Chassis structure and robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to a chassis structure and a robot. The chassis structure comprises a bottom plate, a mounting seat, a swinging arm, a driving wheel and a first auxiliary wheel; the mounting seat is arranged on the bottom plate and comprises a contact surface; the swinging arm comprises a first end part and a second end part which are connected with each other, the middle part of the swinging arm can be rotatably connected to the mounting seat around a first axis, the swinging arm is provided with two limiting bulges, and when the swinging arm rotates to a first angle relative to the mounting seat, one limiting bulge is in contact with the contact surface; when the swing arm rotates to a second angle relative to the bottom plate, the other limiting bulge is in contact with the contact surface so as to limit the rotation angle of the swing arm; the driving wheel is arranged at the first end part; the first auxiliary wheel is arranged at the second end part; through the mode, bumping and vibration of the chassis structure are reduced, noise is reduced, and the driving performance of the chassis structure is enhanced.

Description

Technical Field

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

[0002] A mobile robot is a device that can move with intelligent control to perform various tasks. Mobile robots are gradually being used in the service field, for example, delivery services in restaurants, hotels, and office buildings, and delivery services between buildings.

[0003] The movement of the mobile robot is completed by the traveling mechanism of the mobile robot. The traveling mechanism is usually a chassis structure, and the chassis structure determines the stability of the robot's movement. In practical applications, when the robot travels on rough ground, it is prone to bumps and vibrations, which is not conducive to the movement of the robot, reduces the service life of the robot, and also generates a lot of noise. Utility Model Content

[0004] The embodiments of the present application aim to provide a chassis structure and a robot, aiming to enhance the driving performance of the chassis structure.

[0005] In order to solve the above technical problems, the embodiments of the present application adopt the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a chassis structure, which includes a base plate, a mounting seat, a swing arm, a driving wheel and a first auxiliary wheel; the mounting seat is arranged on the base plate, and the mounting seat includes a contact surface; the swing arm includes a first end and a second end connected to each other, and the middle part of the swing arm can be rotatably connected to the mounting seat around a first axis, and the swing arm is provided with two limiting protrusions, when the swing arm rotates to a first angle relative to the mounting seat, one of the limiting protrusions contacts the contact surface; when the swing arm rotates to a second angle relative to the base plate, the other limiting protrusion contacts the contact surface to limit the rotation angle of the swing arm; the driving wheel is arranged at the first end; the first auxiliary wheel is arranged at the second end.

[0007] In some embodiments, the first auxiliary wheel and the driving wheel are arranged in sequence along a first direction, the first direction is perpendicular to the first axis, and the first axis is located below a line connecting the first end and the second end.

[0008] In some embodiments, the chassis structure further includes a second auxiliary wheel disposed on the bottom plate.

[0009] In some embodiments, the mounting seat includes two first walls, the two first walls are spaced apart, and the first walls are provided with a connecting hole; the chassis structure also includes a bearing assembly, the bearing assembly includes a connecting column and a sleeve, the two ends of the connecting column are respectively passed through the connecting holes of the two first walls, the sleeve is sleeved on the connecting column, and the sleeve is connected to the middle part of the swing arm.

[0010] In some embodiments, the bearing assembly further comprises a plurality of bearings, wherein the bearings are disposed between the sleeve and the connecting column; along the first axis, the plurality of bearings are arranged at intervals.

[0011] In some embodiments, a first boss is provided on the inner wall of the sleeve, and along a direction parallel to the first axis, the opposite sides of the first boss respectively abut against the inner rings of the two bearings; a second boss is provided at one end of the connecting column, and the bearing assembly also includes a supporting ring, which is sleeved on the other end of the connecting column, and along a direction parallel to the first axis, the second boss and the supporting ring respectively abut against the outer rings of the two bearings.

[0012] In some embodiments, a third boss is provided at one end of the connecting column, and the bearing assembly also includes a supporting plate, which is provided at the other end of the connecting column. Along a direction parallel to the first axis, the third boss and the supporting plate respectively support the outer sides of the two first walls.

[0013] In some embodiments, the mounting base includes a second wall, two ends of the second wall are respectively connected to the two first walls, and the second wall includes the contact surface.

[0014] In some embodiments, the mounting base includes two third walls, each of which is connected to the same first wall at one end, and the bottom plate portion is located between the two third walls; the bottom plate is provided with a first mounting hole, the third wall is provided with a second mounting hole, and the second mounting hole is connected to the first mounting hole.

[0015] In a second aspect, an embodiment of the present application provides a robot, comprising a chassis structure as described in any one of the above items.

[0016] The chassis structure and robot of the embodiment of the present application, the driving wheel and the first auxiliary wheel are respectively arranged at both ends of the swing arm. When the first auxiliary wheel is subjected to the impact force of an obstacle, the impact force is transmitted to the swing arm and the base plate. Since the swing arm can rotate relative to the mounting base, a part of the impact force causes the swing arm to rotate to reduce the impact force transmitted to the base plate, thereby reducing the bumps and vibrations of the chassis structure and reducing noise; when the swing arm rotates, the first auxiliary wheel rises relative to the base plate, making it easier for the first auxiliary wheel to cross the obstacle, and the driving wheel simultaneously descends relative to the base plate, increasing the grip of the driving wheel, thereby facilitating the movement of the chassis structure and enhancing the driving performance of the chassis structure.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0019] Figure 1 is a structural schematic diagram of the chassis structure of an embodiment of the present application;

[0020] Figure 2 is an exploded view of the chassis structure of an embodiment of the present application;

[0021] Figure 3 yes Figure 1 A front view of a portion of the mid-chassis structure;

[0022] Figure 4 yes Figure 3 An exploded view of a portion of the mid-chassis structure;

[0023] Figure 5 yes Figure 3 Another exploded view of a portion of the mid-chassis structure;

[0024] Figure 6 yes Figure 3 Cross-sectional view at AA in the middle.

[0025] The reference numerals in the specific implementation manner are as follows:

[0026] 100. Chassis structure;

[0027] 1. bottom plate; 11. notch; 12. first mounting hole;

[0028] 2. mounting seat; 21. first wall; 211. connecting hole; 212. fifth mounting hole; 22. second wall; 221. contact surface; 23. third wall; 231. second mounting hole;

[0029] 3. Bearing assembly; 31. Connecting column; 311. Second boss; 312. Third boss; 313. Third mounting hole; 314. Fourth boss; 32. Sleeve; 321. First boss; 322. Mounting groove; 323. Flange; 324. Seventh mounting hole; 33. Bearing; 34. Retaining ring; 35. Retaining spring; 36. Retaining sheet; 361. Stop hole; 362. Sixth mounting hole; 37. Connecting ring; 371. Fourth mounting hole;

[0030] 4. swing arm; 41. limiting protrusion; 42. eighth mounting hole; 43. through hole; 44. first end; 45. second end;

[0031] 5. Driving wheel; 6. First auxiliary wheel; 7. Second auxiliary wheel;

[0032] L, first axis; X, first direction. DETAILED DESCRIPTION

[0033] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0035] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0036] In the description of the embodiments of the present application, the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meanings and therefore cannot be understood as limiting the scope of protection of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0037] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0038] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0039] The present application embodiment provides a chassis structure 100, such as Figure 1 and Figure 2 As shown, the chassis structure 100 includes a bottom plate 1, a mounting seat 2, a bearing assembly 3, a swing arm 4, a driving wheel 5, a first auxiliary wheel 6, and a second auxiliary wheel 7. The mounting seat 2 is arranged on the bottom plate 1, the bearing assembly 3 rotatably connects the middle part of the swing arm 4 to the mounting seat 2, the driving wheel 5 and the first auxiliary wheel 6 are respectively arranged at both ends of the swing arm 4, and the second auxiliary wheel 7 is arranged on the bottom plate 1.

[0040] In this embodiment, when the first auxiliary wheel 6 is impacted by an obstacle, the impact force is transmitted to the swing arm 4 and the bottom plate 1. Since the swing arm 4 can rotate relative to the mounting seat 2, a part of the impact force causes the swing arm 4 to rotate to reduce the impact force transmitted to the bottom plate 1, thereby reducing the bumps and vibrations of the chassis structure 100 and reducing noise; when the swing arm 4 rotates, the first auxiliary wheel 6 rises relative to the bottom plate 1, making it easier for the first auxiliary wheel 6 to cross the obstacle, and the driving wheel 5 simultaneously descends relative to the bottom plate 1, increasing the grip of the driving wheel 5, thereby facilitating the movement of the chassis structure 100 and enhancing the driving performance of the chassis structure 100. Based on the same principle, when the driving wheel 5 is impacted by an obstacle, it also has the above-mentioned beneficial effects.

[0041] For the above-mentioned base plate 1, if Figure 1 and Figure 2 As shown, the bottom plate 1 can be roughly in the shape of a rectangular flat plate. The bottom plate 1 is made of metal material, such as aluminum alloy, steel, etc., which is conducive to enhancing the compressive strength of the bottom plate 1, so that the chassis structure 100 has a better bearing capacity.

[0042] A notch 11 is provided on each of the left and right sides of the chassis, and the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6 are all provided at the notch 11, so that the chassis, the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6 are more compact; it is beneficial to increase the protection effect of the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6, and reduce the problem of collision damage of the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6. The notch 11 is adapted to the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6, that is, the shape and size of the notch 11 can avoid the mounting seat 2, the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6, and at the same time, a preset gap is maintained between the edge of the notch 11 and the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6, and the preset gap can be 20mm to 50mm, so as to improve the problem of too large gap between the edge of the notch 11 and the swing arm 4, the driving wheel 5 and the first auxiliary wheel 6.

[0043] The bottom plate 1 is provided with a first mounting hole 12, which is arranged adjacent to the notch 11 and is detachably connected to the mounting seat 2, for example, by screws or bolts. The number of the first mounting holes 12 can be multiple to enhance the connection strength between the mounting seat 2 and the bottom plate 1.

[0044] For the above-mentioned mounting seat 2, if Figures 3 to 5 As shown, the mounting seat 2 includes a first wall 21, a second wall 22 and a third wall 23, the first wall 21 is connected to the bearing assembly 3, the second wall 22 is connected to the first wall 21, and the third wall 23 is connected to the bottom plate 1. The mounting seat 2 is made of metal, such as aluminum alloy, steel, etc., which is conducive to enhancing the compressive strength of the mounting seat 2.

[0045] For the first wall 21, Figure 4 and Figure 5 As shown, the mounting seat 2 includes two first walls 21, the two first walls 21 are spaced apart, and the first wall 21 is provided with a connecting hole 211, that is, the mounting seat 2 includes two spaced apart connecting holes 211. The first wall 21 can be roughly rectangular thin-walled, the connecting hole 211 can be circular, and the two first walls 21 can be parallel to each other. Among them, the connecting hole 211 is connected to the bearing assembly 3, and the bearing assembly 3 is connected to the middle part of the swing arm 4 to rotatably connect the middle part of the swing arm 4 to the mounting seat 2. The rotation axis of the swing arm 4 is the first axis L. In some other embodiments, the middle part of the swing arm 4 is directly connected to the connecting hole 211, and can rotate in the connecting hole 211 to rotatably connect the middle part of the swing arm 4 to the mounting seat 2.

[0046] For the second wall 22, if Figure 4 and Figure 5 As shown, the mounting base 2 includes a second wall 22, and the two ends of the second wall 22 are respectively connected to the two first walls 21. The second wall 22 can be roughly rectangular and thin-walled, and the second wall 22 can be perpendicular to the first wall 21. It can be understood that when the swing arm 4 rotates to a specific angle around the first axis L relative to the mounting base 2, the swing arm 4 will contact the second wall 22, thereby preventing the swing arm 4 from continuing to rotate. Among them, the surface where the second wall 22 contacts the swing arm 4 is the contact surface 221, that is, the second wall 22 includes the contact surface 221. The contact surface 221 is located on the side of the second wall 22 facing the swing arm 4, and the contact surface 221 can be a plane or a curved surface, and the contact surface 221 can also be a combination of multiple planes and / or curved surfaces. In some other embodiments, the contact surface 221 may not be located on the second wall 22, that is, when the swing arm 4 rotates to a specific angle, the swing arm 4 contacts other parts of the mounting base 2.

[0047] There are two specific angles, namely the first angle and the second angle. The second wall 22 limits the rotation angle of the swing arm 4 between the first angle and the second angle to limit the rotation angle of the swing arm 4. When the swing arm 4 is at the first angle, the lowest point of the first auxiliary wheel 6 is located between the lowest point of the drive wheel 5 and the lowest point of the bottom plate 1; when the swing arm 4 is at the second angle, the lowest point of the drive wheel 5 is located between the lowest point of the first auxiliary wheel 6 and the lowest point of the bottom plate 1. Therefore, the lowest points of the drive wheel 5 and the first auxiliary wheel 6 will not be higher than the lowest point of the bottom plate 1, which improves the problem that the bottom plate 1 is damaged due to contact with obstacles or the chassis structure 100 is stranded and cannot be driven.

[0048] In some embodiments, Figure 4 and Figure 5As shown, the swing arm 4 is provided with two limiting protrusions 41. When the swing arm 4 rotates to a first angle relative to the mounting seat 2, one limiting protrusion 41 contacts the contact surface 221; when the swing arm 4 rotates to a second angle relative to the base plate 1, the other limiting protrusion 41 contacts the contact surface 221. The limiting protrusion 41 contacts the second wall 22, thereby reducing the damage of the second wall 22 to other positions of the swing arm 4 and extending the service life of the swing arm 4. The limiting protrusion 41 can be made of elastic material, such as rubber, plastic, etc., to reduce the noise generated when the swing arm 4 contacts the mounting seat 2. Optionally, the limiting protrusion 41 and the swing arm 4 are made of the same material, and the limiting protrusion 41 and the swing arm 4 are integrally formed. Optionally, the cross section of the limiting protrusion 41 is semicircular, and the top surface of the limiting protrusion 41 is a curved surface, which contacts the second wall 22 through the curved surface, thereby reducing the damage of the limiting protrusion 41 and the second wall 22 when the limiting protrusion 41 contacts the second wall 22.

[0049] For the third wall 23, if Figure 4 and Figure 5 As shown, the third wall 23 is connected to the first wall 21, and the third wall 23 is provided with a second mounting hole 231, and the second mounting hole 231 is connected to the first mounting hole 12. The second mounting hole 231 is detachably connected to the first mounting hole 12, for example, by screws or bolts. The number of the second mounting holes 231 is equal to the number of the first mounting holes 12. When the number of the first mounting holes 12 and the second mounting holes 231 are both multiple, one first mounting hole 12 is connected to one second mounting hole 231 to enhance the connection strength between the mounting seat 2 and the base plate 1. In some other embodiments, the third wall 23 may also be connected to the second wall 22.

[0050] Furthermore, if Figure 4 and Figure 5 As shown, the mounting base 2 includes two third walls 23, one end of each of the two third walls 23 is connected to the same first wall 21, and the two third walls 23 can be connected to the bottom plate 1 at the same time to enhance the connection strength between the mounting base 2 and the bottom plate 1. Part of the bottom plate 1 is located between the two third walls 23, that is, the two third walls 23 clamp the bottom plate 1, further enhancing the connection strength between the mounting base 2 and the bottom plate 1.

[0051] For the above-mentioned bearing assembly 3, if Figures 4 to 6 As shown, the bearing assembly 3 includes a connecting column 31 and a sleeve 32. The connecting column 31 can be cylindrical, and the sleeve 32 can be cylindrical. The two ends of the connecting column 31 are respectively penetrated through the connecting holes 211 of the two first walls 21, and the sleeve 32 is sleeved on the connecting column 31. The sleeve 32 is connected to the middle part of the swing arm 4 to rotatably connect the middle part of the swing arm 4 to the mounting seat 2. Among them, the central axis of the connecting hole 211, the connecting column 31 and the sleeve 32 all coincide with the first axis L, so that the middle part of the swing arm 4 can rotate around the first axis L relative to the mounting seat 2.

[0052] In some embodiments, Figures 4 to 6 As shown, the bearing assembly 3 further includes a bearing 33, which is disposed between the sleeve 32 and the connecting column 31 to reduce the friction of the sleeve 32 rotating around the connecting column 31. The number of bearings 33 can be multiple, and along the first axis L, multiple bearings 33 are arranged at intervals, thereby enhancing the stability of the rotational connection between the sleeve 32 and the connecting column 31. Optionally, the number of bearings 33 is two, which facilitates the installation of the bearings 33. Optionally, the bearing 33 is a deep groove ball bearing 33, a tapered roller bearing 33 or a cylindrical roller bearing 33.

[0053] For the installation of bearing 33, Figures 4 to 6 As shown, the inner wall of the sleeve 32 is provided with a first boss 321, and the opposite sides of the first boss 321 are respectively abutted against the inner rings of the two bearings 33 in a direction parallel to the first axis L; a second boss 311 is provided at one end of the connecting column 31, and the bearing assembly 3 also includes a supporting ring 34, which is sleeved on the other end of the connecting column 31, and the second boss 311 and the supporting ring 34 are respectively abutted against the outer rings of the two bearings 33 in a direction parallel to the first axis L. The first boss 321 and the second boss 311 clamp one bearing 33 between the two in a direction parallel to the first axis L, and the second boss 311 and the supporting ring 34 clamp the other bearing 33 between the two in a direction parallel to the first axis L, thereby limiting the positions of the two bearings 33 and improving the problem of the bearing 33 being separated from the connecting column 31 and the sleeve 32. The first boss 321 may be annular and surround the first axis L. The first boss 321 may abut against the entire annular side surface of the outer ring of the bearing 33, so that the resultant force of the abutting thrust of the first boss 321 on the bearing 33 coincides with the first axis L, thereby improving the problem that the central axis of the bearing 33 deviates from the first axis L due to uneven force on the bearing 33, and reducing the wear of the bearing 33. Based on the same principle, the second convex strip may also be annular and surround the first axis L, further reducing the wear of the bearing 33. Optionally, the outer diameter of the second boss 311 and the outer diameter of the abutting ring 34 are both less than or equal to the outer diameter of the inner ring of the bearing 33; the inner diameter of the first boss 321 is greater than the inner diameter of the outer ring of the bearing 33.

[0054] The second boss 311 and the supporting ring 34 are respectively disposed in one connecting hole 211 , and the outer diameters of the second boss 311 and the supporting ring 34 are both equal to the outer diameter of the connecting hole 211 .

[0055] In some embodiments, the inner wall of the sleeve 32 is provided with a mounting groove 322, and the mounting groove 322 is spaced apart from the first boss 321; the bearing assembly 3 further includes a retaining spring 35, which is disposed in the mounting groove 322, and the retaining spring 35 is at least partially located on the side of the bearing 33 away from the first boss 321, so as to cooperate with the first boss 321 to limit the position of the bearing 33 in the sleeve 32 along the first axis L. When the connecting column 31 is connected, the bearing 33 can be installed in the sleeve 32 first, and the position of the bearing 33 can be limited in advance by the retaining spring 35, so as to facilitate the connection column 31 to be inserted into the sleeve 32 and the bearing 33, and reduce the difficulty of assembly. Optionally, the mounting groove 322 and the retaining spring 35 can be annular and surround the first axis L, and the retaining spring 35 can be against the entire annular side of the outer ring of the bearing 33 to increase the stability of the axis limit.

[0056] For the connection between the connecting column 31 and the mounting seat 2, as shown in Figures 4 to 6 As shown, a third boss 312 is provided at one end of the connecting column 31, and the bearing assembly 3 further includes a supporting piece 36, which is provided at the other end of the connecting column 31. In a direction parallel to the first axis L, the third boss 312 and the supporting piece 36 are respectively supported on the outer sides of the two first walls 21. The outer side of the first wall 21 refers to the side of one first wall 21 away from the other first wall 21. By the third boss 312 and the supporting piece 36 being respectively supported on the outer sides of the two first walls 21, the connecting column 31 can be prevented from translating relative to the mounting seat 2 along the first axis L, so that the connecting column 31 can be installed on the mounting seat 2.

[0057] The abutting piece 36 abuts against a side of the abutting ring 34 away from the bearing 33 , so that the abutting ring 34 always abuts against the bearing 33 .

[0058] For the connection between the connecting column 31 and the abutting piece 36, as shown in FIG. Figures 4 to 6 As shown, a third mounting hole 313 is provided on the end surface of the other end of the connecting column 31, that is, a third mounting hole 313 is provided on the end surface of one end of the connecting column 31 for connecting with the supporting plate 36; the bearing assembly 3 also includes a connecting ring 37, and the connecting ring 37 has a fourth mounting hole 371, and the fourth mounting hole 371 is connected to the third mounting hole 313, for example, detachably connected by screws, and the supporting plate 36 is clamped between the connecting column 31 and the connecting ring 37 to connect the supporting plate 36 to the other end of the connecting column 31.

[0059] like Figures 4 to 6As shown, the end face of the other end of the connecting column 31 is provided with a fourth boss 314, that is, the end face of one end of the connecting column 31 for connecting with the supporting piece 36 is provided with a fourth boss 314; the supporting piece 36 is provided with a stop hole 361, and the fourth boss 314 is penetrated through the stop hole 361; the fourth boss 314 is adapted to the stop hole 361, that is, the shape and size of the cross section of the fourth boss 314 are the same as the shape and size of the cross section of the stop hole 361, and the cross sections of the two are non-circular, such as rectangular or polygonal, or an irregular shape composed of straight lines and curves. Moreover, in the present embodiment, the supporting piece 36 is connected to the mounting seat 2, so that the supporting piece 36 prevents the connecting column 31 from rotating in the connecting hole 211, thereby improving the problem of wear of the connecting column 31 and the mounting seat 2 caused by the rotation of the connecting column 31 in the connecting hole 211. Optionally, as Figures 4 to 6 As shown, the third mounting hole 313 is disposed at the middle of the fourth boss 314 , that is, the abutting piece 36 is connected to the fourth boss 314 .

[0060] For the connection between the abutment sheet 36 and the mounting seat 2, as shown in FIG. Figure 4 and Figure 5 As shown, the first wall 21 is provided with a fifth mounting hole 212, the abutting piece 36 is provided with a sixth mounting hole 362, and the sixth mounting hole 362 is connected to the fifth mounting hole 212, for example, by a detachable connection with a screw, so as to connect the abutting piece 36 to the mounting seat 2. Optionally, the number of the fifth mounting holes 212 is two, and the two fifth mounting holes 212 are respectively located on opposite sides of the connecting hole 211.

[0061] For the connection between the sleeve 32 and the swing arm 4, as shown in FIG. Figures 4 to 6 As shown, the sleeve 32 is provided with a flange 323, and the flange 323 is provided with a seventh mounting hole 324; the middle part of the swing arm 4 is provided with an eighth mounting hole 42, and the eighth mounting hole 42 is connected to the seventh mounting hole 324, for example, by screws or bolts, so as to connect the sleeve 32 to the swing arm 4. Optionally, the number of the seventh mounting hole 324 and the eighth mounting hole 42 are both multiple, and one first mounting hole 12 is connected to the first eighth mounting hole 42 to enhance the strength of the connection between the sleeve 32 and the swing arm 4. Optionally, the swing arm 4 is provided with a through hole 43, and the sleeve 32 is penetrated in the through hole 43; along the direction parallel to the first axis L, the swing arm 4 is located in the middle part of the sleeve 32, so that the force of the swing arm 4 on the sleeve 32 is located between the two bearings 33, reducing the torque perpendicular to the first axis L generated on the sleeve 32, thereby reducing the pressure on the bearing 33 and extending the service life of the bearing 33.

[0062] For the above-mentioned swing arm 4, if Figures 4 to 6As shown, the swing arm 4 includes a first end 44 and a second end 45 connected to each other, the driving wheel 5 is arranged at the first end 44; and the first auxiliary wheel 6 is arranged at the second end 45. The swing arm 4 is made of metal, such as aluminum alloy, steel, etc., which is conducive to enhancing the compressive strength of the swing arm 4. Among them, the swing arm 4 extends along the first direction X, and the first direction X is perpendicular to the first axis L. Therefore, the first auxiliary wheel 6 and the driving wheel 5 are arranged in sequence along the first direction X. The forces applied by the driving wheel 5 and the first auxiliary wheel 6 to the swing arm 4 are all located in the plane where the bearing assembly 3 is located, thereby reducing the torque perpendicular to the first axis L generated on the bearing assembly 3, reducing the pressure on the bearing assembly 3, and extending the service life of the bearing assembly 3.

[0063] In some embodiments, Figures 4 to 6 As shown, the swing arm 4 is in a "V" shape, that is, the first axis L is located below the line connecting the first end 44 and the second end 45, thereby shortening the distance between the first axis L and the ground, lowering the center of gravity of the chassis structure 100, and enhancing the stability of the chassis structure 100. When the driving wheel 5 and the first auxiliary wheel 6 are impacted by an obstacle, the direction of the impact force is usually upward and in the opposite direction of the traveling direction of the chassis structure 100. Therefore, setting the swing arm 4 in a "V" shape is conducive to increasing the length of the force arm when the impact force drives the swing arm 4 to rotate, so that the swing arm 4 is easier to rotate under the impact force of the obstacle.

[0064] For the driving wheel 5, the first auxiliary wheel 6, and the second auxiliary wheel 7, the driving wheel 5 may include a motor hub and a tire sleeved on the motor hub, and the first auxiliary wheel 6 and the second auxiliary wheel 7 may be universal wheels. Optionally, along the first direction X, the first auxiliary wheel 6, the driving wheel 5, and the second auxiliary wheel 7 are arranged in sequence. Optionally, the number of the driving wheel 5, the first auxiliary wheel 6, and the second auxiliary wheel 7 are all two.

[0065] In a second aspect, the embodiment of the present application provides a robot (not shown), the robot includes a chassis structure 100, and the chassis structure 100 is used to drive the robot to move. The robot can be a distribution robot, a food delivery robot, a transportation robot, etc. The robot has the structural features and beneficial effects of the chassis structure 100, which will not be repeated here.

[0066] The chassis structure 100 and the robot of the embodiment of the present application can reduce the impact force transmitted to the bottom plate 1, thereby reducing the bumps and vibrations of the chassis structure 100 and reducing noise; the rotation of the swing arm 4 is beneficial to the movement of the chassis structure 100 and enhances the driving performance of the chassis structure 100. The second wall 22 limits the rotation angle of the swing arm 4, improving the problem that the bottom plate 1 contacts an obstacle, causing damage to the bottom plate 1, or causing the chassis structure 100 to be stranded and unable to drive. The bearing 33 is arranged between the sleeve 32 and the connecting column 31, reducing the friction force of the sleeve 32 rotating around the connecting column 31; the first boss 321, the second boss 311 and the abutting ring 34 limit the position of the bearing 33, improving the problem of the bearing 33 being separated from the connecting column 31 and the sleeve 32; the retaining ring 35 can limit the position of the bearing 33 in advance, so as to facilitate the connection column 31 to pass through the sleeve 32 and the bearing 33, reducing the difficulty of assembly; the abutting sheet 36 is connected to the connecting column 31, which can not only install the connecting column 31 on the mounting seat 2, but also prevent the connecting column 31 from rotating in the connecting hole 211, improving the problem of the connecting column 31 rotating in the connecting hole 211 causing the connecting column 31 and the mounting seat 2 to wear. The swing arm 4 is in a "V" shape, which can not only lower the center of gravity of the chassis structure 100, but also make the swing arm 4 easier to rotate under the impact of obstacles.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis structure, characterized in that: include: Base plate; A mounting seat, disposed on the bottom plate, the mounting seat comprising a contact surface; A swing arm, comprising a first end portion and a second end portion connected to each other, a middle portion of the swing arm being rotatably connected to the mounting seat around a first axis, the swing arm being provided with two limiting protrusions, when the swing arm rotates to a first angle relative to the mounting seat, one of the limiting protrusions contacts the contact surface; when the swing arm rotates to a second angle relative to the base plate, the other limiting protrusion contacts the contact surface to limit the rotation angle of the swing arm; a driving wheel, disposed at the first end; The first auxiliary wheel is arranged at the second end portion.

2. The chassis structure according to claim 1, characterized in that: The first auxiliary wheel and the driving wheel are arranged in sequence along a first direction, the first direction is perpendicular to the first axis, and the first axis is located below a line connecting the first end and the second end.

3. The chassis structure according to claim 1, characterized in that: The chassis structure also includes a second auxiliary wheel arranged on the bottom plate.

4. The chassis structure according to claim 3, characterized in that: The mounting seat comprises two first walls, the two first walls are spaced apart, and the first walls are provided with a connecting hole; The chassis structure also includes a bearing assembly, which includes a connecting column and a sleeve. The two ends of the connecting column are respectively inserted into the connecting holes of the two first walls. The sleeve is sleeved on the connecting column, and the sleeve is connected to the middle part of the swing arm.

5. The chassis structure according to claim 4, characterized in that: The bearing assembly further comprises a plurality of bearings, wherein the bearings are arranged between the sleeve and the connecting column; Along the first axis, a plurality of the bearings are arranged at intervals.

6. The chassis structure according to claim 5, characterized in that: The inner wall of the sleeve is provided with a first boss, and along a direction parallel to the first axis, opposite sides of the first boss are respectively abutted against the inner rings of the two bearings; A second boss is provided at one end of the connecting column, and the bearing assembly also includes a supporting ring, which is sleeved on the other end of the connecting column. Along a direction parallel to the first axis, the second boss and the supporting ring respectively support the outer rings of the two bearings.

7. The chassis structure according to claim 4, characterized in that: A third boss is provided at one end of the connecting column, and the bearing assembly also includes a supporting plate, which is provided at the other end of the connecting column. Along a direction parallel to the first axis, the third boss and the supporting plate are respectively supported on the outer sides of the two first walls.

8. The chassis structure according to claim 4, characterized in that: The mounting seat includes a second wall, two ends of the second wall are respectively connected to the two first walls, and the second wall includes the contact surface.

9. The chassis structure according to claim 4, characterized in that: The mounting base comprises two third walls, one end of each of the two third walls is connected to the same first wall, and the bottom plate portion is located between the two third walls; The bottom plate is provided with a first mounting hole, the third wall is provided with a second mounting hole, and the second mounting hole is connected to the first mounting hole.

10. A robot, characterized in that: Comprising the chassis structure as claimed in any one of claims 1 to 9.

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