Chassis, driving control method and robot

Abstract

The invention provides a chassis, a driving control method and a robot, the chassis comprises a chassis framework, a front wheel driving mechanism and a rear wheel driving mechanism, the front wheel driving mechanism comprises two front wheels arranged oppositely and a front wheel driving part, the front wheels are rotatably connected relative to the chassis framework, and the front wheel driving part can drive the front wheels to rotate; the rear wheel driving mechanism comprises two rear wheels arranged oppositely, a rear wheel driving part and a one-way rotating part, the rear wheels are rotatably connected relative to the chassis framework, the rear wheel driving part is used for driving the rear wheels to rotate, and the one-way rotating part is used for enabling the rear wheels to rotate forwards in a one-way mode; when the chassis runs in the first state, the front wheel driving piece drives the front wheels to rotate, and the rear wheels are driven; when the chassis runs in the second state, the rear wheel driving piece drives the rear wheels to rotate so as to provide forward torque for the chassis. According to the chassis, the chassis can simultaneously have the functions of fast running and large torque without increasing the number of motors or improving the power of the motors, and cost reduction is facilitated.

Description

Technical Field

[0001] The present application relates to chassis manufacturing technology, and in particular to a chassis, a drive control method and a robot. Background Art

[0002] For robots, the chassis is not only the basic supporting structure of the robot, but also used to drive the robot to walk. High speed and high torque are the performances pursued by the chassis of most robots.

[0003] The chassis is generally powered by a motor. Under the premise of a certain motor power, the motor speed and torque are inversely proportional. In order to make the chassis both fast and powerful, the related technical solutions can be achieved by increasing the number of motors or increasing the motor power.

[0004] However, adopting the above solution will increase the weight of the chassis and increase the cost. Summary of the invention

[0005] In order to overcome the above-mentioned defects under the related technology, the purpose of this application is to provide a chassis, a drive control method and a robot. This application changes the driving mode of the chassis so that the chassis has the functions of fast driving and high torque at the same time, which is conducive to reducing costs.

[0006] In one aspect, the present application provides a chassis, comprising:

[0007] Chassis frame;

[0008] A front wheel drive mechanism, the front wheel drive mechanism is arranged near the first end of the chassis frame, the front wheel drive mechanism comprises two oppositely arranged front wheels and a front wheel drive member, the front wheels are rotatably connected relative to the chassis frame, and the front wheel drive member can drive the front wheels to rotate;

[0009] A rear wheel drive mechanism, the rear wheel drive mechanism is arranged near the second end of the chassis frame, the rear wheel drive mechanism comprises two rear wheels arranged opposite to each other, a rear wheel drive member and a one-way rotating member, the rear wheel is rotatably connected relative to the chassis frame, the rear wheel drive member is used to drive the rear wheel to rotate, and the one-way rotating member is used to make the rear wheel rotate forward in one direction;

[0010] When the chassis is running in the first state, the front-wheel drive component drives the front wheels to rotate, and the rear wheels are driven; when the chassis is running in the second state, the rear-wheel drive component drives the rear wheels to rotate to provide forward torque for the chassis.

[0011] In a possible implementation, the one-way rotating member includes a one-way bearing, the rear wheel is fixedly connected to an outer ring of the one-way bearing, and the inner ring of the one-way bearing is connected to a rotating shaft of the rear wheel.

[0012] In a possible implementation, the rear wheel drive is disposed inside the rear wheel; the rear wheel drive includes a first hub motor, and a motor shaft of the first hub motor is connected to the inner ring of the one-way bearing as a rotating shaft of the rear wheel.

[0013] In one possible implementation, the rear-wheel drive also includes a first reduction mechanism, which includes a gear seat and a gear assembly arranged on the gear seat, the gear seat of the first reduction mechanism is fixedly connected to the motor shaft of the first hub motor, and the gear assembly of the first reduction mechanism cooperates with the inner side of the rear wheel.

[0014] In a possible implementation, the stator of the first wheel hub motor is fixedly connected to the motor shaft of the first wheel hub motor, and the rotor of the first wheel hub motor is rotatably sleeved on the outer side of the stator of the first wheel hub motor;

[0015] The gear assembly includes a plurality of planetary gears, which are rotatably arranged on the gear seat, the motor shaft is passed through the gear seat and is fixedly connected to the gear seat, and a meshing gear is also provided on one side of the rotor, which is sleeved on the motor shaft and meshed with the plurality of planetary gears;

[0016] The rear wheel further comprises an outer wheel hub, an inner wall of which is provided with an internal gear, and the internal gear is meshed with the plurality of planetary gears;

[0017] At least one of the two ends of the motor shaft of the first hub motor is provided with the one-way bearing, and the outer ring of the one-way bearing is fixedly connected to the outer hub.

[0018] In a possible implementation, the rear-wheel drive component is arranged on the chassis frame; the rear-wheel drive component includes a rear-wheel drive motor, a second reduction mechanism and a transmission assembly, the second reduction mechanism is a reduction box, the rear-wheel drive motor is connected to the reduction mechanism, the rear-wheel drive motor is also connected to the transmission assembly, and the transmission assembly is connected to the rotating shaft of the rear wheel.

[0019] In a possible implementation, the front wheel drive member includes a second wheel hub motor, and the second wheel hub motor is disposed in the front wheel.

[0020] In a possible implementation, a front-wheel steering system is further included, and the front-wheel steering system includes an Ackerman steering system.

[0021] In a possible implementation, the Ackerman steering system includes a steering motor and a steering drive mechanism, and an output end of the steering motor is connected to the steering drive mechanism;

[0022] The front wheel is connected to the chassis frame via a wheel seat, and the steering drive mechanism is connected to the wheel seat;

[0023] The wheel seat comprises a wheel seat body and a swing arm, the wheel seat body is arranged on the chassis frame, the front wheel is rotatably connected to the wheel seat body, the swing arm is located at one end of the wheel seat body away from the front wheel, and the steering drive mechanism is connected to the swing arm.

[0024] In a possible implementation, the steering drive mechanism includes a steering link, both ends of which are respectively hinged to the swing arms of the two wheel seats, a lead screw is provided on the steering link, and an output end of the steering motor is connected to the lead screw.

[0025] In a possible implementation, the steering drive mechanism includes a steering crank, a transfer rod and a steering synchronization rod, the output end of the steering motor is hinged to the steering crank, the steering crank is hinged to the transfer rod, and the two ends of the steering synchronization rod are respectively hinged to the swing arms of the two wheel seats.

[0026] In a possible implementation, the chassis frame further includes a first connecting rod and a second connecting rod that are arranged opposite to each other, the first connecting rod and the second connecting rod are both hinged to the wheel seat body, and a shock absorber is provided between the first connecting rod and the second connecting rod.

[0027] On the other hand, the present application provides a driving control method for driving and controlling any chassis as described above, comprising:

[0028] Detect the unevenness of the road surface;

[0029] Based on the road surface unevenness, the driving state of the chassis is determined; wherein the road surface unevenness includes a flat road surface and an obstacle road surface; when the road surface unevenness is a flat road surface, the driving state of the chassis is determined to be a first state; when the road surface unevenness is an obstacle road surface, the driving state of the chassis is determined to be a second state;

[0030] When it is determined that the driving state of the chassis is a first state, the front-wheel drive component of the chassis is controlled to drive the corresponding front wheels to rotate, and the rear wheels of the chassis are controlled to follow; when it is determined that the driving state of the chassis is a second state, the rear-wheel drive component of the chassis is controlled to drive the corresponding rear wheels to rotate to provide forward torque for the chassis.

[0031] On the other hand, the present application provides a robot comprising any chassis as described above.

[0032] In a possible implementation, the method further includes:

[0033] A road surface detection device, the road surface detection device is used to detect the unevenness of the road surface;

[0034] A control device, wherein the control device is electrically connected to the road surface detection device, the front wheel drive mechanism of the chassis, and the rear wheel drive mechanism of the chassis; the control device controls the front wheel drive mechanism and / or the rear wheel drive mechanism based on a signal fed back by the road surface detection device.

[0035] The present application provides a chassis, a drive control method and a robot, wherein the chassis comprises a chassis frame, a front-wheel drive mechanism and a rear-wheel drive mechanism, wherein the front-wheel drive mechanism is arranged near a first end of the chassis frame, the front-wheel drive mechanism comprises two oppositely arranged front wheels and a front-wheel drive member, the front wheels are rotatably connected relative to the chassis frame, and the front-wheel drive member can drive the front wheels to rotate; the rear-wheel drive mechanism is arranged near a second end of the chassis frame, the rear-wheel drive mechanism comprises two oppositely arranged rear wheels, a rear-wheel drive member and a one-way rotating member, the rear wheels are rotatably connected relative to the chassis frame, the rear-wheel drive member is used to drive the rear wheels to rotate, and the one-way rotating member is used to make the rear wheels rotate forward in one direction; wherein, when the chassis is traveling in the first state, the front-wheel drive member drives the front wheels to rotate, and the rear wheels are driven; when the chassis is traveling in the second state, the rear-wheel drive member drives the rear wheels to rotate to provide forward torque for the chassis. The present application sets an independently drivable front-wheel drive mechanism and a rear-wheel drive mechanism on the chassis frame, so that the front-wheel drive mechanism or the rear-wheel drive mechanism can be selected as needed to drive the chassis forward; when the chassis is running in the first state, the front-wheel drive member of the front-wheel drive mechanism drives the front wheel to rotate, and the rear wheel is driven, so that the chassis runs at a high speed; when the chassis is running in the second state, the rear-wheel drive member of the rear-wheel drive mechanism drives the rear wheel to rotate to provide forward torque for the chassis, so that the chassis runs at a low speed and high torque. Through the above structure, the chassis of the present application can have the functions of fast running and high torque at the same time without increasing the number of motors or improving the motor power, which is conducive to reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A simplified structural diagram of a chassis provided in one embodiment of the present application;

[0038] Figure 2 for Figure 1 Bottom view of

[0039] Figure 3 A simplified diagram of the connection structure of a rear wheel, a rear wheel driving member and a one-way rotating member provided in one embodiment of the present application;

[0040] Figure 4 for Figure 3 Exploded view of;

[0041] Figure 5 A simplified structural diagram of an outer hub provided in one embodiment of the present application;

[0042] Figure 6 A simplified structural diagram of a chassis provided in another embodiment of the present application;

[0043] Figure 7 An exploded view of a rear wheel and a one-way rotating member provided in another embodiment of the present application;

[0044] Figure 8 A flowchart of a drive control method provided in one embodiment of the present application.

[0045] Reference numerals:

[0046] 100-chassis frame; 110-first connecting rod; 120-second connecting rod; 130-shock absorber; 140-battery;

[0047] 200-front wheel drive mechanism; 210-front wheel; 211-wheel seat; 2111-wheel seat body; 2112-swing arm;

[0048] 300-rear wheel drive mechanism; 310-rear wheel; 311-outer wheel hub; 3111-inner gear; 312-end cover; 313-fastener; 320-rear wheel drive member; 321-first wheel hub motor; 3211-motor shaft; 3212-stator; 3213-rotor; 32131-meshing gear; 322-first reduction mechanism; 3221-gear seat; 3222-gear assembly; 323-rear wheel drive motor; 324-second reduction mechanism; 325-transmission assembly; 3251-transmission shaft; 3252-driving sprocket; 3253-driven sprocket; 3254-chain; 330-one-way rotating member;

[0049] 410 - steering motor; 421 - steering connecting rod; 422 - steering crank; 423 - transfer rod; 424 - steering synchronization rod. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0051] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0052] As described in the background technology, the chassis of the robot in the related art generally adopts the method of increasing the number of motors or increasing the motor power to meet the requirements of fast driving and high torque. However, the adoption of the above solution will increase the weight of the chassis, increase the manufacturing and maintenance costs, and the increase in the number of motors will also increase the control difficulty and the occurrence rate of failures.

[0053] Specifically, in the related art, the chassis of the robot generally adopts a two-wheel drive or four-wheel drive drive mode. Regardless of the drive mode, the motors on the chassis need to be driven at the same time. Based on the relationship between speed and torque T = 9550P / n, it can be seen that when the total power of the motors on the chassis is constant, the ratio of speed and torque is constant, and the speed and torque performance that can be provided by the chassis is limited. If the chassis is to meet the requirements of fast driving and high torque at the same time, it is necessary to increase the number of motors or increase the power of the motors, so the weight of the chassis and the corresponding cost will also increase.

[0054] In view of this, the embodiments of the present application aim to provide a chassis, a drive control method and a robot, by arranging independently drivable front-wheel drive mechanisms and rear-wheel drive mechanisms on the chassis frame, so that the front-wheel drive mechanism or the rear-wheel drive mechanism can be selected as needed to drive the chassis forward. When the chassis is traveling in the first state, the front-wheel drive member of the front-wheel drive mechanism drives the front wheel to rotate, and the rear wheel is driven, so that the chassis travels at a high speed. When the chassis is traveling in the second state, the rear-wheel drive member of the rear-wheel drive mechanism drives the rear wheel to rotate to provide forward torque for the chassis, so that the chassis travels at a low speed and high torque state. The chassis of the embodiments of the present application can enable the chassis to have the functions of fast driving and high torque at the same time without increasing the number of motors or increasing the motor power, which is conducive to reducing costs.

[0055] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0056] Please refer to Figure 1-Figure 7 , this embodiment provides a chassis, including:

[0057] The chassis frame 100 provides a mounting base for other parts on the chassis.

[0058] The front wheel drive mechanism 200 is arranged near the first end of the chassis frame 100, for example, it can be arranged at the front end of the chassis in the forward direction. The front wheel drive mechanism 200 includes two oppositely arranged front wheels 210 and a front wheel drive member (not shown in the figure). The two front wheels 210 are respectively arranged on both sides of the width direction of the chassis. The front wheels 210 are rotatably connected to the chassis frame 100, and the front wheel drive member can drive the front wheels 210 to rotate, thereby driving the chassis to move.

[0059] The rear wheel drive mechanism 300 is arranged near the second end of the chassis frame 100, for example, it can be arranged at the rear end of the chassis in the forward direction. The rear wheel drive mechanism 300 includes two rear wheels 310 arranged opposite to each other, a rear wheel drive member 320 and a one-way rotating member 330. The two rear wheels 310 are arranged on both sides of the width direction of the chassis respectively. The rear wheels 310 are rotatably connected relative to the chassis frame 100. The rear wheel drive member 320 is used to drive the rear wheels 310 to rotate, thereby driving the chassis to move. The one-way rotating member 330 is used to make the rear wheels 310 rotate forward in one direction; it can be understood that by setting the one-way rotating member 330, the rear wheels 310 can only rotate forward but not backward.

[0060] In the chassis of this embodiment, the front wheel drive mechanism 200 and the rear wheel drive mechanism 300 can be driven separately, so that the chassis has a first state and a second state based on different driving states. Among them, when the chassis is driving in the first state, the front wheel drive member drives the front wheel 210 to rotate, and the rear wheel 310 is driven, so that the chassis is driven at a high speed. When the chassis is driving in the second state, the rear wheel drive member 320 drives the rear wheel 310 to rotate to provide forward torque for the chassis, and the chassis is driven in a low-speed and high-torque state. When the chassis is driving in the second state, the front wheel drive mechanism 200 can also be driven synchronously with the rear wheel drive mechanism 300, so that the chassis obtains a larger torque.

[0061] It can be known from the above description that the present embodiment sets an independently drivable front wheel drive mechanism 200 and a rear wheel drive mechanism 300 on the chassis frame 100, so that the front wheel drive mechanism 200 or the rear wheel drive mechanism 300 can be selected as needed to drive the chassis forward. When the chassis is running in the first state, the front wheel drive member of the front wheel drive mechanism 200 drives the front wheel 210 to rotate, and the rear wheel 310 is driven, so that the chassis runs at a high speed. When the chassis is running in the second state, the rear wheel drive member 320 of the rear wheel drive mechanism 300 drives the rear wheel 310 to rotate to provide the chassis with forward torque, so that the chassis runs at a low speed and high torque state. Through the above structure, the chassis of the present embodiment can make the chassis have the functions of fast running and high torque at the same time without increasing the number of motors or improving the motor power, which is conducive to reducing costs.

[0062] In this embodiment, the one-way rotating member 330 includes a one-way bearing (also known as an overrunning clutch, a check bearing or a clutch bearing), the rear wheel 310 is fixedly connected to the outer ring of the one-way bearing, and the inner ring of the one-way bearing is connected to the rotating shaft of the rear wheel 310, so that the rotating shaft of the rear wheel 310 can only drive the rear wheel 310 to move forward in one direction, but cannot move backward in the opposite direction.

[0063] Please continue to refer to Figure 3-Figure 5 In a possible implementation, the rear wheel drive member 320 of this embodiment is disposed inside the rear wheel 310, thereby reducing the number of components on the chassis frame 100, making the chassis lighter and facilitating improving the endurance of the chassis. The rear wheel drive member 320 includes a first wheel hub motor 321, and a motor shaft 3211 of the first wheel hub motor 321 is connected to the inner ring of the one-way bearing as the rotating shaft of the rear wheel 310.

[0064] Furthermore, the rear wheel drive member 320 further includes a first reduction mechanism 322, which includes a gear seat 3221 and a gear assembly 3222 disposed on the gear seat 3221. The gear seat 3221 of the first reduction mechanism 322 is fixedly connected to the motor shaft 3211 of the first wheel hub motor 321, and the gear assembly 3222 of the first reduction mechanism 322 cooperates with the inner side of the rear wheel 310. Through the above structure, the first reduction mechanism 322 can be used to reduce the output speed of the first wheel hub motor 321, increase the output torque, and reduce the wear rate of the parts, thereby facilitating the improvement of the service life of the rear wheel drive member 320.

[0065] Please continue to refer to Figure 4 In this embodiment, the stator 3212 of the first hub motor 321 is fixedly connected to the motor shaft 3211 of the first hub motor 321 , and the rotor 3213 of the first hub motor 321 is rotatably sleeved on the outer side of the stator 3212 of the first hub motor 321 .

[0066] The gear assembly 3222 includes a plurality of planetary gears (three are shown in the figure), and the plurality of planetary gears are rotatably arranged on the gear seat 3221. For example, the planetary gears can be rotatably connected to the gear seat 3221 through a rotating shaft. The motor shaft 3211 is passed through the gear seat 3221 and is fixedly connected to the gear seat 3221. A meshing gear 32131 is also provided on one side of the rotor 3213, and the meshing gear 32131 is sleeved on the motor shaft 3211 and meshes with the plurality of planetary gears. Through the above structure, the first hub motor 321 can achieve deceleration through the gear assembly 3222, thereby adjusting the output speed of the first hub motor 321 and increasing the output torque.

[0067] Please continue to refer to Figure 5The rear wheel 310 of this embodiment also includes an outer hub 311. An inner gear 3111 is provided on the inner wall of the outer hub 311. The inner gear 3111 is meshed with a plurality of planetary gears. The first hub motor 321 transmits the output power to the outer hub 311 through the first reduction mechanism 322, thereby driving the rear wheel 310 to rotate.

[0068] Optionally, at least one of the two ends of the motor shaft 3211 of the first wheel hub motor 321 of this embodiment is provided with a one-way bearing, and the outer ring of the one-way bearing is fixedly connected to the outer wheel hub 311. Exemplarily, the rear wheel 310 also includes an end cover 312, and the end cover 312 can be covered on one end of the outer wheel hub 311 through a fastener 313. One-way bearings can be provided at both ends of the motor shaft 3211, one of which is fixedly connected to the outer wheel hub 311, and the other one-way bearing is fixedly connected to the end cover 312, and the rear wheel 310 is controlled to travel forward in only one direction through the one-way bearing.

[0069] Please refer to Figure 6 and Figure 7 In another possible implementation, the rear wheel drive member 320 of this embodiment is disposed on the chassis frame 100. The rear wheel drive member 320 includes a rear wheel drive motor 323, a second reduction mechanism 324 and a transmission assembly 325. The second reduction mechanism 324 is a reduction box. The rear wheel drive motor 323 is connected to the reduction. The reduction box can reduce the output speed of the rear wheel drive motor 323 and increase the output torque. The rear wheel drive motor 323 is also connected to the transmission assembly 325 through the reduction box. The transmission assembly 325 is connected to the rotating shaft of the rear wheel 310, so as to transmit the output power of the rear wheel drive motor 323 to the rear wheel 310.

[0070] In this embodiment, the structure of the transmission component 325 can be set as needed; illustratively, the transmission component 325 may include a transmission shaft 3251, a driving sprocket 3252, a driven sprocket 3253 and a chain 3254, the transmission shaft 3251 serves as the rotating shaft of the rear wheel 310, the chain 3254 is sleeved on the driving sprocket 3252 and the driven sprocket 3253, the output end of the rear wheel drive motor 323 is connected to the reduction box, the output end of the reduction box is connected to the driving sprocket 3252, the driven sprocket 3253 is sleeved on the transmission shaft 3251, and a one-way bearing is arranged at the end of the transmission shaft 3251 and connected to the rear wheel 310.

[0071] like Figure 6 As shown, in this embodiment, two one-way bearings can be arranged in the rear wheel 310 , and the two one-way bearings are respectively located on the transmission shaft 3251 on both sides of the rear wheel 310 .

[0072] In this embodiment, the front wheel drive comprises a second wheel hub motor, which is disposed in the front wheel 210. The front wheel drive adopts the second wheel hub motor integrated in the front wheel, thereby reducing the number of components on the chassis frame 100, making the chassis lighter and facilitating the improvement of the chassis's cruising range. For example, the second wheel hub motor may be a gearless high-speed wheel hub motor, that is, there is no gear reduction mechanism integrated in the wheel hub motor, and the second wheel hub motor may rotate forward or backward.

[0073] Please continue to refer to Figure 1 , Figure 2 and Figure 6 The chassis of this embodiment also includes a front-wheel steering system, which includes an Ackerman steering system. The Ackerman steering system can reduce the space required for wheel steering and ensure that the paths of the four wheels of the chassis converge at one point when turning, thereby improving the stability of the chassis.

[0074] like Figure 2 and Figure 6 As shown, in this embodiment, the Ackerman steering system includes a steering motor 410 and a steering drive mechanism, and the output end of the steering motor 410 is connected to the steering drive mechanism, so that the front wheel 210 is driven to steer through the steering drive mechanism.

[0075] Specifically, the front wheel 210 is connected to the chassis frame 100 through the wheel seat 211, and the steering drive mechanism is connected to the wheel seat 211. The wheel seat 211 includes a wheel seat body 2111 and a swing arm 2112. The wheel seat body 2111 is arranged on the chassis frame 100, and the front wheel 210 is rotatably connected to the wheel seat body 2111. The swing arm 2112 is located at one end of the wheel seat body 2111 away from the front wheel 210, and the steering drive mechanism is connected to the swing arm 2112. Through the above mechanism, the steering motor 410 can drive the steering drive mechanism to move, and then drive the front wheel 210 to achieve steering through the swing arm 2112.

[0076] Please continue to refer to Figure 2 In a possible implementation, the steering drive mechanism of this embodiment includes a steering link 421, the two ends of the steering link 421 are respectively hinged to the swing arms 2112 of the two wheel seats 211, a lead screw is provided on the steering link 421, and the output end of the steering motor 410 is connected to the lead screw. Exemplarily, the steering motor 410 can be connected to the lead screw through a coupling or other parts, thereby driving the lead screw to move, so that the steering link 421 moves in the width direction of the chassis, thereby realizing the steering of the front wheel 210.

[0077] Please continue to refer to Figure 6In another possible implementation, the steering drive mechanism of this embodiment includes a steering crank 422, a transfer rod 423 and a steering synchronization rod 424. The output end of the steering motor 410 is hinged to the steering crank 422, the steering crank 422 is hinged to the transfer rod 423, and the two ends of the steering synchronization rod 424 are respectively hinged to the swing arms 2112 of the two wheel seats 211. The steering motor 410 can drive the swing arm 2112 on one side connected to the transfer rod 423 to deflect. Since the steering synchronization rod 424 connects the swing arms 2112 of the two wheel seats 211 as a whole, the swing arm 2112 on the other side can be driven to deflect synchronously through the steering synchronization rod 424, thereby realizing the steering of the two front wheels 210.

[0078] Please continue to refer to Figure 1 and Figure 2 The chassis frame 100 of this embodiment further includes a first connecting rod 110 and a second connecting rod 120 which are arranged opposite to each other. The first connecting rod 110 and the second connecting rod 120 are both hinged to the wheel seat body 2111. A shock absorber 130 is arranged between the first connecting rod 110 and the second connecting rod 120. The shock absorber 130 is arranged on the chassis to buffer impact and vibration, thereby improving the driving smoothness of the chassis.

[0079] In this embodiment, a battery 140 may also be provided on the chassis, and the battery 140 may be electrically connected to each motor on the chassis, thereby providing a power source for the chassis.

[0080] Please refer to Figure 8 This embodiment also provides a driving control method for driving and controlling the above chassis, the method comprising:

[0081] Step S110: Detect the unevenness of the road surface.

[0082] For example, the unevenness of the road surface may be obtained after analyzing and processing the image information collected by the camera; or, the unevenness of the road surface may be obtained after analyzing and processing the received radar wave signal.

[0083] Step S120: Determine the driving state of the chassis based on the road surface unevenness. The road surface unevenness includes a flat road surface and an obstacle road surface. When the road surface unevenness is a flat road surface, determine the driving state of the chassis to be a first state. When the road surface unevenness is an obstacle road surface, determine the driving state of the chassis to be a second state.

[0084] Exemplarily, a preset value of the road surface unevenness condition can be set in advance, and the detected road surface unevenness condition value is compared with the preset value. If the detected road surface unevenness condition value is greater than the preset value, it can be determined as an obstacle road surface; otherwise, it can be determined as a flat road surface.

[0085] Step S130: When the driving state of the chassis is determined to be the first state, the front wheel drive member of the chassis is controlled to drive the corresponding front wheel to rotate, and the rear wheel of the chassis is controlled to follow. When the driving state of the chassis is determined to be the second state, the rear wheel drive member of the chassis is controlled to drive the corresponding rear wheel to rotate to provide forward torque for the chassis.

[0086] For example, when the chassis is determined to be in the first state, the front-wheel drive mechanism can be controlled to drive the chassis forward alone, so that the chassis can be driven at a high speed. When the chassis is determined to be in the second state, the rear-wheel drive mechanism can be controlled to drive the chassis forward alone, so that the chassis can be driven at a low speed and high torque. When the chassis is driven in the second state, the front-wheel drive mechanism can also be driven synchronously with the rear-wheel drive mechanism, so that the chassis can obtain a greater torque.

[0087] The driving control method of this embodiment can control the front-wheel drive mechanism or the rear-wheel drive mechanism to drive the above-mentioned chassis alone, so that the chassis can travel in a high-speed state or a low-speed and high-torque state. There is no need to increase the number of motors or improve the motor power to enable the chassis to have the functions of fast driving and high torque at the same time, which is conducive to reducing costs.

[0088] This embodiment also provides a robot, comprising the above-mentioned chassis.

[0089] It can be understood that since the robot adopts the above-mentioned chassis, the robot can travel in a high-speed state or a low-speed and high-torque state. There is no need to increase the number of motors or increase the motor power to enable the robot to have the functions of fast travel and high torque at the same time, which is conducive to reducing costs.

[0090] Specifically, the robot of this embodiment also includes:

[0091] The road surface detection device is used to detect the unevenness of the road surface.

[0092] Exemplarily, the road surface detection device may include a camera, a radar, etc. The unevenness of the road surface may be obtained by analyzing and processing the image information collected by the camera; or the unevenness of the road surface may be obtained by analyzing and processing the received radar wave signal.

[0093] The control device is electrically connected to the road surface detection device, the front wheel drive mechanism of the chassis and the rear wheel drive mechanism of the chassis. The control device controls the front wheel drive mechanism and / or the rear wheel drive mechanism based on the signal fed back by the road surface detection device.

[0094] For example, when the control device analyzes the signal feedback from the road detection device and the result is a flat road, a corresponding control signal can be sent to the front wheel drive mechanism to control the front wheel drive mechanism to drive the chassis forward alone, so that the chassis travels at a high speed. When the control device analyzes the signal feedback from the road detection device and the result is an obstacle road, a corresponding control signal can be sent to the rear wheel drive mechanism to control the rear wheel drive mechanism to drive the chassis forward alone, so that the chassis travels at a low speed and high torque. When traveling on an obstacle road, the front wheel drive mechanism can also be driven synchronously with the rear wheel drive mechanism, so that the chassis obtains a greater torque.

[0095] The robot of this embodiment can control the front-wheel drive mechanism or the rear-wheel drive mechanism to drive the chassis independently, so that the chassis can travel in a high-speed state or a low-speed and high-torque state. The robot can have the functions of fast travel and high torque at the same time without increasing the number of motors or improving the motor power, which is conducive to reducing costs.

[0096] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0097] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0099] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0100] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis, characterized in that: include: Chassis frame; A front wheel drive mechanism, the front wheel drive mechanism is arranged near the first end of the chassis frame, the front wheel drive mechanism comprises two oppositely arranged front wheels and a front wheel drive member, the front wheels are rotatably connected relative to the chassis frame, and the front wheel drive member can drive the front wheels to rotate; A rear wheel drive mechanism, the rear wheel drive mechanism is arranged near the second end of the chassis frame, the rear wheel drive mechanism comprises two rear wheels arranged opposite to each other, a rear wheel drive member and a one-way rotating member, the rear wheel is rotatably connected relative to the chassis frame, the rear wheel drive member is used to drive the rear wheel to rotate, and the one-way rotating member is used to make the rear wheel rotate forward in one direction; When the chassis is running in the first state, the front-wheel drive component drives the front wheels to rotate, and the rear wheels are driven; when the chassis is running in the second state, the rear-wheel drive component drives the rear wheels to rotate to provide forward torque for the chassis.

2. The chassis according to claim 1, characterized in that: The one-way rotating member comprises a one-way bearing, the rear wheel is fixedly connected to the outer ring of the one-way bearing, and the inner ring of the one-way bearing is connected to the rotating shaft of the rear wheel.

3. The chassis according to claim 2, characterized in that: The rear wheel drive is arranged in the rear wheel; the rear wheel drive includes a first hub motor, and the motor shaft of the first hub motor is connected to the inner ring of the one-way bearing as the rotating shaft of the rear wheel.

4. The chassis according to claim 3, characterized in that: The rear wheel drive also includes a first reduction mechanism, which includes a gear seat and a gear assembly arranged on the gear seat, the gear seat of the first reduction mechanism is fixedly connected to the motor shaft of the first hub motor, and the gear assembly of the first reduction mechanism cooperates with the inner side of the rear wheel.

5. The chassis according to claim 4, characterized in that: The stator of the first wheel hub motor is fixedly connected to the motor shaft of the first wheel hub motor, and the rotor of the first wheel hub motor is rotatably sleeved on the outer side of the stator of the first wheel hub motor; The gear assembly includes a plurality of planetary gears, which are rotatably arranged on the gear seat, the motor shaft is passed through the gear seat and is fixedly connected to the gear seat, and a meshing gear is also provided on one side of the rotor, which is sleeved on the motor shaft and meshed with the plurality of planetary gears; The rear wheel further comprises an outer wheel hub, an inner wall of which is provided with an internal gear, and the internal gear is meshed with the plurality of planetary gears; At least one of the two ends of the motor shaft of the first hub motor is provided with the one-way bearing, and the outer ring of the one-way bearing is fixedly connected to the outer hub.

6. The chassis according to claim 2, characterized in that: The rear wheel drive component is arranged on the chassis frame; the rear wheel drive component includes a rear wheel drive motor, a second reduction mechanism and a transmission assembly, the second reduction mechanism is a reduction box, the rear wheel drive motor is connected to the reduction mechanism, the rear wheel drive motor is also connected to the transmission assembly, and the transmission assembly is connected to the rotating shaft of the rear wheel.

7. The chassis according to any one of claims 1 to 6, characterized in that: The front wheel drive includes a second wheel hub motor disposed within the front wheel.

8. The chassis according to any one of claims 1 to 6, characterized in that: Also included is a front wheel steering system comprising an Ackerman steering system.

9. The chassis according to claim 8, characterized in that The Ackerman steering system comprises a steering motor and a steering drive mechanism, wherein the output end of the steering motor is connected to the steering drive mechanism; The front wheel is connected to the chassis frame via a wheel seat, and the steering drive mechanism is connected to the wheel seat; The wheel seat comprises a wheel seat body and a swing arm, the wheel seat body is arranged on the chassis frame, the front wheel is rotatably connected to the wheel seat body, the swing arm is located at one end of the wheel seat body away from the front wheel, and the steering drive mechanism is connected to the swing arm.

10. The chassis according to claim 9, characterized in that The steering drive mechanism comprises a steering link, both ends of which are respectively hinged to the swing arms of the two wheel seats, a lead screw is arranged on the steering link, and the output end of the steering motor is connected to the lead screw.

11. The chassis according to claim 9, characterized in that The steering drive mechanism comprises a steering crank, a transfer rod and a steering synchronization rod. The output end of the steering motor is hinged to the steering crank, the steering crank is hinged to the transfer rod, and the two ends of the steering synchronization rod are respectively hinged to the swing arms of the two wheel seats.

12. The chassis according to claim 9, characterized in that The chassis frame also includes a first connecting rod and a second connecting rod that are arranged opposite to each other. The first connecting rod and the second connecting rod are both hinged to the wheel seat body. A shock absorber is arranged between the first connecting rod and the second connecting rod.

13. A driving control method for driving and controlling the chassis as claimed in any one of claims 1 to 12, characterized in that: include: Detect the unevenness of the road surface; Based on the road surface unevenness, the driving state of the chassis is determined; wherein the road surface unevenness includes a flat road surface and an obstacle road surface; when the road surface unevenness is a flat road surface, the driving state of the chassis is determined to be a first state; when the road surface unevenness is an obstacle road surface, the driving state of the chassis is determined to be a second state; When it is determined that the driving state of the chassis is a first state, the front-wheel drive component of the chassis is controlled to drive the corresponding front wheels to rotate, and the rear wheels of the chassis are controlled to follow; when it is determined that the driving state of the chassis is a second state, the rear-wheel drive component of the chassis is controlled to drive the corresponding rear wheels to rotate to provide forward torque for the chassis.

14. A robot, characterized in that: Comprising a chassis as described in any one of claims 1-12.

15. The robot according to claim 14, characterized in that: Also includes: A road surface detection device, the road surface detection device is used to detect the unevenness of the road surface; A control device, the control device being electrically connected to the road surface detection device, the front wheel drive mechanism of the chassis, and the rear wheel drive mechanism of the chassis; The control device controls the front wheel drive mechanism and / or the rear wheel drive mechanism based on the signal fed back by the road surface detection device.

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