Robot chassis and robot with same

Abstract

The utility model discloses a robot chassis which comprises a frame, a front wheel driving assembly and a rear wheel driving assembly. According to the robot chassis, the two front wheel driving assemblies and the two rear wheel driving assemblies are arranged on the front portion and the rear portion of the two sides of the frame respectively, and the two rear wheel driving assemblies can be switched between the universal wheels and the driving wheels. The robot chassis is matched with the robot chassis to complete in-situ steering through differential speed between the two front wheel driving assemblies and rotation of the rear wheel driving assemblies in a universal wheel mode. According to the robot chassis, on the premise that the pivot steering function is guaranteed, a tedious steering mechanism and a tedious steering motor of a traditional chassis are completely omitted, and the manufacturing cost and the structural complexity are greatly reduced; meanwhile, during in-situ steering, compared with a differential steering chassis, tires and the ground can be well protected, and the abrasion degree of the tires and the ground is greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot manufacturing, and more specifically, to a robot chassis and a robot. Background Art

[0002] With the continuous progress of science and technology, the application of robots has become more and more extensive. The requirements for robots are also getting higher and higher, especially for the steering function of robots in complex environments. There are currently various solutions for robots to achieve the steering function.

[0003] Specifically:

[0004] 1. Four drive wheels plus four steering motors constitute a four-wheel drive and four-steering chassis to achieve an omnidirectional movement function.

[0005] 2. Four-wheel drive, differential steering.

[0006] 3. Three-wheel or four-wheel full drive, combined with omnidirectional wheels or Mecanum wheels to achieve an omnidirectional movement function.

[0007] The above steering structures have the following disadvantages:

[0008] 1. The steering mechanism and steering motor lead to an increase in cost and a complex and bulky chassis structure;

[0009] 2. Four-wheel differential steering causes serious tire wear during in-situ steering and may damage the ground;

[0010] 3. Omnidirectional wheels or Mecanum wheels have strict requirements for the road surface environment, and are prone to wear or being stuck by gravel when used outdoors. Summary of the Utility Model

[0011] An object of the utility model is to provide a new technical solution for a robot chassis to solve the problems of complex chassis steering mechanism, high cost, and easy wear of tires and the ground during in-situ steering existing in the prior art when realizing robot steering.

[0012] The present utility model provides a robot chassis, comprising: a frame, a front-wheel drive assembly, a rear-wheel drive assembly, and a control device; the front-wheel drive assembly is connected to the frame, the front-wheel drive assembly includes front-wheel hub motors, each of the front-wheel hub motors forms a front drive wheel and is disposed at opposite ends of the frame, and when the robot chassis steers, a differential is formed between the two front-wheel hub motors; the rear-wheel drive assembly is connected to the frame, the rear-wheel drive assembly and the front-wheel drive assembly are spaced apart in the length direction of the frame, the rear-wheel drive assembly includes rear-wheel hub motors, each of the rear-wheel hub motors forms a rear rotating wheel and is disposed at opposite ends of the frame, and the rear-wheel drive assembly can freely rotate relative to the frame along a vertical axis; the two rear-wheel hub motors can be switched between drive wheels and universal wheels.

[0013] Furthermore, the front-wheel drive assembly further includes: a buffer device and a shock-absorbing device, the buffer device connects the front-wheel hub motor and the frame, the upper end of the shock-absorbing device is connected to the frame, and the lower end of the shock-absorbing device is connected to the buffer device.

[0014] Furthermore, the buffer device includes: a front-wheel support frame, an upper fork arm, a lower fork arm, and a buffer sleeve, the front-wheel support frame is connected to the shaft of the front-wheel hub motor, the upper fork arm and the lower fork arm are arranged in parallel, one end of the upper fork arm and the lower fork arm are respectively hingedly connected to the front-wheel support frame, the other end is respectively pressed into the buffer sleeve and is hingedly connected to the frame, and the lower end of the shock-absorbing device is hingedly connected to the lower fork arm.

[0015] Furthermore, the rear-wheel drive assembly further includes: a rear-wheel support frame and a slewing bearing, one end of the rear-wheel support frame is connected to the shaft of the rear-wheel hub motor, and the other end is fixed to the slewing bearing; the slewing bearing connects the frame and the rear-wheel support frame, and together with the rear-wheel drive assembly, can freely rotate relative to the frame along a vertical axis.

[0016] Furthermore, the slewing bearing includes an inner ring and an outer ring, the inner ring of the slewing bearing is fixed to the rear-wheel support frame, the outer ring of the slewing bearing is fixed to the frame, and the inner ring can freely rotate relative to the outer ring along a vertical axis.

[0017] Furthermore, the rear-wheel drive assembly further includes a limit stud, the limit stud is fixed to the outer ring of the slewing bearing, and the rotation angle range of the rear-wheel drive assembly is limited by a collision limit method.

[0018] Furthermore, the front-wheel drive assembly further includes a wheel fixing piece and a wheel fixing plate, and the shaft of the front-wheel hub motor is fixed to the front-wheel support frame through the wheel fixing piece and the wheel fixing plate.

[0019] Furthermore, the robot chassis further includes a control device, which controls the rotation of the rear wheel drive assembly along the vertical axis.

[0020] Furthermore, the robot chassis further includes: an electric control box, which is arranged on the vehicle frame; a battery, which is arranged on the vehicle frame and provides power for the operation of the robot chassis; a bumper, which is arranged at the front end of the vehicle frame; and a wireless charging receiver, which is arranged on the vehicle frame.

[0021] In a second aspect of the present invention, there is provided a robot, including the robot chassis described in the above embodiment.

[0022] For the robot chassis of the present invention, two front wheel drive assemblies and two rear wheel drive assemblies are respectively arranged at the front and rear of both sides of the vehicle frame. The rear wheel drive assembly can be switched between a universal wheel and a drive wheel. By the differential between the two front wheel drive assemblies and the rotation of the rear wheel drive assembly in the mode of the universal wheel, the robot chassis is coordinated to complete in-situ steering. For the robot chassis of the present invention, on the premise of ensuring the in-situ steering function, the cumbersome steering mechanism and steering motor of the traditional chassis are completely omitted, greatly reducing the manufacturing cost and structural complexity; at the same time, during in-situ steering, compared with the differential steering chassis, the tires and the ground can be well protected, and the wear degree of the tires and the ground is greatly reduced.

[0023] Other features and advantages of the present invention will become clear through the following detailed description of the exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments of the present invention and, together with the description, are used to explain the principles of the present invention.

[0025] Figure 1 is an axonometric view of the overall structure of the robot chassis according to an embodiment of the present invention;

[0026] Figure 2 is a top view of the overall structure of the robot chassis according to an embodiment of the present invention;

[0027] Figure 3 is a schematic view of the front wheel drive assembly of the robot chassis according to an embodiment of the present invention;

[0028] Figure 4 is a perspective view of the front wheel drive assembly of the robot chassis according to an embodiment of the present invention;

[0029] Figure 5It is a schematic diagram of the rear-wheel drive assembly of the robot chassis according to an embodiment of the present utility model;

[0030] Figure 6 It is another schematic diagram of the rear-wheel drive assembly of the robot chassis according to an embodiment of the present utility model;

[0031] Figure 7 It is a sectional view showing the fixation of the in-wheel motor of the robot chassis according to an embodiment of the present utility model;

[0032] Figure 8 It is a top view of the robot chassis during in-situ steering according to an embodiment of the present utility model.

[0033] Reference numerals:

[0034] Frame 10;

[0035] Front-wheel drive assembly 20; front-wheel in-wheel motor 21; buffer device 22; front-wheel support frame 221; upper fork arm 222; lower fork arm 223; buffer sleeve 224; shock-absorbing device 23;

[0036] Rear-wheel drive assembly 30; rear-wheel in-wheel motor 31; rear-wheel support frame 32; slewing bearing 33; limit stud 34; wheel fixing piece 35; wheel fixing plate 36;

[0037] Control device 40;

[0038] Electric control box 50;

[0039] Battery 60;

[0040] Anti-collision strip 70;

[0041] Wireless charging receiver 80. Detailed implementation manners

[0042] Now, various exemplary embodiments of the present utility model will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present utility model.

[0043] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as a limitation on the present utility model or its application or use.

[0044] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the specification.

[0045] In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0046] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

[0047] In the description and claims of the present utility model, features related to the terms "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0048] In the description of the present utility model, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model.

[0049] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0050] The robot chassis according to an embodiment of the present utility model will be specifically described below with reference to the drawings.

[0051] The robot chassis according to an embodiment of the present utility model includes a frame 10, a front-wheel drive assembly 20, and a rear-wheel drive assembly 30.

[0052] Specifically, the front-wheel drive assembly 20 is connected to the vehicle frame 10. The front-wheel drive assembly 20 includes front-wheel hub motors 21. Each front-wheel hub motor 21 is formed as a front drive wheel and is disposed at opposite ends of the vehicle frame 10. When the robot chassis steers, a differential is formed between the two front-wheel hub motors 21. The rear-wheel drive assembly 30 is connected to the vehicle frame 10. The rear-wheel drive assembly 30 and the front-wheel drive assembly 20 are spaced apart in the length direction of the vehicle frame 10. The rear-wheel drive assembly 30 includes rear-wheel hub motors 31. Each rear-wheel hub motor 31 is formed as a rear rotating wheel and is disposed at opposite ends of the vehicle frame 10. The rear-wheel drive assembly 30 can rotate freely relative to the vehicle frame 10 about a vertical axis. The two rear-wheel hub motors 31 can be switched between a drive wheel and a caster wheel.

[0053] In other words, the robot chassis according to the embodiment of the present invention mainly consists of a vehicle frame 10, a front-wheel drive assembly 20, and a rear-wheel drive assembly 30. Among them, as Figure 1 and Figure 2 shown, the front-wheel drive assembly 20 is connected to the vehicle frame 10. The front-wheel drive assembly 20 includes front-wheel hub motors 21. Each front-wheel hub motor 21 is formed as a front drive wheel and is disposed at opposite ends of the vehicle frame 10. Each front-wheel hub motor 21 can constitute a drive wheel of the robot chassis, omitting an external drive motor, a speed reducer structure, and a steering structure, while still being able to ensure the walking function and the flexible steering ability. When the robot chassis steers, a differential is formed between the two front-wheel hub motors 21.

[0054] As Figure 1 and Figure 2 shown, the rear-wheel drive assembly 30 is connected to the vehicle frame 10. The rear-wheel drive assembly 30 and the front-wheel drive assembly 20 are spaced apart in the length direction of the vehicle frame 10. The rear-wheel drive assembly 30 includes rear-wheel hub motors 31. Each rear-wheel hub motor 31 can constitute a rear rotating wheel of the robot chassis, omitting an external drive motor, a speed reducer structure, and a steering structure, while still being able to ensure the walking function and the flexible steering ability. The two rear-wheel hub motors 31 can be switched between a drive wheel and a caster wheel to cooperate with the front-wheel hub motors to complete functions such as straight running, large-direction turning, or in-place turning.

[0055] When the robot chassis needs to perform in-place turning or small-radius turning, the rear-wheel drive assembly 30 enters a driven mode, and the rear-wheel hub motors 31 release the drive, so that the rear-wheel drive assembly 30 can rotate freely about a vertical axis. At this time, the two rear rotating wheels are formed as two caster wheels. At this time, under the differential drive of the two front-wheel hub motors 21 of the front-wheel drive assembly 20, approximate in-place turning of the chassis can be achieved.

[0056] When the robot chassis does not need to perform small-radius turning or in-place turning, it first travels straight for about half a meter, driving the rear-wheel drive assembly 30 to be parallel to the front-wheel drive assembly 20. Then, the rear-wheel drive assembly 30 enters the active mode, and the rear-wheel hub motor 31 provides driving force and locks the rear-wheel drive assembly 30 relative to the vehicle frame, making it unable to rotate around the vertical axis. The two rear rotating wheels form two drive wheels, and the robot chassis at this time forms a four-wheel drive differential steering chassis, which can well exert the passing ability of the four-wheel drive chassis during straight-line travel and large-radius turning.

[0057] Under the control of the control device, when the robot chassis of the present utility model performs in-place turning, it adopts a chassis layout with front drive wheels and rear universal wheels, completely eliminating the cumbersome steering mechanism and steering motor of the traditional chassis, reducing the manufacturing cost and structural complexity. At the same time, during straight-line travel or large-radius turning, it can form a layout of a four-wheel drive differential steering chassis, well exerting the passing ability of the four-wheel drive chassis and better coping with complex working conditions.

[0058] Thus, for the robot chassis according to the embodiment of the present utility model, two front-wheel drive assemblies 20 and two rear-wheel drive assemblies 30 are respectively arranged at the front and rear on both sides of the vehicle frame 10. The two rear-wheel drive assemblies 30 can be switched between universal wheels and drive wheels, and the robot chassis completes in-place turning through the differential between the two front-wheel drive assemblies 20 and the rotation of the rear-wheel drive assembly 30 in the mode of universal wheels. The robot chassis of the present utility model completely eliminates the cumbersome steering mechanism and steering motor of the traditional chassis on the premise of ensuring the in-place turning function, greatly reducing the manufacturing cost and structural complexity; at the same time, during in-place turning, compared with the differential steering chassis, it can well protect the tires and the ground and greatly reduce the wear degree of the tires and the ground.

[0059] According to an embodiment of the present utility model, referring to Figure 2 and Figure 3 , the front-wheel drive assembly 20 further includes: a buffer device 22 and a shock-absorbing device 23. The buffer device 22 connects the front-wheel hub motor 21 and the vehicle frame 10. The upper end of the shock-absorbing device 23 is connected to the vehicle frame 10, and the lower end of the shock-absorbing device 23 is connected to the buffer device 22.

[0060] In other words, the wheel drive assembly 20 further includes a buffer device 22 and a shock absorber 23. The buffer device 22 is connected to the front wheel hub motor 21 and the vehicle frame 10. Arranging the buffer device between the vehicle frame 10 and the front wheel hub motor 21 can enhance the buffer and shock absorption capacity of the robot chassis and improve the safety performance of the robot chassis. The upper end of the shock absorber 23 is connected to the vehicle frame 10, and the lower end of the shock absorber 23 is connected to the buffer device 22. The shock absorber 23 is preferably a shock absorber. The upper end of the shock absorber is hingedly connected to the vehicle frame 10, usually fixed by shoulder screws and nuts. The lower end of the shock absorber is hingedly connected to the buffer device 22, usually fixed by shoulder screws and nuts. The shock absorber can filter out the vibration input to the whole machine caused by the continuous undulation of the ground.

[0061] In some specific embodiments of the present invention, such as Figure 2 and Figure 3 shown, the buffer device 22 includes: a front wheel support frame 221, an upper fork arm 222, a lower fork arm 223, and a buffer sleeve 224. The front wheel support frame 221 is connected to the shaft of the front wheel hub motor 21. The upper fork arm 222 and the lower fork arm 223 are arranged in parallel. One end of the upper fork arm 222 and the lower fork arm 223 are respectively hingedly connected to the front wheel support frame 221, and the other end is respectively pressed into the buffer sleeve 224 and is hingedly connected to the vehicle frame 10. The lower end of the shock absorber 23 is hingedly connected to the lower fork arm 223.

[0062] In other words, the buffer device 22 is mainly composed of a front wheel support frame 221, an upper fork arm 222, a lower fork arm 223, and a buffer sleeve 224. Among them, the front wheel support frame 221 is connected to the shaft of the front wheel hub motor 21, and the front wheel hub motor 21 can freely rotate around the shaft hole of the front wheel support frame 221. The upper fork arm 222 and the lower fork arm 223 are arranged in parallel. One end of the upper fork arm 222 and the lower fork arm 223 are respectively connected to the front wheel support frame 221 through shoulder screws, nuts, and oil-free bushings and can freely rotate around the shaft hole of the front wheel support frame 221. The other end is respectively pressed into the buffer sleeve 224 and is hingedly fixed to the vehicle frame 10 through shoulder screws and nuts. The lower end of the shock absorber is hingedly fixed to the hinge point of the lower fork arm 223 through shoulder screws and nuts. The upper fork arm 222, the lower fork arm 223, and the front wheel support frame 221 form a parallelogram and can perform a parallelogram deformation movement relative to the vehicle frame 10. The buffer device 22 and the shock absorber 23 thus formed can ensure the grip of the robot chassis in various environments, ensure that the front wheel hub motor 21 is in contact with the ground in real time, and at the same time filter out the vibration input caused by the uneven ground to the robot chassis.

[0063] In some specific embodiments of the present utility model, the rear-wheel drive assembly 30 further includes: a rear-wheel support frame 32 and a slewing bearing 33. One end of the rear-wheel support frame 32 is connected to the shaft of the rear-wheel hub motor 31, and the other end is fixed to the slewing bearing 33; the slewing bearing 33 connects the vehicle frame 10 and the rear-wheel support frame 32, and together with the rear-wheel drive assembly 30, it can freely rotate relative to the vehicle frame 10 along the vertical axis.

[0064] In other words, the rear-wheel drive assembly 30 further includes a rear-wheel support frame 32 and a slewing bearing 33. One end of the rear-wheel support frame 32 is connected to the shaft of the rear-wheel hub motor 31. The rear-wheel hub motor 31 can start its own motor to generate driving force, or it can turn off its own motor and freely rotate relative to the vehicle frame 10 along the vertical axis to become a universal wheel. The other end of the rear-wheel support frame 32 is fixed to the slewing bearing 33. The slewing bearing 33 connects the vehicle frame 10 and the rear-wheel support frame 32, and together with the rear-wheel drive assembly 30, it can freely rotate relative to the vehicle frame 10 along the vertical axis.

[0065] In some specific embodiments of the present utility model, the slewing bearing 33 includes an inner ring and an outer ring. The inner ring of the slewing bearing 33 is fixed to the rear-wheel support frame 32, and the outer ring of the slewing bearing 33 is fixed to the vehicle frame 10. The inner ring can freely rotate relative to the outer ring along the vertical axis.

[0066] In other words, as Figure 5 shown, the slewing bearing 33 is composed of an inner ring and an outer ring. The inner ring of the slewing bearing 33 is fixed to the rear-wheel support frame 32 by screws, and the outer ring of the slewing bearing 33 is fixed to the vehicle frame 10 by screws. The inner ring of the slewing bearing 33 can freely rotate relative to the outer ring along the vertical axis. Thus, the rear-wheel drive assembly 30 can freely rotate along the vertical axis.

[0067] In some specific embodiments of the present utility model, the rear-wheel drive assembly 30 further includes a limit stud 34. The limit stud 34 is fixed to the outer ring of the slewing bearing 33, and the rotation angle range of the rear-wheel drive assembly 30 is limited by a collision limit method.

[0068] In other words, as Figure 6 shown, the rear-wheel drive assembly 30 further includes a limit stud 34. The limit stud 34 is fixed to the outer ring of the slewing bearing 33 through its own thread. By means of collision limit, the rotation angle of the rear-wheel support frame 32 is limited, thereby limiting the rotation angle range of the rear-wheel drive assembly 30. Taking Figure 6 the shown position as 0°, the limit stud 12 limits the rotation angle range of the rear-wheel support frame 32 to -150° to 150°.

[0069] In some specific embodiments of the present utility model, the rear-wheel drive assembly 30 further includes a wheel fixing piece 35 and a wheel fixing plate 36. The shaft of the rear-wheel hub motor 31 is fixed to the rear-wheel support frame 32 through the wheel fixing piece 35 and the wheel fixing plate 36.

[0070] In other words, as Figures 7-8 shown, the shaft of the rear-wheel hub motor 31 is fixed to the rear-wheel support frame 32 through the wheel fixing piece 35 and the wheel fixing plate 36, preferably fixed by screws. Similarly, the shaft of the front-wheel hub motor 21 is fixed to the front-wheel support frame 221 in the same manner through the wheel fixing piece 35 and the wheel fixing plate 36.

[0071] By fixing the front-wheel hub motor 21 and the rear-wheel hub motor 31 through the wheel fixing piece 35 and the wheel fixing plate 36, the relative movement between the shaft of the front-wheel hub motor 21 and the front-wheel support frame 221, and between the shaft of the rear-wheel hub motor 31 and the rear-wheel support frame 32 is further restricted, improving the rotation efficiency of the robot chassis.

[0072] In some specific embodiments of the present utility model, the robot chassis further includes a control device 40, and the control device 40 controls the rotation of the rear-wheel drive assembly 30 along the vertical axis.

[0073] In other words, the robot chassis further includes a control device 40, and the controller 40 can be set at different positions according to needs, such as directly set on the frame 10 or set on the rear-wheel drive assembly 30. The control device 40 can control the rotation of the rear-wheel drive assembly 30 along the vertical axis. Specifically, the control device 40 can control the rear-wheel drive assembly 30 to enter the driven mode: the rear-wheel hub motor 31 releases the drive, so that the rear-wheel drive assembly 30 can freely rotate along the vertical axis. At this time, the two rear rotating wheels become two universal wheels; the control device 40 can control the rear-wheel drive assembly 30 to enter the active mode: the rear-wheel hub motor 31 provides driving force and locks the rear-wheel drive assembly 30 relative to the frame, making it unable to rotate around the vertical axis. At this time, the two rear rotating wheels become two drive wheels.

[0074] In some specific embodiments of the present utility model, the robot chassis further includes: an electric control box 50, a battery 60, a bumper 70, and a wireless charging receiver 80.

[0075] Specifically, the electric control box is set on the frame 10; the battery 60 is set on the frame 10 and provides power for the operation of the robot chassis; the bumper 70 is set at the front end of the frame 10; the wireless charging receiver 80 is set on the frame 10.

[0076] In other words, as Figure 1 、 Figure 2As shown in the figure, the robot chassis according to an embodiment of the present invention further includes an electric control box 50, a battery 60, a bumper strip 70, and a wireless charging receiver 80. Among them, the electric control box 50 is arranged on the vehicle frame 10, and the electric control box 50 can be fixed on the vehicle frame 10 through a threaded rubber shock-absorbing structure and bolts. The battery 60 is arranged on the vehicle frame 10, and the battery 60 is electrically connected to the electric control box 50, the control device 40, etc. The battery 60 can store electrical energy and provide power for the power of the robot chassis. The bumper strip 70 is arranged at the front end of the vehicle frame 10, and the bumper strip 70 and the vehicle frame 10 can be connected by threads to improve the anti-collision ability of the vehicle frame 10. The robot chassis further includes a wireless charging receiver 80, and the wireless receiver 80 has a receiver. The wireless receiver 80 is fixed on the vehicle frame 10 by threads.

[0077] In summary, for the robot chassis according to an embodiment of the present invention, two front-wheel drive assemblies 20 and two rear-wheel drive assemblies 30 are respectively arranged at the front and rear on both sides of the vehicle frame 10. The two rear-wheel drive assemblies 30 can be switched between universal wheels and drive wheels. The differential between the two front-wheel drive assemblies 20 and the rotation of the rear-wheel drive assemblies 30 in the mode of universal wheels are used to cooperate with the robot chassis to complete in-situ steering. For the robot chassis of the present invention, on the premise of ensuring the in-situ steering function, the cumbersome steering mechanism and steering motor of the traditional chassis are completely omitted, greatly reducing the manufacturing cost and structural complexity; at the same time, during in-situ steering, compared with the differential steering chassis, the tires and the ground can be well protected, and the wear degree of the tires and the ground is greatly reduced.

[0078] The robot chassis of the present invention adopts a chassis layout of front-wheel drive wheels plus rear-wheel drive wheels or rear-wheel universal wheels. When going straight or turning with a large radius, the front-wheel drive assembly 20 and the rear-wheel drive assembly 30 provide the required supporting force and power for the whole machine, so that the chassis can have the passing ability of a four-wheel drive chassis and ensure the passing reliability of the equipment in the face of harsh working conditions; when turning in place or with a small radius, the front-wheel drive assembly 20 is used as a drive wheel for differential steering, and the rear-wheel drive assembly 30 is used as a universal wheel to assist in completing the steering. Compared with the differential steering chassis, the tires and the ground can be better protected, and the wear of the tires and the ground is reduced.

[0079] Of course, for those skilled in the art, other structures and working principles of the robot chassis can be understood and implemented, and will not be described in detail in the present invention.

[0080] According to a second aspect of the present utility model, there is provided a robot, including the robot chassis in the above embodiments. For the specific structure and functions of the robot chassis, please refer to the description of the above embodiments, which will not be elaborated herein. The robot in the embodiment of the present utility model adopts this robot chassis, which completely eliminates the cumbersome steering mechanism and steering motor of the traditional chassis while ensuring the in-situ steering function, greatly reducing the manufacturing cost and structural complexity; at the same time, during in-situ steering, compared with the differential steering chassis, it can well protect the tires and the ground, and greatly reduce the wear degree of the tires and the ground.

[0081] Of course, for those skilled in the art, other structures and working principles of the robot can be understood and implemented, and will not be elaborated in detail in the present utility model.

[0082] Although some specific embodiments of the present utility model have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present utility model. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present utility model. The scope of the present utility model is defined by the appended claims.

Claims

1. A robot chassis, characterized in that: include: Frame (10); A front wheel drive assembly (20), the front wheel drive assembly (20) being connected to the vehicle frame (10), the front wheel drive assembly (20) comprising a front wheel hub motor (21), each of the front wheel hub motors (21) forming a front drive wheel and being arranged at opposite ends of the vehicle frame (10), and when the robot chassis turns, a differential speed is formed between the two front wheel hub motors (21); A rear wheel drive assembly (30), the rear wheel drive assembly (30) is connected to the frame (10), the rear wheel drive assembly (30) and the front wheel drive assembly (20) are arranged at intervals in the length direction of the frame (10), the rear wheel drive assembly (30) comprises a rear wheel hub motor (31), each of the rear wheel hub motors (31) is formed as a rear rotating wheel and is arranged at opposite ends of the frame (10), the rear wheel drive assembly (30) can freely rotate along a vertical axis relative to the frame (10); the two rear wheel hub motors (31) can switch between a driving wheel and a universal wheel.

2. The robot chassis according to claim 1, characterized in that: The front wheel drive assembly (20) further comprises: a buffer device (22) and a shock absorbing device (23); the buffer device (22) is connected to the front wheel hub motor (21) and the vehicle frame (10); the upper end of the shock absorbing device (23) is connected to the vehicle frame (10); and the lower end of the shock absorbing device (23) is connected to the buffer device (22).

3. The robot chassis according to claim 2, characterized in that: The buffer device (22) comprises: a front wheel support frame (221), an upper fork arm (222), a lower fork arm (223) and a buffer sleeve (224); the front wheel support frame (221) is connected to the shaft of the front wheel hub motor (21); the upper fork arm (222) and the lower fork arm (223) are arranged in parallel; one end of the upper fork arm (222) and the lower fork arm (223) are respectively hinged to the front wheel support frame (221); the other ends are respectively pressed into the buffer sleeve (224) and hinged to the vehicle frame (10); the lower end of the shock absorbing device (23) is hinged to the lower fork arm (223).

4. The robot chassis according to claim 1, characterized in that: The rear wheel drive assembly (30) further comprises: a rear wheel support frame (32) and a slewing bearing (33); one end of the rear wheel support frame (32) is connected to the shaft of the rear wheel hub motor (31), and the other end is fixed to the slewing bearing (33); the slewing bearing (33) connects the vehicle frame (10) and the rear wheel support frame (32), and together with the rear wheel drive assembly (30) can freely rotate relative to the vehicle frame (10) along a vertical axis.

5. The robot chassis according to claim 4, characterized in that: The slewing bearing (33) comprises an inner ring and an outer ring, the inner ring of the slewing bearing (33) is fixed to the rear wheel support frame (32), the outer ring of the slewing bearing (33) is fixed to the vehicle frame (10), and the inner ring can freely rotate along a vertical axis relative to the outer ring.

6. The robot chassis according to claim 5, characterized in that: The rear wheel drive assembly (30) further comprises a limiting stud (34), wherein the limiting stud (34) is fixed to the outer ring of the slewing bearing (33) and limits the rotation angle range of the rear wheel drive assembly (30) by means of collision limiting.

7. The robot chassis according to claim 4, characterized in that: The rear wheel drive assembly (30) further comprises a wheel fixing plate (35) and a wheel fixing plate (36), and the shaft of the rear wheel hub motor (31) is fixed to the rear wheel support frame (32) via the wheel fixing plate (35) and the wheel fixing plate (36).

8. The robot chassis according to claim 1, characterized in that: Also includes: A control device (40) controls the rotation of the rear wheel drive assembly (30) along a vertical axis.

9. The robot chassis according to claim 1, characterized in that: Also includes: An electric control box (50), the electric control box being arranged on the vehicle frame (10); A battery (60), wherein the battery (60) is arranged on the frame (10) and provides power for the robot chassis to operate; An anti-collision strip (70), the anti-collision strip (70) being arranged at the front end of the vehicle frame (10); A wireless charging receiving end (80), wherein the wireless charging receiving end (80) is arranged on the vehicle frame (10).

10. A robot, characterized in that: A robot chassis comprising any one of claims 1-9.

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