Chassis structure and robot

Abstract

The utility model provides a chassis structure and a robot, and belongs to the technical field of warehouse logistics. The chassis structure comprises a base assembly, a driving mechanism and at least two supporting wheel assemblies, the base assembly comprises a base and at least two chassis bodies, the at least two chassis bodies are slidably connected with the base, the driving mechanism is arranged on the base and connected with the at least two chassis bodies, and at least one supporting wheel assembly is slidably arranged on each chassis body. The driving mechanism drives the at least two supporting wheel assemblies and / or the at least two chassis to move in different directions relative to the base, so that the supporting wheel assemblies extend out of the base or retract to the position below the base. The chassis structure drives at least one of the chassis and the supporting wheel assembly to stretch out or retract relative to the base through the driving mechanism, wheel spacing adjustment of the supporting wheel assembly in different directions is achieved, and the stability of the chassis structure and the stability of the robot are improved.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly relates to a chassis structure and a robot. Background Art

[0002] The robot can move to a shelf or a workstation to carry a material box.

[0003] Existing robots have support wheels and driving wheels. The driving wheels drive the robot to move, and the support wheels provide auxiliary support for the robot. The robot has a plurality of storage positions arranged in sequence in the height direction, and the storage positions are used for storing material boxes.

[0004] However, when the robot stores a plurality of material boxes in the height direction, the robot shakes greatly and has poor stability. Summary of the Utility Model

[0005] This application provides a chassis structure and a robot to solve the problem that when the robot stores a plurality of material boxes in the height direction, the robot shakes greatly and has poor stability.

[0006] In a first aspect, this application provides a chassis structure, including a base assembly, a driving mechanism, and at least two support wheel assemblies. The base assembly includes a base and at least two chassis. The at least two chassis are both slidably connected to the base. The driving mechanism is arranged on the base and is connected to the at least two chassis. At least one support wheel assembly is slidably arranged on each chassis. The driving mechanism drives the at least two support wheel assemblies and / or the at least two chassis to move in different directions relative to the base, so that each support wheel assembly extends out of the base or retracts below the base.

[0007] In a possible implementation manner, for the chassis structure provided by this application, at least one support wheel group is arranged on each chassis, and each support wheel group includes a pair of two support wheel assemblies.

[0008] In a possible implementation manner, for the chassis structure provided by this application, the two support wheel assemblies in each support wheel group move in opposite directions.

[0009] In a possible implementation manner, for the chassis structure provided by this application, the driving mechanism includes a first driving component and at least two first transmission components. The first driving component is arranged on the base. The support wheel group is connected to the first driving component through the corresponding first transmission component in the at least two first transmission components. The first driving component drives the two support wheel assemblies in the corresponding support wheel group to move away from or close to each other in a first direction through the at least two first transmission components.

[0010] In a possible implementation, for the chassis structure provided by the present application, the first transmission assembly includes a first sub-transmission assembly and a second sub-transmission assembly connected to the first sub-transmission assembly. The first sub-transmission assembly is connected to the first drive assembly. The first sub-transmission assembly is located between the corresponding chassis and the base among at least two chassis, and the second sub-transmission assembly is disposed on the corresponding chassis among at least two chassis;

[0011] The second sub-transmission assembly is correspondingly connected to the support wheel set on the corresponding chassis.

[0012] In a possible implementation, for the chassis structure provided by the present application, the first sub-transmission assembly includes a first transmission member, a driving wheel, and a first driven wheel. The driving wheel is rotatably disposed on the base, the driving wheel is connected to the first drive assembly, the first driven wheel is rotatably disposed on the corresponding chassis among at least two chassis, the first driven wheel is connected to the second sub-transmission assembly, and the first transmission member is wound around the driving wheel and the first driven wheel;

[0013] When the driving wheel rotates, the first driven wheel is driven to rotate through the first transmission member, so that the first driven wheel drives two paired support wheel assemblies in the corresponding support wheel set to move away from each other in the first direction through the second sub-transmission assembly.

[0014] In a possible implementation, for the chassis structure provided by the present application, the first sub-transmission assembly further includes a first transmission wheel and a second transmission wheel. The first transmission wheel is rotatably disposed on the base, the second transmission wheel is rotatably disposed on the chassis, the driving wheel and the first transmission wheel are respectively located on opposite sides of the second transmission wheel, and the first transmission member is sequentially wound around the driving wheel, the first transmission wheel, the second transmission wheel, and the first driven wheel, so that the rotation direction of the second transmission wheel is opposite to that of the driving wheel, the first transmission wheel, and the first driven wheel;

[0015] When at least two chassis respectively extend out relative to the base, the first transmission member drives the first driven wheel to rotate, and the first transmission member drives the second transmission wheel to rotate in reverse relative to the first driven wheel, so that two support wheel assemblies corresponding to the first transmission assembly move away from each other in the first direction;

[0016] Or, when at least two chassis respectively extend out relative to the base and the driving wheel rotates, the driving wheel drives the first transmission wheel to rotate through the first transmission member, and drives the second transmission wheel to rotate in reverse relative to the first transmission wheel, so that the first driven wheel stops rotating, and at least two support wheel sets respectively move along with the corresponding chassis.

[0017] In a possible implementation, for the chassis structure provided by the present application, the first sub-transmission assembly further includes a third transmission wheel. The third transmission wheel is disposed on the base, the third transmission wheel is located on one side of the driving wheel, and the third transmission wheel is used to support the first transmission member between the driving wheel and the first transmission wheel.

[0018] In a possible implementation, for the chassis structure provided by the present application, the second sub-transmission assembly includes a second transmission member, a second driven wheel, and a fourth transmission wheel. The second transmission member is wound around the second driven wheel and the fourth transmission wheel, and both the second driven wheel and the fourth transmission wheel are rotatably arranged on the corresponding chassis among the two chassis.

[0019] The second driven wheel is connected to the first sub-transmission assembly, and the two support wheel assemblies corresponding to the first transmission assembly are respectively connected to the opposite sides of the second transmission member.

[0020] In a possible implementation, for the chassis structure provided by the present application, at least one of the first transmission member and the second transmission member is a transmission belt or a transmission chain.

[0021] In a possible implementation, for the chassis structure provided by the present application, the first sub-transmission assembly and the second sub-transmission assembly are respectively located on the opposite two surfaces of the corresponding chassis.

[0022] In a possible implementation, for the chassis structure provided by the present application, two first drive assemblies are provided, and the two first drive assemblies are respectively connected to the two first sub-transmission assemblies correspondingly.

[0023] Alternatively, the first drive assembly includes a drive member and two meshing drive gears. The two drive gears are respectively connected to the two first sub-transmission assemblies correspondingly, and one of the drive gears is connected to the drive member.

[0024] In a possible implementation, for the chassis structure provided by the present application, the drive mechanism further includes a second drive assembly and a second transmission assembly. The second drive assembly is arranged on the base, the second drive assembly is connected to the second transmission assembly, and the second transmission assembly is connected to at least two chassis.

[0025] The second drive assembly drives at least two chassis to approach or move away from each other along the second direction through the second transmission assembly. The second direction and the first direction have a preset included angle.

[0026] In a possible implementation, for the chassis structure provided by the present application, the second transmission assembly includes a third transmission member and at least two transmission seats. The third transmission member is rotatably arranged on the base, the third transmission member is connected to the second drive assembly, at least two transmission seats are sleeved on the third transmission member, and at least two transmission seats are connected to at least two chassis correspondingly.

[0027] The second drive assembly drives at least two transmission seats to approach or move away from each other along the second direction through the third transmission member.

[0028] In a possible implementation, for the chassis structure provided by the present application, the third transmission member is a lead screw, and at least two transmission seats are lead screw seats threadedly connected to the lead screw.

[0029] In a possible implementation, for the chassis structure provided in the present application, the support wheel assembly includes a support wheel and a support arm. The support wheel is disposed on the support arm, and the support arm is slidably connected to the corresponding chassis among at least two chassis, and the support arm is in transmission connection with the driving mechanism.

[0030] In a possible implementation, for the chassis structure provided in the present application, the support wheel assembly further includes a connecting member and a mating member. The connecting member is disposed on the support arm, the mating member is disposed on the connecting member, and the mating member and the connecting member jointly clamp the driving mechanism.

[0031] In a possible implementation, for the chassis structure provided in the present application, it further includes at least one slide rail assembly. At least two chassis and the base, and / or at least two support wheel assemblies and the corresponding chassis among at least two chassis are slidably connected through the slide rail assembly.

[0032] In a possible implementation, for the chassis structure provided in the present application, the slide rail assembly includes a guiding member and a sliding member slidably disposed on the guiding member;

[0033] The guiding member is disposed on one of at least two chassis and the base, and the sliding member is disposed on the other of at least two chassis and the base;

[0034] And, the guiding member is disposed on one of at least two support wheel assemblies and at least two chassis, and the sliding member is disposed on the other of at least two support wheel assemblies and at least two chassis.

[0035] In a possible implementation, for the chassis structure provided in the present application, it further includes a traveling wheel, and the traveling wheel is disposed on the base.

[0036] On the other hand, the present application provides a robot, including a robot body and any one of the above-mentioned chassis structures, and the robot body is disposed on the chassis structure.

[0037] For the chassis structure and the robot provided in the present application, by providing a driving mechanism and at least two support wheel assemblies on the base assembly, the base assembly includes a base and a chassis disposed on the base, the driving mechanism is disposed on the base and connected to the chassis, the support wheel assembly is disposed on the chassis, and by driving at least one of the chassis and the support wheel assembly to extend or retract relative to the base through the driving mechanism, the wheel spacing adjustment of the support wheel assembly in different directions is realized. When the wheel spacing is increased, the stability of the chassis structure and the robot is improved, and when the wheel spacing is reduced, the floor area of the chassis structure is reduced, avoiding affecting the flexible movement of the chassis structure and the robot. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0039] Figure 1 Structural schematic diagram of the chassis structure provided by the embodiment of the present application;

[0040] Figure 2 For Figure 1 Structural schematic diagram of another perspective of the chassis structure in ;

[0041] Figure 3 For Figure 2 Partial structural schematic diagram of the chassis structure in ;

[0042] Figure 4 For Figure 1 Exploded view of the chassis structure in ;

[0043] Figure 5 For Figure 2 Exploded view of the chassis structure in ;

[0044] Figure 6 Structural schematic diagram showing the first sub - transmission assembly and the base in the chassis structure provided by the embodiment of the present application;

[0045] Figure 7 Structural schematic diagram showing the second transmission assembly and the chassis in the chassis structure provided by the embodiment of the present application;

[0046] Figure 8 Structural schematic diagram showing the second transmission assembly, the chassis and the second sub - transmission assembly in the chassis structure provided by the embodiment of the present application;

[0047] Figure 9 Structural schematic diagram of the support wheel assembly of the chassis structure provided by the embodiment of the present application;

[0048] Figure 10 For Figure 9 Structural schematic diagram of another perspective of the support wheel assembly in ;

[0049] Figure 11 Schematic diagram of the support wheel assembly of the chassis structure provided by the embodiment of the present application extending in the first direction;

[0050] Figure 12 Schematic diagram of the support wheel assembly of the chassis structure provided by the embodiment of the present application extending in the second direction;

[0051] Figure 13Schematic diagram of the support wheel assembly of the chassis structure provided by the embodiment of the present application extending in both the first direction and the second direction.

[0052] Description of the reference numerals:

[0053] 100 - Base assembly; 110 - Base; 120 - Chassis;

[0054] 200 - Driving mechanism;

[0055] 210 - First driving assembly; 211 - Driving member; 212 - Driving gear;

[0056] 220 - First transmission assembly; 221 - First sub - transmission assembly; 2211 - First transmission member; 2212 - Driving wheel; 2213 - First driven wheel; 2214 - First transmission wheel; 2215 - Second transmission wheel; 2216 - Third transmission wheel; 222 - Second sub - transmission assembly; 2221 - Second transmission member; 2222 - Second driven wheel; 2223 - Fourth transmission wheel;

[0057] 230 - Second driving assembly;

[0058] 240 - Second transmission assembly; 241 - Third transmission member; 242 - Transmission seat; 243 - Mounting seat;

[0059] 300 - Support wheel assembly;

[0060] 310 - Support wheel; 320 - Support arm; 330 - Connecting member; 340 - Fitting member;

[0061] 400 - Slide rail assembly; 410 - Guide member; 420 - Sliding member;

[0062] 500 - Traveling wheel; 510 - Traveling wheel motor. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components with the same or similar functions from beginning to end. The described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0064] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense and can be used interchangeably. For example, "connected" can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection or a sliding connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0065] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0066] The terms "first", "second", "third", etc. in the description, claims, and above-mentioned drawings of the present application are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0067] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or display that includes a series of steps or modules does not necessarily have to be limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products, or displays.

[0068] Existing robots have support wheels and walking wheels. The walking wheels drive the robot to move, and the support wheels provide auxiliary support for the robot. The center of gravity of the robot is located within the range formed by the support wheels and the walking wheels, and the larger the range formed by the support wheels and the walking wheels, the better the support effect on the robot, and the more stable the robot will be when walking or picking up and placing goods.

[0069] The support wheels and walking wheels of the robot are arranged on the chassis structure. Above the chassis structure, a plurality of storage positions are sequentially arranged along the height direction of the robot, or a liftable storage position is arranged along the height direction of the robot. The storage positions are used to store material boxes. To increase the storage capacity of the warehouse, the arrangement of the shelves will be relatively dense, resulting in a narrow aisle width. To facilitate the robot to walk in the aisle, the size of the chassis structure will be reduced accordingly to adapt the size of the chassis structure to the aisle width and avoid interference between the chassis structure and the aisle.

[0070] However, at the same time, the wheelbase of the support wheels and the driving wheels is also limited by the size of the chassis structure, that is, the support range enclosed by the support wheels and the driving wheels will decrease accordingly. When material boxes are placed in multiple storage positions on the chassis structure, or when the storage positions rise relative to the chassis structure, the overall center of gravity of the robot and the material boxes will move upward in the height direction of the robot. In this case, when the robot moves with the material box, or when the robot with the material box docks with a workstation or a shelf, it will cause the robot to shake, and even the chassis structure to tilt, resulting in poor overall stability of the robot.

[0071] Based on this, the present application provides a chassis structure and a robot. The chassis structure is provided with a driving mechanism and at least two support wheel assemblies on a base assembly. The base assembly includes a base and a chassis disposed on the base. The driving mechanism is disposed on the base and connected to the chassis. The support wheel assemblies are disposed on the chassis. By driving at least one of the chassis and the support wheel assemblies to extend or retract relative to the base through the driving mechanism, the wheel spacing of the support wheel assemblies can be adjusted in different directions, so as to improve the stability of the chassis structure and the robot when the wheel spacing is increased, and reduce the floor area of the chassis structure when the wheel spacing is reduced, avoiding affecting the flexible movement of the chassis structure and the robot.

[0072] The following will describe the content of the present application in detail with reference to the drawings, so that those skilled in the art can understand the content of the present application more clearly and in detail.

[0073] Refer to Figures 1 to 5 , and Figures 11 to 13 As shown, an embodiment of the present application provides a chassis structure, including a base assembly 100, a driving mechanism 200, and at least two support wheel assemblies 300. The base assembly 100 includes a base 110 and at least two chassis 120. The at least two chassis 120 are all slidably connected to the base 110. The driving mechanism 200 is disposed on the base 110. The driving mechanism 200 is connected to the at least two chassis 120. At least one support wheel assembly 300 is slidably disposed on each chassis 120. The driving mechanism 200 drives the at least two support wheel assemblies 300 and / or the at least two chassis 120 to move in different directions relative to the base 110, so that each support wheel assembly 300 extends out of the base 110, or each support wheel assembly 300 retracts below the base 110.

[0074] First of all, it should be noted that Figures 1 to 13 the X, Y, and Z directions shown in

[0075] The base assembly 100 includes a base 110 and at least two chassis 120, wherein the base 110 provides stable mounting support for the chassis 120 and the storage positions. At least two chassis 120 are slidably mounted on the base 110 so that the chassis 120 can extend or retract relative to the base 110. To prevent interference between at least two chassis 120 when extending or retracting, it is necessary to set each chassis 120 to slide in different directions. Exemplarily, when two chassis 120 are slidably arranged in the Figure 2 X direction on the base 110, the two chassis 120 can be arranged to slide along the two ends in the X direction, so that the chassis structure has relatively stable support performance.

[0076] At least two support wheel assemblies 300 are respectively and slidably arranged on at least two chassis 120, so that the support wheel assemblies 300 can slide relative to the chassis 120, and when the chassis 120 slides relative to the base 110, the support wheel assemblies 300 can also slide together with the chassis 120. To enable the support wheel assemblies 300 and the chassis 120 to slide in different directions relative to the base 110, it is necessary to set the sliding direction of the support wheels 310 relative to the chassis 120 to be different from the sliding direction of the chassis 120 relative to the base 110. Exemplarily, the support wheel assemblies 300 are set to slide along the Figure 2 Y direction.

[0077] The driving mechanism 200 is arranged on the base 110 and is connected to the chassis 120. It is also necessary to connect the driving mechanism 200 to the support wheel assemblies 300, so that at least one of the chassis 120 and the support wheel assemblies 300 can be driven by the driving mechanism 200 to move, so that the support wheel assemblies 300 can extend or retract in different directions relative to the base 110. When the support wheel assemblies 300 extend relative to the base 110, the wheelbase between the support wheel assemblies 300 can be increased, thereby improving the stability of the chassis structure and the robot. When the support wheel assemblies 300 retract relative to the base 110, the wheelbase between the support wheel assemblies 300 can be reduced, thereby reducing the floor area of the chassis structure and facilitating the flexible movement of the chassis structure.

[0078] Therefore, the chassis structure provided by the embodiments of the present application is provided with a driving mechanism 200 and at least two support wheel assemblies 300 on the base assembly 100. The base assembly 100 includes a base 110 and a chassis 120 disposed on the base 110. The driving mechanism 200 is disposed on the base 110 and connected to the chassis 120. The support wheel assemblies 300 are disposed on the chassis 120. By driving at least one of the chassis 120 and the support wheel assemblies 300 to extend or retract relative to the base 110 through the driving mechanism 200, the wheel spacing of the support wheel assemblies 300 is adjusted. When the wheel spacing is increased, the stability of the chassis structure and the robot is improved. When the wheel spacing is reduced, the floor area of the chassis structure is reduced, avoiding affecting the flexible movement of the chassis structure and the robot.

[0079] In some embodiments, referring to Figure 2 as shown, at least one support wheel group is disposed on each chassis 120, and each support wheel group includes a pair of two support wheel assemblies 300.

[0080] It can be understood that by disposing at least one pair of support wheel assemblies 300 on each chassis 120, the number of support points of the chassis structure can be increased by increasing the number of support wheel assemblies 300, thereby improving the stability of the chassis structure.

[0081] Further, referring to Figure 2 and Figure 3 as shown, the moving directions of the two support wheel assemblies 300 in each support wheel group are opposite.

[0082] With such a setting, when the two support wheel assemblies 300 disposed in pairs on each chassis 120 extend relative to the chassis 120 or the base 110, they extend from both ends in the Y direction along the Y direction in Figure 2 , which is beneficial to increasing the wheel spacing between the support wheel assemblies 300. By increasing the wheel spacing between the support wheel assemblies 300, the stability of the chassis structure can be further improved, and the possibility of the chassis structure tilting and the robot shaking can be reduced.

[0083] Moreover, since the moving directions of at least two chassis 120 are also opposite, when the chassis 120 extends relative to the base 110 and the support wheel assemblies 300 extend relative to the chassis 120, the wheel spacing between the support wheel assemblies 300 can be increased to achieve the efficient extension and retraction of the support wheel assemblies 300.

[0084] In some embodiments, referring to Figures 2 to 8As shown, the driving mechanism 200 includes a first driving component 210 and at least two first transmission components 220. The first driving component 210 is disposed on the base 110. The supporting wheel set is connected to the first driving component 210 through the corresponding first transmission component 220 among the at least two first transmission components 220. The first driving component 210 drives two supporting wheel components 300 in the corresponding supporting wheel set to move away from or close to each other in the first direction through the at least two first transmission components 220.

[0085] By disposing the first driving component 210 on the base 110, the relative position between the first driving component 210 and the base 110 can be ensured to be stable, so that when the first driving component 210 drives the supporting wheel component 300 to move through the first transmission component 220, the first driving component 210 will not move accordingly.

[0086] The at least two first transmission components 220 are respectively connected to the at least two supporting wheel sets in one-to-one correspondence. Each supporting wheel set includes two supporting wheel components 300, that is, each first transmission component 220 is connected to a pair of two supporting wheel components 300. In this way, the first driving component 210 can drive the corresponding two supporting wheel components 300 to move in the opposite direction in the Y direction through the first transmission component 220, realizing the mutual approach or separation of the two supporting wheel components 300.

[0087] Among them, with reference to Figures 2 to 8 As shown, the first transmission component 220 includes a first sub-transmission component 221 and a second sub-transmission component 222 connected to the first sub-transmission component 221. The first sub-transmission component 221 is connected to the first driving component 210. The first sub-transmission component 221 is located between the corresponding chassis 120 and the base 110 among the at least two chassis 120. The second sub-transmission component 222 is disposed on the corresponding chassis 120 among the at least two chassis 120.

[0088] The second sub-transmission component 222 is correspondingly connected to the supporting wheel set on the corresponding chassis 120.

[0089] It can be understood that the supporting wheel component 300 is disposed on the chassis 120, and the chassis 120 will move relative to the base 110, and the moving direction of the supporting wheel component 300 relative to the chassis 120 is different from the moving direction of the chassis 120 relative to the base 110. Therefore, in order to realize the first driving component 210 driving the supporting wheel component 300 to move in a direction different from the moving direction of the chassis 120, the first transmission component 220 including the first sub-transmission component 221 and the second sub-transmission component 222 is provided.

[0090] The first sub-transmission assembly 221 is arranged between the base 110 and the chassis 120, and the second sub-transmission assembly 222 is arranged on the chassis 120 and connected to the first sub-transmission assembly 221. When the chassis 120 moves relative to the base 110, the first sub-transmission assembly 221 can be adaptively adjusted with the movement of the chassis 120 to ensure that the first sub-transmission assembly 221 can always be connected to the second sub-transmission assembly 222. In this way, the support wheel assembly 300 on the chassis 120 is connected to the second sub-transmission assembly 222. When the chassis 120 moves, the second sub-transmission assembly 222 moves synchronously with the chassis 120, so that the first driving assembly 210 drives the second sub-transmission assembly 222 to operate through the first sub-transmission assembly 221, so that the second sub-transmission assembly 222 drives the paired support wheel assembly 300 to move closer or farther away.

[0091] When implementing it, refer to Figures 2 to 8 ,and Figures 11 to 13 As shown, the first sub-transmission assembly 221 includes a first transmission member 2211, a driving wheel 2212 and a first driven wheel 2213. The driving wheel 2212 is rotatably set on the base 110, and the driving wheel 2212 is connected to the first driving assembly 210. The first driven wheel 2213 is rotatably set on the corresponding chassis 120 of at least two chassis 120. The first driven wheel 2213 is connected to the second sub-transmission assembly 222, and the first transmission member 2211 is wound around the driving wheel 2212 and the first driven wheel 2213.

[0092] When the driving wheel 2212 rotates, the first driven wheel 2213 is driven to rotate through the first transmission member 2211, so that the first driven wheel 2213 drives the two paired supporting wheel assemblies 300 in the corresponding supporting wheel assembly 300 to move away from each other along the first direction through the second sub-transmission assembly 222.

[0093] It can be understood that the driving wheel 2212 is rotatably arranged on the base 110, and the driving wheel 2212 is located along the base 110. Figure 2 In the Z direction, the first driving assembly 210 is disposed on the side of the base 110 toward the chassis 120 to save the lower space of the base assembly 100. Figure 4 A through hole is provided on the base 110 at a side away from the chassis 120 in the middle Z direction, and the output shaft of the first driving assembly 210 is transmission-connected to the driving wheel 2212 through the through hole to drive the driving wheel 2212 to rotate.

[0094] The first driven wheel 2213 is rotatably disposed on the chassis 120 and is located along the chassis 120. Figure 2On one side facing the base 110 in the Z direction, so that both the first driven wheel 2213 and the first driving wheel 2212 are located between the chassis 120 and the base 110. The first transmission member 2211 is wound around the driving wheel 2212 and the first driven wheel 2213, so that the first driving assembly 210 can drive the driving wheel 2212 to rotate, and the driving wheel 2212 drives the first driven wheel 2213 to rotate through the first transmission member 2211.

[0095] The first driven wheel 2213 is in transmission connection with the second sub-transmission assembly 222, so that when the first driven wheel 2213 rotates, the second sub-transmission assembly 222 can be further driven to drive the paired support wheel assemblies 300 to approach or move away from each other in the first direction (i.e., Figure 2 the Y direction in the figure).

[0096] In addition, continue to refer to Figures 2 to 8 and Figures 11 to 13 As shown, the first sub-transmission assembly 221 further includes a first transmission wheel 2214 and a second transmission wheel 2215. The first transmission wheel 2214 is rotatably arranged on the base 110, and the second transmission wheel 2215 is rotatably arranged on the chassis 120. The driving wheel 2212 and the first transmission wheel 2214 are respectively located on opposite sides of the second transmission wheel 2215. The first transmission member 2211 is sequentially wound around the driving wheel 2212, the first transmission wheel 2214, the second transmission wheel 2215 and the first driven wheel 2213, so that the rotation direction of the second transmission wheel 2215 is opposite to that of the driving wheel 2212, the first transmission wheel 2214 and the first driven wheel 2213.

[0097] When at least two chassis 120 extend relative to the base 110 respectively, the first transmission member 2211 drives the first driven wheel 2213 to rotate, and the first transmission member 2211 drives the second transmission wheel 2215 to rotate in the opposite direction relative to the first driven wheel 2213, so that the two support wheel assemblies 300 corresponding to the first transmission assembly 220 move away from each other in the first direction.

[0098] Or, when at least two chassis 120 extend relative to the base 110 respectively and the driving wheel 2212 rotates, the driving wheel 2212 drives the first transmission wheel 2214 to rotate through the first transmission member 2211, and drives the second transmission wheel 2215 to rotate in the opposite direction relative to the first transmission wheel 2214, so that the first driven wheel 2213 stops rotating, and at least two support wheel groups move with the corresponding chassis 120 respectively.

[0099] The first transmission wheel 2214 is rotatably arranged on the base 110, and the second transmission wheel 2215 is rotatably arranged on the chassis 120. Therefore, when the chassis 120 moves relative to the base 110, the first transmission wheel 2214 and the second transmission wheel 2215 are in Figure 2approach or move away from each other in the X direction. The driving wheel 2212 and the first transmission wheel 2214 are respectively located on opposite sides of the second transmission wheel 2215 in the X direction. When the first transmission member 2211 is successively wound around the driving wheel 2212, the first transmission wheel 2214, the second transmission wheel 2215, and the first driven wheel 2213, the winding direction of the first transmission member 2211 can be changed by the second transmission wheel 2215. That is, the first transmission member 2211 is respectively wound around the driving wheel 2212, the driven wheel, and the first transmission wheel 2214 on the side away from the second driven wheel 2222 in the X direction, and the first transmission member 2211 is wound around the second driven wheel 2222 on the side facing the driving wheel 2212 and away from the driven wheel and the first transmission wheel 2214 in the X direction.

[0100] With such an arrangement, referring to Figure 5 and Figure 11 as shown, taking Figure 11 the left first transmission assembly 220 shown in Figure 11 as an example, when the chassis 120 does not move and only the driving wheel 2212 rotates clockwise, the driving wheel 2212 can drive the first driven wheel 2213 to rotate clockwise together through the first transmission member 2211, so that the two support wheel assemblies 300 move away from each other; when the chassis 120 does not move and only the driving wheel 2212 rotates counterclockwise, the driving wheel 2212 can drive the first driven wheel 2213 to rotate counterclockwise together through the first transmission member 2211, so that the two support wheel assemblies 300 approach each other. In this way, the support wheel assemblies 300 can be extended or retracted from the base 110 along the first direction under the drive of the first driven wheel 2213, and the two paired support wheel assemblies 300 approach or move away from each other in the Figure 11 Y direction (the first direction) in the figure. Among them, the right first transmission assembly 220 shown in the figure is mirror - set with the left first transmission assembly 220 shown in the figure, and the rotation directions of the corresponding driving wheel 2212, the first driven wheel 2213, and each transmission wheel in the two first transmission assemblies 220 on both sides are opposite.

[0101] And referring to Figure 5 and Figure 13 as shown, when the driving wheel 2212 does not rotate and only the chassis 120 extends relative to the base 110, taking Figure 13 the left chassis 120 and the corresponding first transmission assembly 220 shown in Figure 13Move in the X direction in the figure. When the second driving wheel 2215 and the first driven wheel 2213 move, the distance between the first driven wheel 2213 and the driving wheel 2212 increases, causing the length of a part of the first transmission member 2211 between the first driven wheel 2213 and the driving wheel 2212 to increase. Correspondingly, the distance between the first driving wheel 2214 and the second driving wheel 2215 decreases, causing the length of a part of the first transmission member 2211 between the first driving wheel 2214 and the second driving wheel 2215 to decrease. Therefore, the part of the first transmission member 2211 between the first driving wheel 2214 and the second driving wheel 2215 will be pulled towards the part between the first driven wheel 2213 and the driving wheel 2212. As a result, the first transmission member 2211 drives the first driven wheel 2213 to rotate clockwise, and the second driving wheel 2215 further rotates counterclockwise. The driving wheel 2212 and the first driving wheel 2214 basically do not rotate. And as the first driven wheel 2213 rotates, the second sub-transmission assembly 222 drives the two support wheel assemblies 300 to move Figure 13 closer to or away from each other in the Y direction in the figure. That is, when the chassis 120 extends relative to the base 110 and the driving wheel 2212 is not driven to rotate by the first driving assembly 210, the chassis 120 can drive the support wheel assemblies 300 to extend relative to the chassis 120 through the first transmission member 2211, the second driving wheel 2215 and the first driven wheel 2213 in the first sub-transmission assembly 221.

[0102] In addition, referring to Figure 5 and Figure 12 as shown, taking the left first transmission assembly 220 and the chassis 120 shown in Figure 12 the figure as an example, when the chassis 120 extends in the X direction relative to the base 110 in Figure 12 the figure and the driving wheel 2212 rotates counterclockwise under the drive of the first driving assembly 210, although the distance between the first driven wheel 2213 and the driving wheel 2212 increases, at the same time the distance between the first driving wheel 2214 and the second driving wheel 2215 also decreases synchronously. As the driving wheel 2212 rotates counterclockwise, it will drive the first driving wheel 2214 to rotate counterclockwise together through the first transmission member 2211 to pull the part of the first transmission member 2211 between the first driving wheel 2214 and the second driving wheel 2215 towards the part between the driving wheel 2212 and the first driven wheel 2213. During this process, the first transmission member 2211 does not drive the first driven wheel 2213 to rotate. Therefore, at this time, only the chassis 120 extends in the X direction relative to the base 110 in Figure 12 the figure, and the support wheel assemblies 300 do not extend in the Y direction relative to the chassis 120 in Figure 12 the figure.

[0103] During specific implementation, referring to Figure 5 and Figure 6As shown, the first sub-transmission assembly 221 further includes a third transmission wheel 2216. The third transmission wheel 2216 is disposed on the base 110, on one side of the driving wheel 2212, and the third transmission wheel 2216 is used to support the first transmission member 2211 between the driving wheel 2212 and the first transmission wheel 2214.

[0104] It can be understood that in some cases, to save the space occupied by the first transmission assembly 220 and improve the space utilization rate of the chassis structure, a driving wheel 2212 with a smaller radius is used, which may result in a larger wrap angle of the driving wheel 2212, and the first transmission member 2211 between the driving wheel 2212 and the first driven wheel 2213 interferes with the second transmission wheel 2215, or the first transmission member 2211 between the driving wheel 2212 and the first transmission wheel 2214 interferes with the second transmission wheel 2215, or both of the above interfere with the second transmission wheel 2215. And when the driving wheel 2212 is disposed along Figure 5 one side of the Y direction in the figure, and a third transmission wheel 2216 is provided to support the first transmission member 2211 between the driving wheel 2212 and the first transmission wheel 2214, the above situation can be avoided. In other embodiments, the third transmission wheel 2216 can also support the first transmission member 2211 between the driving wheel 2212 and the first driven wheel 2213, and the present application does not limit this.

[0105] In some embodiments, referring to Figures 2 to 8 as shown, the second sub-transmission assembly 222 includes a second transmission member 2221, a second driven wheel 2222, and a fourth transmission wheel 2223. The second transmission member 2221 is wound around the second driven wheel 2222 and the fourth transmission wheel 2223, and both the second driven wheel 2222 and the fourth transmission wheel 2223 are rotatably disposed on the corresponding chassis 120 among the two chassis 120.

[0106] The second driven wheel 2222 is connected to the first sub-transmission assembly 221, and the two support wheel assemblies 300 corresponding to the first transmission assembly 220 are respectively connected to opposite sides of the second transmission member 2221.

[0107] With such a setting, when the second driven wheel 2222 rotates, the second driven wheel 2222 can drive some of the second transmission members 2221 on both sides of the second driven wheel 2222 to move in opposite directions along the Figure 2 Y direction in the figure, and then connect the paired support wheel assemblies 300 to the second transmission members 2221 on both sides of the second driven wheel 2222 respectively, so that the two support wheel assemblies 300 can be driven by the second transmission member 2221 to approach or move away from each other simultaneously.

[0108] In specific implementation, at least one of the first transmission member 2211 and the second transmission member 2221 is a transmission belt or a transmission chain. It can be understood that the transmission belt or the transmission chain has good flexibility and can meet the above-mentioned winding requirements for the driving wheel 2212, the first driven wheel 2213, the second driven wheel 2222, the first transmission wheel 2214, the second transmission wheel 2215, the third transmission wheel 2216 and the fourth transmission wheel 2223. And in this way, the first transmission wheel 2214, the second transmission wheel 2215, the third transmission wheel 2216 and the fourth transmission wheel 2223 can be regarded as idler wheels, that is, they do not directly participate in power transmission, but assist in transmission by changing the transmission path, increasing the wrap angle or adjusting the tension.

[0109] Moreover, the first sub-transmission assembly 221 and the second sub-transmission assembly 222 are respectively located on two opposite surfaces of the corresponding chassis 120 in Figure 5 the Z direction. With such a setting, the first sub-transmission assembly 221 can be only arranged between the chassis 120 and the base 110, which is convenient for the first sub-transmission assembly 221 to be connected to the first driving assembly 210, reduces the interval setting between the chassis 120 and the base 110, and further improves the space utilization rate of the chassis 120 assembly. And the second sub-transmission assembly 222 can be arranged on the side of the chassis 120 away from the base 110 so that the second sub-transmission assembly 222 can be connected to the support wheel assembly 300. The first driven wheel 2213 in the first sub-transmission assembly 221 and the second driven wheel 2222 in the second sub-transmission assembly 222 can be coaxially rotatably arranged in the Z direction and are respectively located on opposite sides of the chassis 120. The first driven wheel 2213 and the second driven wheel 2222 are connected by the same transmission shaft so that the first driven wheel 2213 can transmit power to the second driven wheel 2222.

[0110] In some embodiments, two first driving assemblies 210 are provided, and the two first driving assemblies 210 are respectively connected to the two first sub-transmission assemblies 221 correspondingly.

[0111] Or, as shown in reference to Figure 4 and Figure 5 , the first driving assembly 210 includes a driving member 211 and two meshing driving gears 212. The two driving gears 212 are respectively connected to the two first sub-transmission assemblies 221 correspondingly, and one of the driving gears 212 is connected to the driving member 211.

[0112] It can be understood that two sets of first transmission assemblies 220 are provided, and each set of first transmission assemblies 220 includes a first sub-transmission assembly 221 and a second sub-transmission assembly 222. The first sub-transmission assembly 221 is connected to the first drive assembly 210. In this regard, two first drive assemblies 210 can be provided, and the two first drive assemblies 210 are respectively connected to the two first sub-transmission assemblies 221, so as to separately control the operation of the corresponding first sub-transmission assemblies 221 through the two first drive assemblies 210, and the first sub-transmission assembly 221 drives the corresponding pair of two support wheel assemblies 300 to operate through the second sub-transmission assembly 222, so that the two support wheel assemblies 300 on each of the two chassis 120 can operate separately, and the flexibility of the support wheel assemblies 300 to extend or retract is relatively high. Specifically, the first drive assembly 210 can be a drive motor, and the two drive motors are respectively connected to the corresponding driving wheels 2212.

[0113] And the first drive assembly 210 is provided to include a driving member 211 and two driving gears 212 that mesh with each other. The two driving gears 212 are respectively connected to the driving wheels 2212 of the two first sub-transmission assemblies 221, and one of the driving gears 212 is connected to the driving member 211. That is, the two driving gears 212 can be driven to rotate by one driving member 211, so that the two driving gears 212 drive their respective first sub-transmission assemblies 221 and second sub-transmission assemblies 222 together, drive the two groups of support wheel assemblies 300 to extend and then retract, and the control efficiency is higher.

[0114] In some embodiments, referring to Figures 2 to 5 , Figure 8 , and Figures 11 to 13 as shown, the drive mechanism 200 further includes a second drive assembly 230 and a second transmission assembly 240. The second drive assembly 230 is provided on the base 110. The second drive assembly 230 is connected to the second transmission assembly 240, and the second transmission assembly 240 is connected to at least two chassis 120.

[0115] The second drive assembly 230 drives at least two chassis 120 to approach or move away from each other along a second direction (such as Figure 8 the X direction in

[0116] ), and the second direction and the first direction have a preset included angle. It can be understood that the second drive assembly 230 is provided on the base 110 to ensure the stability of the second drive assembly 230 during operation. The second transmission assembly 240 is connected to the second drive assembly 230, and the second transmission assembly 240 is connected to each chassis 120, so that when the second drive assembly 230 operates, each chassis 120 is driven to approach or move away from each other through the second transmission assembly 240, and the control efficiency is relatively high.

[0117] The chassis 120 is along Figures 11 to 13The middle part moves relative to the base 110 in the X direction, and the support wheel assembly 300 moves relative to the chassis 120 in the Y direction (the first direction), so that the support wheel assembly 300 has three moving forms: moving in the Y direction (the first direction), moving in the X direction (the second direction), and moving simultaneously in the Y direction (the first direction) and the X direction (the second direction). In this embodiment, the first direction is perpendicular to the second direction, so that the moving range of the support wheel assembly 300 is larger and the moving efficiency is higher. In other embodiments, the first direction and the second direction may also form an angle, and the present application does not limit the range of the angle.

[0118] Wherein, referring to Figure 5 and Figure 8 as shown, the second transmission assembly 240 includes a third transmission member 241 and at least two transmission seats 242. The third transmission member 241 is rotatably arranged on the base 110, the third transmission member 241 is connected to the second drive assembly 230, at least two transmission seats 242 are sleeved on the third transmission member 241, and at least two transmission seats 242 are correspondingly connected to at least two chassis 120.

[0119] The second drive assembly 230 drives at least two transmission seats 242 to approach or move away from each other in the second direction through the third transmission member 241.

[0120] An installation seat 243 is arranged on the base 110. The third transmission member 241 is rotatably arranged in the installation seat 243 and is connected to the second drive assembly 230 to drive the third transmission member 241 to rotate when the second drive assembly 230 operates. The transmission seat 242 is arranged on the chassis 120 and is connected to the third transmission member 241, so as to drive the two transmission seats 242 to approach or move away from each other in Figure 5 the X direction (the second direction) of the middle part through the rotation of the third transmission member 241, and the transmission seat 242 further drives the chassis 120 to move.

[0121] In specific implementation, referring to Figure 5 and Figure 8 as shown, the third transmission member 241 is a lead screw, and at least two transmission seats 242 are lead screw seats threadedly connected to the lead screw. By setting the third transmission member 241 as a lead screw and the transmission seat 242 as a lead screw seat threadedly connected to the lead screw, the lead screw can be used to stably and smoothly drive the lead screw seat to drive the chassis 120 to extend or retract relative to the base 110.

[0122] Moreover, the second drive assembly 230 can be a drive motor. When the output end direction of the drive motor is consistent with the axial direction of the lead screw, the transmission can be realized through two meshing spur gears or helical gears, and when the output end direction of the drive motor is perpendicular to the axial direction of the lead screw, the transmission can be realized through two meshing bevel gears.

[0123] In some embodiments, referring to Figures 2 to 5 , and Figure 9 and Figure 10 as shown, the support wheel assembly 300 includes a support wheel 310 and a support arm 320. The support wheel 310 is disposed on the support arm 320. The support arm 320 is slidably connected to the corresponding one of at least two chassis 120, and the support arm 320 is in transmission connection with the drive mechanism 200.

[0124] The support wheel 310 is disposed on the support arm 320. The support wheel 310 is used to provide support for the chassis structure, and the support wheel 310 is slidably connected to the chassis 120 along the Figure 3 Y direction in

[0125] through the support arm 320. The support arm 320 is further connected to a second transmission member 2221 of the second sub-transmission assembly 222, so that the second transmission member 2221 drives the support arm 320 to move. Figure 2 , Figure 3 , Figure 9 and Figure 10 as shown, the support wheel assembly 300 further includes a connecting member 330 and a mating member 340. The connecting member 330 is disposed on the support arm 320, and the mating member 340 is disposed on the connecting member 330. The mating member 340 and the connecting member 330 jointly clamp the drive mechanism 200.

[0126] The support arms 320 of the paired two support wheel assemblies 300 are respectively clamped to the portions of the second transmission member 2221 on both sides of the second driven wheel 2222 through the connecting member 330 and the mating member 340. It should be noted here that since the paired two support wheel assemblies 300 are both disposed on the same side of the second transmission member 2221 and need to be connected to the opposite sides of the second transmission member 2221, the lengths of the respective connecting members 330 of the two support wheel assemblies 300 need to be adjusted so that, in the two support wheel assemblies 300, the support arm 320 close to the second transmission member 2221 is connected to a part of the second transmission member 2221 close to the support arm 320 through the connecting member 330, and the support arm 320 far from the second transmission member 2221 passes over the other support arm 320 and is connected to a part of the second transmission member 2221 far from the support arm 320, so as to avoid interference between the two support arms 320.

[0127] One end of the connecting member 330 away from the support arm 320 is bent to form a clamping surface. The clamping surface is disposed on one side surface of the second transmission member 2221. The mating member 340 is located on the other side surface of the second transmission member 2221 corresponding to the clamping surface and jointly clamps the second transmission member 2221 with the clamping surface. The clamping surface and the mating member 340 are connected by bolts to clamp the second transmission member 2221 between the connecting member 330 and the mating member 340.

[0128] In some embodiments, with reference to Figure 3 , Figure 5 and Figures 8 to 10 , the chassis structure provided by the embodiments of the present application further includes at least one slide rail assembly 400, at least two chassis 120 and a base 110, and / or at least two support wheel assemblies 300 and the corresponding chassis 120 among at least two chassis 120, which are slidably connected through the slide rail assembly 400.

[0129] By connecting the chassis 120 and the base 110 through the slide rail assembly 400, and the chassis 120 and the support wheel assembly 300, the sliding of the chassis 120 relative to the base 110 and the sliding of the support wheel assembly 300 relative to the chassis 120 can be made smoother and more stable. Among them, two sets of slide rail assemblies 400 are provided between each chassis 120 and the base 110, and both sets of slide rail assemblies 400 are arranged along the Figure 5 X direction (second direction) in Figure 5 to enable the chassis 120 to slide in the second direction. Similarly, two slide rail assemblies 400 are also provided for a pair of two support wheel assemblies 300. Each slide rail assembly 400 respectively connects the support arm 320 of the support wheel assembly 300 and the chassis 120, and the slide rail assembly 400 is arranged along the

[0130] Y direction (first direction) in Figure 3 , Figure 5 and Figures 8 to 10 so that the support wheel assembly 300 can slide in the first direction.

[0131] Specifically, as shown in reference to

[0132] , the slide rail assembly 400 includes a guide member 410 and a sliding member 420 slidably disposed on the guide member 410.

[0133] The guide member 410 is disposed on one of at least two chassis 120 and the base 110, and the sliding member 420 is disposed on the other of at least two chassis 120 and the base 110. Figure 9 and Figure 10 The guide member 410 is disposed on one of at least two support wheel assemblies 300 and at least two chassis 120, and the sliding member 420 is disposed on the other of at least two support wheel assemblies 300 and at least two chassis 120.

[0134] A groove is provided on the guide member 410 along the extending direction of the guide member 410. A convex rail corresponding to the groove is provided on the sliding member 420 along the extending direction of the sliding member 420 (such as the Figure 5The X-direction (second direction) is set on the chassis 120, and the sliding member 420 is set on the base 110 to correspond to the guiding member 410, or the guiding member 410 is set on the base 110 and the sliding member 420 is set on the chassis 120.

[0135] When the sliding assembly 400 connects the chassis 120 and the supporting wheel assembly 300, the guiding member 410 can be arranged along Figure 5 the Y-direction (first direction) in the chassis 120, and the sliding member 420 is set on the supporting arm 320 to correspond to the guiding member 410, or the guiding member 410 is set on the supporting arm 320 and the sliding member 420 is set on the chassis 120.

[0136] In addition, in some embodiments, referring to Figure 2 and Figure 3 as shown, the chassis structure provided by the embodiment of the present application further includes a traveling wheel 500, and the traveling wheel 500 is set on the base 110. A traveling wheel motor 510 is arranged on the traveling wheel 500, and the traveling wheel motor 510 is connected to the base 110 to drive the traveling wheel 500 to rotate through the traveling wheel motor 510, so that the traveling wheel 500 drives the chassis structure to move.

[0137] The embodiment of the present application further provides a robot, including a robot body and the chassis structure in any of the above embodiments, and the robot body is arranged on the chassis structure.

[0138] Among them, the chassis structure has been described in detail in the above embodiments and will not be elaborated here.

[0139] For the robot provided by the embodiment of the present application, by setting the chassis structure, the chassis structure is provided with a driving mechanism 200 and at least two supporting wheel assemblies 300 on the base assembly 100. The base assembly 100 includes a base 110 and a chassis 120 arranged on the base 110. The driving mechanism 200 is arranged on the base 110 and connected to the chassis 120. The supporting wheel assembly 300 is arranged on the chassis 120. By driving at least one of the chassis 120 and the supporting wheel assembly 300 to extend or retract relative to the base 110 through the driving mechanism 200, the wheel spacing adjustment of the supporting wheel assembly 300 in different directions is realized. When the wheel spacing is increased, the stability of the chassis structure and the robot is improved. When the wheel spacing is reduced, the floor area of the chassis structure is reduced, and the flexible movement of the chassis structure and the robot is not affected.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis structure, characterized in that: It includes a base assembly, a driving mechanism and at least two supporting wheel assemblies, the base assembly includes a base and at least two chassis, the at least two chassis are both slidably connected to the base, the driving mechanism is arranged on the base, the driving mechanism is connected to the at least two chassis, at least one supporting wheel assembly is slidably arranged on each chassis, and the driving mechanism drives the at least two supporting wheel assemblies and / or the at least two chassis to move in different directions relative to the base, so that each supporting wheel assembly extends out of the base, or each supporting wheel assembly is retracted under the base.

2. The chassis structure according to claim 1, characterized in that: At least one supporting wheel group is arranged on each chassis, and each supporting wheel group comprises two supporting wheel assemblies in a pair.

3. The chassis structure according to claim 2, characterized in that: The moving directions of the two supporting wheel assemblies in each supporting wheel group are opposite.

4. The chassis structure according to claim 3, characterized in that: The driving mechanism includes a first driving component and at least two first transmission components, the first driving component is arranged on the base, the supporting wheel group is connected to the first driving component through the corresponding first transmission component in the at least two first transmission components, and the first driving component drives the corresponding two supporting wheel components in the supporting wheel group to move away from or approach each other along the first direction through the at least two first transmission components.

5. The chassis structure according to claim 4, characterized in that: The first transmission assembly includes a first sub-transmission assembly and a second sub-transmission assembly connected to the first sub-transmission assembly, the first sub-transmission assembly is connected to the first drive assembly, the first sub-transmission assembly is located between the corresponding chassis of the at least two chassis and the base, and the second sub-transmission assembly is arranged on the corresponding chassis of the at least two chassis; The second sub-transmission assembly is correspondingly connected to the supporting wheel set on the corresponding chassis.

6. The chassis structure according to claim 5, characterized in that: The first sub-transmission assembly comprises a first transmission member, a driving wheel and a first driven wheel, wherein the driving wheel is rotatably arranged on the base, the driving wheel is connected to the first driving assembly, the first driven wheel is rotatably arranged on the corresponding chassis of at least two chassis, the first driven wheel is connected to the second sub-transmission assembly, and the first transmission member is wound around the driving wheel and the first driven wheel; When the driving wheel rotates, the first driven wheel is driven to rotate through the first transmission member, so that the first driven wheel drives the two paired support wheel assemblies in the corresponding support wheel group to move away from each other along the first direction through the second sub-transmission assembly.

7. The chassis structure according to claim 6, characterized in that: The first sub-transmission assembly further includes a first transmission wheel and a second transmission wheel, wherein the first transmission wheel is rotatably arranged on the base, and the second transmission wheel is rotatably arranged on the chassis, the driving wheel and the first transmission wheel are respectively located on opposite sides of the second transmission wheel, and the first transmission member is sequentially wound around the driving wheel, the first transmission wheel, the second transmission wheel and the first driven wheel, so that the second transmission wheel rotates in the opposite direction to the driving wheel, the first transmission wheel and the first driven wheel; When the at least two chassis are extended relative to the base, the first transmission member drives the first driven wheel to rotate, and the first transmission member drives the second transmission wheel to reverse relative to the first driven wheel, so that the two support wheel assemblies corresponding to the first transmission assembly move away from each other in the first direction; Alternatively, the at least two chassis extend respectively relative to the base, and when the driving wheel rotates, the driving wheel drives the first transmission wheel to rotate through the first transmission member, and drives the second transmission wheel to reverse relative to the first transmission wheel, so that the first driven wheel stops rotating, and at least two of the supporting wheel groups move respectively with the corresponding chassis.

8. The chassis structure according to claim 7, characterized in that: The first sub-transmission assembly also includes a third transmission wheel, which is arranged on the base, located on one side of the driving wheel, and used to support the first transmission member between the driving wheel and the first transmission wheel.

9. The chassis structure according to claim 6, characterized in that: The second sub-transmission assembly comprises a second transmission member, a second driven wheel and a fourth transmission wheel, the second transmission member is wound around the second driven wheel and the fourth transmission wheel, and the second driven wheel and the fourth transmission wheel are both rotatably arranged on the corresponding chassis of the two chassis; The second driven wheel is connected to the first sub-transmission assembly, and the two supporting wheel assemblies corresponding to the first transmission assembly are respectively connected to the opposite sides of the second transmission member.

10. The chassis structure according to claim 9, characterized in that: At least one of the first transmission member and the second transmission member is a transmission belt or a transmission chain.

11. The chassis structure according to claim 5, characterized in that: The first sub-transmission assembly and the second sub-transmission assembly are respectively located on two opposite surfaces of the corresponding chassis.

12. The chassis structure according to any one of claims 5 to 11, characterized in that: Two first drive assemblies are provided, and the two first drive assemblies are respectively connected to the two first sub-transmission assemblies correspondingly; Alternatively, the first driving assembly includes a driving member and two driving gears meshing with each other, the two driving gears are respectively connected to two corresponding first sub-transmission assemblies, and one of the driving gears is connected to the driving member.

13. The chassis structure according to any one of claims 4 to 11, characterized in that: The driving mechanism further comprises a second driving assembly and a second transmission assembly, wherein the second driving assembly is disposed on the base, the second driving assembly is connected to the second transmission assembly, and the second transmission assembly is connected to the at least two chassis; The second driving assembly drives the at least two chassis to move closer to or farther from each other along a second direction through the second transmission assembly, and the second direction and the first direction have a preset angle.

14. The chassis structure according to claim 13, characterized in that: The second transmission assembly includes a third transmission member and at least two transmission seats, the third transmission member is rotatably disposed on the base, the third transmission member is connected to the second drive assembly, the at least two transmission seats are sleeved on the third transmission member, and the at least two transmission seats are correspondingly connected to the at least two chassis; The second driving assembly drives the at least two transmission seats to move closer to or farther from each other along the second direction through the third transmission member.

15. The chassis structure according to claim 14, characterized in that: The third transmission member is a lead screw, and the at least two transmission seats are lead screw seats threadedly connected to the lead screw.

16. The chassis structure according to any one of claims 1 to 11, characterized in that: The support wheel assembly comprises a support wheel and a support arm, the support wheel is arranged on the support arm, the support arm is slidably connected to the corresponding chassis of the at least two chassis, and the support arm is transmission-connected to the driving mechanism.

17. The chassis structure according to claim 16, characterized in that: The support wheel assembly further comprises a connecting piece and a matching piece, wherein the connecting piece is arranged on the support arm, and the matching piece is arranged on the connecting piece, and the matching piece and the connecting piece jointly clamp the driving mechanism.

18. The chassis structure according to any one of claims 1 to 11, characterized in that: It also includes at least one slide rail assembly, and the at least two chassis and the base, and / or the at least two support wheel assemblies and the corresponding chassis of the at least two chassis are slidably connected through the slide rail assembly.

19. The chassis structure according to claim 18, characterized in that: The slide rail assembly comprises a guide member and a sliding member slidably arranged on the guide member; The guide member is arranged on one of the at least two chassis and the base, and the sliding member is arranged on the other of the at least two chassis and the base; And, the guide member is arranged on one of the at least two supporting wheel assemblies and the at least two chassis, and the sliding member is arranged on the other of the at least two supporting wheel assemblies and the at least two chassis.

20. The chassis structure according to any one of claims 1 to 11, characterized in that: It also includes running wheels, which are arranged on the base.

21. A robot, characterized in that: It comprises a robot body and a chassis structure according to any one of claims 1 to 20, wherein the robot body is arranged on the chassis structure.

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