AMR chassis of steering wheel driving structure

Abstract

The invention discloses a four-steering-wheel driving type AMR chassis which comprises a low chassis body, four sets of steering wheel assemblies symmetrically arranged at the four corners and a plurality of electrical bins arranged in the length direction. The steering wheel assembly is integrated with a suspension damping device, the driving wheels are allowed to vertically move relative to the chassis body, and the chassis is endowed with good obstacle crossing and damping capacity. The chassis body is of a reinforced structure and is good in rigidity and high in bearing capacity. And the electrical bin body adopts a partition isolation and convection heat dissipation design. The AMR chassis solves the problems that an existing AMR chassis is poor in trafficability, high in structure, small in space and insufficient in bearing stability, and is particularly suitable for industrial carrying scenes with high requirements.

Description

Technical Field

[0001] This invention relates to the field of AMR chassis technology, and more particularly to an AMR chassis with a steering wheel drive structure. Background Technology

[0002] Autonomous mobile robots (AMRs) are core equipment for flexible manufacturing and intelligent logistics, and their chassis performance directly determines the vehicle's passability, stability, and adaptability to different scenarios. In typical industrial scenarios such as loading and unloading, platform transfers, and workshop material handling, the ground often has slopes, ditches, or temporary obstacles, posing a severe challenge to the AMR chassis's passability and stable load-bearing capacity.

[0003] Currently, most AMR chassis on the market, especially low-to-medium load models, adopt a structural layout of "two steering wheels + two swivel wheels" or simplified steering wheels. While this design is cost-effective and relatively simple to control, it has inherent drawbacks: First, the number and layout of its drive wheels limit the vehicle's obstacle-crossing and climbing performance. The climbing angle is usually difficult to exceed 10°, and it has difficulty crossing obstacles larger than 50mm, making it unsuitable for non-ideal road conditions. Second, to accommodate the steering mechanism and ensure ground clearance, the overall chassis height is often designed to be above 300mm. This not only results in a high center of gravity, affecting operational stability, but also seriously encroaches on the installation space of upper functional modules (such as robotic arms and lifting mechanisms). Third, its load capacity is generally limited to below 800kg, and it lacks an effective suspension damping system. When the load fluctuates or when traversing bumpy roads, uneven wheel pressure and vehicle swaying are prone to occur, seriously affecting motion accuracy and equipment lifespan.

[0004] Therefore, existing AMR chassis technologies suffer from three interconnected technical bottlenecks when dealing with complex industrial scenarios: insufficient mobility, a significant conflict between structural height and internal space, and inadequate load-bearing capacity and stability. The industry urgently needs an innovative chassis solution that can comprehensively improve climbing, obstacle-crossing, load-bearing, and stable operation capabilities within a compact space. Summary of the Invention

[0005] In view of this, it is necessary to provide an AMR chassis with a steering wheel drive structure to at least solve the problems of poor obstacle crossing ability and climbing performance, high center of gravity, unstable operation, uneven wheel pressure and vehicle body swaying in the existing AMR chassis in related technologies.

[0006] This application provides a four-steering wheel drive AMR chassis, comprising: a chassis body, the chassis body having an overall rounded rectangular structure, and a connection structure for mounting external load equipment on the upper surface of the chassis body; four sets of steering wheel assemblies, the four sets of steering wheel assemblies being distributed in a rectangular symmetrical arrangement at the four corners of the chassis body, the four sets of steering wheel assemblies forming a four-steering wheel drive structure; and multiple electrical compartments, the multiple electrical compartments being arranged along the length direction of the chassis body, the multiple electrical compartments being used to house electrical components; wherein, each of the four sets of steering wheel assemblies includes a mounting bracket, a servo motor, a drive wheel, and a suspension damping device; the suspension damping device is connected between the mounting bracket and the chassis body, and the compression stroke of the suspension damping device is configured to allow the drive wheel to have vertical displacement relative to the chassis body.

[0007] In one embodiment, the suspension damping device includes a linear guide rail, a linear slider, and a shock absorber. The linear slider is fixedly connected to the chassis body by bolts. The linear guide rail is vertically mounted on the mounting bracket. The linear slider is slidably sleeved on the linear guide rail. One end of the shock absorber is welded to the mounting bracket, and the other end of the shock absorber is connected to the chassis body. When the drive wheel displaces vertically relative to the chassis body, the shock absorber is subjected to the force of the drive wheel and the mounting bracket, causing the linear slider to displace relative to the linear guide rail, thereby achieving buffering and shock absorption between the drive wheel and the chassis body.

[0008] In one embodiment, the plurality of electrical compartments include at least a power supply compartment and a drive compartment isolated from each other; wherein the power supply compartment is used to house a battery and a power management module, and the drive compartment is used to house a drive wheel drive corresponding to the four sets of drive wheel assemblies.

[0009] In one embodiment, the inner wall of the drive compartment is lined with heat-insulating material, and the layout of the drive compartment corresponds spatially to the installation position of the bleed resistor.

[0010] In one embodiment, the electrical compartment further includes a first battery compartment located at the front of the chassis body, a computing terminal compartment located in the middle of the chassis body, and a second battery compartment located at the rear of the chassis body; the computing terminal compartment contains a main control board, a computing platform, and network equipment arranged in a vertical stacking manner, and mechanical heat dissipation gaps are reserved between each device.

[0011] In one embodiment, at least two lidars are also included; the first lidar is located at the front right corner of the chassis body in the forward direction, and the second lidar is located at the rear left corner of the chassis body in the forward direction, and the scanning surface of each lidar is parallel to the plane of the chassis.

[0012] In one embodiment, the system further includes at least two emergency stop switches, including a first emergency stop switch and a second emergency stop switch. The first emergency stop switch is located at the front left corner of the chassis body in the forward direction, and the second emergency stop switch is located at the rear right corner of the chassis body in the forward direction.

[0013] In one embodiment, a radio frequency antenna is integrated next to the emergency stop switch at the left front corner; wherein the radio frequency antenna is used to receive electrical frequency signals.

[0014] In one embodiment, the chassis body is composed of steel plates and sheet metal parts, and is provided with a reinforcing rib structure, the structural rigidity of which is configured such that the maximum deflection is no more than 2mm when bearing 600kg.

[0015] In one embodiment, the side panel of the electrical compartment has ventilation holes and is equipped with a cooling fan. The cooling fan is staggered with the ventilation holes to form a convection cooling channel inside the electrical compartment.

[0016] The AMR chassis with a steering wheel drive structure provided by this invention has the following significant advantages compared with the prior art: 1. Superior Overall Off-Road Performance: By employing a symmetrically arranged four-corner all-steering wheel drive system, combined with a linear suspension damping device with vertical buffer travel, this invention enables the AMR chassis to climb slopes of at least 15° and easily traverse obstacles up to 15mm thick. The linear guide pair ensures the precision and smoothness of suspension movement, while the shock absorbers effectively absorb ground impacts, greatly enhancing adaptability and stability on uneven road surfaces.

[0017] 2. High rigidity and high load-bearing low center of gravity structure: The chassis body adopts a reinforced steel plate structure, and its design ensures high rigidity with a deflection of less than 2mm under a 600kg load, providing a solid structural foundation for increasing the load-bearing capacity to over 800kg. Simultaneously, through optimized layout, the overall chassis height is successfully controlled within 300mm (preferably 277mm), achieving a low center of gravity design and significantly improving anti-overturning capability and operational stability.

[0018] 3. Optimized internal space and efficient heat dissipation management: The modular and zoned electrical compartment layout not only achieves physical isolation between high- and low-frequency circuits, reducing signal crosstalk, but also greatly improves the utilization rate of the chassis's internal space, providing neat and ample installation positions for various electrical components. In particular, the thermal insulation design of the drive compartment, along with the convection heat dissipation channels formed by the cooling fan and ventilation holes, ensures controllable internal temperature, improving the long-term reliability and ease of maintenance of the system.

[0019] 4. Comprehensive Safety and Sensing Protection: The two LiDAR sensors are arranged diagonally, and their horizontal scanning surfaces avoid obstruction by the vehicle body, achieving 360° global environmental perception without blind spots. The two emergency stop switches are also diagonally arranged and integrate radio frequency antennas, ensuring rapid triggering of the safety circuit from any direction while guaranteeing signal quality. This constitutes a safety protection system that balances ease of operation and sensing effectiveness. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a partial structural schematic diagram of an embodiment of this application; Figure 3 This is an enlarged schematic diagram of the steering wheel assembly according to an embodiment of this application; Figure 4 This is a schematic diagram of the internal structure of an embodiment of this application; Figure 5 This is a side view of an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that when a component is said to be "mounted on" another component, it can be directly mounted on the other component or may be interspersed with a component. When a component is said to be "set on" another component, it can be directly set on the other component or may be interspersed with a component. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or may be interspersed with a component.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] Please see Figures 1 to 5 An embodiment of this application discloses a four-steering wheel driven AMR chassis, comprising: a chassis body 100, the chassis body 100 having a rounded rectangular structure, and a connection structure for mounting external load equipment on the upper surface of the chassis body 100; four sets of steering wheel assemblies 200, the four sets of steering wheel assemblies 200 being distributed in a rectangular symmetrical arrangement at the four corners of the chassis body 100, the four sets of steering wheel assemblies 200 constituting a four-steering wheel drive structure; and multiple electrical compartments 300, the multiple electrical compartments 300 being arranged along the length direction of the chassis body 100, the multiple electrical compartments 300 being used to house electrical components; wherein, each of the four sets of steering wheel assemblies 200 includes a mounting bracket 21, a servo motor 22, a drive wheel 23, and a suspension damping device 24; the suspension damping device 24 is connected between the mounting bracket 21 and the chassis body 100, and the compression stroke of the suspension damping device 24 is configured to allow the drive wheel 23 to have vertical displacement relative to the chassis body 100.

[0025] To achieve the buffering and shock absorption function of the four steering wheel assemblies 200, in some optional embodiments, the suspension damping device 24 includes a linear guide rail 241, a linear slider 242, and a shock absorber 243. The linear slider 242 is fixedly connected to the chassis body 100 by bolts. The linear guide rail 241 is vertically mounted on the mounting bracket 21. The linear slider 242 is slidably sleeved on the linear guide rail 241. One end of the shock absorber 243 is welded to the mounting bracket 21, and the other end of the shock absorber 243 is connected to the chassis body 100. When the drive wheel 23 moves vertically relative to the chassis body 100, the shock absorber 243 is subjected to the force of the drive wheel 23 and the mounting bracket 21, which drives the linear slider 242 to move relative to the linear guide rail 241, so as to achieve the purpose of buffering and shock absorption between the drive wheel 23 and the chassis body 100.

[0026] In order to realize the electrical control function of the present invention, in some optional embodiments, the plurality of electrical compartments 300 include at least a power supply compartment 31 and a drive compartment 32 isolated from each other; wherein, the power supply compartment 31 is used to house the battery 311 and the power management module 312, and the drive compartment 32 is used to house the drive wheel drive 321 corresponding to the four sets of drive wheel assemblies 200.

[0027] In some alternative embodiments, the inner wall of the drive compartment 32 is lined with heat-insulating material, and the layout of the drive compartment 32 spatially corresponds to the installation position of the bleed resistor.

[0028] To further realize the electrical control function of the present invention, in some optional embodiments, the electrical compartment 300 further includes a first battery compartment 33 located at the front of the chassis body 100, a computing terminal compartment 34 located in the middle of the chassis body 100, and a second battery compartment 35 located at the rear of the chassis body 100; the computing terminal compartment 34 has a main control board 341, a computing platform and network equipment arranged in a vertical stacking manner, and mechanical heat dissipation gaps are reserved between each device.

[0029] In order to achieve comprehensive safety and perception protection of the present invention, in some optional embodiments, at least two lidars 400 are also included; the first lidar is located at the front right corner of the chassis body 100 in the forward direction, the second lidar is located at the rear left corner, and the scanning surface of each lidar 400 is parallel to the plane on which the chassis body 100 is located.

[0030] To further achieve comprehensive safety and perception protection of the present invention, some optional embodiments include at least two emergency stop switches 500, including a first emergency stop switch and a second emergency stop switch. The first emergency stop switch is located at the left front corner of the chassis body 100 in the forward direction, and the second emergency stop switch is located at the right rear corner of the chassis body 100 in the forward direction.

[0031] To further achieve comprehensive safety and perception protection of the present invention, in some optional embodiments, a radio frequency antenna 600 is integrated next to the emergency stop switch 500 in the front left corner; wherein, the radio frequency antenna 600 is used to receive radio frequency signals.

[0032] In order to achieve the purpose of the high-strength structure of the present invention, in some alternative embodiments, the chassis body 100 is made of steel plate and sheet metal parts and is provided with a reinforcing rib structure, the structural stiffness of which is configured such that the maximum deflection is no more than 2 mm when bearing 600 kg.

[0033] In order to achieve the heat dissipation function of the present invention, in some optional embodiments, the side plate of the electrical compartment 300 is provided with ventilation holes 700 and a cooling fan 800 is installed. The cooling fan 800 and the ventilation holes 700 are staggered to form a convection heat dissipation channel in the electrical compartment 300.

[0034] It should be noted that by adopting a fully steering wheel drive system with symmetrical arrangement at the four corners, and combining it with a linear suspension damping device 24 that has a vertical buffer stroke, this invention enables the AMR chassis to have a climbing ability of no less than 15° and the ability to easily cross obstacles of 15mm. The linear guide rail 241 and linear slide rail 242 ensure the accuracy and smoothness of the suspension movement, while the shock absorber 243 effectively absorbs ground impacts, greatly improving adaptability and stability on uneven road surfaces.

[0035] It should be further explained that the chassis body 100 adopts a reinforced steel plate structure and is designed to ensure high rigidity with a deflection of less than 2mm under a 600kg load, providing a solid structural foundation for increasing the load-bearing capacity to over 800kg. At the same time, through optimized layout, the overall height of the chassis body 100 is successfully controlled within 300mm (preferably 277mm), achieving a low center of gravity design and significantly improving anti-overturning capability and operational stability.

[0036] It should be further explained that the modular and zoned electrical compartment 300 layout not only achieves physical isolation between high and low frequency circuits and reduces signal crosstalk, but also greatly improves the utilization rate of the chassis's internal space, providing neat and ample installation positions for various electrical components. In particular, the thermal insulation design of the drive compartment 32, along with the convection cooling channel formed by the cooling fan and ventilation holes 700, ensures that the internal temperature is controllable, improving the long-term reliability and maintenance convenience of the system.

[0037] It should be further explained that the two LiDAR sensors 400 adopt a unique diagonal arrangement, and their horizontal scanning surfaces avoid obstruction by the vehicle body itself, jointly achieving 360° global environmental perception without blind spots. The two emergency stop switches 500 are also diagonally arranged and integrate radio frequency antennas 600, ensuring that the safety circuit can be quickly triggered from any direction, while guaranteeing signal quality, thus forming a safety protection system that balances ease of operation and perception effectiveness.

[0038] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0039] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-steering wheel drive AMR chassis, characterized in that, include: The chassis body has a rounded rectangular structure, and the upper surface of the chassis body is provided with a connection structure for mounting external load equipment. Four sets of steering wheel assemblies are arranged in a rectangular symmetrical manner at the four corners of the chassis body, and the four sets of steering wheel assemblies constitute a four-steering wheel drive structure. Multiple electrical compartments are arranged along the length of the chassis body, and the multiple electrical compartments are used to house electrical components; Each of the four steering wheel assemblies includes a mounting bracket, a servo motor, a drive wheel, and a suspension damping device; the suspension damping device is connected between the mounting bracket and the chassis body, and the compression stroke of the suspension damping device is configured to allow the drive wheel to have vertical displacement relative to the chassis body.

2. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, The suspension damping device includes a linear guide rail, a linear slider, and a shock absorber. The linear slider is fixedly connected to the chassis body by bolts. The linear guide rail is vertically mounted on the mounting bracket. The linear slider is slidably sleeved on the linear guide rail. One end of the shock absorber is welded to the mounting bracket, and the other end of the shock absorber is connected to the chassis body. When the drive wheel displaces vertically relative to the chassis body, the shock absorber is subjected to the force of the drive wheel and the mounting bracket, which drives the linear slider to displace relative to the linear guide rail, thereby achieving the purpose of buffering and damping between the drive wheel and the chassis body.

3. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, Each of the multiple electrical compartments includes at least a power supply compartment and a drive compartment isolated from each other; wherein the power supply compartment is used to house the battery and power management module, and the drive compartment is used to house the drive wheel drivers corresponding to the four sets of drive wheel assemblies.

4. The four-steering wheel drive AMR chassis according to claim 3, characterized in that, The inner wall of the drive compartment is lined with heat insulation material, and the layout of the drive compartment corresponds spatially to the installation position of the discharge resistor.

5. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, The electrical compartment also includes a first battery compartment located at the front of the chassis body, a computing terminal compartment located in the middle of the chassis body, and a second battery compartment located at the rear of the chassis body; the computing terminal compartment contains a main control board, a computing platform, and network equipment arranged in a vertical stacking manner, and mechanical heat dissipation gaps are reserved between each device.

6. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, It also includes at least two lidars; the first lidar is located at the front right corner of the chassis body in the forward direction, and the second lidar is located at the rear left corner of the chassis body in the forward direction, and the scanning surface of each lidar is parallel to the plane of the chassis.

7. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, It also includes at least two emergency stop switches, including a first emergency stop switch and a second emergency stop switch. The first emergency stop switch is located at the front left corner of the chassis body in the forward direction, and the second emergency stop switch is located at the rear right corner of the chassis body in the forward direction.

8. The four-steering wheel drive AMR chassis according to claim 7, characterized in that, A radio frequency antenna is integrated next to the emergency stop switch in the left front corner; wherein, the radio frequency antenna is used to receive electrical frequency signals.

9. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, The chassis body is composed of steel plates and sheet metal parts, and is equipped with a reinforcing rib structure. Its structural rigidity is configured such that the maximum deflection is no more than 2mm when bearing a load of 600kg.

10. The four-steering wheel drive AMR chassis according to claim 1, characterized in that, The side panel of the electrical compartment has ventilation holes and is equipped with a cooling fan. The cooling fan is staggered with the ventilation holes to form a convection cooling channel inside the electrical compartment.

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