Universal wheel set, chassis assembly and mobile robot

Abstract

The utility model relates to a universal wheel set, a chassis assembly and a mobile robot. The universal wheel set comprises a supporting frame, a movable frame, a first wheel body and a first damping structure. The supporting frame is provided with a first connecting hole, the movable frame is provided with a connecting shaft, and the connecting shaft is rotatably arranged in the first connecting hole. The first damping structure is installed on the connecting shaft and used for generating rotation resistance to the connecting shaft. When the mobile robot encounters complex road conditions such as an undulating road surface and a stepped road surface, the connecting shaft rotates in the first connecting hole so as to drive the side, away from the connecting shaft, of the movable frame to rotate in the direction close to or away from the supporting frame. Due to the fact that the first damping structure is installed on the connecting shaft, the first damping structure generates rotation damping on the connecting shaft, namely, the first damping structure forms damping in the rotation direction of the connecting shaft, the vibration problem caused by too fast rotation of the movable frame can be solved, and the first wheel body is more stable in the movement process; and the walking stability of the mobile robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a universal wheel set, a chassis assembly and a mobile robot. Background Art

[0002] With the continuous development of science and technology, mobile robots are gradually used in public service scenarios, such as mobile robots providing delivery services in restaurants, office buildings, hotels, etc. Among them, the chassis assembly of mobile robots often uses universal wheels.

[0003] The universal wheel assembly includes a bracket, a wheel body mounted on the bracket, and a shock-absorbing elastic member. The shock-absorbing elastic member can reduce the vibration of the mobile robot. However, when the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the shock-absorbing elastic member will vibrate due to excessive contraction or extension, thereby affecting the stability of the mobile robot's walking. Utility Model Content

[0004] Based on this, it is necessary to provide a universal wheel set, a chassis assembly and a mobile robot, so that the first wheel body is more stable during movement and the walking stability of the mobile robot is improved.

[0005] In a first aspect, the present application provides a universal wheel set, comprising:

[0006] A support frame, wherein the support frame is provided with a first connecting hole;

[0007] A movable frame, wherein the movable frame and the support frame are arranged along a first direction, the movable frame is provided with a connecting shaft, the connecting shaft is rotatably arranged in the first connecting hole, and the connecting shaft can drive the movable frame to rotate with the axial direction of the connecting shaft as the rotation center, so that the side of the movable frame away from the connecting shaft can rotate in a direction close to or away from the support frame;

[0008] a first wheel body, the first wheel body being rotatably mounted on a side of the movable frame away from the connecting shaft; and

[0009] A first damping structure is installed on the connecting shaft, and is used to generate rotational resistance to the connecting shaft.

[0010] In one embodiment, the support frame includes a first connecting portion extending along the first direction, two first connecting portions are provided, the two first connecting portions are spaced apart along a direction intersecting the first direction, and the first connecting portion is provided with the first connecting hole; the movable frame includes a second connecting portion provided along the first direction, two second connecting portions are provided, the two second connecting portions are spaced apart along a direction intersecting the first direction, and the two second connecting portions are provided one-to-one with the two first connecting portions, the second connecting portion is provided with a second connecting hole, and the connecting shaft is provided in the first connecting hole and the second connecting hole.

[0011] In one embodiment, the first damping structure is arranged between the two first connecting parts or the two second connecting parts, and the first damping structure includes a first elastic damping member, a first friction member and a second friction member arranged in sequence along the axial direction of the connecting shaft, one end of the first elastic damping member is connected to the first connecting part or the second connecting part, and the other end of the first elastic damping member is connected to the first friction member, the first elastic damping member presses the first friction member against the second friction member, and the second friction member can rotate relative to the first friction member.

[0012] In one embodiment, the second friction member includes a first one-way bearing, the first one-way bearing includes a first rolling body, a first inner ring body and a first outer ring body sleeved on the outside of the first inner ring body, the first rolling body is rotatably arranged between the outer circumference of the first inner ring body and the inner circumference of the first outer ring body, the first inner ring body is sleeved on the connecting shaft, and the first elastic damping member presses the first friction member against the first outer ring body; when the side of the movable frame away from the connecting shaft rotates in a direction close to the support frame, the first inner ring body rotates with the connecting shaft, and the first outer ring body is fixed relative to the first friction member; when the side of the movable frame away from the connecting shaft rotates in a direction away from the support frame, the first inner ring body and the first outer ring body both rotate relative to the first friction member; or, the second friction member is fixedly connected to the connecting shaft; when the side of the movable frame away from the connecting shaft rotates in a direction close to or away from the support frame, the second friction member rotates relative to the first friction member.

[0013] In one embodiment, the support frame also includes a top, which is arranged on the side of the first connecting portion away from the movable frame; a limiting portion is provided on the side of the top facing the movable frame, and the limiting portion is used to limit the range of rotation of the movable frame away from the connecting axis toward the direction close to the support frame.

[0014] In one embodiment, the universal wheel assembly also includes a first vibration damping module, the first vibration damping module includes a vibration damping elastic member, one end of the vibration damping elastic member is connected to the support frame, the other end of the vibration damping elastic member is connected to the movable frame, and the telescopic direction of the vibration damping elastic member is the same as the first direction.

[0015] In a second aspect, the present application provides a chassis assembly, including a chassis body and the above-mentioned universal wheel set, wherein the universal wheel set is installed on the chassis body; the chassis assembly is also provided with a sensor for navigation and obstacle avoidance.

[0016] In one of the embodiments, the chassis body includes a top frame, a bottom frame and a support member, the top frame and the bottom frame are arranged opposite to each other along the first direction; one end of the support member is connected to the top frame, and the other end of the support member is connected to the bottom frame; the chassis assembly also includes a driving wheel group, the driving wheel group includes a movable arm and a second wheel body installed on the movable arm, one end of the movable arm is hinged to the top frame, and the other end of the movable arm is hinged to the bottom frame; the bottom frame is provided with a first mounting seat, the first mounting seat is provided with a first mounting hole, one end of the movable arm is provided with a second mounting hole, and mounting shafts are provided in the first mounting hole and the second mounting hole; the driving wheel group also includes a second damping structure, the second damping structure is provided on the mounting shaft, and the second damping structure is used to generate rotational resistance to the mounting shaft.

[0017] In one embodiment, the first mounting seat includes a first mounting portion, a second mounting portion and a third mounting portion which are arranged in sequence at intervals, and the first mounting portion, the second mounting portion and the third mounting portion are all provided with the first mounting hole; one end of the movable arm is arranged between the first mounting portion and the second mounting portion, and the second damping structure is arranged between the second mounting portion and the third mounting portion; the second damping structure includes a second elastic damping member, a fifth friction member and a sixth friction member which are arranged in sequence along the axial direction of the mounting shaft, one end of the second elastic damping member is connected to the third mounting portion, and the other end of the second elastic damping member is connected to the fifth friction member, the second elastic damping member presses the fifth friction member against the sixth friction member, and the sixth friction member can rotate relative to the fifth friction member.

[0018] In one embodiment, the sixth friction member includes a second one-way bearing, the second one-way bearing includes a second rolling body, a second inner ring body and a second outer ring body sleeved on the second inner ring body, the second rolling body is rotatably arranged between the outer circumference of the second inner ring body and the inner circumference of the second outer ring body, the second inner ring body is sleeved on the mounting shaft, and the second elastic damping member presses the fifth friction member against the second outer ring body; when the end of the movable arm away from the first mounting seat rotates in the direction approaching the top frame, the second inner ring body rotates with the mounting shaft, and the second outer ring body is fixed relative to the fifth friction member; when the end of the movable arm away from the first mounting seat rotates in the direction away from the top frame, the second inner ring body and the second outer ring body rotate synchronously with the mounting shaft; or, the sixth friction member is fixedly connected to the mounting shaft; when the end of the movable arm away from the first mounting seat rotates in the direction approaching or away from the top frame, the sixth friction member rotates relative to the fifth friction member.

[0019] In one embodiment, the top frame is provided with a second mounting seat; the chassis assembly also includes a second vibration damping module, which is vertically arranged between the top frame and the bottom frame, one end of the second vibration damping module is hinged to the second mounting seat, and the other end of the second vibration damping module is hinged to an end of the movable arm away from the first mounting seat.

[0020] In a third aspect, the present application provides a mobile robot, comprising a fuselage and the above-mentioned chassis assembly, wherein the fuselage is mounted on the chassis body.

[0021] When the universal wheel set, chassis assembly and mobile robot are used, the mobile robot walks on the ground and the first wheel body rolls on the ground. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the connecting shaft rotates in the first connecting hole. During the rotation of the connecting shaft, since the first damping structure is installed on the connecting shaft, if the first damping structure is a one-way damping structure, the first damping structure generates rotational damping on the connecting shaft when the connecting shaft rotates forward or reversely around its own axis. For example, when the connecting shaft drives the side of the movable frame away from the connecting shaft to rotate in the direction away from the support frame, the first damping structure generates rotational damping on the connecting shaft, so that the movable frame drives the first wheel body to slowly return, so that the mobile robot can achieve fast compression and slow return of vibration reduction when walking, so as to better achieve frequency reduction and vibration absorption of the fuselage. If the first damping structure is a bidirectional damping structure, the first damping structure will generate rotational damping on the connecting shaft when the connecting shaft rotates in the forward and reverse directions around its own axis. For example, when the connecting shaft drives the side of the movable frame away from the connecting shaft to rotate toward and away from the supporting frame, the first damping structure will generate rotational damping on the connecting shaft, which can reduce the vibration problem caused by the excessive rotation of the movable frame, making the first wheel body more stable during movement, thereby improving the stability of the mobile robot's walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of a mobile robot according to an embodiment of the present application.

[0023] Figure 2 This is a schematic structural diagram of a chassis assembly according to an embodiment of the present application.

[0024] Figure 3 for Figure 2 Exploded view of the chassis assembly shown.

[0025] Figure 4 This is a schematic structural diagram of a universal wheel assembly according to an embodiment of the present application.

[0026] Figure 5 for Figure 4 The structural exploded view of the universal wheel assembly is shown.

[0027] Figure 6 for Figure 4 A cross-sectional view of a universal wheel assembly with a one-way friction member is shown.

[0028] Figure 7 for Figure 4 A cross-sectional view of a universal wheel assembly with a bidirectional friction member is shown.

[0029] Figure 8 This is a structural exploded view of a driving wheel assembly according to an embodiment of the present application.

[0030] Description of Figure Numbers:

[0031] 10. fuselage; 20. chassis assembly; 21. chassis body; 211. top frame; 2111. first mounting seat; 21111. first mounting part; 21112. second mounting part; 21113. third mounting part; 212. bottom frame; 2121. second mounting seat; 213. support member; 22. universal wheel set; 221. support frame; 2211. first connecting part; 2212. top; 2213. limiter; 2214. third connecting part; 222. movable frame; 2221. second connecting part; 2222. fourth connecting part; 223. first wheel body; 224. connecting shaft; 225. first damping structure; 2251. first elastic damping member; 2252. first friction 1. a friction member; 22521. a receiving groove; 22522. a guide column; 2253. a second friction member; 226. a bearing seat; 227. a rotating shaft; 228. a first vibration reduction module; 2281. a vibration reduction elastic member; 2282. a first guide shaft; 2283. a second guide shaft; 2284. a first bushing; 2285. a second bushing; 2286. a first fixing member; 23. a driving wheel assembly; 231. a second wheel body; 232. a movable arm; 233. a second vibration reduction module; 234. a second damping structure; 2341. a second elastic damping member; 2342. a fifth friction member; 2343. a sixth friction member; 2344. a seventh friction member; 2345. an eighth friction member; 235. a mounting shaft. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0033] See also Figure 1 The mobile robot provided in one embodiment of the present application includes a body 10 and a chassis assembly 20. The body 10 is mounted on the chassis assembly 20, and the chassis assembly 20 can drive the body 10 to move to achieve the delivery function. A tray can be set on the body 10 to place items to be delivered.

[0034] In one embodiment, see Figure 2 and Figure 3 The chassis assembly 20 includes a chassis body 21 and a universal wheel set 22. The universal wheel set 22 is installed on the chassis body 21, and the chassis body 21 provides a mounting base for the universal wheel set 22. The universal wheel set 22 is a driven wheel of the chassis assembly 20 to play an auxiliary support role.

[0035] It should be noted that the number and location of the universal wheel sets 22 can be set according to actual needs.

[0036] Optionally, the chassis assembly 20 is also provided with a sensor for navigation and obstacle avoidance, which may be one or more of a laser radar, a depth camera, an RGB camera, an ultrasonic sensor, a line laser sensor, an infrared sensor, and the like.

[0037] Optionally, see Figure 2 and Figure 3 , there are two universal wheel sets 22, and the two universal wheel sets 22 are arranged along the walking direction of the mobile robot, that is, one universal wheel set 22 can be understood as a front universal wheel set, and the other universal wheel set 22 can be understood as a rear universal wheel set. Of course, in other embodiments, one, three or more universal wheel sets 22 can also be arranged, and this is not limited to this.

[0038] Optionally, the front universal wheel set is arranged as far forward as possible, and the rear universal wheel set is arranged as far back as possible, so as to increase the wheelbase, which is beneficial to improving the static stability of the mobile robot and ensuring that the mobile robot maintains a smaller pitch angle when traversing obstacles.

[0039] In one embodiment, see Figure 2 and Figure 3 The chassis body 21 includes a top frame 211, a bottom frame 212 and a support member 213. The top frame 211 and the bottom frame 212 are arranged opposite to each other along a first direction. Figure 5 , S is used to represent the first direction. The support member 213 is arranged between the top frame 211 and the bottom frame 212, one end of the support member 213 is connected to the top frame 211, and the other end of the support member 213 is connected to the bottom frame 212. During installation, the fuselage 10 is installed on the top frame 211, and the top frame 211 provides an installation foundation for the fuselage 10. The universal wheel group 22 is installed on the bottom frame 212, and the bottom frame 212 provides an installation foundation for the universal wheel group 22 and the like. The support member 213 plays the role of supporting the top frame 211 and the parts arranged on the top frame 211.

[0040] It should be noted that the number and location of the support members 213 can be set according to actual needs and are not limited here.

[0041] Optionally, see Figure 2 and Figure 3 , there are four support members 213, two of which are arranged side by side at the front end of the chassis body 21 along the walking direction of the mobile robot, and the other two support members 213 are arranged side by side at the rear end of the chassis body 21 along the walking direction of the mobile robot. Of course, in other embodiments, two, three, five or more support members 213 may also be provided.

[0042] In one embodiment, see Figure 4 and Figure 5 The universal wheel assembly 22 includes a support frame 221, a movable frame 222 and a first wheel body 223. The support frame 221 is rotatably mounted on the bottom frame 212, and the support frame 221 is provided with a first connection hole. The movable frame 222 is arranged below the support frame 221 along the first direction, and the movable frame 222 is provided with a second connection hole. A connecting shaft 224 is arranged in the first connection hole and the second connection hole, and the connecting shaft 224 can drive the movable frame 222 to rotate with the axial direction of the connecting shaft 224 as the rotation center, so that the side of the movable frame 222 away from the connecting shaft 224 can rotate in a direction close to or away from the support frame 221. The first wheel body 223 is rotatably mounted on the side of the movable frame 222 away from the connecting shaft 224.

[0043] It should be noted that the movable frame 222 is fixedly connected to the connecting shaft 224. There are many ways to fix the movable frame 222 to the connecting shaft 224. Optionally, the connecting shaft 224 is provided with a first flat portion, and the first flat portion is engaged with the second connecting hole.

[0044] Optionally, the first wheel body 223 is a rubber wheel with a deep groove ball bearing in the middle of the rubber wheel. Of course, in other embodiments, the first wheel body 223 can also be other structures, which is not limited to this.

[0045] Further, see Figure 5 , Figure 6 and Figure 7 The universal wheel assembly 22 further includes a first damping structure 225. The first damping structure 225 is mounted on the connecting shaft 224, and the first damping structure 225 is used to generate a rotation resistance to the connecting shaft 224. Optionally, the first damping structure 225 may be a unidirectional damping structure or a bidirectional damping structure.

[0046] When in use, the mobile robot walks on the ground, and the first wheel body 223 rolls on the ground. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the connecting shaft 224 rotates in the first connecting hole. During the rotation of the connecting shaft 224, since the first damping structure 225 is installed on the connecting shaft 224, if the first damping structure 225 is a one-way damping structure, the first damping structure 225 generates rotational damping on the connecting shaft 224 when the connecting shaft 224 rotates forward or reversely around its own axis. For example, when the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in the direction away from the support frame 221, the first damping structure 225 generates rotational damping on the connecting shaft 224, so that the movable frame 222 can rotate in a direction away from the supporting frame 221. The movable frame 222 drives the first wheel body 223 to slowly return, so that the mobile robot can achieve fast pressure and slow return for vibration reduction when walking, or, when the connecting shaft 224 drives the movable frame 222 to rotate away from the side of the connecting shaft 224 toward the support frame 221, the first damping structure 225 generates rotational damping on the connecting shaft 224, so that the movable frame 222 drives the first wheel body 223 to slowly lift up, so that the mobile robot can achieve slow pressure and fast return for vibration reduction when walking, so as to better achieve frequency reduction and vibration absorption of the fuselage 10. If the first damping structure 225 is a bidirectional damping structure, the first damping structure 225 generates rotational damping on the connecting shaft 224 when the connecting shaft 224 rotates in the forward and reverse directions around its own axis. For example, when the connecting shaft 224 drives the movable frame 222 to rotate away from the side of the connecting shaft 224 toward or away from the support frame 221, the first damping structure 225 generates rotational damping on the connecting shaft 224. In this way, the mobile robot can achieve slow compression and slow return for vibration reduction when walking, which can reduce the vibration problem caused by the excessive rotation of the movable frame 222, so that the first wheel body 223 is more stable during the movement, thereby improving the stability of the mobile robot's walking.

[0047] In one embodiment, see Figure 5 The support frame 221 includes a first connection portion 2211 extending along a first direction, and the first connection portion 2211 is provided with a first connection hole. Further, two first connection portions 2211 are provided, and the two first connection portions 2211 are spaced apart and arranged along a direction intersecting the first direction.

[0048] See also Figure 5, the movable frame 222 includes a second connecting portion 2221 arranged along the first direction, and the second connecting portion 2221 is provided with a second connecting hole. Further, the second connecting portion 2221 is provided with two, and the two second connecting portions 2221 are arranged at intervals along the direction intersecting the first direction, and the two first connecting portions 2211 are fitted with the two second connecting portions 2221 in a one-to-one correspondence. Among them, there are multiple relative positional relationships between the first connecting portion 2211 and the second connecting portion 2221. Optionally, the first connecting portion 2211 is arranged on the inner side of the second connecting portion 2221, or the first connecting portion 2211 is arranged on the outer side of the second connecting portion 2221. Further, the connecting shaft 224 is arranged in the first connecting hole and the second connecting hole, wherein the connecting shaft 224 is rotatably connected to the hole wall of the first connecting hole, and the connecting shaft 224 is fixedly connected to the hole wall of the second connecting hole. In this way, it is conducive to improving the firmness of the connection between the support frame 221 and the movable frame 222.

[0049] In one embodiment, see Figure 6 and Figure 7 , the first damping structure 225 is disposed between the two first connecting portions 2211. Figure 5 The first damping structure 225 includes a first elastic damping member 2251, a first friction member 2252 and a second friction member 2253 which are sequentially arranged along the axial direction of the connecting shaft 224. One end of the first elastic damping member 2251 is connected to the first connecting portion 2211, and the other end of the first elastic damping member 2251 is connected to the first friction member 2252. The first elastic damping member 2251 presses the first friction member 2252 against the second friction member 2253, and the second friction member 2253 can rotate relative to the first friction member 2252.

[0050] In other embodiments, the first damping structure 225 is disposed between the two second connection parts 2221. The first damping structure 225 includes a first elastic damping member 2251, a first friction member 2252, and a second friction member 2253 sequentially disposed along the axial direction of the connection shaft 224, one end of the first elastic damping member 2251 is connected to the second connection part 2221, the other end of the first elastic damping member 2251 is connected to the first friction member 2252, the first elastic damping member 2251 presses the first friction member 2252 against the second friction member 2253, and the second friction member 2253 can rotate relative to the first friction member 2252.

[0051] It should be noted that the magnitude of the pressure of the first friction member 2252 pressing against the second friction member 2253 can be changed by adjusting the elastic stiffness of the first elastic damping member 2251, so that the magnitude of the friction damping of the first damping structure 225 can be adjusted. Figure 5The first friction member 2252 is provided with a first through hole, and the first friction member 2252 is provided on the connecting shaft 224 through the first through hole. The first friction member 2252 can move along the force direction of the first elastic damping member 2251. The second friction member 2253 is provided with a second through hole, and the second friction member 2253 is provided on the connecting shaft 224 through the second through hole. When the second friction member 2253 is a one-way friction member, the second friction member 2253 is rotatably connected to the connecting shaft 224 in one direction; when the second friction member 2253 is a two-way friction member, the second friction member 2253 is fixedly connected to the connecting shaft 224 and the two can move synchronously.

[0052] Optionally, the first friction member 2252 and the second friction member 2253 are made of stainless steel, so that the first friction member 2252 and the second friction member 2253 have high mechanical strength and good wear resistance, which is conducive to increasing the service life.

[0053] It should be noted that the number of the first friction members 2252 can be set according to the requirements. Optionally, one first friction member 2252 can be provided, and one first friction member 2252 is provided on one side of the second friction member 2253. Optionally, more than two first friction members 2252 can also be provided, and all first friction members 2252 are respectively provided on both sides of the second friction member 2253. When the connecting shaft 224 rotates, the first friction members 2252 on both sides of the second friction member 2253 generate friction damping with the second friction member 2253.

[0054] When in use, the mobile robot walks on the ground, and the first wheel body 223 rolls on the ground. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in the direction close to or away from the support frame 221, thereby driving the second friction member 2253 to rotate relative to the first friction member 2252, and friction is generated between the first friction member 2252 and the second friction member 2253. At the same time, the first elastic damping member 2251 applies pressure to the second friction member 2253 through the first friction member 2252, so that the first elastic damping member 2251, the first friction member 2252 and the second friction member 2253 cooperate to generate rotation damping for the connecting shaft 224, that is, the first damping structure 225 forms damping in the direction of the connecting shaft 224 rotating around its own axial direction, which can reduce the vibration problem caused by the excessive rotation of the movable frame 222, so that the first wheel body 223 is more stable during the movement, thereby improving the walking stability of the mobile robot. In addition, the first elastic damping member 2251 is used in this embodiment to press the first friction member 2252 against the second friction member 2253. Even if the first friction member 2252 and the second friction member 2253 are worn, the first friction member 2252 can still maintain the state of being in contact with the second friction member 2253 under the action of the first elastic damping member 2251, thereby avoiding the problem of the damping becoming smaller or even failing after the first friction member 2252 and the second friction member 2253 are worn. Among them, the first elastic damping member 2251 can be a structure or material with elastic restoring force, such as a spring, a torsion spring, or an elastic rubber. The spring can have one stiffness or multiple stiffnesses, which can be selected according to the specific usage scenario.

[0055] In one embodiment, see Figure 5 , a receiving groove 22521 is provided on the side of the first friction member 2252 facing the first elastic damping member 2251, and a guide column 22522 is provided in the receiving groove 22521. One end of the first elastic damping member 2251 is arranged in the receiving groove 22521, and the first elastic damping member 2251 is sleeved on the guide column 22522. In this way, the groove wall of the receiving groove 22521 and the guide column 22522 can guide the first elastic damping member 2251, so that the first elastic damping member 2251 moves along the axial direction of the connecting shaft 224, improves the stability of the expansion and contraction of the first elastic damping member 2251, and makes the first wheel body 223 more stable during the movement.

[0056] It should be noted that the number of the accommodating grooves 22521 and the first elastic damping members 2251 can be set according to actual needs and is not specifically limited here.

[0057] Optionally, two accommodating grooves 22521 and two first elastic damping members 2251 are provided. The two accommodating grooves 22521 are arranged at intervals along the first direction, and the two first elastic damping members 2251 are arranged in the two accommodating grooves 22521 in a one-to-one correspondence. Of course, in other embodiments, one accommodating groove 22521 and one first elastic damping member 2251 may also be provided, or more than three.

[0058] In one embodiment, the second friction member 2253 is a one-way friction member. Figure 6 The second friction member 2253 includes a first one-way bearing, which includes a first rolling body, a first inner ring body, and a first outer ring body sleeved on the first inner ring body, and the first rolling body is rotatably arranged between the outer circumference of the first inner ring body and the inner circumference of the first outer ring body. The first inner ring body is sleeved on the connecting shaft 224, and the first elastic damping member 2251 presses the first friction member 2252 against the first outer ring body.

[0059] When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the connecting shaft 224 drives the movable frame 222 to rotate in the direction away from the side of the connecting shaft 224 toward the support frame 221. At this time, the first inner ring body rotates synchronously with the connecting shaft 224, and the first outer ring body is fixed relative to the first friction member 2252. In this way, no friction damping force is provided, and the movable frame 222 can be lifted up quickly. When the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in the direction away from the support frame 221, the first inner ring body and the first outer ring body rotate synchronously with the connecting shaft 224, that is, the first one-way bearing rotates relative to the first friction member 2252, and at the same time, the first elastic damping member 2251 applies pressure to the first one-way bearing through the first friction member 2252. At this time, the first elastic damping member 2251, the first friction member 2252 and the first one-way bearing cooperate to generate rotation damping for the connecting shaft 224, that is, when the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in the direction away from the support frame 221, the first damping structure 225 forms damping in the rotation direction of the connecting shaft 224, so that the movable frame 222 drives the first wheel body 223 to slowly return. In this way, since the second friction member 2253 is a one-way friction member, the mobile robot can achieve fast pressure and slow return of vibration reduction when walking, so as to better achieve frequency reduction and vibration absorption of the fuselage 10.

[0060] In one embodiment, the second friction member 2253 is a bidirectional friction member. Figure 7, the second friction member 2253 is fixedly connected to the connecting shaft 224. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in the direction close to or away from the support frame 221, thereby driving the second friction member 2253 to rotate relative to the first friction member 2252, and at the same time, the first elastic damping member 2251 applies pressure to the second friction member 2253 through the first friction member 2252, so that the first elastic damping member 2251, the first friction member 2252 and the second friction member 2253 cooperate to generate rotation damping for the connecting shaft 224, that is, the first damping structure 225 forms damping in the rotation direction of the connecting shaft 224, which can reduce the vibration problem caused by the excessive rotation of the movable frame 222, so that the first wheel body 223 is more stable during the movement, thereby improving the walking stability of the mobile robot.

[0061] In one embodiment, a third friction member is provided on the side of the second friction member 2253 facing the first friction member 2252, and the third friction member is connected to the second friction member 2253. Specifically, when the second friction member 2253 is a one-way friction member, the third friction member is connected to the first outer ring body of the second friction member 2253; when the second friction member 2253 is a two-way friction member, the third friction member is connected to the side of the second friction member 2253 facing the third friction member. The third friction member is arranged in close contact with the first friction member 2252, and the third friction member can rotate relative to the first friction member 2252. In this way, when the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in a direction close to or away from the support frame 221, the first friction member 2252 contacts and rubs with the third friction member, which can avoid the wear of the second friction member and extend the service life of the second friction member.

[0062] Specifically, the third friction member is provided with a third through hole, and the third friction member is arranged on the connecting shaft 224 through the third through hole.

[0063] Optionally, the third friction member is made of stainless steel, so that the third friction member has high mechanical strength and good wear resistance, which is beneficial to increasing the service life.

[0064] In one embodiment, a fourth friction member is provided on the side of the second friction member 2253 away from the first friction member 2252. When the second friction member 2253 is a one-way friction member, the fourth friction member is connected to the first outer ring body, the fourth friction member is arranged in close contact with the first connecting portion 2211, and the fourth friction member can rotate relative to the first connecting portion 2211. In this way, when the connecting shaft 224 drives the side of the movable frame 222 away from the connecting shaft 224 to rotate in a direction close to or away from the support frame 221, the fourth friction member contacts and rubs with the first connecting portion 2211, which can avoid the wear of the first one-way bearing and extend the service life of the first one-way bearing. When the second friction member 2253 is a two-way friction member, the fourth friction member is connected to the side of the second friction member 2253 facing the fourth friction member, the fourth friction member is arranged in close contact with the first connecting portion 2211, and the fourth friction member can rotate relative to the first connecting portion 2211. In this way, when the connecting shaft 224 drives the movable frame 222 to rotate away from the side of the connecting shaft 224 toward or away from the supporting frame 221, the fourth friction member contacts and rubs with the first connecting portion 2211, which can avoid wear of the second friction member 2253 and extend the service life of the second friction member 2253.

[0065] Optionally, the fourth friction member is made of stainless steel, so that the fourth friction member has high mechanical strength and good wear resistance, which is beneficial to increasing the service life.

[0066] In one embodiment, see Figure 5 The support frame 221 further includes a top portion 2212, which is disposed on the side of the first connection portion 2211 away from the movable frame 222. Further, a limiting portion 2213 is disposed on the side of the top portion 2212 facing the movable frame 222, and the limiting portion 2213 is used to limit the rotation amplitude of the side of the movable frame 222 away from the connecting shaft 224 toward the direction close to the support frame 221. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the side of the movable frame 222 away from the connecting shaft 224 rotates toward the direction close to the top portion 2212 of the support frame 221, and when the movable frame 222 contacts the limiting portion 2213, the movable frame 222 stops rotating.

[0067] Optionally, the limiting portion 2213 is a flexible pad, such as a silicone pad, a rubber pad, etc. In this way, the movable frame 222 is in flexible contact with the flexible pad, which can reduce the noise generated by hard contact, and the flexible pad can play a buffering role.

[0068] It should be noted that the number of the limiting parts 2213 can be set according to actual needs and is not specifically limited here.

[0069] Optionally, two limiting portions 2213 are provided, and the two limiting portions 2213 are spaced apart along the axial direction of the connecting shaft 224 .

[0070] In one embodiment, a first limiting portion is provided at one end of the first connection portion 2211 away from the top portion 2212, and a second limiting portion is provided at one end of the movable frame 222 close to the first connection portion 2211, and the first limiting portion cooperates with the second limiting portion to limit the rotation amplitude of the movable frame 222 away from the connecting shaft 224 in the direction away from the support frame 221. The first limiting portion and the second limiting portion may be part of the support frame 221 and the movable frame 222, or may be provided separately. At least one of the first limiting portion and the second limiting portion may be provided with a flexible pad to reduce the noise generated by hard contact, and the flexible pad may play a buffering role.

[0071] In one embodiment, see Figure 5 , and the top 2212 is provided with an axis hole. The universal wheel assembly 22 further includes a bearing seat 226 and a rotating shaft 227. The bearing seat 226 is provided on the side of the top 2212 away from the movable frame 222, and the rotating shaft 227 is provided in the axis hole of the bearing seat 226 and the axis hole of the top 2212. During installation, the bearing seat 226 is installed on the bottom frame 212, and the support frame 221 can rotate relative to the bearing seat 226 and the bottom frame 212 with the axial direction of the rotating shaft 227 as the rotation center, so that the first wheel body 223 can rotate 360 ​​degrees.

[0072] Optionally, the bearing seat 226 is a deep groove ball bearing seat. Of course, in other embodiments, the bearing seat 226 can also be other types, not limited to this.

[0073] In one embodiment, see Figure 4 and Figure 5 , the universal wheel assembly 22 also includes a first vibration reduction module 228. The first vibration reduction module 228 includes a vibration reduction elastic member 2281, one end of the vibration reduction elastic member 2281 is connected to the support frame 221, the other end of the vibration reduction elastic member 2281 is connected to the movable frame 222, and the telescopic direction of the vibration reduction elastic member 2281 is the same as the first direction. By setting the vibration reduction elastic member 2281, the vibration reduction elastic member 2281 can support the support frame 221 and the movable frame 222. When the first wheel body 223 touches the ground, the vibration reduction elastic member 2281 shrinks to a balanced position. In addition, the vibration reduction elastic member 2281 can also play a role in reducing frequency and absorbing vibration, which is beneficial to improving the walking stability of the mobile robot.

[0074] The vibration-damping elastic member 2281 may be at least one of a spring, a gas spring, and a hydraulic spring. The stiffness of the spring may be changed according to actual needs and usage scenarios. The stiffness of the spring may be one type or a variable stiffness spring with multiple stiffnesses. The vibration-damping elastic member 2281 may slow down the compression speed of the movable frame 222 approaching the support frame 221, and may provide a restoring force for the movable frame 222 to return to a balanced position.

[0075] It should be noted that the elastic stiffness of the vibration-damping elastic member 2281 of the first vibration-damping module 228 and the friction damping of the first damping structure can be obtained by simulation calculation according to the weight of the mobile robot body 10, the size of the bump and slope, and the ground pressure of the first wheel body 223. The elastic stiffness and friction damping force obtained by simulation calculation are tested in actual operation scenarios, and the stiffness and friction damping force are adjusted according to the test results to achieve better shock absorption and frequency reduction effects.

[0076] Further, see Figure 4 and Figure 5 , the first vibration reduction module 228 is arranged on the side of the support frame 221 and the movable frame 222 along the first direction. Specifically, the support frame 221 also includes a third connection part 2214, and the third connection part 2214 is arranged on one side of the first connection part 2211. The movable frame 222 also includes a fourth connection part 2222, and the fourth connection part 2222 is arranged on one side of the second connection part 2221, and the third connection part 2214 and the fourth connection part 2222 are arranged along the first direction and correspond to each other. One end of the vibration reduction elastic member 2281 is connected to the third connection part 2214, and the other end of the vibration reduction elastic member 2281 is connected to the fourth connection part 2222. In this way, the first vibration reduction module 228 can better support the movable frame 222 and the support frame 221, and at the same time, when the movable frame 222 rotates relative to the support frame 221, it can be more stable, thereby improving the stability of the universal wheel group 22, and thus improving the stability of the walking of the mobile robot.

[0077] Specifically, see Figure 5 The third connection portion 2214 is provided with a third connection hole, and the fourth connection portion 2222 is provided with a fourth connection hole. Figure 4 and Figure 5The first vibration reduction module 228 further includes a first guide shaft 2282 and a second guide shaft 2283. The first guide shaft 2282 and the second guide shaft 2283 are arranged along the first direction, the first guide shaft 2282 and the second guide shaft 2283 are nested, and the second guide shaft 2283 can move relative to the first guide shaft 2282 along the axial direction of the first guide shaft 2282. A first sleeve 2284 is provided at one end of the first guide shaft 2282 away from the second guide shaft 2283, and a second sleeve 2285 is provided at one end of the second guide shaft 2283 away from the first guide shaft 2282. A vibration reduction elastic member 2281 is sleeved on the first guide shaft 2282 and the second guide shaft 2283, and one end of the vibration reduction elastic member 2281 is connected to the first sleeve 2284, and the other end of the vibration reduction elastic member 2281 is connected to the second sleeve 2285. The first sleeve 2284 is provided with a first fixing hole, the first fixing hole is opposite to and communicated with the third connecting hole, and a first fixing member 2286 is provided in the first fixing hole and the third connecting hole, so that the first sleeve 2284 can rotate relative to the support frame 221. The second sleeve 2285 is provided with a second fixing hole, the second fixing hole is opposite to and communicated with the fourth connecting hole, and a second fixing member is provided in the second fixing hole and the fourth connecting hole, so that the second sleeve 2285 can rotate relative to the movable frame 222.

[0078] Optionally, the first fixing member 2286 and the second fixing member are pins. Of course, in other embodiments, the first fixing member 2286 and the second fixing member can also be other components, which is not limited to this.

[0079] During the walking process of the mobile robot, the first guide shaft 2282 and the second guide shaft 2283 can be extended and retracted along with the extension and retraction of the vibration-damping elastic member 2281. The first guide shaft 2282 and the second guide shaft 2283 guide the extension and retraction of the vibration-damping elastic member 2281, so that the vibration-damping elastic member 2281 can be linearly extended and retracted, so that the vibration-damping elastic member 2281 can better support the movable frame 222 and the support frame 221, so that the movable frame 222 and the support frame 221 are balanced in force during the extension and retraction process. Since the first guide shaft 2282 and the second guide shaft 2283 are nested, during the movement of the second guide shaft 2283 along the first direction, the first guide shaft 2282 can limit the moving distance of the second guide shaft 2283, thereby allowing the vibration-damping elastic member 2281 to be extended and retracted within a preset length range, thereby being able to better reduce frequency and absorb vibration. In addition, the first fixing member 2286 and the second fixing member respectively connect the first sleeve 2284 and the second sleeve 2285 rotatably to the two sides of the support frame 221, so that the first sleeve 2284 and the second sleeve 2285 can adaptively rotate during the extension and retraction of the vibration-damping elastic member 2281, ensuring the linear extension and retraction of the vibration-damping elastic member 2281.

[0080] In this embodiment, refer to Figure 5There are two third connection parts 2214, and the two third connection parts 2214 are respectively arranged at two sides of the top 2212 along the first direction. There are two fourth connection parts 2222, and the two fourth connection parts 2222 correspond to the two third connection parts 2214 one by one. Figure 4 and Figure 5 There are two first vibration reduction modules 228, which are respectively arranged on both sides of the support frame 221 and the movable frame 222 along the first direction. The symmetrical arrangement of the two first vibration reduction modules 228 can ensure that the support frame 221 and the movable frame 222 are subjected to balanced forces during the rotation process, further improving the stability of the universal wheel assembly 22.

[0081] In one embodiment, see Figure 2 and Figure 3 The chassis assembly 20 further includes a driving wheel set 23. The driving wheel set 23 is mounted on the chassis body 21, and the driving wheel set 23 is used to provide power. By arranging the driving wheel set 23 on the chassis body 21, the driving wheel set 23 serves as a driving wheel to provide the power required for the chassis assembly 20 to move.

[0082] In this embodiment, there are two driving wheel sets 23, which are respectively arranged on both sides of the chassis 212 along the walking direction of the mobile robot. In this way, the two driving wheel sets 23 on both sides of the walking direction of the mobile robot can balance the chassis body 21 and ensure the stability of the mobile robot.

[0083] Further, see Figure 3 and Figure 8 The driving wheel group 23 includes a movable arm 232 and a second wheel body 231. One end of the movable arm 232 is hinged to the top frame 211, and the other end of the movable arm 232 is hinged to the bottom frame 212. The second wheel body 231 is a hub motor, and the hub motor is installed on the movable arm 232.

[0084] In one embodiment, see Figure 3 and Figure 8 The bottom frame 212 is provided with a first mounting seat 2111, and the first mounting seat 2111 is provided with a first mounting hole. One end of the movable arm 232 is provided with a second mounting hole, and the first mounting hole and the second mounting hole are provided with a mounting shaft 235, and the movable arm 232 and the first mounting seat 2111 are hinged by the mounting shaft 235.

[0085] It is understandable that the movable arm 232 is fixedly connected to the mounting shaft 235. There are many ways to fix the movable arm 232 to the mounting shaft 235. Optionally, the mounting shaft 235 is provided with a second flat portion, and the second flat portion is engaged with the second mounting hole.

[0086] Further, see Figure 3 and Figure 8 , the driving wheel group 23 also includes a second damping structure 234. The second damping structure 234 is arranged on the mounting shaft 235, and the second damping structure 234 is used to generate rotational resistance to the mounting shaft 235. When in use, the mobile robot walks on the ground, and the second wheel body 231 rolls on the ground. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the end of the movable arm 232 that is away from the first mounting seat 2111 rotates in a direction close to or away from the top frame 211. During the rotation of the mounting shaft 235, since the second damping structure 234 is installed on the mounting shaft 235, the second damping structure 234 generates rotational damping for the mounting shaft 235, that is, the second damping structure 234 forms damping in the rotation direction of the mounting shaft 235, which can reduce the vibration problem caused by the excessive rotation of the movable arm 232, so that the second wheel body 231 is more stable during the movement, thereby improving the stability of the walking of the mobile robot.

[0087] In one embodiment, see Figure 8 The first mounting seat 2111 includes a first mounting portion 21111, a second mounting portion 21112 and a third mounting portion 21113 which are arranged in sequence. One end of the movable arm 232 is arranged between the first mounting portion 21111 and the second mounting portion 21112, and the second damping structure 234 is arranged between the second mounting portion 21112 and the third mounting portion 21113. The second damping structure 234 includes a second elastic damping member 2341, a fifth friction member 2342 and a sixth friction member 2343 which are arranged in sequence along the axial direction of the mounting shaft 235. One end of the second elastic damping member 2341 is connected to the third mounting portion 21113, and the other end of the second elastic damping member 2341 is connected to the fifth friction member 2342. The second elastic damping member 2341 presses the fifth friction member 2342 against the sixth friction member 2343, and the sixth friction member 2343 can rotate relative to the fifth friction member 2342. In addition, in this embodiment, the second elastic damping member 2341 is used to press the fifth friction member 2342 against the sixth friction member 2343. Even if the fifth friction member 2342 and the sixth friction member 2343 are worn, the fifth friction member 2342 can still maintain the state of being in contact with the sixth friction member 2343 under the action of the second elastic damping member 2341, thereby avoiding the problem of reduced damping or even failure after the fifth friction member 2342 and the sixth friction member 2343 are worn. The structure and material of the second elastic damping member 2341 are similar to those of the first elastic damping member 2251, and will not be repeated here.

[0088] Specifically, the fifth friction member 2342 is provided with a fifth through-hole, and the fifth friction member 2342 is provided on the mounting shaft 235 through the fifth through-hole. The fifth friction member 2342 can move along the force direction of the second elastic damping member 2341. The sixth friction member 2343 is provided with a sixth through-hole, and the sixth friction member 2343 is provided on the mounting shaft 235 through the sixth through-hole. When the sixth friction member 2343 is a one-way friction member, the sixth friction member 2343 is rotatably connected to the mounting shaft 235 in one direction. When the sixth friction member 2343 is a two-way friction member, the sixth friction member 2343 is fixedly connected to the mounting shaft 235 and the two can move synchronously.

[0089] Optionally, the fifth friction member 2342 and the sixth friction member 2343 are made of stainless steel, so that the fifth friction member 2342 and the sixth friction member 2343 have high mechanical strength and good wear resistance, which is conducive to increasing the service life.

[0090] When in use, the mobile robot walks on the ground, and the second wheel body 231 rolls on the ground. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the end of the movable arm 232 away from the first mounting seat 2111 rotates toward or away from the top frame 211, thereby driving the sixth friction member 2343 to rotate relative to the fifth friction member 2342, and at the same time, the second elastic damping member 2341 applies pressure to the sixth friction member 2343 through the fifth friction member 2342, so that the second elastic damping member 2341, the fifth friction member 2342 and the sixth friction member 2343 cooperate to generate rotation damping on the mounting shaft 235, that is, the second damping structure 234 forms damping in the rotation direction of the mounting shaft 235, which can reduce the vibration problem caused by the excessive rotation of the movable arm 232, so that the second wheel body 231 is more stable during the movement, thereby improving the stability of the mobile robot.

[0091] It should be noted that the number of the second elastic damping members 2341 can be set according to actual needs and is not specifically limited here. Figure 8 , there are two second elastic damping members 2341. Of course, in other embodiments, there may be one, three or more second elastic damping members 2341.

[0092] In one embodiment, the sixth friction member 2343 is a one-way friction member. Specifically, the sixth friction member 2343 includes a second one-way bearing, the second one-way bearing includes a second rolling body, a second inner ring body, and a second outer ring body sleeved on the second inner ring body, and the second rolling body is rotatably arranged between the outer circumference of the second inner ring body and the inner circumference of the second outer ring body. The second inner ring body is sleeved on the mounting shaft 235, and the second elastic damping member 2341 presses the fifth friction member 2342 against the second outer ring body.

[0093] When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the end of the movable arm 232 away from the first mounting seat 2111 rotates toward the direction close to the top frame 211, at which time the second inner ring body rotates synchronously with the mounting shaft 235, and the second outer ring body is fixed relative to the fifth friction member 2342, so that no friction damping force is provided, so that the second wheel body 231 can be quickly lifted. When the end of the movable arm 232 away from the first mounting seat 2111 rotates toward the direction away from the top frame 211, the second inner ring body and the second outer ring body rotate synchronously with the mounting shaft 235, that is, the second one-way bearing rotates relative to the fifth friction member 2342, and at the same time, the second elastic damping member 2341 applies pressure to the second one-way bearing through the fifth friction member 2342, so that the second elastic damping member 2341, the fifth friction member 2342 and the second one-way bearing cooperate to generate rotation damping for the mounting shaft 235, that is, the second damping structure 234 forms damping in the rotation direction of the mounting shaft 235, so that the second wheel body 231 is slowly pressed down. In this way, since the sixth friction member 2343 is a unidirectional friction member, the mobile robot can achieve fast compression and slow return of vibration reduction when walking, so as to better achieve frequency reduction and vibration absorption of the fuselage 10. In one embodiment, the sixth friction member 2343 is a bidirectional friction member. Specifically, the sixth friction member 2343 is fixedly connected to the mounting shaft 235. When the mobile robot encounters complex road conditions such as undulating roads and stepped roads, the movable arm 232 rotates away from the end of the first mounting seat 2111 toward or away from the top frame 211, thereby driving the sixth friction member 2343 to rotate relative to the fifth friction member 2342. At the same time, the second elastic damping member 2341 applies pressure to the sixth friction member 2343 through the fifth friction member 2342. In this way, the second elastic damping member 2341, the fifth friction member 2342 and the sixth friction member 2343 cooperate to generate rotational damping on the mounting shaft 235, that is, the second damping structure 234 forms damping in the rotation direction of the mounting shaft 235, which can reduce the vibration problem caused by the excessive rotation of the movable arm 232, so that the second wheel body 231 is more stable during the movement, thereby improving the stability of the mobile robot's walking.

[0094] In one embodiment, referring to Figure 8, a seventh friction member 2344 is provided on the side of the sixth friction member 2343 facing the fifth friction member 2342, and the seventh friction member 2344 is connected to the sixth friction member 2343. Specifically, when the sixth friction member 2343 is a one-way friction member, the seventh friction member 2344 is connected to the second outer ring body; when the sixth friction member 2343 is a two-way friction member, the seventh friction member 2344 is connected to the side of the sixth friction member 2343 facing the seventh friction member 2344. The seventh friction member 2344 is arranged to fit the fifth friction member 2342, and the seventh friction member 2344 can rotate relative to the fifth friction member 2342. In this way, when the end of the movable arm 232 away from the first mounting seat 2111 rotates toward or away from the top frame 211, the fifth friction member 2342 and the seventh friction member 2344 are in contact and friction, which can avoid the wear of the sixth friction member 2343 and extend the service life of the sixth friction member 2343.

[0095] Specifically, the seventh friction member 2344 is provided with a seventh through-hole, and the seventh friction member 2344 is provided on the mounting shaft 235 through the seventh through-hole. Optionally, the seventh friction member 2344 is made of stainless steel, so that the seventh friction member 2344 has high mechanical strength and good wear resistance, which is conducive to increasing the service life.

[0096] In one embodiment, see Figure 8 , an eighth friction member 2345 is provided on the side of the sixth friction member 2343 away from the fifth friction member 2342, and the eighth friction member 2345 is connected to the sixth friction member 2343. Specifically, when the sixth friction member 2343 is a one-way friction member, the eighth friction member 2345 is connected to the second outer ring body of the sixth friction member 2343; when the sixth friction member 2343 is a two-way friction member, the eighth friction member 2345 is connected to the side of the sixth friction member 2343 away from the fifth friction member 2342. The eighth friction member 2345 is arranged in close contact with the second mounting portion 21112, and the eighth friction member 2345 can rotate relative to the second mounting portion 21112. In this way, when the end of the movable arm 232 away from the first mounting seat 2111 rotates toward or away from the top frame 211, friction will not only be generated between the fifth friction member 2342 and the seventh friction member 2344, but also between the eighth friction member 2345 and the second mounting portion 21112, which is conducive to improving the rotation damping of the second damping structure 234 on the mounting shaft 235, further reducing the vibration problem caused by the excessive rotation of the movable arm 232, and making the second wheel body 231 more stable during the movement. In addition, it can also prevent the sixth friction member 2343 from being worn and extend the service life of the sixth friction member 2343.

[0097] Optionally, the eighth friction member 2345 is made of stainless steel, so that the eighth friction member 2345 has high mechanical strength and good wear resistance, which is beneficial to increasing the service life.

[0098] In one embodiment, see Figure 3 and Figure 8 , the top frame 211 is provided with a second mounting seat 2121. The chassis assembly 20 further includes a second vibration damping module 233, which is vertically arranged between the top frame 211 and the bottom frame 212, one end of the second vibration damping module 233 is hinged to the second mounting seat 2121, and the other end of the second vibration damping module 233 is hinged to an end of the movable arm 232 away from the first mounting seat 2111. It should be noted that the second vibration damping module 233 has the same structure as the first vibration damping module 228, which will not be described in detail here.

[0099] It should be noted that the stiffness of the vibration-damping elastic member of the second vibration-damping module 233 and the friction damping of the second damping structure 234 can be obtained by simulation and calculation according to the weight of the mobile robot body 10, the size of the ridge and slope, and the ground pressure of the second wheel body 231. Similar to the principle of the universal wheel group 22, refer to the above text and will not be repeated here.

[0100] When the mobile robot encounters complex road conditions such as undulating roads or stepped roads, the movable arm 232 rotates at one end away from the first mounting seat 2111 toward or away from the top frame 211, thereby driving the vibration-damping elastic member 2281 of the second vibration-damping module 233 to retract and contract to reduce the frequency and absorb vibration, thereby improving the walking stability of the mobile robot.

[0101] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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.

[0102] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0103] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0104] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0105] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0106] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A universal wheel set, characterized in that: include: A support frame, wherein the support frame is provided with a first connecting hole; A movable frame, wherein the movable frame and the support frame are arranged along a first direction, the movable frame is provided with a connecting shaft, the connecting shaft is rotatably arranged in the first connecting hole, and the connecting shaft can drive the movable frame to rotate with the axial direction of the connecting shaft as the rotation center, so that the side of the movable frame away from the connecting shaft can rotate in a direction close to or away from the support frame; a first wheel body, the first wheel body being rotatably mounted on a side of the movable frame away from the connecting shaft; as well as, A first damping structure is installed on the connecting shaft, and is used to generate rotational resistance to the connecting shaft.

2. The universal wheel assembly according to claim 1, characterized in that: The support frame includes a first connection portion extending along the first direction, two first connection portions are provided, the two first connection portions are spaced apart along a direction intersecting the first direction, and the first connection portion is provided with the first connection hole; The movable frame includes a second connecting part arranged along the first direction, two second connecting parts are provided, the two second connecting parts are arranged at intervals along a direction intersecting the first direction, and the two second connecting parts are arranged one-to-one corresponding to the two first connecting parts, the second connecting part is provided with a second connecting hole, and the connecting shaft is arranged in the first connecting hole and the second connecting hole.

3. The universal wheel assembly according to claim 2, characterized in that: The first damping structure is arranged between the two first connecting parts or the two second connecting parts, and the first damping structure includes a first elastic damping member, a first friction member and a second friction member which are arranged in sequence along the axial direction of the connecting shaft, one end of the first elastic damping member is connected to the first connecting part or the second connecting part, and the other end of the first elastic damping member is connected to the first friction member, the first elastic damping member presses the first friction member against the second friction member, and the second friction member can rotate relative to the first friction member.

4. The universal wheel assembly according to claim 3, characterized in that: The second friction member includes a first one-way bearing, the first one-way bearing includes a first rolling body, a first inner ring body and a first outer ring body sleeved on the outside of the first inner ring body, the first rolling body is rotatably arranged between the outer circumference of the first inner ring body and the inner circumference of the first outer ring body, the first inner ring body is sleeved on the connecting shaft, and the first elastic damping member presses the first friction member against the first outer ring body; when the side of the movable frame away from the connecting shaft rotates toward the direction approaching the supporting frame, the first inner ring body rotates with the connecting shaft, and the first outer ring body is fixed relative to the first friction member; when the side of the movable frame away from the connecting shaft rotates toward the direction away from the supporting frame, the first inner ring body and the first outer ring body both rotate relative to the first friction member; Alternatively, the second friction member is fixedly connected to the connecting shaft; when the movable frame rotates away from the connecting shaft toward or away from the supporting frame, the second friction member rotates relative to the first friction member.

5. The universal wheel assembly according to claim 2, characterized in that: The support frame further includes a top portion, which is disposed on a side of the first connecting portion away from the movable frame; A limiting portion is provided on a side of the top portion facing the movable frame, and the limiting portion is used to limit the range of rotation of the movable frame away from the connecting shaft toward the direction close to the supporting frame.

6. The universal wheel assembly according to any one of claims 1 to 5, characterized in that: The universal wheel assembly also includes a first vibration-damping module, which includes a vibration-damping elastic member, one end of which is connected to the support frame, and the other end of which is connected to the movable frame, and the telescopic direction of the vibration-damping elastic member is the same as the first direction.

7. A chassis assembly, characterized in that: It comprises a chassis body and a universal wheel assembly as described in any one of claims 1 to 6, wherein the universal wheel assembly is mounted on the chassis body; and a sensor for navigation and obstacle avoidance is also arranged on the chassis assembly.

8. The chassis assembly according to claim 7, characterized in that: The chassis body comprises a top frame, a bottom frame and a support member, wherein the top frame and the bottom frame are arranged opposite to each other along the first direction; one end of the support member is connected to the top frame, and the other end of the support member is connected to the bottom frame; The chassis assembly further includes a driving wheel set, the driving wheel set including a movable arm and a second wheel body mounted on the movable arm, one end of the movable arm is hinged to the top frame, and the other end of the movable arm is hinged to the bottom frame; The base frame is provided with a first mounting seat, the first mounting seat is provided with a first mounting hole, one end of the movable arm is provided with a second mounting hole, and a mounting shaft is provided in the first mounting hole and the second mounting hole; The driving wheel assembly further includes a second damping structure, which is disposed on the mounting shaft and is used to generate rotational resistance to the mounting shaft.

9. The chassis assembly according to claim 8, characterized in that: The first mounting seat comprises a first mounting portion, a second mounting portion and a third mounting portion which are arranged in sequence and spaced apart from each other, and the first mounting portion, the second mounting portion and the third mounting portion are all provided with the first mounting hole; One end of the movable arm is arranged between the first mounting portion and the second mounting portion, and the second damping structure is arranged between the second mounting portion and the third mounting portion; the second damping structure includes a second elastic damping member, a fifth friction member and a sixth friction member which are arranged in sequence along the axial direction of the mounting shaft, one end of the second elastic damping member is connected to the third mounting portion, and the other end of the second elastic damping member is connected to the fifth friction member, the second elastic damping member presses the fifth friction member against the sixth friction member, and the sixth friction member can rotate relative to the fifth friction member.

10. The chassis assembly according to claim 9, characterized in that: The sixth friction member includes a second one-way bearing, the second one-way bearing includes a second rolling body, a second inner ring body and a second outer ring body sleeved on the second inner ring body, the second rolling body is rotatably arranged between the outer circumferential surface of the second inner ring body and the inner circumferential surface of the second outer ring body, the second inner ring body is sleeved on the mounting shaft, and the second elastic damping member presses the fifth friction member against the second outer ring body; when the end of the movable arm away from the first mounting seat rotates in a direction close to the top frame, the second inner ring body rotates with the mounting shaft, and the second outer ring body is fixed relative to the fifth friction member; when the end of the movable arm away from the first mounting seat rotates in a direction away from the top frame, the second inner ring body and the second outer ring body rotate synchronously with the mounting shaft; Alternatively, the sixth friction member is fixedly connected to the mounting shaft; when the end of the movable arm away from the first mounting seat rotates toward or away from the top frame, the sixth friction member rotates relative to the fifth friction member.

11. The chassis assembly according to claim 8, characterized in that: The top frame is provided with a second mounting seat; the chassis assembly also includes a second vibration damping module, which is vertically arranged between the top frame and the bottom frame, one end of the second vibration damping module is hinged to the second mounting seat, and the other end of the second vibration damping module is hinged to an end of the movable arm away from the first mounting seat.

12. A mobile robot, characterized in that: It comprises a fuselage and a chassis assembly as claimed in any one of claims 7 to 11, wherein the fuselage is mounted on the chassis body.

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