Chassis structure

Abstract

The invention provides a chassis structure. The chassis structure comprises a chassis; the wheel set assembly is connected with the chassis and is configured to drive the chassis to move; the reversing assembly is arranged on the chassis, connected with the wheel set assembly and configured to control reversing of the wheel set assembly; the power supply assembly is arranged on the chassis, is electrically connected with the wheel set assembly and the reversing assembly, and is configured to supply power to the wheel set assembly and the reversing assembly; wherein the chassis is integrally formed in a die-casting mode and comprises a bottom plate, at least one first beam and at least one second beam, the first beams and the second beams are arranged on the bottom plate and extend upwards from the bottom plate, an area defined by the first beams and the second beams forms a load area for bearing the fuselage, and the load area is located in the front of the bottom plate. According to the chassis structure, the integrally-cast chassis is adopted, so that the assembly time, the part number and the assembly difficulty are greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated guided vehicles, in particular to a chassis structure. BACKGROUND

[0002] Intelligent mobile robots are intelligent devices based on automatic navigation technology, mainly applied to manufacturing, special industries, catering services and food and medicine fields, and are equipped with electromagnetic or optical automatic guiding devices, can travel along the specified guiding path, have safety protection and various transfer functions, and do not need drivers in industrial applications. The power source is a rechargeable battery. It is characterized by wheeled movement, which has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety compared with walking, crawling or other non-wheeled mobile robots.

[0003] The chassis of the existing intelligent mobile robot usually consists of two drive wheels and multiple universal wheels to form a drive system. This drive system has low flexibility, large steering space requirement, slow steering, and low passing performance, and cannot realize horizontal movement, inclined movement, etc.

[0004] The chassis structure of the existing intelligent mobile robot is only a flat large plate as a bottom plate, and other mounting parts need to be installed and fixed on the bottom plate, which has the following disadvantages: a large number of fixing screws, a large number of parts, a risk of loosening after a long period of use; To enhance the stiffness of the chassis, additional rib plates need to be processed to reinforce the stiffness of the bottom plate; There are many assembly parts, many processes, high error probability, and long assembly time; Long tolerance chain, low component positioning accuracy.

[0005] The chassis of the existing intelligent mobile robot usually only has a combination of ultrasonic radar + vision camera + 2D laser radar, and the obstacle avoidance ability and high-precision navigation ability are low.

[0006] The chassis of the existing intelligent mobile robot usually only has one battery, which causes the entire chassis to be powered off when replacing the battery, and the system needs to be restarted after reinstalling the battery, which slows down the work rhythm. SUMMARY

[0007] Therefore, it is necessary to provide a chassis structure in view of the above technical problems in the prior art.

[0008] To solve the above technical problems, the technical scheme adopted by the present application is: A chassis structure, comprising: a chassis; a wheel set assembly connected with the chassis and configured to drive the chassis to move, comprising a front wheel set assembly and a rear wheel set assembly, the front wheel set assembly being symmetrically arranged at the front of the chassis, and the rear wheel set assembly being symmetrically arranged at the rear of the chassis; The reversing assembly, mounted on the chassis and connected to the wheelset assembly, is configured to control the reversing of the wheelset assembly. The power supply unit, mounted on the chassis, is electrically connected to the wheelset assembly and the commutation assembly, and is configured to supply power to the wheelset assembly and the commutation assembly. The chassis is integrally die-cast and includes a base plate, at least one first beam, and at least one second beam. The first beam and the second beam are respectively set on the base plate and extend upward from the base plate. The area enclosed by the first beam and the second beam constitutes the load area that supports the body of the machine. The load area is located at the front of the base plate.

[0009] Preferably, the first beam and the second beam are perpendicular to each other; The first beam is set in two, spaced apart along the left and right directions of the base plate, and extends along the front and back directions of the base plate; The second beam is set in three parts, spaced apart along the front-to-back direction of the base plate, and extends along the left-to-right direction of the base plate; Support parts for the reversing assembly are provided at the four corners of the base plate, and the support parts are connected to the first beam and the second beam.

[0010] Preferably, the wheel assembly includes a wheel and a hub bracket. One end of the hub bracket is connected to the wheel, and the other end is connected to the chassis. The wheel has a built-in power motor that drives the wheel to rotate.

[0011] Preferably, the wheelset assembly is rotatably mounted on the chassis via a wheelset fixing plate, and a limit structure is provided between the wheelset fixing plate and the wheelset assembly; The limiting structure includes a first structure mounted on the wheel hub bracket and a second structure mounted on the wheel set fixing plate. The first structure and the second structure limit the rotation angle of the wheel hub bracket through relative movement.

[0012] Preferably, the reversing assembly includes a joint motor, which is fixedly mounted on the wheel assembly mounting plate and connected to the wheel hub bracket. The joint motor drives the wheel hub bracket to rotate.

[0013] Preferably, the power supply components are respectively located on the left and right sides of the chassis, including batteries, and the batteries are covered with battery covers. A handle is provided on the outer wall of the battery, and the handle is detachably connected to the battery; The battery is equipped with guide blocks, and the chassis is equipped with guide grooves that are compatible with the guide blocks.

[0014] Preferably, a cantilever structure is provided at the front or rear of the chassis. The cantilever structure includes a swing arm that is provided on the chassis along the left-right direction, and the two ends of the swing arm are respectively connected to the wheel assembly. The swing arm is connected to the base plate via a damping shock absorber; The swing arm is rotatably mounted on the base plate via a pivot. The pivot and two wheel assembly groups positioned opposite the cantilever structure form an isosceles triangle. The two wheel assembly groups forming the isosceles triangle are closer to the load area relative to the pivot.

[0015] Preferably, it also includes a detection component, which includes ultrasonic components respectively disposed around the chassis and radar components respectively disposed above the chassis.

[0016] Preferably, the chassis is provided with a counterweight for adjusting the center of gravity.

[0017] To solve the above technical problems, another technical solution adopted by the present invention is: An intelligent mobile robot includes: a chassis structure as described above, and a body, the body being mounted on the chassis structure and moving via the chassis structure.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The chassis structure of this invention uses four joint motors for steering and four drive motors for propulsion, which enhances the mobility of the chassis structure and the possibility of complex actions. When the chassis structure changes from forward to reverse, the vehicle body will not sway due to the change of direction of the omnidirectional wheels. 2. The chassis structure of this invention adopts an integrally cast chassis, which greatly reduces assembly time, number of parts, assembly difficulty and manufacturing cost, while greatly enhancing the performance and positioning accuracy of the chassis. 3. The chassis structure of this invention adopts a combination of 8 ultrasonic components and 2 3D LiDAR components, which has extremely strong obstacle avoidance ability and high-precision navigation capability. 4. The chassis structure of this invention adopts two battery components, which makes the operation more stable and the power stronger. It can realize hot-swapping of batteries and can replace batteries even when the machine is on, thus speeding up the work pace and improving work efficiency. 5. The suspension structure added to the chassis structure of this invention provides the chassis with a certain degree of passability while making it more stable. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the chassis structure of the present invention; Figure 2 for Figure 1Top view; Figure 3 This is a schematic diagram of the chassis structure of the present invention; Figure 4 for Figure 3 Top view; Figure 5 This is a schematic diagram of the battery assembly structure of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the battery assembly structure of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the chassis structure of the present invention after removing the counterweight and ultrasonic components. Figure 1 ; Figure 8 This is a schematic diagram of the chassis structure of the present invention after removing the counterweight and ultrasonic components. Figure 2 ; Figure 9 This is a schematic diagram of the suspension structure of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the suspension structure of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the multi-ring limiting structure of the present invention; Figure 12 This is an exploded view of the multi-ring limiting structure of the present invention; Figure 13 for Figure 11 Top view; Figure 14 for Figure 13 A sectional view; Figure 15 This is a schematic diagram of the structure of the fastener of the present invention; Figure 16 This is a schematic diagram of the installation of the multi-ring limiting structure of the present invention; Figure 17 This is a schematic diagram of the structure of the intelligent mobile robot of the present invention.

[0021] The components include: 1. Hub bracket; 2. Wheel; 3. Mounting component; 31. Sliding groove; 4. Sliding body; 5. Joint motor mounting plate; 6. Fixing component; 61. Groove; 7. Swing arm; 71. First recess; 72. Second recess; 8. Damping shock absorber; 9. Shock absorber mounting base; 10. Shaft; 11. Boss; 12. Chassis; 121. Base plate; 122. First beam; 123. Second beam; 124. Load area; 125. Support; 126. Guide groove; 13. Wheelset assembly; 131. Front wheelset assembly; 132. Rear wheelset assembly; 133. Wheelset mounting plate; 14. Commutation assembly; 141. Joint motor; 15. Power supply assembly; 151. Battery; 152. Battery cover; 153. Handle; 154. Guide block; 155. Guide section; 16. Detection component; 161. Ultrasonic component; 162. Radar component; 17. Counterweight; 18. Fuselage.

[0022] 19. Rotation angle limit block; 20. Limit screw; Detailed Implementation To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0026] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] As attached Figures 1 to 17 As shown, this embodiment provides a chassis structure, including: chassis 12, wheel assembly 13, commutation assembly 14, and power supply assembly 15.

[0028] The wheel assembly 13 is connected to the chassis 12 and is configured to drive the chassis 12 to move. It includes a front wheel assembly 131 and a rear wheel assembly 132. The front wheel assembly 131 is symmetrically arranged on both sides of the front of the chassis 12, and the rear wheel assembly 132 is symmetrically arranged on both sides of the rear of the chassis 12.

[0029] The reversing assembly 14 (not shown in the figure) is mounted on the chassis 12 and connected to the wheelset assembly 13, and is configured to control the reversing of the wheelset assembly 13.

[0030] The power supply assembly 15 is mounted on the chassis 12 and is electrically connected to the wheelset assembly 13 and the commutator assembly 14, respectively, and is configured to supply power to the wheelset assembly 13 and the commutator assembly 14.

[0031] In this embodiment, the chassis 12 is integrally die-cast and includes a base plate 121, at least one first beam 122, and at least one second beam 123. The first beam 122 and the second beam 123 are respectively disposed on the base plate 121 and extend upward from the base plate 121. The area enclosed by the first beam 122 and the second beam 123 constitutes the load area 123 for bearing the fuselage 18. The load area 124 is located at the front of the base plate 121.

[0032] The chassis 12 of this invention integrates the existing base plate and parts fixed on the base plate, eliminating unnecessary fixing screws and completely solving the risk of loosening. At the same time, the reduction in parts reduces the cumulative tolerance between precision positioning components, resulting in smaller tolerances between components, which is highly beneficial for subsequent high-precision navigation. In addition, the first beam 122 and the second beam 123, which serve as structural reinforcing ribs, extend directly from the base plate, providing better integrated reinforcement. Finally, with the integration of parts, the assembly process and time are greatly reduced, the probability of problems is greatly decreased, and the manufacturing cost is greatly reduced after mold opening, thus reducing the overall cost of the chassis.

[0033] Specifically, the first beam 122 and the second beam 123 are perpendicular to each other. There are two first beams 122, spaced apart along the left-right direction of the base plate 121, extending along the front-rear direction of the base plate 121, located between the front wheel assembly 131 and the rear wheel assembly 132 on the same side. There are three second beams 123, spaced apart along the front-rear direction of the base plate 121, extending along the left-right direction of the base plate. One of the second beams 123 is located between the two front wheel assemblies 131, another between the two rear wheel assemblies 132, and the third between the two first beams 122 and between the two front and rear second beams 123.

[0034] Support portions 125 for supporting the reversing assembly 14 are respectively provided at the four corners of the base plate 121. The support portions 125 are connected to the first beam 122 and the second beam 123. The support portions 125 protrude upward from the base plate 121.

[0035] In this embodiment, multiple mutually perpendicular first beams 122 and second beams 123 are provided around the load area 123, and the height is as high as possible when the structure allows, which can reduce the deformation of the chassis 12 itself during processing or mold opening, and also ensure the load-bearing rigidity of the chassis 12; at the same time, four protruding support parts 125 connect the first beams 122 and second beams 123 in series for load bearing, further enhancing the load-bearing rigidity.

[0036] In this embodiment, each wheel assembly 13 includes a wheel 2 and a hub bracket 1. One end of the hub bracket 1 is connected to the wheel 2, and the other end is connected to the chassis 12. The wheel 2 has a built-in power motor that drives the wheel 2 to rotate.

[0037] In this embodiment, the wheel assembly 13 is rotatably mounted on the support portion 125 of the base plate 121 via the wheel fixing plate 133, and a limit structure is provided between the wheel fixing plate 133 and the wheel assembly 13.

[0038] The limiting structure includes a first structure mounted on the wheel hub bracket 1 and a second structure mounted on the wheel set fixing plate 133. The first and second structures limit the rotation angle of the wheel hub bracket 1 through relative movement. Specifically, the first structure is a rotation angle limiting block 19, and the second structure is a limiting screw 20. The limiting screw 20 is fixedly mounted on the wheel set fixing plate 133, and the rotation angle limiting block 19 is fixedly mounted on the wheel hub bracket 1. When the wheel hub bracket 1 rotates, the limiting screw 20 is located on the movement path of the rotation angle limiting block 19, thereby limiting the rotation angle of the wheel hub bracket 1.

[0039] In this embodiment, the reversing assembly 14 includes a joint motor 141, which is fixedly mounted on the wheel assembly mounting plate 133 and connected to the wheel hub bracket 1. The joint motor 141 drives the wheel hub bracket 1 to rotate.

[0040] In this embodiment, the chassis structure uses four joint motors for steering and four drive motors for propulsion, which enhances the chassis structure's mobility and the possibility of complex movements. Furthermore, when the chassis structure changes from forward to reverse, the vehicle body will not sway due to the omnidirectional wheels changing direction.

[0041] In this embodiment, the power supply components 15 are respectively disposed on the left and right sides of the chassis 12, including a battery 151, and a battery cover 152 is disposed outside the battery 151.

[0042] A handle 153 is provided on the outer wall of the battery 151, and the handle 153 is detachably connected to the battery 151.

[0043] In this embodiment, a guide block 154 is also provided on the battery 151, and a guide groove adapted to the guide block 154 is provided on the base plate 121. Multiple guide blocks 154 can be provided, respectively located at the upper and lower parts of the battery 151. A guide portion 155 is also provided at the front end of the guide block 154, and the guide portion 155 is configured as an inclined surface.

[0044] In this embodiment, the chassis structure also includes a housing, which covers the chassis 12 (not shown in the figure), and the housing and chassis 12 form an accommodating space. The chassis 12 is provided with a detection assembly 16, which includes an ultrasonic component 161 and a radar component 162 for distance measurement and obstacle detection. Specifically, the ultrasonic components 161 are respectively disposed around the chassis 12, with two ultrasonic components 161 on each of the front, rear, left, and right sides of the chassis 12. The radar components 162 are respectively disposed above the chassis 12, with two radar components 162 located diagonally opposite each other on the chassis 12.

[0045] In this embodiment, a counterweight 17 is provided on the base plate 121 for adjusting the overall center of gravity of the intelligent mobile robot. When the overall center of gravity is forward, the counterweight 17 is located at the rear of the base plate 121, bringing the overall center of gravity closer to the center. Conversely, when the overall center of gravity is backward, the counterweight 17 is located at the head of the base plate 121, bringing the overall center of gravity closer to the center. In this embodiment, with the overall center of gravity forward, the counterweight 17 is fixedly located on the rear side of the chassis 12 and is situated on the outer side of the cantilever structure to adjust the overall center of gravity. The counterweight 17 is attached in multiple pieces, allowing the weight to be increased or decreased as needed.

[0046] In the existing technology, the chassis mostly adopts the swing arm suspension, which has the following disadvantages: 1. Rigid connection, which makes the chassis unstable; 2. Large lateral space occupation, such as belt connection and gear connection; 3. Complex structure and many parts.

[0047] Based on this, another embodiment of this application provides a suspension structure on the chassis 12. The structure is simple and occupies as little internal space as possible in the chassis, which improves the chassis passability while ensuring the stability of the chassis when it is stationary.

[0048] A cantilever structure may be provided at the front or rear of the chassis 12. In this embodiment, the cantilever structure is provided at the rear of the chassis 12. The cantilever structure includes a swing arm 7 disposed on the chassis 12 in a left-right direction. The two ends of the swing arm 7 are respectively connected to the rear wheel assembly 132, which can move downward relative to the chassis 12. The swing arm 7 is connected to the base plate 121 through a damping shock absorber 8.

[0049] The swing arm 7 is rotatably mounted on the base plate 121 via a pivot 10. The pivot 10 and two wheel assembly assemblies 13, which are positioned opposite the cantilever structure, form an isosceles triangle support. The two wheel assembly assemblies 13 forming the isosceles triangle support are closer to the load area 124 relative to the pivot 10. In this embodiment, the pivot 10 and two front wheel assembly assemblies 131 form an isosceles triangle support, with the two front wheel assembly assemblies 131 being closer to the load area 124 relative to the pivot 10. This arrangement ensures that the two fixed points on the same side of the triangle support are aligned with the center of gravity of the fuselage 18. That is, when the center of the fuselage 18 is slightly forward, the two fixed points on the same side are also designed to be on the front side, ensuring that the equipment can maintain a relatively stable state during static, moving, and operational processes.

[0050] In this embodiment, the suspension structure includes a swing arm 7 disposed on the chassis 12 along the left-right direction. Wheels 2 are connected to both ends of the swing arm 7. The swing arm 7 has a first recess 71 and a second recess 72. The first recess 71 is recessed downwards in the left-right direction of the swing arm 7, and the second recess 72 is recessed backwards in the front-back direction of the swing arm 7. The front, back, left, and right directions are all referenced to the directions shown in the accompanying drawings. The swing arm design of this embodiment results in a small footprint and a simple structure.

[0051] Specifically, the first recess 71 is located in the middle of the swing arm 7, and the second recess 72 is located in the middle of the swing arm 7 or may extend to both ends of the swing arm 7. The first recess 71 is V-shaped.

[0052] In this embodiment, the swing arm 7 is located at the rear of the chassis 12, that is, the swing arm 7 is used to connect the two rear wheel assembly 132, and the rear wheel assembly 132 can move downward relative to the chassis 12.

[0053] In this embodiment, to further improve the chassis's ability to traverse uneven road surfaces, a pivot 10 is provided between the swing arm 7 and the base plate 121. The pivot 10 is positioned between the damping shock absorbers 8 and extends along the front-rear direction of the base plate 121. Specifically, a downward-extending boss 11 is provided below the middle of the swing arm 7. The boss 11 has a trapezoidal structure that is wider at the top and narrower at the bottom. The pivot 10 is mounted on the boss 11 and extends along the front-rear direction. Bearings, baffles, and other components can be provided between the pivot 10 and the boss 11. The front and rear ends of the pivot 10 are connected to the base plate 121, respectively. During operation, this structure improves the chassis's ability to traverse uneven road surfaces.

[0054] In this embodiment, to absorb the energy generated by vibration and ensure the vehicle's operational stability when stationary, the swing arm 7 is connected to the chassis 12 via a damping shock absorber 8. For better performance, two damping shock absorbers 8 are provided, symmetrically arranged below the swing arm 7. One end of the damping shock absorber 8 is connected to the swing arm 7, and the other end is connected to the base plate 121 via a shock absorber mounting seat 9.

[0055] In this embodiment, both ends of the swing arm 7 are connected to joint motors 141 via joint motor mounting plates 5. The joint motors 141 are connected to the wheels 2 via wheel hub brackets 1 and drive the wheels 2 to steer. A power motor is installed inside the wheel 2 to drive the wheel 2 to rotate forward or backward. Both the joint motors and the power motors are commercially available. This chassis also possesses the beneficial effects of the aforementioned suspension structure.

[0056] The rear wheel assembly 132 is rotatably mounted at the end of the swing arm 7 via the joint motor mounting plate 5, and a limit structure is provided between the rear wheel assembly 132 and the joint motor mounting plate 5.

[0057] The limiting structure includes a first structure mounted on the wheel hub bracket 1 and a second structure mounted on the joint motor mounting plate 5. The first and second structures limit the rotation angle of the wheel hub bracket 1 through relative movement. Specifically, the first structure is a rotation angle limiting block 19, and the second structure is a limiting screw 20. The limiting screw 20 is fixedly mounted on the joint motor mounting plate 5, and the rotation angle limiting block 19 is fixedly mounted on the wheel hub bracket 1. When the wheel hub bracket 1 rotates, the limiting screw 20 is located on the movement path of the rotation angle limiting block 19, thereby limiting the rotation angle of the wheel hub bracket 1.

[0058] As attached Figures 11-16As shown, another embodiment of this application further improves upon the above structure by modifying the limiting structure into a multi-turn limiting structure to limit the rotation angle of the wheel 2. The multi-turn limiting structure includes a first structure and a second structure, which limit the rotation angle of the wheel 2 through relative motion. Specifically, the first structure is mounted on the wheel hub bracket 1, and the wheel 2 is rotatably connected to the wheel hub bracket 1. The wheel hub bracket 1 is driven to rotate by a joint motor, thereby causing the wheel 2 to rotate. The second structure is mounted on the chassis 12. The relative motion between the first and second structures limits the rotation angle of the wheel hub bracket 1, thereby limiting the rotation angle of the wheel 2.

[0059] In this embodiment, the first structure and the second structure limit the rotation angle of the hub bracket 1 through relative sliding. Specifically, the first structure is configured as a sliding groove 31, and the second structure is configured as a sliding body 4, which slides within the sliding groove 31. The rotation angle of the hub bracket 1 is 0°±270°. This range is only a limitation of this embodiment. If there are no spatial limitations, the hub bracket 1 can also achieve larger rotation angles, such as 0°±300°, 0°±320°, 0°±340°, 0°±360°, etc.

[0060] In this embodiment, a mounting component 3 is fixedly installed on the hub bracket 1. The mounting component 3 is specifically installed on the upper part of the hub bracket 1. A sliding groove 31 is installed on the outer wall of the mounting component 3. The sliding groove 31 is spirally installed from top to bottom along the height direction of the mounting component 3. Therefore, the sliding body 4 can move spirally relative to the mounting component 3 along the circumferential direction of the mounting component 3.

[0061] In this embodiment, a joint motor mounting plate 5 is provided on the chassis 12. The joint motor mounting plate 5 is fixedly mounted on the end of the swing arm 7. A fixing member 6 is fixedly mounted on the joint motor mounting plate 5, and the fixing member 6 is located below the joint motor mounting plate 5. The sliding body 4 is slidably connected to the fixing member 6. Specifically, a groove 61 is provided on the fixing member 6 along its height direction, and the sliding body 4 is slidably mounted in the groove 61. In this embodiment, the fixing member 6 is T-shaped.

[0062] In this embodiment, one end of the slider 4 is slidably disposed within the sliding groove 31, and the other end is slidably disposed within the recess 61. The slider 4 is T-shaped. Since the position of the fixing member 6 is fixed, the rotation angle of the wheel 2 is limited by the sliding angle of the slider 4 in the sliding groove 31. The fixing member 6 is located at the middle of the length of the sliding groove 31; more specifically, the recess 61 is correspondingly disposed at the middle of the length of the sliding groove 31. The rotational extension length of the sliding groove 31 relative to the two sides of the recess 61 is equal, and the rotation angle of the sliding groove 31 relative to the two sides of the recess 61 is greater than 180° and less than or equal to 270°. In other embodiments, the rotation angle of the sliding groove 31 relative to the two sides of the recess 61 can be greater than 180° and less than or equal to 300°, or less than or equal to 320°, less than or equal to 340°, or less than or equal to 360°.

[0063] In this embodiment, the multi-ring limiting structure, through the cooperation of the sliding groove 31 and the sliding body 4, can realize the rotation angle of the hub bracket 1 to be greater than 0°±180°, and can achieve a rotation limit of 0°±270°, providing the possibility for higher-order motion, and can be integrated with the existing chassis structure to meet the requirements of different customers.

[0064] To solve the above technical problems, another technical solution adopted by the present invention is: An intelligent mobile robot, as shown in the attached image Figure 17 As shown, the system includes: the chassis structure as described above, and the fuselage 18. The fuselage 18 is mounted on the chassis structure and moves via the chassis structure. In this embodiment, the overall center of gravity is biased towards the front center of the chassis 12. To prevent forward tilting during emergency braking, a counterweight 17 is provided on the rear side of the chassis 12 to adjust the overall center of gravity. The counterweight 17 is composed of multiple locked pieces, and the weight of the counterweight can be increased or decreased as needed.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A chassis structure, characterized in that, include: Chassis; A wheel assembly, connected to the chassis and configured to drive the chassis to move, includes a front wheel assembly and a rear wheel assembly. The front wheel assembly is symmetrically arranged on both sides of the front of the chassis, and the rear wheel assembly is symmetrically arranged on both sides of the rear of the chassis. A reversing assembly, mounted on the chassis and connected to the wheelset assembly, is configured to control the reversing of the wheelset assembly; A power supply assembly is mounted on the chassis and electrically connected to the wheel assembly and the commutation assembly, respectively, and is configured to supply power to the wheel assembly and the commutation assembly; The chassis is integrally die-cast and includes a base plate, at least one first beam, and at least one second beam. The first beam and the second beam are respectively disposed on the base plate and extend upward from the base plate. The area enclosed by the first beam and the second beam constitutes the load area for bearing the machine body, and the load area is located at the front of the base plate.

2. The chassis structure according to claim 1, characterized in that, The first beam and the second beam are perpendicular to each other; The first beam is configured as two beams, spaced apart along the left-right direction of the base plate, and the first beam extends along the front-back direction of the base plate; The second beam is configured as three, spaced apart along the front-rear direction of the base plate, and extends along the left-right direction of the base plate; The base plate is provided with support parts at the four corners to support the reversing assembly, and the support parts are connected to the first beam and the second beam.

3. The chassis structure according to claim 1, characterized in that, The wheel assembly includes a wheel and a hub bracket. One end of the hub bracket is connected to the wheel, and the other end is connected to the chassis. The wheel has a built-in power motor that drives the wheel to rotate.

4. The chassis structure according to claim 3, characterized in that, The wheelset assembly is rotatably mounted on the chassis via a wheelset fixing plate, and a limit structure is provided between the wheelset fixing plate and the wheelset assembly; The limiting structure includes a first structure disposed on the wheel hub bracket and a second structure disposed on the wheel set fixing plate. The first structure and the second structure limit the rotation angle of the wheel hub bracket through relative movement.

5. The chassis structure according to claim 4, characterized in that, The reversing assembly includes a joint motor, which is fixedly mounted on the wheel set mounting plate and connected to the wheel hub bracket. The joint motor drives the wheel hub bracket to rotate.

6. The chassis structure according to claim 1, characterized in that, The power supply components are respectively located on the left and right sides of the chassis, including batteries, and the batteries are covered with battery covers. A handle is provided on the outer side wall of the battery, and the handle is detachably connected to the battery; The battery is provided with a guide block, and the chassis is provided with a guide groove that matches the guide block.

7. The chassis structure according to claim 1, characterized in that, The chassis is provided with a cantilever structure at the front or rear. The cantilever structure includes a swing arm that is provided on the chassis in the left-right direction. The two ends of the swing arm are respectively connected to the wheel assembly. The swing arm is connected to the base plate via a damping shock absorber; The swing arm is rotatably mounted on the base plate via a pivot. The pivot and the two wheel assembly components arranged opposite to the cantilever structure form an isosceles triangle. The two wheel assembly components forming the isosceles triangle are closer to the load area relative to the pivot.

8. The chassis structure according to claim 1, characterized in that, It also includes a detection component, which includes ultrasonic components respectively disposed around the chassis and radar components respectively disposed above the chassis.

9. The chassis structure according to claim 7, characterized in that, The chassis is equipped with counterweights for adjusting the center of gravity.

10. An intelligent mobile robot, characterized in that, include: The chassis structure and fuselage as described in any one of claims 1 to 9, wherein the fuselage is disposed on the chassis structure and the fuselage moves via the chassis structure.

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