Six-drive linkage chassis and mobile robot

Abstract

The utility model relates to the technical field of robot chassis, in particular to a six-drive linkage chassis and a mobile robot, the six-drive linkage chassis comprises a chassis box body, two groups of transmission mechanisms and a driving motor, the chassis box body comprises a chassis framework, and the chassis framework is provided with three pairs of hub assemblies at intervals along the axial direction of the chassis box body; each transmission mechanism comprises a driving gear and a transmission wheel set, each transmission wheel set comprises a first transmission gear, a second transmission gear and a third transmission gear, each first transmission gear is rotationally connected with the corresponding driving gear and one hub assembly, and each second transmission gear is rotationally connected with the corresponding first transmission gear and one hub assembly; the third transmission gear is rotationally connected with the second transmission gear and a hub assembly; the driving gear is rotationally connected with an output shaft of a driving motor. According to the technical scheme, the six-drive linkage chassis has reliable movement performance when working on complex terrains.

Description

Technical Field

[0001] The utility model relates to the technical field of robot chassis, and particularly relates to a six-wheel drive linkage chassis and a mobile robot. Background Art

[0002] Mobile robots can be applied to various sites for detection, maintenance, construction and other work to replace manual construction. In actual use, they often encounter various difficult construction sites, such as slopes, gravel roads, muddy lands and other environments. These terrains will pose certain challenges to the driving stability and driving ability of the chassis of the mobile robot.

[0003] In the related art, in order to overcome these ground factors and improve the motion performance of the mobile robot, multiple motors are added to increase the power. However, the multi-motor structure will cause problems such as excessive cost and complex structure of the mobile robot. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a six-wheel drive linkage chassis, aiming to have reliable motion performance when working in the face of complex terrains.

[0005] To achieve the above purpose, the six-wheel drive linkage chassis proposed by the utility model includes:

[0006] A chassis box body, which includes a box body and a chassis skeleton. The chassis skeleton is arranged at the bottom of the box body, and three pairs of hub assemblies are arranged at intervals along the axial direction of the chassis box body;

[0007] Two sets of transmission mechanisms. Each set of the transmission mechanisms includes a driving gear and a transmission wheel set. The transmission wheel set includes a first transmission gear, a second transmission gear and a third transmission gear. The first transmission gear is rotationally connected to the driving gear and one of the hub assemblies, the second transmission gear is rotationally connected to the first transmission gear and one of the hub assemblies, and the third transmission gear is rotationally connected to the second transmission gear and one of the hub assemblies; and

[0008] A driving motor, and the driving gear is rotationally connected to the output shaft of the driving motor.

[0009] In one embodiment, the first transmission gear, the second transmission gear and the third transmission gear are arranged at the same height relative to the horizontal plane.

[0010] In one embodiment, the first transmission gear, the second transmission gear and the third transmission gear are all connected in sequence through a first chain. Each first chain is provided with a tensioning idler wheel assembly. The tensioning idler wheel assembly is provided with a movable idler wheel, and the first chain is connected to the idler wheel; the tensioning idler wheel assembly is fixedly connected to the box body.

[0011] In one embodiment, two spaced-apart limiting rings are provided on the outer peripheral wall of the idler wheel, and each of the limiting rings abuts against one of the first chains.

[0012] In one embodiment, the tension idler wheel assembly further includes:

[0013] An idler wheel sliding frame, the idler wheel sliding frame is provided with two oppositely arranged idler wheel connecting arms, and the idler wheel is clamped between the two idler wheel connecting arms; and

[0014] An idler wheel bracket, the idler wheel bracket is provided with a movable card slot, a limiting structure protrudes from a side of the idler wheel sliding frame facing away from the idler wheel connecting arm, the limiting structure is inserted into the movable card slot, and the idler wheel bracket is fixedly connected to the box body; and

[0015] A fastener, a part of the structure of the fastener passes through the idler wheel bracket to abut against the idler wheel sliding frame, and the fastener is used to adjust the position of the limiting structure in the movable card slot relative to the horizontal plane.

[0016] In one embodiment, the box body is provided with an idler wheel adjustment opening, and the idler wheel adjustment opening is arranged close to the idler wheel bracket.

[0017] In one embodiment, the hub assembly further includes six suspension assemblies and a hub rotatably connected to the suspension assemblies; wherein, the suspension assemblies are respectively rotatably connected to the transmission wheel sets.

[0018] In one embodiment, the suspension assembly includes:

[0019] A cantilever, one end of the cantilever is provided with a driving wheel set, and one end of the driving wheel set is rotatably connected to the transmission wheel set; and

[0020] A tension adjustment mechanism, the tension adjustment mechanism includes a chain adjustment block and a driven wheel set, the driven wheel set is inserted into the chain adjustment block and rotatably connected to the hub;

[0021] Wherein, the chain adjustment block is movably arranged at one end of the cantilever away from the driving wheel set, and the other end of the driving wheel set is connected to the driven wheel set through a second chain.

[0022] In one embodiment, a limiting groove is provided at one end of the cantilever away from the driving wheel set, and the chain adjustment block is embedded in the limiting groove;

[0023] Wherein, the chain adjustment block is provided with a guiding groove, and a guiding portion protrudes from the cantilever, and the guiding portion is clamped in the guiding groove.

[0024] The present utility model also provides a mobile robot, and the mobile robot includes the six-wheel drive linkage chassis described above.

[0025] In the technical solution of the present utility model, the chassis of the six-wheel drive linkage chassis is provided with three pairs of spaced-apart wheel hub assemblies. Each pair of wheel hub assemblies includes two moving wheels symmetrically arranged on the left and right. The three pairs of wheel hub assemblies are sequentially connected by two sets of transmission mechanisms, so that under the drive of one motor, the six moving wheels can all rotate synchronously, realizing the synchronous movement between three wheels on one side, making the chassis more stable and efficient during movement. Brief Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0027] Figure 1 Schematic perspective view of an embodiment of the six-wheel drive linkage chassis provided by the present utility model;

[0028] Figure 2 For Figure 1 Top view;

[0029] Figure 3 For the Figure 2 Cross-sectional view taken along line A-A in

[0030] Figure 4 For the Figure 2 Cross-sectional view of another perspective taken along line A-A in

[0031] Figure 5 Schematic perspective view of an embodiment of the tension idler wheel assembly provided by the present utility model;

[0032] Figure 6 Schematic perspective view of an embodiment of the suspension assembly provided by the present utility model;

[0033] Figure 7 For the Figure 6 Cross-sectional view taken along line C-C in

[0034] Explanation of the reference numerals in the drawings:

[0035] 100. Six-wheel drive linkage chassis; 10. Chassis box; 101. Chassis framework; 102. Wheel hub assembly; 103. Box body; 20. Transmission mechanism; 201. First transmission gear; 202. Second transmission gear; 203. Third transmission gear; 204. Driving gear; 30. Driving motor; 205. First chain; 40. Tension idler assembly; 401. Idler; 402. Limiting ring; 403. Idler sliding frame; 404. Idler connecting arm; 405. Limiting structure; 406. Idler bracket; 407. Fastener; 10a. Idler adjustment opening; 50. Suspension assembly; 501. Cantilever; 502. Driving wheel set; 503. Chain adjustment block; 504. Driven wheel set; 505. Second chain; 60. Shielding box; 601. Connecting and fixing block; 70. Battery pack; 80. Reducer structure.

[0036] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0037] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0038] It should be noted that all the directional indications (such as up, down, left, right, front, back,...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0039] In addition, the descriptions involving "first", "second", etc. in the present utility model are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0040] Please refer to Figures 1 to 7, the six-wheel drive linkage chassis 100 proposed by the present utility model includes:

[0041] A chassis box 10, the chassis box includes a box body 103 and a chassis frame 101, the chassis frame 101 is arranged at the bottom of the box body, and three pairs of hub assemblies 102 are arranged at intervals along the axial direction of the chassis box;

[0042] Two sets of transmission mechanisms 20, each set of transmission mechanisms 20 includes a driving gear 204 and a transmission wheel set, the transmission wheel set includes a first transmission gear 201, a second transmission gear 202 and a third transmission gear 203, the first transmission gear 201 is rotationally connected to the driving gear 204 and a hub assembly 102, the second transmission gear 202 is rotationally connected to the first transmission gear 201 and a hub assembly 102, and the third transmission gear 203 is rotationally connected to the second transmission gear 202 and a hub assembly 102; and

[0043] A driving motor 30, the driving gear 204 is rotationally connected to the output shaft of the driving motor 30.

[0044] In the technical solution of the present utility model, the chassis frame 101 of the six-wheel drive linkage chassis 100 is provided with three pairs of spaced hub assemblies 102, each pair of hub assemblies 102 includes two moving wheels symmetrically arranged left and right, and the three pairs of hub assemblies 102 are sequentially connected by two sets of transmission mechanisms 20, so that under the drive of one motor, the six moving wheels can rotate synchronously, realizing the synchronous movement between the three wheels on one side, making the chassis move more smoothly and efficiently.

[0045] It can be understood that the six-wheel drive linkage chassis 100 is provided with a power system, including a battery pack 70, a driving motor 30 and a speed reduction box structure 80. Among them, the battery pack 70 is arranged inside the box body 103 and on the chassis frame 101, the driving motor 30 is electrically connected to the battery pack 70 to obtain power, the speed reduction box structure 80 is rotationally connected to the output shaft of the driving motor 30, and when the driving motor 30 rotates, it can drive the speed reduction box structure 80 to operate; the six-wheel drive linkage chassis 100 also includes an electrical control system, which is arranged above the inside of the box body 103 to make full use of the installation space of the box body 103. The electrical control system can receive instructions from the control center to control the driving motor 30 to complete forward rotation, reverse rotation or stop rotation, so as to drive the six-wheel drive linkage chassis 100 to move forward, backward and park.

[0046] The chassis box 10 includes a box body and a chassis skeleton 101. The box body is the basic framework of the six-wheel drive linkage chassis 100, which can provide installation space and position fixation for various devices of the six-wheel drive linkage chassis 100. An operation panel is provided at the rear of the box body, including charging and discharging plugs, a power display meter, a start button, and an emergency stop button, facilitating the operator to perform various operations. Inside the box body 103, there is a chassis skeleton 101. The chassis skeleton 101 is arranged at the bottom of the box body 103. Three pairs of wheel hub assemblies 102 are installed on the chassis skeleton 101. The three pairs of wheel hub assemblies 102 are arranged at intervals along the axial direction of the chassis box 10 to disperse the driving force. Each wheel hub assembly 102 is provided with a shock absorber at the wheel structure to reduce the vibration amplitude caused by passing through uneven or complex terrains.

[0047] Two sets of transmission mechanisms 20. Each set of transmission mechanism 20 is rotatably connected to the wheels on each side of the six-wheel drive linkage chassis 100. Each set of transmission mechanism 20 includes a driving gear 204 and a transmission wheel set. The driving gear 204 is connected to the output shaft of the reduction box. The transmission wheel set includes a first transmission gear 201, a second transmission gear 202, and a third transmission gear 203. The three gears are rotatably connected in sequence. Among them, the first transmission gear 201 is rotatably connected to the driving gear 204 and a wheel hub assembly 102 through a chain. The second transmission gear 202 is rotatably connected to the first transmission gear 201 and the third transmission gear 203 through a chain. The third transmission gear 203 is rotatably connected to the second transmission gear 202 and the wheel hub assembly 102 through a chain, so that under the drive of the driving motor 30, the rotation of six wheels can be realized, improving the stability of the six-wheel drive linkage chassis 100 during movement and adapting to movement on complex terrains. It can be understood that each gear of the transmission wheel set of the six-wheel drive linkage chassis 100 is provided with multiple rows of tooth parts, so that one gear can mesh with multiple transmission parts to realize the linkage rotation of multiple components.

[0048] In one embodiment, as Figure 3 shown, the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 are arranged at the same height relative to the horizontal plane.

[0049] In this embodiment, the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 are arranged at the same height relative to the horizontal plane, so that the two chains connecting the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 can be in a straight state. The first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 arranged at the same height do not require excessive axial position adjustment, making the design of the transmission system more concise. And the precise axial alignment helps to maintain the accuracy of the gear chain meshing, thus ensuring the stability and reliability of the transmission system.

[0050] In one embodiment, asFigure 3 As shown, the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 are all connected in sequence by a first chain 205. Each first chain 205 is provided with a tensioning idler assembly 40. The tensioning idler assembly 40 is provided with a movable idler 401, and the first chain 205 is connected to the idler 401; the tensioning idler assembly 40 is fixedly connected to the box body 103.

[0051] In this embodiment, the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 are all connected in sequence by a first chain 205. Each first chain 205 is provided with a tensioning idler assembly 40. The tensioning idler assembly 40 is provided with an idler 401 that can move in the up and down direction. The first chain 205 is connected to the idler 401. By the movable idler 401, the tension of the first chain 205 can be adjusted, which can not only improve the stability of the six-wheel drive linkage chassis 100 during movement, but also reduce the failures caused by the slack or over-tightening of the first chain 205, and extend the service life of the first chain 205.

[0052] In one embodiment, as Figure 5 shown, the outer peripheral wall of the idler 401 is provided with two spaced-apart limiting rings 402. The outer peripheral wall of the idler 401 is provided with two spaced-apart limiting rings 402. Each limiting ring 402 abuts against one first chain 205.

[0053] In this embodiment, the outer peripheral wall of the idler 401 is provided with two spaced-apart limiting rings 402. The limiting rings 402 and the idler 401 can be processed into an integral structure by processes such as casting and forging; as clearly stated in the foregoing description of the specification, the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 of the transmission wheel set are all provided with multiple rows of teeth, and the first chain 205 connecting the first transmission gear 201 and the second transmission gear 202 and the first chain 205 connecting the second transmission gear 202 and the third transmission gear 203 are arranged in a staggered manner to form a staggered distance. In order to enable the idler 401 to adjust the tension of the first chain 205, the limiting ring 402 abuts against the first chain 205. Therefore, the staggered distance between the two first chains 205 determines the spacing distance between the two limiting rings 402.

[0054] In one embodiment, as Figure 5 shown, the tensioning idler assembly 40 further includes:

[0055] An idler sliding frame 403, the idler sliding frame 403 is provided with two oppositely arranged idler connecting arms 404, and the idler 401 is clamped between the two idler connecting arms 404;

[0056] The idler wheel bracket 406 is provided with a movable clamping groove. On the side of the idler wheel sliding bracket 403 facing away from the idler wheel connecting arm 404, a limiting structure 405 protrudes. The limiting structure 405 is inserted into the movable clamping groove, and the idler wheel bracket 406 is fixedly connected to the box body 103; and

[0057] A fastener 407, a part of the structure of the fastener 407 penetrates through the idler wheel bracket 406 to abut against the idler wheel sliding bracket 403. The fastener 407 is used to adjust the position of the limiting structure 405 relative to the horizontal plane in the movable clamping groove.

[0058] In this embodiment, the tensioning idler wheel assembly 40 further includes an idler wheel sliding bracket 403, an idler wheel bracket 406, and a fastener 407. The idler wheel bracket 406 can be locked on the box body 103 through structures such as bolts and screws to prevent loosening; the idler wheel sliding bracket 403 is provided with two oppositely arranged idler wheel connecting arms 404. The idler wheel 401 can be clamped between the two idler wheel connecting arms 404 through a shaft to prevent the idler wheel 401 from moving by itself, thereby affecting the tension of the first chain 205. On the side of the idler wheel sliding bracket 403 facing away from the idler wheel connecting arm 404, a limiting structure 405 protrudes. The limiting structure 405 is a plugging arm extending along the length direction of the idler wheel sliding bracket 403. The idler wheel bracket 406 is provided with a movable clamping groove for the limiting structure 405 to be plugged in, so that the idler wheel 401 can move in the up and down direction; in order to adjust the position of the idler wheel 401, a fastener 407 is provided on the side of the idler wheel bracket 406 facing away from the idler wheel sliding bracket 403. The fastener 407 can be a bolt structure of any form, and the nut is arranged outward. A part of the structure of the fastener 407 can completely penetrate through the idler wheel bracket 406, so that one end of the fastener 407 can abut against the idler wheel sliding bracket 403; when it is necessary to adjust the tension of the first chain 205, rotate the fastener 407 to make the idler wheel sliding bracket 403 move downward along the direction of the movable clamping groove, and the idler wheel 401 moves slightly downward to adjust the tension of the first chain 205, so as to ensure the normal operation of the first chain 205 when transmitting force and motion.

[0059] In one embodiment, as Figure 1 shown, the box body 103 is provided with an idler wheel adjustment opening 10a, and the idler wheel adjustment opening 10a is arranged close to the idler wheel bracket 406.

[0060] In this embodiment, in order to facilitate the operator to manually adjust the position of the idler wheel 401, the box body 103 is provided with four idler wheel adjustment openings 10a, and each idler wheel adjustment opening 10a is arranged close to an idler wheel bracket 406, so that the operator can directly rotate the fastener 407 from the idler wheel adjustment opening 10a, reducing the operation difficulty.

[0061] In one embodiment, the wheel hub assembly 102 further includes six suspension assemblies 50 and a wheel hub rotatably connected to the suspension assemblies 50; wherein, the suspension assemblies 50 are respectively rotatably connected to the drive wheel set.

[0062] In this embodiment, the wheel hub assembly 102 further includes six suspension assemblies 50, a wheel hub rotatably connected to the suspension assemblies 50, and a rotating shaft connecting the suspension assemblies 50 and the wheel hub, etc. Each of the six suspension assemblies 50 is provided with a driving shaft that can be connected to the drive wheel set and a driven shaft connected to the wheel, so as to realize the rotation of the wheel.

[0063] In one embodiment, as Figure 6 and Figure 7 shown, the suspension assembly 50 includes:

[0064] A cantilever 501, one end of the cantilever 501 is provided with a driving wheel set 502, and one end of the driving wheel set 502 is rotatably connected to the drive wheel set; and

[0065] A tension adjusting mechanism, the tension adjusting mechanism includes a chain adjusting block 503 and a driven wheel set 504, the driven wheel set 504 is inserted into the chain adjusting block 503 and rotatably connected to the wheel hub;

[0066] Wherein, the chain adjusting block 503 is movably arranged at one end of the cantilever 501 away from the driving wheel set 502, and the other end of the driving wheel set 502 is connected to the driven wheel set 504 through a second chain 505.

[0067] In this embodiment, the suspension assembly 50 includes a cantilever 501 and a tension adjustment mechanism. A first mounting hole is provided in the upper part of the cantilever 501, and the driving wheel set 502 is inserted into the first mounting hole. Specifically, the driving wheel set 502 includes a main rotating shaft connecting the first transmission gear 201, the second transmission gear 202, or the third transmission gear 203. The main rotating shaft is fixed in the mounting hole through a bushing flange, and it is ensured that the axes of the main rotating shaft and the bushing flange are concentric. The bushing flange is fixed outside the mounting hole through a rolling bearing and it is ensured that the axes of the bushing flange and the mounting hole are concentric, so as to ensure the concentricity of the axes of the main rotating shaft, the bushing flange, and the mounting hole. The cantilever 501, the bushing flange, and the rolling bearing are all fixed in position through a snap ring; A tension adjustment mechanism is provided in the lower part of the cantilever 501. The tension adjustment mechanism includes a chain adjustment block 503 and a driven wheel set 504. The chain adjustment block 503 can move up and down in the cantilever 501. A second mounting hole is provided in the center of the chain adjustment block 503, and the driven wheel set 504 is inserted into the second mounting hole. Specifically, the driven wheel set 504 includes a secondary rotating shaft and a hub connection flange. The secondary rotating shaft is inserted into the second mounting hole, and the hub connection flange is sleeved on one end of the secondary rotating shaft away from the chain adjustment block 503. Annular tooth parts are provided on the outer peripheral surfaces of the main rotating shaft and the secondary rotating shaft, and the two annular tooth parts are meshed and connected through a second chain 505 to achieve transmission. At the same time, one side of the hub connection flange is connected to the end surface of the annular tooth part of the secondary rotating shaft, and the other side, i.e., the flange surface, can be connected to the wheel through structures such as bolts. In this way, the torques of the first transmission gear 201, the second transmission gear 202, and the third transmission gear 203 are sequentially transmitted to the wheel through the main rotating shaft, the annular tooth part, the second chain 505, the annular tooth part, the secondary rotating shaft, and the hub connection flange to realize the rotation of the wheel. In order to ensure the stability of the six-wheel drive linkage chassis 100 during movement, the position of the chain adjustment block 503 on the cantilever 501 can be finely adjusted to change the distance between the main rotating shaft and the secondary rotating shaft, thereby adjusting the tension of the second chain 505 and ultimately improving the motion performance of the six-wheel drive linkage chassis 100.

[0068] In one embodiment, as Figure 6 and Figure 7 shown, a limiting groove is provided at one end of the cantilever 501 away from the driving wheel set 502, and the chain adjustment block 503 is embedded in the limiting groove;

[0069] Among them, the chain adjustment block 503 is provided with a guiding groove, and the cantilever 501 protrudes with a guiding part, and the guiding part is clamped in the guiding groove.

[0070] In this embodiment, to facilitate the adjustment of the position of the chain adjustment block 503, an adjusting screw is provided to connect the chain adjustment block 503 and the cantilever 501. Specifically, two limiting arms protrude from the end face of the cantilever 501 away from the driving wheel set 502. The two limiting arms are arranged at intervals and enclose a limiting groove with the cantilever 501. The chain adjustment block 503 is embedded in the limiting groove. At the same time, a tensioning plate is fixedly provided at the bottom ends of the two limiting arms. The tensioning plate is provided with a threaded hole communicating with the limiting groove. The adjusting screw passes through the threaded hole. At the same time, two bending adjustment parts protrude from the side of the chain adjustment block 503 facing the tensioning plate. The two bending adjustment parts are arranged at intervals to form an assembly channel. The nut end of the adjusting screw is clamped in the two bending adjustment parts through the assembly channel. By rotating the adjusting screw, the position of the chain adjustment block 503 on the cantilever 501 can be adjusted. To ensure that the chain adjustment block 503 moves linearly in the up and down direction on the cantilever 501, guiding grooves are provided on both sides of the chain adjustment block 503. Two guiding parts protrude from the surface of the cantilever 501. After the chain adjustment block 503 is embedded in the limiting groove, the guiding parts are inserted into the guiding grooves. During the movement of the chain adjustment block 503, the groove walls of the guiding grooves abut against the peripheral side walls of the guiding parts to achieve directional movement in the up and down direction. Further, the suspension assembly 50 further includes a shielding box 60. The shielding box 60 covers the outside of the cantilever 501 and the tensioning adjustment mechanism to prevent external media such as dust and water from adhering to the structures of the suspension assembly 50 during the movement of the six-wheel drive linkage chassis 100. A connecting fixing block 601 is provided on one side of the shielding box 60. The connecting fixing block 601 is used to connect the shock absorber. The other end of the shock absorber is fixed to the outer wall of the box body 103 to achieve the shock absorption function and reduce the amplitude of the six-wheel drive linkage chassis 100.

[0071] The present utility model also provides a mobile robot, which includes a six-wheel drive linkage chassis 100 and an upper mounting assembly. The upper mounting assembly is mounted on the six-wheel drive linkage chassis 100. Among them, the upper mounting assembly includes functional structures such as sensors and lighting devices. The specific structure of the six-wheel drive linkage chassis 100 refers to the above embodiment. Since the mobile robot adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0072] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the description and drawings of the present utility model under the inventive concept of the present utility model, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A six-wheel drive linkage chassis (100), characterized in that: The six-wheel drive linkage chassis (100) comprises: A chassis box (10), the chassis box (10) comprising a box (103) and a chassis frame (101), the chassis frame (101) being arranged at the bottom of the box (103), and the chassis frame (101) being provided with three pairs of wheel hub assemblies (102) spaced apart along the axial direction of the chassis box (10); Two groups of transmission mechanisms (20), the transmission mechanisms (20) being arranged in the housing (103); each group of the transmission mechanisms (20) comprising a driving gear (204) and a transmission wheel group, the transmission wheel group comprising a first transmission gear (201), a second transmission gear (202) and a third transmission gear (203), the first transmission gear (201) being rotationally connected to the driving gear (204) and a wheel hub assembly (102), the second transmission gear (202) being rotationally connected to the first transmission gear (201) and a wheel hub assembly (102), and the third transmission gear (203) being rotationally connected to the second transmission gear (202) and a wheel hub assembly (102); and The driving motor (30) is rotationally connected to the output shaft of the driving motor (30) via a reduction gear box structure (80).

2. The six-wheel drive linkage chassis (100) according to claim 1, characterized in that: The first transmission gear (201), the second transmission gear (202) and the third transmission gear (203) are arranged at the same height relative to a horizontal plane.

3. The six-wheel drive linkage chassis (100) according to claim 2, characterized in that: The first transmission gear (201), the second transmission gear (202) and the third transmission gear (203) are all connected in sequence via a first chain (205); each of the first chains (205) is provided with a tensioning idler wheel assembly (40); the tensioning idler wheel assembly (40) is provided with a movable idler wheel (401); the first chain (205) is connected to the idler wheel (401); and the tensioning idler wheel assembly (40) is fixedly connected to the box body (103).

4. The six-wheel drive linkage chassis (100) according to claim 3, characterized in that: The outer peripheral wall of the idler wheel (401) is provided with two spaced apart limiting rings (402), and each limiting ring (402) abuts against one of the first chains (205).

5. The six-wheel drive linkage chassis (100) according to claim 3, characterized in that: The tensioning idler wheel assembly (40) further comprises: An idler wheel sliding frame (403), wherein the idler wheel sliding frame (403) is provided with two idler wheel connecting arms (404) arranged opposite to each other, and the idler wheel (401) is clamped between the two idler wheel connecting arms (404); An idler bracket (406), wherein the idler bracket (406) is provided with a movable slot, a limiting structure (405) is protrudingly provided on a side of the idler sliding bracket (403) facing away from the idler connecting arm (404), the limiting structure (405) is inserted into the movable slot, and the idler bracket (406) is fixedly connected to the box body (103); and A fastener (407), a part of the structure of which passes through the idler wheel bracket (406) to abut against the idler wheel sliding frame (403), and the fastener (407) is used to adjust the position of the limiting structure (405) in the movable slot relative to the horizontal plane.

6. The six-wheel drive linkage chassis (100) according to claim 5, characterized in that: The box body (103) is provided with an idler wheel adjustment port (10a), and the idler wheel adjustment port (10a) is arranged close to the idler wheel bracket (406).

7. The six-wheel drive linkage chassis (100) according to any one of claims 1 to 6, characterized in that: The wheel hub assembly (102) further comprises six suspension assemblies (50) and a wheel hub rotatably connected to the suspension assemblies (50); wherein the suspension assemblies (50) are rotatably connected to the transmission wheel assemblies respectively.

8. The six-wheel drive linkage chassis (100) according to claim 7, characterized in that: The suspension assembly (50) comprises A cantilever (501), one end of the cantilever (501) is provided with a driving wheel set (502), one end of the driving wheel set (502) is rotatably connected to the transmission wheel set; and A tensioning adjustment mechanism, the tensioning adjustment mechanism comprising a chain adjustment block (503) and a driven wheel set (504), the driven wheel set (504) being inserted into the chain adjustment block (503) and rotatably connected to the wheel hub; The chain adjustment block (503) is movably arranged at one end of the cantilever (501) away from the driving wheel set (502), and the other end of the driving wheel set (502) is connected to the driven wheel set (504) via a second chain (505).

9. The six-wheel drive linkage chassis (100) according to claim 8, characterized in that: A limiting groove is provided at one end of the cantilever (501) away from the driving wheel group (502), and the chain adjustment block (503) is embedded in the limiting groove; The chain adjustment block (503) is provided with a guide groove, the cantilever (501) is protrudingly provided with a guide portion, and the guide portion is clamped in the guide groove.

10. A mobile robot, characterized in that: The mobile robot comprises a six-wheel drive linkage chassis (100) as claimed in any one of claims 1 to 9.

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