Chassis structure and mobile robot

Abstract

The utility model provides a chassis structure and a mobile robot, the chassis structure comprises a chassis main body, a driving wheel assembly, universal wheel assemblies, a first damping structure and a second damping structure, the two universal wheel assemblies are front wheel assemblies, and the two universal wheel assemblies are rear wheel assemblies; the two front wheel assemblies and the two rear wheel assemblies are arranged on the two sides of the two driving wheel assemblies correspondingly. Each front wheel assembly is provided with a first damping structure; a second damping shock absorption structure is arranged between the driving wheel assemblies on the same side of each rear wheel assembly. Rotating wheels of the universal wheel assemblies rotate by a circle, and the projection on the plane where the chassis body is located forms rotating wheel projection, and the closest distance between the rotating wheel projection and the edge of the chassis body is not larger than 10 mm; and / or the edges, located on the two sides of the driving wheel assembly, of the chassis body in the first direction are reference edges, and the distance between the driving wheel assembly and the reference edge on the same side is not larger than 30 mm. According to the chassis structure, stable operation of the mobile robot is facilitated.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular relates to a chassis structure and a mobile robot. Background Art

[0002] With the advent of the information, digital and intelligent era, artificial intelligence devices have gradually entered people's daily lives and have become widely used smart devices in people's lives. Take the food delivery robot as an example. The food delivery robot can deliver the food to the designated table according to the instructions in a tracked or trackless form according to the pre-set route. After the voice prompt, the customer or waiter will transfer the plate to the table. If the food delivery robot encounters a bumpy road during the delivery process, the food (especially liquid food) may spill. Therefore, the stability of the movement of the food delivery robot is very important for the food delivery robot.

[0003] This application found that the existing food delivery robots have the following problems:

[0004] (1) The food delivery robot is unstable in operation, which may cause the cups of drinks, soups, etc. placed on the robot to splash out;

[0005] (2) When the robot makes an emergency stop, its body may pitch, resulting in unstable operation. Utility Model Content

[0006] The purpose of the embodiments of the present application is to provide a chassis structure and a mobile robot to solve the technical problem of unstable operation of food delivery robots existing in the prior art.

[0007] To achieve the above purpose, the technical solution adopted in this application is:

[0008] According to a first aspect of the present application, there is provided a chassis structure, comprising a chassis body, a driving wheel assembly, a universal wheel assembly, a first damping and shock absorbing structure and a second damping and shock absorbing structure, wherein: two universal wheel assemblies are front wheel assemblies, two universal wheel assemblies are rear wheel assemblies, the two front wheel assemblies and the two rear wheel assemblies are respectively arranged on both sides of the two driving wheel assemblies along the first direction of the chassis body; each front wheel assembly is provided with a first damping and shock absorbing structure; each rear wheel assembly is respectively provided with a second damping and shock absorbing structure between the driving wheel assembly on the same side along the first direction; the projection of the wheel of the universal wheel assembly on the plane where the chassis body is located after one rotation forms a wheel projection, and the closest distance between the wheel projection and the edge of the chassis body is no more than 10 mm; and / or, the edge of the chassis body along the first direction and located on both sides of the driving wheel assembly is a reference edge, and the distance between the driving wheel assembly and the reference edge on the same side is no more than 30 mm.

[0009] Preferably, the front wheel assembly includes a front wheel, a first connecting plate and a second connecting plate, the two first connecting plates are respectively arranged on both sides of the front wheel and the two connecting plates are rotatably connected to the front wheel, the second connecting plate is arranged above the front wheel and an extension plate extending downward is formed on the second connecting plate, the first connecting plates are respectively rotatably connected to the corresponding extension plates, an elastic member is arranged between each first connecting plate and the second connecting plate, and the rotatable connection between the first connecting plate and the extension plate and the elastic member form a first damping shock absorbing structure.

[0010] Preferably, a first friction damping plate is arranged on the first connecting plate, and a second friction damping plate is arranged on the second connecting plate. The first friction damping plate is fitted with the corresponding second friction damping plate on the second connecting plate. The front wheel assembly is a coaxial double-wheel structure, and the stroke of the front wheel assembly in the up and down directions is within 15 mm.

[0011] Preferably, the second damping shock absorbing structure includes a first shock absorbing rocker arm structure, a second shock absorbing arm structure and a shock absorber, the first shock absorbing rocker arm structure is rotatably connected to the second shock absorbing arm structure, the shock absorber is connected to the first shock absorbing rocker arm structure and the second shock absorbing arm structure, the first shock absorbing rocker arm structure is connected to the rear wheel assembly, and the second shock absorbing arm structure is connected to the driving wheel assembly.

[0012] Preferably, the first shock-absorbing rocker arm structure includes a first connecting arm, and the second shock-absorbing arm structure includes a second connecting arm and a fixing frame; the first connecting arm is connected to a fixing plate of the rear wheel assembly, and a side of the fixing plate close to the driving wheel assembly extends obliquely downward to form the first connecting arm; the second connecting arm is connected to a sleeve of a connecting shaft on the driving wheel assembly, the first connecting arm, the second connecting arm and the fixing frame are rotatably connected via a rotating shaft, the fixing frame is connected to the bottom surface of the chassis body, and the shock absorber is connected to the first connecting arm and the second connecting arm.

[0013] Preferably, the length of the first connecting arm is set to be greater than the length of the second connecting arm, so that the wheel load ratio of the front wheel assembly, the driving wheel assembly and the rear wheel assembly is 1:2:1.

[0014] Preferably, two third friction damping plates are arranged on the top surface of the rear wheel assembly, a fourth friction damping plate is arranged on the chassis body, the free end of the fourth friction damping plate is arranged between the two third friction damping plates, and the fourth friction damping plate is fitted with the two third friction damping plates; a shock-absorbing column is arranged on the top surface of the rear wheel assembly, and the shock-absorbing column is located below the fourth friction damping plate.

[0015] Preferably, the universal wheel assembly rotates in the horizontal direction along the rotation center axis, the rotating wheel of the universal wheel assembly rolls around the rolling axis, and the distance between the rotation center axis and the rolling axis is not greater than 20 mm.

[0016] Preferably, the length range of the chassis body is 600 mm ± 20 mm; the width range of the chassis body is 480 mm ± 20 mm.

[0017] Preferably, a battery mounting structure is formed on the chassis structure, a battery supporting surface is formed on the battery mounting structure, and the height of the battery supporting surface is lower than the height of the chassis body.

[0018] A second aspect of the present application provides a mobile robot, comprising a chassis structure as provided by any of the above technical solutions, wherein at least two support columns are arranged on the chassis structure, and the support columns are evenly distributed on the support surface of the chassis structure.

[0019] The beneficial effects of this application are:

[0020] By setting the first damping shock absorbing structure and the second damping shock absorbing structure, the chassis structure can be better shock-absorbing. Taking the application of the chassis structure to the mobile food delivery robot as an example, when the mobile food delivery robot delivers, for example, cup drinks and soups, the first damping shock absorbing structure and the second damping shock absorbing structure can prevent the cup drinks and soups from spilling; by setting the side of the rotating wheel projection close to the edge of the chassis body to be no more than 10 mm from the edge of the chassis body; and / or the distance between the driving wheel assembly and the reference edge on the same side is no more than 30 mm, the mobile food delivery robot can run stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of the structure of the chassis provided in an embodiment of the present application;

[0023] Figure 2 A schematic top view of a chassis structure provided in an embodiment of the present application;

[0024] Figure 3 Another structural schematic diagram of the chassis structure provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of the middle front wheel assembly provided in an embodiment of the present application;

[0026] Figure 5 Another structural schematic diagram of the chassis structure provided in an embodiment of the present application;

[0027] Figure 6 A schematic structural diagram of a second damping and shock absorbing structure provided in an embodiment of the present application;

[0028] Figure 7Another structural schematic diagram of the second damping shock absorbing structure provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0030] Fig. 9 A bottom view schematic diagram of the mobile robot provided in an embodiment of the present application.

[0031] Among them, the reference numerals in the figure are:

[0032] 100-mobile robot;

[0033] 101- chassis structure; 102- chassis shell; 103- main body shell;

[0034] 1- chassis body; 2- driving wheel assembly; 3- universal wheel assembly; 4- second damping shock absorbing structure; 5- screw support; 6- damping bearing; 7- first friction damping plate; 8- second friction damping plate;

[0035] 31-front wheel assembly; 32-rear wheel assembly;

[0036] 311-front rotating wheel; 312-first connecting plate; 313-second connecting plate; 314-extension plate; 315-elastic member; 316-front wheel supporting plate;

[0037] 41-first connecting arm; 42-second connecting arm; 43-fixed frame; 44-shock absorber; 45-rotating shaft; 46-third friction damping plate; 47-fourth friction damping plate; 48-first supporting plate; 49-second supporting plate; 410-shock absorbing column;

[0038] A-wheel projection contour; B-reference edge. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, but cannot be understood as limiting the present application.

[0040] In the description of the present application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inside", "outside", "up", "down", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0041] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0042] In this application, unless otherwise clearly specified and limited, the terms "connected", "connection" 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection 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.

[0043] In this application, "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0044] It should be noted that, in this application, words such as "in one embodiment", "exemplarily", "for example", etc. are used to indicate examples, illustrations or descriptions. Any embodiment or design described in this application as "in one embodiment", "exemplarily", "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment", "exemplarily", "for example", etc. is intended to present related concepts in a specific way.

[0045] The present embodiment provides a chassis structure 101, comprising a chassis body 1, a driving wheel assembly 2, a universal wheel assembly 3, a first damping and shock absorbing structure and a second damping and shock absorbing structure 4, wherein: two universal wheel assemblies 3 are front wheel assemblies 31, two universal wheel assemblies 3 are rear wheel assemblies 32, the two front wheel assemblies 31 and the two rear wheel assemblies 32 are respectively arranged on both sides of the two driving wheel assemblies 2 along the first direction of the chassis body 1; each front wheel assembly 31 is provided with a first damping and shock absorbing structure; each rear wheel assembly 32 is respectively provided with a second damping and shock absorbing structure 4 between the driving wheel assembly 2 on the same side along the first direction; the projection of the rotating wheel of the universal wheel assembly 3 on the plane where the chassis body 1 is located after one rotation forms a rotating wheel projection, and the distance between the rotating wheel projection and the edge of the chassis body 1 is not more than 10 mm; and / or, the edge of the chassis body 1 along the first direction and located on both sides of the driving wheel assembly 2 is a reference edge B, and the distance between the driving wheel assembly 2 and the reference edge B on the same side is not more than 30 mm.

[0046] See also Figure 1-Figure 2 , schematically shows the chassis body 1, the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32, wherein the driving wheel assembly 2 can be connected to an external power device, and the driving wheel assembly 2 is driven to rotate by the external power device to realize the movement of the chassis structure 101. The front wheel assembly 31 and the rear wheel assembly 32 play a supporting role.

[0047] See also Figure 2 ,along Figure 2 In the X direction, from left to right, there are the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32. Figure 2 In the Y direction, two front wheel assemblies 31 arranged opposite to each other, two driving wheel assemblies 2 arranged opposite to each other, and two rear wheel assemblies 32 arranged opposite to each other are shown.

[0048] The chassis structure 101 provided in this embodiment is provided with two front wheel assemblies 31 , two driving wheel assemblies 2 and two rear wheel assemblies 32 , so as to facilitate the stable movement of the chassis structure 101 .

[0049] Please continue to see Figure 2 , the outer circle of one of the rear wheel assemblies 32 illustrates the wheel projection contour line A, and the wheel projection is the projection of the rear wheel assembly 32 on the plane where the chassis body 1 is located after one rotation. In one implementation of this embodiment, the closest distance between the wheel projection and the edge of the chassis body 1 is no more than 10 mm, that is, the closest distance between the side of the wheel projection contour line A close to the edge of the chassis body 1 and the edge of the chassis body 1 is no more than 10 mm.

[0050] For the side of the wheel projection contour line A close to the edge of the chassis body 1, see Figure 2 , indicating the reference points C and D on the wheel projection contour line A, the line connecting the center point of the wheel projection contour line A and the reference point C and Figure 2 The X direction is parallel to the center point of the wheel projection contour line A and the reference point D. Figure 2 The arc between reference point C and reference point D is the "side of the wheel projection contour line A close to the edge of the chassis body 1".

[0051] See also Figure 2 For example, reference point C is the closest to the edge of the chassis body 1, that is, the wheel projection contour line A is closest to the edge of the chassis body 1 parallel to the Y direction. Figure 2 The figure shows the distance d3 between the reference point C and the edge of the chassis body 1, that is, d3 is not greater than 10 mm.

[0052] The above text takes a rear wheel assembly 32 as an example to illustrate that the closest distance between the wheel projection and the edge of the chassis body 1 is no more than 10 mm. In this embodiment, the two front wheel assemblies 31 and the two rear wheel assemblies 32 are all universal wheel assemblies 3, that is, the closest distance between the wheel projection of the two front wheel assemblies 31 and the two rear wheel assemblies 32 and the edge of the chassis body 1 is no more than 10 mm. When the wheel projection contour line A is closest to the edge of the chassis body 1 parallel to the Y direction (that is, the reference point C is closest to the edge of the chassis body 1), the front and rear wheel tracks are increased as much as possible under the given chassis size, so that the robot using the chassis structure 101 provided in this embodiment can suppress the body pitching movement as much as possible when the robot stops in an emergency.

[0053] See also Figure 2 The arc between reference point C and reference point D is "the side of the wheel projection contour line A close to the edge of the chassis body 1". It is preferred that reference point C is closest to the edge of the chassis body 1. At the same time, the distance between reference point D and the edge of the chassis body 1 is minimized to increase the distance between the two front wheel assemblies 31 along the Y direction, increase the distance between the two rear wheel assemblies 32 along the Y direction, and improve the ability of the chassis structure 101 to suppress rollover.

[0054] In other implementations of the embodiment, in the arc between the reference point C and the reference point D, other points in the arc except the reference point C may be set as points closest to the edge of the chassis body 1.

[0055] In other implementations of the embodiment, a plurality of points closest to the edge of the chassis body 1 may be set in the arc between the reference point C and the reference point D.

[0056] In this embodiment, the closest distance between the projection of the rotating wheel and the edge of the chassis body 1 is no more than 10 mm, and the closest distance between the projection of the rotating wheel and the edge of the chassis body 1 is preferably 5 mm.

[0057] In one implementation of the embodiment, the edges of the chassis body 1 along the first direction and located on both sides of the driving wheel assembly 2 are reference edges B, and the distance between the driving wheel assembly 2 and the reference edge B on the same side is no more than 30 mm.

[0058] See also Figure 2 , indicating the reference edge B, the first direction is parallel to the X direction. The distance between the driving wheel assembly 2 and the left reference edge B is d1, and the distance between the driving wheel assembly 2 and the right reference edge B is d2, and the values ​​of d1 and d2 are both less than 30 mm.

[0059] By setting the distance between the driving wheel assembly 2 and the reference edge B on the same side to be no greater than 30 mm, the spacing between the two driving wheel assemblies 2 is increased, thereby increasing the ability of the chassis structure 101 to suppress rollover.

[0060] See also Figure 8Taking the application of the chassis structure 101 to the mobile robot 100 as an example, at this time, a chassis shell 102 is usually provided on the outside of the chassis structure 101, and there should be a distance between the chassis shell 102 and the driving wheel assembly 2. The distance between the chassis shell 102 and the driving wheel assembly 2 can be set to be less than 10 mm, and preferably the distance between the chassis shell 102 and the driving wheel assembly 2 is 5 mm.

[0061] That is, when the distance between the driving wheel assembly 2 and the reference edge B on the same side is set to be no greater than 30 mm, it should also be considered that there is a gap between the chassis housing 102 and the driving wheel assembly 2 .

[0062] In this embodiment, each front wheel assembly 31 is provided with a first damping and shock absorbing structure, and each rear wheel assembly 32 is provided with a second damping and shock absorbing structure 4 between the rear wheel assembly 32 and the driving wheel assembly 2 on the same side along the first direction.

[0063] See also Figure 2 A second damping and shock absorbing structure 4 is arranged between the driving wheel assembly 2 arranged on the left side and the rear wheel assembly 32 arranged on the right side along the X direction.

[0064] By setting the first damping shock absorbing structure and the second damping shock absorbing structure 4, the chassis structure can be better damped. Taking the chassis structure 101 applied to a mobile food delivery robot as an example, when the mobile food delivery robot delivers, for example, cupped beverages and soups, the first damping shock absorbing structure and the second damping shock absorbing structure 4 can prevent the cupped beverages and soups from spilling, so as to achieve a centimeter-level liquid surface anti-splashing function. The purpose of this embodiment is to ensure that when the normal delivery of items passes through an obstacle with a height or depth of less than 5 mm, the liquid surface is not spilled when it is 10 mm away from the container mouth.

[0065] Next, the front wheel assembly 31 and the first damping shock absorbing structure are described in detail.

[0066] In one embodiment, the front wheel assembly 31 includes a front wheel 311, a first connecting plate 312 and a second connecting plate 313. The two first connecting plates 312 are respectively arranged on both sides of the front wheel 311 and both connecting plates are rotatably connected to the front wheel 311. The second connecting plate 313 is arranged above the front wheel 311 and an extension plate 314 extending downward is formed on the second connecting plate 313. The first connecting plates 312 are respectively rotatably connected to the corresponding extension plates 314. An elastic member 315 is arranged between each first connecting plate 312 and the second connecting plate 313. The rotatable connection between the first connecting plate 312 and the extension plate 314 and the elastic member 315 form a first damping shock absorbing structure.

[0067] See also Figure 3 , the front wheel assembly 31 is supported on the chassis body 1. Figure 4, schematically shows a front rotating wheel 311, a first connecting plate 312 and a second connecting plate 313. A front wheel shaft is provided on the front rotating wheel 311, the front wheel shaft passes through the front rotating wheel 311 and is rotatably connected to the front rotating wheel 311, two first connecting plates 312 are respectively provided on both sides of the front rotating wheel 311, and the two first connecting plates 312 are respectively connected to the front wheel shaft.

[0068] Regarding the first connecting plates 312 being rotatably connected to the corresponding extension plates 314, in one implementation, see Figure 4 Two downwardly extending extension plates 314 are formed on the second connecting plate 313, a connecting shaft passes through the two extending plates 314, and the connecting shaft passes through the two first connecting plates 312 at the same time. The two first connecting plates 312 are both rotatably connected to the connecting shaft.

[0069] When the front wheel 311 is forced to move upward, the first connecting plate 312 rotates relative to the extending plate 314, and the elastic member 315 is compressed. The elastic member 315 is compressed to provide damping and achieve shock absorption.

[0070] Preferably, the elastic member 315 is a spring.

[0071] In one embodiment, a first friction damping plate 7 is disposed on the first connecting plate 312 , and a second friction damping plate 8 is disposed on the second connecting plate 313 . The first friction damping plate 7 fits with the corresponding second friction damping plate 8 on the second connecting plate 313 .

[0072] See also Figure 4 , schematically showing the first friction damping plate 7 and the second friction damping plate 8, the plate surface of the first friction damping plate 7 is in contact with the plate surface of the second friction damping plate 8. When the front wheel 311 moves upward, friction force is generated between the first friction damping plate 7 and the second friction damping plate 8, and the rotation energy is weakened by the friction force to hinder the relative rotation between the first connecting plate 312 and the extension plate 314, thereby improving the stability of the chassis structure.

[0073] For example, see Figure 4 The first connecting plate 312 is detachably connected to the first friction damping plate 7 by screws or bolts. A mounting portion extending downward is formed on the second connecting plate 313, and the second friction damping plate 8 is detachably fixed to the mounting portion by screws or bolts.

[0074] Taking the second friction damping plate 8 as an example, specifically, the second friction damping plate 8 includes a second friction member and a second retaining member, both of which are plate-shaped components, and the second friction member and the second retaining member are arranged in contact with each other, and the second friction member and the second retaining member can be connected by bonding, or connected in other ways, the second friction member is a plate member with a relatively large roughness, and the second retaining member can be a metal plate member, and when the second friction damping plate 8 is mounted on the second connecting plate 313, the second friction member is in contact with the first friction damping plate 7. Alternatively, the second friction damping plate 8 is a plate-shaped member, and the side of the second friction damping plate 8 that is in contact with the first friction damping plate 7 is the friction surface.

[0075] Preferably, the structure of the first friction damping plate 7 may be the same as the structure of the second friction damping plate 8 .

[0076] Preferably, the front wheel assembly 31 is a coaxial double-wheel structure.

[0077] Preferably, the travel of the front wheel assembly 31 in the up and down directions is within 15 mm.

[0078] Preferably, the diameter of the front rotating wheel 311 in the front wheel assembly 31 is about 76 mm, which ensures a certain ability to pass through grooves and cut through cuts, and prevents the front rotating wheel 311 from getting stuck in narrow grooves.

[0079] Preferably, the bearing on the front wheel assembly 31 is a damping bearing, which can enhance the rotational stability of the front wheel assembly 31, eliminate unnecessary rotational swing, and thus increase the stability of the chassis. Figure 4 , illustrating the damping bearing 6 on the front wheel assembly 31.

[0080] For example, see Figure 3 and Figure 4 The front wheel assembly 31 includes a front wheel support plate 316. The chassis body 1 is provided with an avoidance opening, the front wheel assembly 31 extends into the avoidance opening, and the front wheel support plate 316 is supported on the chassis body 1 through the support member 5. The number of the support members 5 is preferably four, and they are distributed along the circumferential direction of the front wheel support plate 316.

[0081] Preferably, a screw passes through the front wheel support plate 316 from top to bottom and is inserted into the top end of the support member 5, and another screw passes through the chassis body 1 from bottom to top and is inserted into the lower end of the support member 5, thereby realizing a detachable connection between the front wheel assembly 31 and the chassis body 1.

[0082] Next, the second damping and vibration absorbing structure 4 is described in detail.

[0083] In one embodiment, the second damping shock absorbing structure 4 includes a first shock absorbing rocker arm structure, a second shock absorbing arm structure and a shock absorber 44. The first shock absorbing rocker arm structure is rotatably connected to the second shock absorbing arm structure. The shock absorber 44 connects the first shock absorbing rocker arm structure and the second shock absorbing arm structure. The first shock absorbing rocker arm structure is connected to the rear wheel assembly 32, and the second shock absorbing arm structure is connected to the driving wheel assembly 2.

[0084] A shock absorber 44 is provided between the driving wheel assembly 2 and the rear wheel assembly 32 on the same side to meet the shock absorption requirements of the chassis structure 101 .

[0085] The shock absorber 44 is designed to meet the shock absorption requirements of relevant scenarios through parameters such as stiffness, damping and stroke. For example, a shock absorber 44 with a spring elastic coefficient of K15-25 is selected.

[0086] Preferably, the rear wheel assembly 32 is a coaxial double-wheel structure.

[0087] Preferably, the diameter of the rotating wheel in the rear wheel assembly 32 is about 76 mm, which ensures a certain ability to pass through grooves and cut through trees, and prevents the rotating wheel from getting stuck in narrow grooves.

[0088] Preferably, the bearing on the rear wheel assembly 32 is a damping bearing, which can enhance the rotational stability of the rear wheel assembly 32, eliminate unnecessary rotational swing, and thus increase the stability of the chassis.

[0089] Regarding the specific structure of the second damping shock absorbing structure 4, in one embodiment, the first shock absorbing rocker arm structure includes a first connecting arm 41, and the second shock absorbing arm structure includes a second connecting arm 42 and a fixing frame 43; the first connecting arm 41 is connected to the fixing plate 321 of the rear wheel assembly 32, and the fixing plate 321 extends obliquely downward on the side close to the driving wheel assembly 2 to form the first connecting arm 41; the second connecting arm 42 is connected to the shaft sleeve 21 of the connecting shaft on the driving wheel assembly 2, the first connecting arm 41, the second connecting arm 42 and the fixing frame 43 are rotatably connected through a rotating shaft 45, the fixing frame 43 is connected to the bottom surface of the chassis body 1, and the shock absorber 44 is connected to the first connecting arm 41 and the second connecting arm 42.

[0090] When the rear wheel assembly 32 moves upward, the first connecting arm 41 rotates relative to the second connecting arm 42, and the shock absorber 44 is compressed to provide damping, thereby achieving shock absorption.

[0091] Specifically, see Figure 5 The chassis body 1 is provided with an avoidance hole, and the rear wheel assembly 32 extends into the avoidance hole. In addition, the chassis body 1 is not only provided with an avoidance hole for avoiding the rear wheel assembly 32, but also formed with a hole for avoiding the first shock absorbing rocker arm structure and the second shock absorbing arm structure.

[0092] See also Figure 6 and Figure 7The side of the fixing plate 321 close to the driving wheel assembly 2 extends obliquely downward to form a first connecting arm 41, and the side of the first connecting arm 41 away from the fixing plate 321 is rotatably connected to the second connecting arm 42. Such an arrangement can lower the rotational connection position between the first connecting arm 41 and the second connecting arm 42, which is beneficial to the stable grip of the driving wheel assembly 2 and enhances the climbing ability.

[0093] See also Figure 6 and Figure 7 , schematically showing a first connecting arm 41, a second connecting arm 42 and a fixing frame 43, a shock absorber 44 connects the first connecting arm 41 and the second connecting arm 42, and the second damping shock absorbing structure 4 provided in this embodiment has a simple structure and avoids a complex structure.

[0094] Exemplarily, two connecting ends with holes are spaced apart at one end of the first connecting arm 41 away from the fixed plate 321, and two connecting ends with holes are set at one end of the second connecting arm 42 away from the connecting shaft of the driving wheel assembly 2. The fixing frame 43 is in the shape of a door frame, and the rotating shaft 45 passes through the fixing frame 43, the two connecting ends of the first connecting arm 41 and the two connecting ends on the second connecting arm 42, so as to realize the rotational connection between the three.

[0095] For example, see Figure 7 The first connecting arm 41 is provided with two first supporting plates 48 which are arranged opposite to each other and parallel to each other. The axle pin is inserted into the first supporting plate 48, passes through one end of the shock absorber 44 and extends to the other first supporting plate 48, so as to realize the rotational connection between the first connecting arm 41 and the shock absorber 44; the second connecting arm 42 is provided with two second supporting plates 49 which are arranged opposite to each other and parallel to each other. The axle pin is inserted into the second supporting plate 49, passes through one end of the shock absorber 44 and extends to the other second supporting plate 49, so as to realize the rotational connection between the second connecting arm 42 and the shock absorber 44.

[0096] In one embodiment, the length of the first connecting arm 41 is set to be greater than the length of the second connecting arm 42, so that the wheel load ratio of the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32 is 1:2:1.

[0097] Setting the length of the first connecting arm 41 to be greater than the length of the second connecting arm 42 allows the driving wheel assembly 2 to bear more force.

[0098] In this embodiment, by reasonably adjusting the length of the first connecting arm 41 and the second connecting arm 42, the wheel load ratio of the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32 is 1:2:1, and the subsequent weight of the whole machine is reasonably distributed to the six wheels, which is conducive to the stable operation of the chassis structure 101. The above wheel load ratio refers to the load force borne by the wheels.

[0099] In this embodiment, by reasonably adjusting the lengths of the first connecting arm 41 and the second connecting arm 42, the wheel load ratio of the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32 can be 1:2:1, or the wheel load ratio of the front wheel assembly 31, the driving wheel assembly 2 and the rear wheel assembly 32 can be close to 1:2:1.

[0100] In one embodiment, two third friction damping plates 46 are arranged on the top surface of the rear wheel assembly 32, and a fourth friction damping plate 47 is arranged on the chassis body 1, and the free end of the fourth friction damping plate 47 is arranged between the two third friction damping plates 46, and the fourth friction damping plate 47 is in contact with the two third friction damping plates 46.

[0101] See also Figure 6 and Figure 7 , a third friction damping plate 46 is arranged on the fixing plate 321 of the rear wheel assembly 32, and a fourth friction damping plate 47 is arranged on the chassis body 1. The free end of the fourth friction damping plate 47 is arranged between the two third friction damping plates 46. When the rear wheel assembly 32 moves upward, friction force is generated between the third friction damping plate 46 and the fourth friction damping plate 47, and the rotation energy is weakened by the friction force to hinder the relative rotation between the first connecting arm 41 and the second connecting arm 42, thereby improving the stability of the chassis structure operation.

[0102] Exemplarily, the third friction damping plate 46 includes a third friction member and a third retaining member, both of which are plate-like components, and are arranged in close contact with each other. The third friction member and the third retaining member can be bonded and connected, or connected in other ways (such as screws). The third friction member is a plate with a relatively large roughness, and the third retaining member can be a metal plate. When the second friction damping plate 8 is installed on the fixed plate 321, the third friction member is in close contact with the fourth friction damping plate 47.

[0103] Exemplarily, the fourth friction damping plate 47 includes a fourth friction member and a fourth retaining member, the fourth retaining member is connected to the chassis body 1, two fourth friction members are arranged on both sides of the fourth retaining member and close to the end of the fourth retaining member away from the chassis body 1, the fourth friction member and the fourth retaining member can be bonded together, or connected in other ways (such as screw connection), the fourth friction member is a plate with a large roughness, and the fourth retaining member can be a metal plate. When the fourth friction damping plate 47 is installed on the chassis body 1, the fourth friction member fits the third friction damping plate 46.

[0104] Preferably, see Figure 6 A shock absorbing column 410 is arranged on the top surface of the rear wheel assembly 32 , and the shock absorbing column 410 is located below the fourth friction damping plate 47 .

[0105] When the rear wheel assembly 32 moves upward, if the shock absorbing column 410 contacts the fourth friction damping plate 47, damping can be provided to hinder the relative rotation between the first connecting arm 41 and the second connecting arm 42, thereby improving the stability of the chassis structure operation.

[0106] In one embodiment, the universal wheel assembly 3 rotates in the horizontal direction along the rotation center axis, the rotating wheel of the universal wheel assembly 3 rolls around the rolling axis, and the distance between the rotation center axis and the rolling axis is no more than 20 mm.

[0107] The distance between the rotation center axis and the rolling axis is called the eccentricity of the universal wheel assembly 3. By setting the eccentricity of the universal wheel assembly 3 to be no greater than 20 mm, the universal wheel assembly 3 can be arranged close to the edge of the chassis body 1 to make room for the installation of other structures.

[0108] Preferably, the eccentricity of the universal wheel assembly 3 is 15 mm.

[0109] In one embodiment, the length of the chassis body 1 is in the range of 600 mm±20 mm; the width of the chassis body 1 is in the range of 480 mm±20 mm.

[0110] The size of the chassis body 1 specified in this embodiment is the approximate maximum size that can be flexibly moved in relevant scenes through field scene investigation. The larger the size of the chassis structure 101, the more stable the robot's moving posture.

[0111] Exemplarily, the overall size of the chassis can be 500*600mm, the wheelbase between the two driving wheel assemblies 2 is set to 340mm, and the wheelbase between the front wheel assembly 31 and the rear wheel assembly 32 is set to 440mm, so as to enhance the robot's anti-tilt and anti-pitch capabilities.

[0112] In one embodiment, a battery mounting structure is formed on the chassis structure 101 , a battery supporting surface is formed on the battery mounting structure, and the height of the battery supporting surface is lower than the height of the chassis body 1 .

[0113] By setting the height of the battery support surface lower than the height of the chassis body 1 , the height of the battery is lowered, thereby lowering the center of gravity of the entire chassis structure 101 , which is beneficial to the stable movement of the chassis structure 101 .

[0114] A mobile robot comprises a chassis structure 101. At least two support columns are arranged on the chassis structure 101. The support columns are evenly distributed on the support surface of the chassis structure 101.

[0115] See also Figure 8 and Fig. 9 , illustrating a mobile robot.

[0116] Since the chassis structure 101 is described in detail above, it will not be described in detail here. In addition, support columns are provided on the chassis structure 101, and the support columns are used to support other structures of the mobile robot. The support columns are evenly distributed on the support surface of the chassis structure 101, so that the chassis structure 101 is evenly stressed, which is conducive to the stable operation of the mobile robot.

[0117] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A chassis structure, characterized in that: The invention comprises a chassis body (1), a driving wheel assembly (2), a universal wheel assembly (3), a first damping shock absorbing structure and a second damping shock absorbing structure (4), wherein: The two universal wheel assemblies (3) are front wheel assemblies (31), the two universal wheel assemblies (3) are rear wheel assemblies (32), and the two front wheel assemblies (31) and the two rear wheel assemblies (32) are respectively arranged on both sides of the two driving wheel assemblies (2) along a first direction of the chassis body (1); Each of the front wheel assemblies (31) is provided with the first damping and shock absorbing structure; The second damping and shock absorbing structure (4) is disposed between each of the rear wheel assemblies (32) and the driving wheel assembly (2) on the same side along the first direction; The projection of the wheel of the universal wheel assembly (3) onto the plane where the chassis body (1) is located after one rotation forms a wheel projection, and the closest distance between the wheel projection and the edge of the chassis body (1) is no more than 10 mm; and / or, the edges of the chassis body (1) along the first direction and located on both sides of the driving wheel assembly (2) are reference edges (B), and the distance between the driving wheel assembly (2) and the reference edge (B) on the same side is no more than 30 mm.

2. The chassis structure according to claim 1, characterized in that: The front wheel assembly (31) comprises a front rotating wheel (311), a first connecting plate (312) and a second connecting plate (313); the two first connecting plates (312) are respectively arranged on both sides of the front rotating wheel (311) and the two connecting plates are rotatably connected to the front rotating wheel (311); the second connecting plate (313) is arranged above the front rotating wheel (311) and an extension plate (314) extending downward is formed on the second connecting plate (313); the first connecting plates (312) are respectively rotatably connected to the corresponding extension plates (314); an elastic member (315) is arranged between each of the first connecting plates (312) and the second connecting plate (313); the rotatable connection between the first connecting plate (312) and the extension plate (314) and the elastic member (315) form the first damping shock absorbing structure.

3. The chassis structure according to claim 2, characterized in that: A first friction damping plate (7) is arranged on the first connecting plate (312), and a second friction damping plate (8) is arranged on the second connecting plate (313); the first friction damping plate (7) is in contact with the corresponding second friction damping plate (8) on the second connecting plate (313); the front wheel assembly (31) is a coaxial double-wheel structure; and the travel of the front wheel assembly (31) in the up-down direction is within 15 mm.

4. The chassis structure according to claim 1, characterized in that: The second damping shock absorbing structure (4) comprises a first shock absorbing rocker arm structure, a second shock absorbing arm structure and a shock absorber (44); the first shock absorbing rocker arm structure is rotatably connected to the second shock absorbing arm structure; the shock absorber (44) connects the first shock absorbing rocker arm structure and the second shock absorbing arm structure; the first shock absorbing rocker arm structure is connected to the rear wheel assembly (32); and the second shock absorbing arm structure is connected to the driving wheel assembly (2).

5. The chassis structure according to claim 4, characterized in that: The first shock-absorbing rocker arm structure comprises a first connecting arm (41), and the second shock-absorbing arm structure comprises a second connecting arm (42) and a fixing frame (43); The first connecting arm (41) is connected to the fixing plate (321) of the rear wheel assembly (32), and a side of the fixing plate (321) close to the driving wheel assembly (2) extends obliquely downward to form the first connecting arm (41); The second connecting arm (42) is connected to the shaft sleeve (21) of the connecting shaft on the driving wheel assembly (2); the first connecting arm (41), the second connecting arm (42) and the fixing frame (43) are rotatably connected via a rotating shaft (45); the fixing frame (43) is connected to the bottom surface of the chassis body (1); and the shock absorber (44) is connected to the first connecting arm (41) and the second connecting arm (42).

6. The chassis structure according to claim 5, characterized in that: The length of the first connecting arm (41) is set to be greater than the length of the second connecting arm (42), so that the wheel load ratio of the front wheel assembly (31), the driving wheel assembly (2) and the rear wheel assembly (32) is 1:2:

1.

7. The chassis structure according to claim 4, characterized in that: Two third friction damping plates (46) are arranged on the top surface of the rear wheel assembly (32), a fourth friction damping plate (47) is arranged on the chassis body (1), a free end of the fourth friction damping plate (47) is arranged between the two third friction damping plates (46), and the fourth friction damping plate (47) is in contact with the two third friction damping plates (46); A shock absorbing column (410) is arranged on the top surface of the rear wheel assembly (32), and the shock absorbing column (410) is located below the fourth friction damping plate (47).

8. The chassis structure according to any one of claims 1 to 7, characterized in that: The universal wheel assembly (3) rotates in the horizontal direction along the rotation center axis, the rotating wheel of the universal wheel assembly (3) rolls around the rolling axis, and the distance between the rotation center axis and the rolling axis is no more than 20 mm.

9. The chassis structure according to any one of claims 1 to 7, characterized in that: The length range of the chassis body (1) is 600 mm ± 20 mm; the width range of the chassis body (1) is 480 mm ± 20 mm.

10. The chassis structure according to any one of claims 1 to 7, characterized in that: A battery mounting structure is formed on the chassis structure, and a battery supporting surface is formed on the battery mounting structure. The height of the battery supporting surface is lower than the height of the chassis body (1).

11. A mobile robot, characterized in that: The chassis structure comprises any one of claims 1 to 10, wherein at least two support columns are arranged on the chassis structure, and the support columns are evenly distributed on the support surface of the chassis structure.

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