an empty space is formed inside. Cavity for mounting mechanical interface and battery. 5. A small multi-wheel recombinable mobile platform model according to claim 4, wherein the mobile assembly (3) comprises a movable wheel (34), a slewing module (32) and a mounting seat (31) ; Wherein, the slewing module (32) is connected with the movable wheel (34); The mounting seat (31) is in the shape of a "U" and has a cavity structure, and the rotary module (32) is axially installed in the cavity, and is positioned axially through the interface groove (312) on the mounting seat (31). The "U"-shaped foot of the mounting seat (31) is integrally formed with a mounting table, and each mounting table is distributed with a positioning boss (311) in the horizontal direction, and the positioning boss (311) is embedded in the installation card position ( 23) A notch, through which the positioning boss (311) and the notch of the installation card position (23) can be quickly spliced with the platform base (1). 6. A small multi-wheel recombinable mobile platform model according to claim 5, characterized in that the movable wheel (34) is composed of an axle wheel and a cross-shaped joint (33); Wherein, the cross section of the cross-shaped joint (33) forms an "I"-shaped configuration, and the upper and lower bosses (335, 336) constitute a rotating pair to realize relative rotation; the bottom of the cross-shaped joint (33) is provided with a wheel shaft installation A hole (331) for the installation of the axle; the side is provided with a circumferential fixing bayonet (333); the top is provided with a groove opening (334) and a convex body (332) of equal size and spacing for the cross-shaped joint (33) Seamless docking between modules, and the connection of the interface between the modules is realized through the limit function. 7 . A small multi-wheel recombinable mobile platform model according to claim 1 , wherein the outer shape of the platform shell ( 2 ) is a carapace shape, a polygon or a circle. 8 .

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