CN-122009332-A - Carbon fiber mobile robot chassis based on modularized cage type nodes

CN122009332ACN 122009332 ACN122009332 ACN 122009332ACN-122009332-A

Abstract

The invention relates to the technical field of mobile robot design and manufacture, and discloses a carbon fiber mobile robot chassis based on modularized cage nodes, which comprises the following components: the carbon fiber round tube, the front axle connecting piece, the cross connecting piece, the steering connecting piece, the rear axle connecting piece, the wheel assembly, the steering machine and the driving rear axle adopt modularized cage structure design, the carbon fiber round tube forms a stable cross bearing structure through the front axle connecting piece, the cross connecting piece, the steering connecting piece and the rear axle connecting piece, the carbon fiber mobile robot chassis provided by the invention adopts a modularized design, and the wheel assembly, the steering gear and the driving rear axle can be directly arranged on the chassis, so that the installation and maintenance are simplified, and meanwhile, the whole chassis is more stable, and has the characteristics of higher rigidity, stronger impact resistance and more balanced load distribution.

Inventors

XU WEI
LI BAOTONG
ZHANG HAIYUN
GUO JIANLIANG
JIN YAPENG
REN FUYANG

Assignees

宁波工程学院

Dates

Publication Date: 20260512
Application Date: 20260126

Claims (9)

1. A carbon fiber mobile robot chassis based on modularized cage nodes comprises a carbon fiber round tube (1), a connecting piece, a wheel assembly, a steering gear (2) and a driving rear axle (5), and is characterized in that a frame of the chassis is composed of the carbon fiber round tube (1) and adopts an orthogonal layering structure, the connecting piece is of a laminated composite cage structure and is connected with the carbon fiber round tube (1), the wheel assembly comprises a front wheel (3) and a rear wheel (4) which are arranged on the outer side of the chassis, and the steering gear (2) and the driving rear axle (5) are respectively arranged at the front end and the rear end of the chassis.
2. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 1, wherein the connecting piece is in layered design, the bottom layer, the middle layer and the top layer are sequentially arranged from bottom to top, the bottom layer and the top layer are in a composite connection mode of a carbon fiber plate-carbon fiber square tube, the periphery of a single side of the carbon fiber plate is fixedly connected with the carbon fiber square tube through bolts, the middle layer is in a double-side composite connection mode of the carbon fiber square tube-carbon fiber plate-carbon fiber square tube, a special clamping and positioning assembly is arranged between each two layers, a cavity matched with a carbon fiber round tube (1) is arranged in the special clamping and positioning assembly, and after the layers and the special clamping and positioning assembly are stacked in the vertical direction, the carbon fiber square tube and the sheet on the side are installed.
3. The carbon fiber mobile robot chassis based on modular cage nodes of claim 2, wherein the dedicated clamping and positioning assembly is manufactured using additive manufacturing techniques.
4. The carbon fiber mobile robot chassis based on modular cage nodes of claim 2, wherein the connectors comprise front axle connectors (6), steering connectors (7), cross connectors (8) and rear axle connectors (9).
5. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 4, wherein the front bridge connecting piece (6) is symmetrically arranged at the front part of the chassis, the middle layer is of a composite reinforced structure and consists of a middle lower layer (63) and a middle upper layer (62), a force bearing groove is arranged between the bottom layer (64) and the middle lower layer (63), between the middle lower layer (63) and the middle upper layer (62) and between the middle upper layer (62) and the top layer (61) respectively, the special clamping and positioning assemblies (65) are arranged to form a pipe clamping interface, the clamping interface is used for clamping a longitudinally arranged carbon fiber round pipe (1) and a longitudinally arranged round pipe (64) and a longitudinally crossed connection is formed between the carbon fiber round pipe (1) and the carbon fiber (1), the clamping interface is used for clamping a transversely arranged round pipe (63) and the middle lower layer (62) and the middle upper layer (62) respectively, and the front bridge connecting piece (6) is used for connecting the longitudinally crossed connection of the carbon fiber (1) through the clamping interface.
6. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 4, wherein the steering connecting piece (7) is arranged at the front part of the chassis, a special clamping and positioning assembly (74) between the bottom layer (73) and the middle layer (72) is used for clamping and clamping the longitudinally arranged carbon fiber round tubes (1), and two pairs of special clamping and positioning assemblies (74) are respectively arranged between the middle layer (72) and the top layer (71), wherein one pair of clamping and clamping the transversely arranged carbon fiber round tubes (1) and the other pair of clamping and clamping the vertically arranged carbon fiber round tubes (1).
7. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 4, wherein the cross connecting piece (8) is arranged in the middle of the chassis, a special clamping and positioning assembly (84) between the bottom layer (83) and the middle layer (82) of the cross connecting piece is used for clamping and clamping the longitudinally arranged carbon fiber round tube (1), and a special clamping and positioning assembly (84) between the layer (82) and the top layer (81) is used for clamping and clamping the transversely arranged carbon fiber round tube (1).
8. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 4, wherein the rear axle connecting piece (9) is arranged at the rear part of the chassis, a special clamping and positioning assembly (94) between the bottom layer (93) and the middle layer (92) is used for fastening and clamping a longitudinally arranged carbon fiber round tube (1), and a special clamping and positioning assembly (94) between the middle layer (92) and the top layer (91) is used for matching a die cavity with a bolt hole site and clamping the driving rear axle (5).
9. The carbon fiber mobile robot chassis based on the modularized cage node according to claim 8, wherein a special clamping and positioning assembly (94) is arranged between a middle layer (92) and a top layer (91) of the rear axle connecting piece, a carbon fiber fixing layer (96) is arranged at the upper end of the special clamping and positioning assembly, and the carbon fiber square tubes and the thin sheets (95) of the side face are tightly connected.

Description

Carbon fiber mobile robot chassis based on modularized cage type nodes Technical Field The invention relates to the technical field of mobile robot design and manufacture, in particular to a carbon fiber mobile robot chassis based on modularized cage nodes. Background Mobility, load capacity and environmental suitability of mobile robots are closely related to chassis performance. The ideal chassis needs to have the characteristics of light weight, high rigidity, strong impact resistance and easy assembly and maintenance. At present, a traditional metal chassis represented by a steel pipe welding space truss often causes large overall dead weight to meet the structural strength requirement, and the power efficiency and the running flexibility are seriously affected. The dependent welding or bolting can introduce heat affected zone and residual stress, and is easy to generate fatigue damage when bearing alternating loads such as road surface impact, driving torsional vibration and the like for a long time, difficult to maintain and repair and high in cost. For the novel chassis adopting the carbon fiber composite material to realize light weight, the novel chassis has obvious limitations that the mechanical punching can cut off fibers and obviously weaken the strength advantage of the material per se if the traditional connecting mode is adopted, and the problems of long curing period, poor strength consistency, unrepeatable disassembly, insufficient environmental durability and the like are caused when the cementing is adopted. Therefore, an innovative chassis structural design method is needed to provide a connection mode with high reliability, high durability and convenient assembly and maintenance while realizing remarkable light weight so as to fundamentally improve the comprehensive performance of the mobile robot chassis. Disclosure of Invention Aiming at the technical problems that the prior art cannot simultaneously meet the requirements of remarkable light weight, high reliability, high durability and convenience in assembly and maintenance, the invention provides a carbon fiber mobile robot chassis based on a modularized cage node, which comprises the following technical scheme: The steering wheel comprises a carbon fiber round tube, a connecting piece, a wheel assembly, a steering wheel and a driving rear axle, wherein the chassis frame is composed of the carbon fiber round tube and adopts an orthogonal layering structure, the connecting piece is of a laminated composite cage structure and is connected with the carbon fiber round tube, the wheel assembly comprises a front wheel and a rear wheel which are arranged on the outer side of the chassis, and the steering wheel and the driving rear axle are respectively arranged at the front end and the rear end of the chassis. Further, the connecting piece adopts the layering design, and from the bottom up is bottom, middle level and top layer in proper order, and bottom and top layer adopt the compound connection form of carbon fiber board-carbon fiber side pipe, and carbon fiber board unilateral all around passes through bolt and carbon fiber side pipe fixed connection, and the middle level adopts the double side compound connection form of carbon fiber side pipe-carbon fiber board-carbon fiber side pipe, sets up special clamp positioning assembly between each level, special clamp positioning assembly sets up the die cavity that matches with the carbon fiber pipe, and each level stacks the setting along the vertical direction with special clamp positioning assembly after, installs side carbon fiber side pipe and thin slice. Further, the dedicated clamping and positioning assembly is manufactured using additive manufacturing techniques. Further, the connectors include a front axle connector, a steering connector, a cross connector, and a rear axle connector. The front axle connecting piece is arranged at the front part of the chassis in a bilateral symmetry mode, wherein the middle layer is of a composite reinforced structure and is composed of a middle lower layer and a middle upper layer, the special clamping and positioning assemblies are respectively arranged between the bottom layer and the middle lower layer, between the middle lower layer and the middle upper layer and between the middle upper layer and the top layer to form a pipe clamping interface, the clamping interface is arranged between the bottom layer and the middle lower layer, the clamping interface is used for fastening and clamping longitudinally arranged carbon fiber round pipes, the clamping interface is arranged between the middle lower layer and the middle upper layer and between the middle upper layer and the top layer, the clamping interfaces are respectively used for fastening and clamping transversely arranged carbon fiber round pipes, and the bearing grooves are arranged between the middle lower layer and the middle upper layer. The steering connecting piece is arranged at t