CN211676291U

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

Info

Publication number: CN211676291U
Application number: CN201922173519.0U
Authority: CN
Inventors: 王杰; 管贻生
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-10-16
Anticipated expiration: 2029-12-06

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

Small-size many rounds of reconfigurable moving platform model

Technical Field

The utility model relates to a technical field of robot toy especially involves a small-size many rounds of reconfigurable moving platform model.

Background

With the rapid development and wide application of the robot technology, the robot is widely concerned by the whole society, thereby arousing great interest of people, and the robot education is more and more valued. On one hand, each college and university head dispute establishes a robot engineering specialty, purchases various robot platforms, and develops robot adult education; on the other hand, robot education also starts to be low-aged, robot education is performed on children by setting up various interest classes and small-sized robot competitions, and teaching through lively activities of robots is performed through robot toy. The education of children needs proper robot teaching aids, and at present, some robot toys and small robot kits are commonly used, and the most typical is a happy high model. However, the existing robot suite and the existing robot model are actually far from the actual robot in appearance and configuration, and have a large distance from the concept and technology of the robot, so that the practical requirements of robot education of children are difficult to meet.

An important development direction of the robot technology is modularization, namely, the robot is divided into modules to carry out unit design, a robot joint or an end effector is designed into an independent and complete electromechanical unit with certain functions, and a robot system with various forms and functions can be constructed through the combined connection between the modules; in other words, the modular robot can change the degree of freedom and configuration by increasing or decreasing modules and different combinations thereof, thereby satisfying the requirements of multitasking, wide application and high flexibility. The modular design facilitates large-scale and standardized production, reduces production and maintenance costs, and is therefore of great interest. A series of robot joint modules have been developed at home and abroad. For example, ZL201010242196.7 and ZL201010242208.6 disclose a swing joint and a swing joint module, respectively, which can meet certain use requirements and can also be used for robot research and adult education.

The module reconfigurable robot is very suitable for robot innovation education due to the fact that various robot systems can be derived, and has good interestingness due to the fact that the configuration and the degree of freedom are changeable. However, the existing real robot module and modular robot are not suitable for education of children due to high technical requirements, complex structure, complex use, high cost, large volume and heavy weight.

Aiming at the defects of the existing robot toy and model and the discomfort of the existing robot module in children education, the invention combines the robot modularization and the toy modularization and discloses a small-sized multi-wheel reconfigurable mobile platform model. And the modules are connected into a robot model which is used as a robot toy, a robot configuration teaching aid or an ornamental gift.

In the field of mobile robots, wheel driving devices and mobile robot bottom plates are mostly designed in a matching mode, corresponding interfaces specific to the wheel driving devices are arranged on the mobile robot bottom plates, wheel driving modules only have wheel driving functions, the functions are single, and the wheel driving modules with multiple functions are difficult to connect with the mobile robots. Therefore, the realization of the simple connection between the wheels and the mobile platform and the realization of a plurality of mobile modes is the problem to be solved next.

Disclosure of Invention

An object of the utility model is to overcome prior art's not enough, provide a small-size many rounds of reconfigurable moving platform model, this moving platform model can realize that the moving means is diversified and can carry out the swift conversion of mode and each module concatenation.

In order to achieve the above object, the present invention provides a technical solution:

a small-sized multi-wheel reconfigurable mobile platform model 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.

Furthermore, an outer ring is arranged at the diagonal angle of the bottom of the platform shell, and the configuration of the outer ring is consistent with the appearance of the platform base; the inner side of the outer ring is provided with a mounting plane respectively, and a limiting groove matched with the platform base in a mounting way is distributed in the horizontal direction of each plane.

Furthermore, a plurality of installation clamping positions with notches are uniformly distributed at the bottom of the platform base, and the platform base and the moving assembly are quickly spliced by the limiting effect of the installation clamping positions;

convex surfaces are distributed on the edge of the upper surface of the platform base, and limiting bosses which are rapidly spliced with the platform shell are arranged on the opposite corners of the convex surfaces.

Furthermore, the platform shell bulges upwards, and a cavity is formed inside the platform shell after the platform shell is spliced with the platform base and is used for installing a mechanical interface and a battery.

Further, the moving assembly comprises a movable wheel, a rotating module and a mounting seat; the rotating module is connected with the movable wheel;

the installation seat is U-shaped and has a cavity structure, and the rotary module is axially installed in the cavity and is axially positioned through an interface slot on the installation seat; the integrated into one piece of mount pad "U" type foot department has the mount table, and every mount table horizontal direction distributes has the location boss, and the installation screens notch of location boss embedding platform base realizes splicing fast with the platform base through location boss and installation screens notch.

Furthermore, the movable wheel consists of a wheel with a shaft and a cross-shaped joint;

the cross section of the cross joint forms an I-shaped structure, and a rotating pair is formed by an upper boss and a lower boss to realize relative rotation; the bottom of the cross joint is provided with a wheel shaft mounting hole for mounting a wheel shaft; the side surface is provided with a circumferential fixed bayonet; the top is equipped with the notch opening and the convex body of equidimension, interval, supplies to carry out seamless butt joint between the cross joint, realizes the connection of interface between the module through limiting displacement.

Further, the outer shape of the platform shell is in a shell shape, a polygon shape or a circular shape.

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

when the scheme is used, the wheels and the rotary modules are installed sequentially through the cross-shaped joints, the installed rotary modules are axially embedded into the cavities of the installation bases, the positioning bosses on the U-shaped foot installation tables of the installation bases are respectively embedded into the notches of the installation clamping positions of the platform bases, and the mobile assemblies are quickly spliced with the platform bases through the positioning bosses and the notches of the installation clamping positions; meanwhile, a cross-shaped joint is arranged in an installation groove in the top of the platform shell, so that the assembly and butt joint with other functional modules (robot models) are completed; the spacing recess embedding platform base's of inboard mounting surface in platform shell bottom outer lane spacing boss, thereby accomplish the unit mount of mobile platform model that can reorganize, and mobile platform model accessible increase and decrease removes subassembly quantity and realizes multiple configuration, remove subassembly accessible mount pad concatenation to platform base, quantity and lock joint position are variable, form two-wheeled, the mobile platform model of different configurations such as tricycle or four-wheel, be used as the robot toy, the robot configuration teaching aid, perhaps view and admire the gift, be favorable to the popularization of robot notion and technique.

Drawings

In order to illustrate more clearly the embodiments of the present invention or the technical solutions in the prior art, the services required for the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a small-sized multi-wheel reconfigurable mobile platform model according to the present invention;

FIG. 2 is an exploded view of a compact multi-wheel reconfigurable mobile platform model according to the present invention;

FIG. 3 is an exploded view of a mobile module of a compact multi-wheel reconfigurable mobile platform model according to the present invention;

fig. 4 is one of the schematic structural diagrams of the platform housing in the small multi-wheel reconfigurable mobile platform model according to the present invention;

fig. 5 is a second schematic structural diagram of a platform housing in a small multi-wheel reconfigurable mobile platform model according to the present invention;

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

fig. 7 is a second schematic structural view of a platform base in a small multi-wheel reconfigurable mobile platform model according to the present invention;

FIG. 8 is a schematic structural diagram of a cross joint in a small multi-wheel reconfigurable mobile platform model according to the present invention;

FIG. 9 is an assembly view of the four wheel rotary platform;

fig. 10 is a mobile operation robot model formed by a mobile platform model and a robot model according to an embodiment of the present invention.

Reference numerals:

1-a platform base; 2-a platform housing; 3-a moving assembly; 11-mounting a groove; 14-a limiting groove; 15-outer ring; 21-convex surface; 22-a limit boss; 23-installing a clamping position; 31-a mounting seat; 32-a rotation module; 33-a cross-shaped joint; 34-a wheel; 311-positioning a boss; 312-interface slot; 331-axle mounting holes; 332-rebate; 333-circumferential fixed bayonet; 334-notch openings; 335-upper boss; 336-lower boss.

Detailed Description

The invention will be further described with reference to the following specific embodiments:

as shown in fig. 1-10, a small-sized multi-wheel reconfigurable mobile platform model comprises a platform base 1, a platform housing 2 and a mobile assembly 3;

the platform shell 2 is in a shell shape, an outer ring 15 is arranged at the diagonal angle of the bottom of the shell, and the configuration of the outer ring 15 is consistent with the appearance of the platform base 1; the inner side of the outer ring 15 is provided with a mounting plane respectively, and a limiting groove 14 which is matched with the platform base 1 in a mounting way is distributed on each plane in the horizontal direction;

convex surfaces 21 are distributed on the edge of the upper surface of the platform base 1, and limiting bosses 22 which are rapidly spliced with the platform shell 2 are arranged at the diagonal positions of the convex surfaces 21;

the platform shell 2 is bulged upwards, and a cavity is formed inside the platform shell and the platform base 1 after the platform shell is spliced, and is used for installing a mechanical interface and a battery;

a plurality of mounting blocks (23) with notches are uniformly distributed at the bottom of the platform base 1, and the platform base 1 and the moving component 3 are quickly spliced by the limiting function of the mounting blocks 23;

specifically, the moving assembly 3 comprises a movable wheel 34, a swivel module 32 and a mounting 31; the rotation module 32 is connected with the movable wheel 34;

wherein, the movable wheel 34 is composed of a wheel with a shaft and a cross joint 33;

the cross section of the cross joint 33 forms an I-shaped structure, and a rotating pair is formed by the upper boss 335 and the lower boss 336 to realize relative rotation; the bottom of the cross joint 33 is provided with an axle mounting hole 331 for mounting an axle (namely, connecting with a wheel with an axle); the side surface is provided with a circumferential fixed bayonet 333; the top is provided with a groove opening 334 and a convex body 332 with equal size and interval for seamless butt joint between the cross joints 33, and the connection of the interfaces between the modules is realized through the limiting function.

The mounting seat 31 is U-shaped and has a cavity structure, and the rotation module 32 is axially mounted in the cavity and axially positioned through the interface slot 312 on the mounting seat 31; the integrated into one piece of mount pad 31 "U" type foot department has the mount table, and every mount table horizontal direction distributes has location boss 311, and location boss 311 imbeds the installation screens 23 notch of platform base 1, realizes splicing fast with platform base 1 through location boss 311 and installation screens 23 notch.

The specific principle is as follows:

when the quick splicing device is used, the wheels 34 and the rotary module 32 are firstly installed through the cross-shaped joints 33 in sequence, the installed rotary module 32 is axially embedded into the cavity of the installation base 31, the positioning bosses 311 on the U-shaped foot installation table of the installation base 31 are respectively embedded into the notches of the installation clamping positions 23 of the platform base 1, and the quick splicing of the moving assembly 3 and the platform base 1 is completed through the positioning bosses 311 and the notches of the installation clamping positions 23; meanwhile, the mounting groove 11 at the top of the platform shell 2 is provided with the cross joint 33, so that the assembly and butt joint with other functional modules (robot models) are completed; the inboard mounting plane's of platform shell 2 bottom outer lane spacing recess 14 embedding platform base 1 spacing boss 22, thereby accomplish the unit mount of the mobile platform model of can recombining, and 3 quantity of mobile platform model accessible increase and decrease removal subassembly realize multiple configuration, 3 accessible mount pads 31 concatenations of removal subassembly to platform base 1, quantity and lock joint position are variable, form two-wheels, the mobile platform model of different configurations such as tricycle or four-wheel, be used as the robot toy, the robot configuration teaching aid, or view and admire the gift, be favorable to the popularization of robot notion and technique.

The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that all the changes made according to the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A small-sized multi-wheel reconfigurable mobile platform model is characterized by comprising a platform base (1), a platform shell (2) and a mobile assembly (3); the platform shell (2) is arranged on the platform base (1), and the moving component (3) is arranged at the bottom of the platform base (1); the platform shell (2) and the platform base (1) and the moving component (3) are detachably arranged;

the top of the platform shell (2) is provided with a mounting groove (11) matched with a robot model interface, and the platform shell and the robot model can be assembled together in a splicing manner through the mounting groove (11).

2. A small-sized multi-wheel reconfigurable mobile platform model according to claim 1, characterized in that the platform housing (2) is provided with an outer ring (15) at the bottom of the platform housing, and the configuration of the outer ring (15) is consistent with the appearance of the platform base (1); the inner side of the outer ring (15) is respectively provided with a mounting plane, and a limiting groove (14) which is matched with the platform base (1) in a mounting way is distributed in the horizontal direction of each plane.

3. The small-sized multi-wheel reconfigurable mobile platform model according to claim 2, characterized in that a plurality of notched mounting blocks (23) are uniformly distributed at the bottom of the platform base (1), and the platform base (1) and the mobile component (3) can be quickly spliced by the limiting effect of the mounting blocks (23);

the platform is characterized in that convex surfaces (21) are distributed on the edge of the upper surface of the platform base (1), and limiting bosses (22) which are rapidly spliced with the platform shell (2) are arranged on the opposite corners of the convex surfaces (21).

4. A compact multi-wheel reconfigurable mobile platform model according to claim 3, characterized in that the platform housing (2) is bulged upwards, and forms a cavity inside after being spliced with the platform base (1) for installing mechanical interfaces and batteries.

5. A compact multi-wheel reconfigurable mobile platform model according to claim 4, characterized in that the mobile assembly (3) comprises a mobile wheel (34), a slewing module (32) and a mounting (31); wherein the rotating module (32) is connected with a movable wheel (34);

the mounting seat (31) is U-shaped and has a cavity structure, the rotary module (32) is axially mounted in the cavity and is axially positioned through an interface groove (312) on the mounting seat (31); mount pad (31) "U" type foot department integrated into one piece has the mount table, and every mount table horizontal direction distributes has location boss (311), and installation screens (23) notch of location boss (311) embedding platform base (1) realizes splicing fast with platform base (1) through location boss (311) and installation screens (23) notch.

6. A compact multi-wheel reconfigurable mobile platform model according to claim 5, characterized in that the mobile wheels (34) consist of wheels with axles and a cruciform joint (33);

the cross section of the cross-shaped joint (33) forms an I-shaped configuration, and an upper boss (335) and a lower boss (336) form a rotating pair to realize relative rotation; the bottom of the cross joint (33) is provided with a wheel axle mounting hole (331) for mounting a wheel axle; the side surface is provided with a circumferential fixed bayonet (333); the top is provided with a groove opening (334) and a convex body (332) with equal size and interval for seamless butt joint between the cross joints (33), and the connection of the interfaces between the modules is realized through the limiting function.

7. A compact multi-wheel reconfigurable mobile platform model according to claim 1, characterized in that the platform housing (2) is shell-like, polygonal or circular in shape.